khepera
Drivers

K-Team Khepera mobile robot. More...

K-Team Khepera mobile robot.

The khepera driver is used to interface to the K-Team khepera robot.

This driver is experimental and should be treated with caution. At this point it supports the position2d and ir interfaces.

TODO:

- Add support for position control (currently only velocity control)
- Add proper calibration for IR sensors

Compile-time dependencies

- none

Provides

- position2d
- ir

Requires

- none

Supported configuration requests

- The position2d interface supports:
  - PLAYER_POSITION2D_REQ_GET_GEOM
  - PLAYER_POSITION2D_REQ_MOTOR_POWER
  - PLAYER_POSITION2D_REQ_VELOCITY_MODE
  - PLAYER_POSITION2D_REQ_RESET_ODOM
  - PLAYER_POSITION2D_REQ_SET_ODOM
- The ir interface supports:
  - PLAYER_IR_REQ_POSE

Configuration file options

- port (string)
  - Default: "/dev/ttyUSB0"
  - Serial port used to communicate with the robot.
- scale_factor (float)
  - Default: 10
  - As the khepera is so small the actual geometry doesnt make much sense with many of the existing defaults so the geometries can all be scaled by this factor.
- encoder_res (float)
  - Default: 1.0/12.0
  - The wheel encoder resolution.
- position_pose (float tuple)
  - Default: [0 0 0]
  - The pose of the robot in player coordinates (mm, mm, deg).
- position_size (float tuple)
  - Default: [57 57]
  - The size of the robot approximated to a rectangle (mm, mm).
- ir_pose_count (integer)
  - Default: 8
  - The number of ir poses.
- ir_poses (float tuple)
  - Default: [10 24 90 19 17 45 25 6 0 25 -6 0 19 -17 -45 10 -24 -90 -24 -10 180 -24 10 180]
  - Poses of the IRs (mm mm deg for each one)

Example

    driver
    (
      name "khepera"
      provides ["position2d:0" "ir:0"]
    )

Author
  Toby Collett

Last updated 12 September 2005 21:38:45