BicyclePlayerClient
[Bicycle drivers, C++, Linux]

An implementation using Player client API. More...

An implementation using Player client API.

This driver wraps up a Player client. It requires a running Player server. The driver gets data from that server and converts it to the format specified by Bicycle interface. More information on Player/Stage.

Dependancies

• Player. Requires that Player/Stage v.>=2.0 are installed and running. As Player itself, this driver is Linux only. See our notes on installing Player in platform-dependent installation page, e.g. orca_doc_installdebian_player.

Extra configuration

• PlayerClient.Host (string)
  • The host that Player (or Stage) is running on
  • Default: "localhost"
• PlayerClient.Port (int)
  • The port that Player (or Stage) is running on
  • Constraints: >0
  • Default: 6665
• PlayerClient.Position2dIndex (int)
  • The index of the Player Position2d driver that controls the bicycle
  • Constraints: >=0
  • Default: 0
• PlayerClient.Position1dIndex (int)
  • The index of the Player Position1d driver that provides the current steer angle of the bicycle
  • If set to "none", immediate response is considered
• PlayerClient.SimulatedMaxSteerAngleRate (double) [rad/s]
  • Only used if Position1dIndex=="none"
  • Useful under Stage. It inserts a delay in the steering angle commands, to avoid an immediate steer response.
  • If set to non-positive, no delay is simulated
  • Default: 0
• PlayerClient.UsePlayerTimestamp (int)
  • Whether to use the timestamp Player reports
  • If 0, the timestamp is set by the arrival time of the data
  • Default: 0

Naturally, both real hardware and Stage simulator are supported.