From: alex <ale...@mo...> - 2010-01-04 10:57:06
|
Hello, I'm trying to drive a robot using VFH. I would like to use two different top speeds during a same simulation run. I'm using player 2.0.5 with stage 2.0.4 and I'm trying using the playerc_position2d_set_cmd_pose_with_vel call. However, it doesn't seem to be working. For the vfh driver it uses its configured max_speed parameter, while if I try commanding directly the stage odometry device, it seems to default to 0.4m/s. So my questions would be: a) Am I doing something wrong and it should work? b) If it doesn't really work, is there some chance in the new versions? Thanks for any hints, Alex. |
From: Brian G. <br...@ge...> - 2010-01-04 16:01:11
|
The vfh driver ignores velocity values when it is sent a position target. I suppose that it could be modified to consider the velocity to be a maximum, but I'm not sure that that's very clear. Instead, we should probably add the ability to set the maximum velocities via configuration request. For now, no, you can't change the maximum velocity elsewhere than the .cfg file. brian. On Jan 4, 2010, at 2:55 AM, alex wrote: > Hello, > > I'm trying to drive a robot using VFH. I would like to use two > different top > speeds during a same simulation run. > > I'm using player 2.0.5 with stage 2.0.4 and I'm trying using the > playerc_position2d_set_cmd_pose_with_vel call. However, it doesn't > seem to > be working. For the vfh driver it uses its configured max_speed > parameter, > while if I try commanding directly the stage odometry device, it > seems to > default to 0.4m/s. > > So my questions would be: > > a) Am I doing something wrong and it should work? > b) If it doesn't really work, is there some chance in the new > versions? > > Thanks for any hints, > > Alex. > > > ------------------------------------------------------------------------------ > This SF.Net email is sponsored by the Verizon Developer Community > Take advantage of Verizon's best-in-class app development support > A streamlined, 14 day to market process makes app distribution fast > and easy > Join now and get one step closer to millions of Verizon customers > http://p.sf.net/sfu/verizon-dev2dev > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users |
From: alex <ale...@mo...> - 2010-01-05 10:21:48
|
Brian Gerkey wrote: > The vfh driver ignores velocity values when it is sent a position > target. I suppose that it could be modified to consider the velocity > to be a maximum, but I'm not sure that that's very clear. Instead, we > should probably add the ability to set the maximum velocities via > configuration request. Thanks for confirming this. I'll see how long would this take to me (I'm unskilled on player internals). Could you give me just some pointer to the function calls I should use? I can follow the docs from there. Alex. > > For now, no, you can't change the maximum velocity elsewhere than > the .cfg file. > > brian. > > On Jan 4, 2010, at 2:55 AM, alex wrote: > >> Hello, >> >> I'm trying to drive a robot using VFH. I would like to use two >> different top >> speeds during a same simulation run. >> >> I'm using player 2.0.5 with stage 2.0.4 and I'm trying using the >> playerc_position2d_set_cmd_pose_with_vel call. However, it doesn't >> seem to >> be working. For the vfh driver it uses its configured max_speed >> parameter, >> while if I try commanding directly the stage odometry device, it >> seems to >> default to 0.4m/s. >> >> So my questions would be: >> >> a) Am I doing something wrong and it should work? >> b) If it doesn't really work, is there some chance in the new >> versions? >> >> Thanks for any hints, >> >> Alex. >> >> >> ------------------------------------------------------------------------------ >> This SF.Net email is sponsored by the Verizon Developer Community >> Take advantage of Verizon's best-in-class app development support >> A streamlined, 14 day to market process makes app distribution fast >> and easy >> Join now and get one step closer to millions of Verizon customers >> http://p.sf.net/sfu/verizon-dev2dev >> _______________________________________________ >> Playerstage-users mailing list >> Pla...@li... >> https://lists.sourceforge.net/lists/listinfo/playerstage-users > > > ------------------------------------------------------------------------------ > This SF.Net email is sponsored by the Verizon Developer Community > Take advantage of Verizon's best-in-class app development support > A streamlined, 14 day to market process makes app distribution fast and > easy Join now and get one step closer to millions of Verizon customers > http://p.sf.net/sfu/verizon-dev2dev |
From: Geoff B. <gb...@ki...> - 2010-01-05 13:58:50
|
The quickest, easiest way to test if method meets your needs is to add a double property for the maximum velocity to the driver. Off the top of my head, the first driver that comes to mind (probably because I wrote it) as an example of using properties is the hokuyo_aist driver found in the server/drivers/ranger/ directory. Have a look at how that driver implements configuring the baud rate and changing the baud rate at run time (something that is not included in the ranger interface). Pay particular attention to the message handling function (ProcessMessage), where it receives the PLAYER_SET_INTPROP_REQ request for the baud rate. You'll need to use a DoubleProperty for your maximum velocity, which means different constants for message types and data types and so on, but a quick grep for PLAYER_SET_INTPROP_REQ will point you to where they're all defined. Property objects themselves are declared in libplayercore/property.h. Geoff On 5/01/2010 7:20 p.m., alex wrote: > Brian Gerkey wrote: > >> The vfh driver ignores velocity values when it is sent a position >> target. I suppose that it could be modified to consider the velocity >> to be a maximum, but I'm not sure that that's very clear. Instead, we >> should probably add the ability to set the maximum velocities via >> configuration request. > > Thanks for confirming this. I'll see how long would this take to me (I'm > unskilled on player internals). Could you give me just some pointer to the > function calls I should use? I can follow the docs from there. > > Alex. |
From: alex <ale...@mo...> - 2010-01-07 09:44:25
|
Geoff Biggs wrote: > The quickest, easiest way to test if method meets your needs is to add a > double property for the maximum velocity to the driver. Off the top of > my head, the first driver that comes to mind (probably because I wrote > it) as an example of using properties is the hokuyo_aist driver found in > the server/drivers/ranger/ directory. Have a look at how that driver > implements configuring the baud rate and changing the baud rate at run > time (something that is not included in the ranger interface). Pay > particular attention to the message handling function (ProcessMessage), > where it receives the PLAYER_SET_INTPROP_REQ request for the baud rate. > > You'll need to use a DoubleProperty for your maximum velocity, which > means different constants for message types and data types and so on, > but a quick grep for PLAYER_SET_INTPROP_REQ will point you to where > they're all defined. Property objects themselves are declared in > libplayercore/property.h. Thank Geoff, that's the kind of info I needed. Alex. > > Geoff > > On 5/01/2010 7:20 p.m., alex wrote: >> Brian Gerkey wrote: >> >>> The vfh driver ignores velocity values when it is sent a position >>> target. I suppose that it could be modified to consider the velocity >>> to be a maximum, but I'm not sure that that's very clear. Instead, we >>> should probably add the ability to set the maximum velocities via >>> configuration request. >> >> Thanks for confirming this. I'll see how long would this take to me (I'm >> unskilled on player internals). Could you give me just some pointer to >> the function calls I should use? I can follow the docs from there. >> >> Alex. > > ------------------------------------------------------------------------------ > This SF.Net email is sponsored by the Verizon Developer Community > Take advantage of Verizon's best-in-class app development support > A streamlined, 14 day to market process makes app distribution fast and > easy Join now and get one step closer to millions of Verizon customers > http://p.sf.net/sfu/verizon-dev2dev |