Robot2d
[Components, Stand-Alone Components, IceBox Services, C++, Linux, QNX]

Controls a 2-D mobile robot. More...

Controls a 2-D mobile robot.

Provides

• orca_interface_home
• orca_interface_odometry2d [Robot2d.Provides.Odometry2d]
• orca_interface_velocitycontrol2d [Robot2d.Provides.VelocityControl2d]
• orca_interface_status
• orca_interface_tracer

Requires

• none

Drivers

• playerclient orca_robot2d_playerclient
• fake Useful for testing or if you don't have hardware or a simulator.

Configuration

General Parameters:

• Robot2d.Config.Driver (string)
  • Type of hardware driver
  • Valid values: { 'playerclient', 'fake' }
  • Default: 'playerclient'

• Robot2d.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

• Robot2d.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)

• Robot2d.Config.VehicleDescription.Control.Type (string)
  • valid values: 'VelocityDifferential'
  • Default: 'VelocityDifferential'

• Robot2d.Config.VehicleDescription.Control.VelocityDifferential.MaxForwardSpeed (m/s)
  • Default: 1.0
• Robot2d.Config.VehicleDescription.Control.VelocityDifferential.MaxReverseSpeed (m/s)
  • valid values: must be same as forward speed.
  • Default: 1.0
• Robot2d.Config.VehicleDescription.Control.VelocityDifferential.MaxTurnrate (deg/s)
  • Absolute max turnrate (assumed max turnrate at 0m/s)
  • Default: 60.0
• Robot2d.Config.VehicleDescription.Control.VelocityDifferential.MaxLateralAcceleration (m/s/s)
  • Max centripital acceleration during a turn (limits max turnrate at speed).
    • See orca_interface_vehicleDescription
  • Default: 3.57
• Robot2d.Config.VehicleDescription.Control.VelocityDifferential.MaxForwardAcceleration (m/s/s)
  • Default: 1.0
• Robot2d.Config.VehicleDescription.Control.VelocityDifferential.MaxReverseAcceleration (m/s/s)
  • Default: 1.0
• Robot2d.Config.VehicleDescription.Control.VelocityDifferential.MaxRotationalAcceleration (deg/s/s)
  • Default: 45.0
• Robot2d.Config.VehicleDescription.Geometry.Type (string)
  • valid values: 'Cylindrical'
  • Default: 'Cylindrical'
• Robot2d.Config.VehicleDescription.Geometry.Cylindrical.Radius (m)
  • Radius of the vehicle's bounding cylinder
  • Default: 0.25
• Robot2d.Config.VehicleDescription.Geometry.Cylindrical.Height (m)
  • Height of the vehicle's bounding cylinder
  • Default: 1.0
• Robot2d.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 Robot2d.Config.XXX. See driver documentation.

Internal Structure

The implementation of Platform2d interface can raise orca::DataNotExistException but does NOT raise orca::HardwareFailedException.

Authors

Alex Makarenko.