orca-robotics INTRODUCTION Overview Download and Install Quick Start Documentation Publications REPOSITORY Interfaces Components Libraries Utilities Software Map DEVELOPER Tutorials Examples Dev Guide Dashboard Wiki login/pass: orca/orca PEOPLE Contributors Users Project Download Mailing lists

Robot2d [Components, Stand-Alone Components, IceBox Services, C++, Linux, QNX] Controls a 2-D mobile robot. More... Provides Home Odometry2d [Robot2d.Provides.Odometry2d] VelocityControl2d [Robot2d.Provides.VelocityControl2d] Status Tracer Requires none Drivers playerclient Player Client driver 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 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.PlatformToVehicleTransform (Frame3d) [m, deg] Position of the vehicle's local coord system with respect to the platform'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 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.VehicleToGeometryTransform (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. Dependancies None for the component. See driver sections below for individual driver dependencies. Player Client driver This driver wraps up a Player client which connects to Player's Position2d interface. As such it can be used as a quick-and-easy way to interact with virtually all robotic platforms supported by Player. Naturally, both real hardware and Stage simulator are supported. It requires a running Player server. The driver gets data from that server and converts it into Orca format. Dependancies 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 Robot2d.Config.PlayerClient.Host (string) The host that Player (or Stage) is running on Default: "localhost" Robot2d.Config.PlayerClient.Port (int) The port that PLayer (or Stage) is running on Constraints: >0 Default: 6665 Internal Structure The implementation of Platform2d interface can raise orca::DataNotExistException but does NOT raise orca::HardwareFailedException. Authors Alex Makarenko.

Webmaster: Tobias Kaupp (tobasco at users.sourceforge.net)

---