Bicycle
[Components, Stand-Alone Components, IceBox Services, C++, Linux, QNX]

Controls a bicycle with both steering and drive in the front wheel. More...

Controls a bicycle with both steering and drive in the front wheel.

Provides

• orca_interface_home
• orca_interface_odometry2d [Bicycle.Provides.Odometry2d]
• orca_interface_drivebicycle [Bicycle.Provides.DriveBicycle]
• orca_interface_status
• orca_interface_tracer

Requires

• none

Drivers

This component loads an implementation of a hardware interface of type hydrointerfaces::Bicycle, and makes it accesible through two Orca interfaces: DriveBicycle and Odometry2d. You can also load your own implementation as long as the shared library is in the path. See Hydro documentation for the list of available drivers.

• Bicycle drivers

Configuration

General Parameters:

• Bicycle.Config.Driver (string)
  • Type of hardware driver
  • Valid values: { 'libHydroBicyclePlayerClient.so' }
  • Default: 'libHydroBicyclePlayerClient.so'

• Bicycle.Config.EnableMotion (bool)
  • Allow motion commands or not. Convinient for testing when you want to make sure that the platform will not move.
  • Default: 1

• Bicycle.Config.Odometry2dPublishInterval (double) [s]
  • How often to send position information to the IceStorm server
  • Valid values:
    • t<0 : send every new data point
    • t>0 : send approximately every t seconds
  • Default: 0.1 (10Hz)

Parameters describing vehicle (see orca::VehicleDescription for details)

• Bicycle.Config.VehicleDescription.Control.Type (string)
  • valid values: 'VelocityBicycle'
  • Default: 'VelocityBicycle'
• Bicycle.Config.VehicleDescription.Control.VelocityBicycle.Wheelbase (m)
  • Default: 1.0
• Bicycle.Config.VehicleDescription.Control.VelocityBicycle.MaxForwardSpeed (m/s)
  • Default: 1.0
• Bicycle.Config.VehicleDescription.Control.VelocityBicycle.MaxReverseSpeed (m/s)
  • valid values: must be same as forward speed.
  • Default: 1.0
• Bicycle.Config.VehicleDescription.Control.VelocityBicycle.MaxSteerAngle (deg)
  • Maximum steer angle (assumed max angle at 0m/s)
  • Default: 90.0
• Bicycle.Config.VehicleDescription.Control.VelocityBicycle.MaxSteerAngleAtMaxSpeed (deg)
  • Maximum steer angle at maximum speed
  • Default: 90.0
• Bicycle.Config.VehicleDescription.Control.VelocityBicycle.MaxForwardAcceleration (m/s/s)
  • Default: 1.0
• Bicycle.Config.VehicleDescription.Control.VelocityBicycle.MaxReverseAcceleration (m/s/s)
  • Default: 1.0
• Bicycle.Config.VehicleDescription.Control.VelocityBicycle.MaxSteerAngleAngleRate (deg/s)
  • Default: 90.0
• Bicycle.Config.VehicleDescription.Geometry.Type (string)
  • valid values: { 'Cylindrical', 'Cuboid' }
  • Default: 'Cuboid'
• Bicycle.Config.VehicleDescription.Geometry.Cuboid.Size (Size3d)
  • Size of the vehicle's bounding cuboid
  • Default: 1.0 1.0 1.0
• Bicycle.Config.VehicleDescription.Geometry.Cuboid.PlatformToGeometryTransform (Frame3d) [m, deg]
  • Position of the cuboid centre with respect to the vehicle's local coord system.
  • Format: x y z roll pitch yaw (space separated)
  • Default: 0.0 0.0 0.0 0.0 0.0 0.0
• Bicycle.Config.VehicleDescription.Geometry.Cylindrical.Height (m)
  • Height of the vehicle's bounding cylinder
  • Default: 1.0
• Bicycle.Config.VehicleDescription.Geometry.Cylindrical.PlatformToGeometryTransform (Frame3d) [m, deg]
  • Position of the cylinder centre with respect to the vehicle's local coord system. (cylinder extends in +/- z direction from here)
  • Format: x y z roll pitch yaw (space separated)
  • Default: 0.0 0.0 0.0 0.0 0.0 0.0

An example configuration file is installed into [ORCA-INSTALL-DIR]/share/orca/cfg/ directory.

See also:

Individual drivers may have additional configuration parameters which are specified as Bicycle.Config.XXX. See driver documentation.

Authors

Alex Makarenko, Mikel Astiz