p2os
Drivers

ActivMedia mobile robots. More...

ActivMedia mobile robots.

Many robots made by ActivMedia, such as the Pioneer series and the AmigoBot, are controlled by a microcontroller that runs a special embedded operating system called P2OS (aka AROS, PSOS). The host computer talks to the P2OS microcontroller over a standard RS232 serial line. This driver offer access to the various P2OS-mediated devices, logically splitting up the devices' functionality.

Compile-time dependencies

- none

Provides

The p2os driver provides the following device interfaces, some of them named:

- "odometry" position2d
  - This interface returns odometry data, and accepts velocity commands.
- "compass" position2d
  - This interface returns compass data (if equipped).
- "gyro" position2d
  - This interface returns gyroscope data (if equipped).
- power
  - Returns the current battery voltage (12 V when fully charged).
- sonar
  - Returns data from sonar arrays (if equipped)
- aio
  - Returns data from analog I/O ports (if equipped)
- dio
  - Returns data from digital I/O ports (if equipped)
- "gripper" gripper
  - Controls gripper (if equipped)
- "lift" actarray
  - Controls a lift on the gripper (if gripper equipped)
  - The lift is controlled by actuator 0. Position 1.0 is up and 0.0 is down.
- "arm" actarray
  - Controls arm (if equipped)
  - This driver does not support the player_actarray_speed_cmd and player_actarray_brakes_config messages.
- limb
  - Inverse kinematics interface to arm
  - This driver does not support the player_limb_setposition_cmd, player_limb_vecmove_cmd, player_limb_brakes_req and player_limb_speed_req messages.
  - The approach vector is forward along the gripper with the orientation vector up from the gripper's centre.
  - The limb takes pose commands in robot coordinates (offset from the robot's centre, not the limb's base) and returns pose data in the same coordinate space.
  - The kinematics calculator is based on the analytical method by Gan et al. See: J.Q. Gan, E. Oyama, E.M. Rosales, and H. Hu, "A complete analytical solution to the inverse kinematics of the Pioneer 2 robotic arm," Robotica, vol.23, no.1, pp.123-129, 2005.
- "armgrip" gripper
  - Controls the gripper on the end of the arm (if equipped)
  - Good for using in conjunction with the limb
- bumper
  - Returns data from bumper array (if equipped)
- blobfinder
  - Controls a CMUCam2 connected to the AUX port on the P2OS board (if equipped).
- ptz
  - Controls a Canon VCC4 PTZ camera connected to the AUX2 port on the P2OS board (if equipped).
- audio
  - Controls the sound system of the AmigoBot, which can play back recorded wav files.

Supported configuration requests

- "odometry" position2d :
  - PLAYER_POSITION2D_REQ_SET_ODOM
  - PLAYER_POSITION2D_REQ_MOTOR_POWER
  - PLAYER_POSITION2D_REQ_RESET_ODOM
  - PLAYER_POSITION2D_REQ_GET_GEOM
  - PLAYER_POSITION2D_REQ_VELOCITY_MODE
- sonar :
  - PLAYER_SONAR_REQ_POWER
  - PLAYER_SONAR_REQ_GET_GEOM
- bumper :
  - PLAYER_BUMPER_REQ_GET_GEOM
- blobfinder :
  - PLAYER_BLOBFINDER_REQ_SET_COLOR
  - PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS

Configuration file options

- port (string)
  - Default: "/dev/ttyS0"
- use_tcp (boolean)
  - Defaut: 0
  - Set to 1 if a TCP connection should be used instead of serial port (e.g. Amigobot with ethernet-serial bridge device attached)
- tcp_remote_host (string)
  - Default: "localhost"
  - Remote hostname or IP address to connect to if using TCP
- tcp_remote_port (integer)
  - Default: 8101
  - Remote port to connect to if using TCP
  - Serial port used to communicate with the robot.
- radio (integer)
  - Default: 0
  - Nonzero if a radio modem is being used; zero for a direct serial link. (a radio modem is different from and older than the newer ethernet-serial bridge used on newer Pioneers and Amigos)
- bumpstall (integer)
  - Default: -1
  - Determine whether a bumper-equipped robot stalls when its bumpers are pressed. Allowed values are:
    - -1 : Don't change anything; the bumper-stall behavior will be determined by the BumpStall value stored in the robot's FLASH.
    - 0 : Don't stall.
    - 1 : Stall on front bumper contact.
    - 2 : Stall on rear bumper contact.
    - 3 : Stall on either bumper contact.
- pulse (float)
  - Default: -1
  - Specify a pulse for keeping the robot alive. Pioneer robots have a built-in watchdog in the onboard controller. After a timeout period specified in the robot's FLASH, if no commands have been received from the player server, the robot will stop. By specifying a positive value here, the Player server will send a regular pulse command to the robot to let it know the client is still alive. The value should be in seconds, with decimal places allowed (eg 0.5 = half a second). Note that if this value is greater than the Pioneer's onboard value, it will still time out.
  - Specifying a value of -1 turns off the pulse, meaning that if you do not send regular commands from your client program, the robot's onboard controller will time out and stop.
  - WARNING: Overriding the onboard watchdog is dangerous! Specifying -1 and writing your client appropriately is definitely the preffered option!
- joystick (integer)
  - Default: 0
  - Use direct joystick control
- direct_wheel_vel_control (integer)
  - Default: 1
  - Send direct wheel velocity commands to P2OS (as opposed to sending translational and rotational velocities and letting P2OS smoothly achieve them).
- max_xspeed (length)
  - Default: 0.5 m/s
  - Maximum translational velocity
- max_yawspeed (angle)
  - Default: 100 deg/s
  - Maximum rotational velocity
- max_xaccel (length)
  - Default: 0
  - Maximum translational acceleration, in length/sec/sec; nonnegative. Zero means use the robot's default value.
- max_xdecel (length)
  - Default: 0
  - Maximum translational deceleration, in length/sec/sec; nonpositive. Zero means use the robot's default value.
- max_yawaccel (angle)
  - Default: 0
  - Maximum rotational acceleration, in angle/sec/sec; nonnegative. Zero means use the robot's default value.
- rot_kp (integer)
  - Default: -1
  - Rotational PID setting; proportional gain. Negative means use the robot's default value.
  - Requires P2OS1.M or above
- rot_kv (integer)
  - Default: -1
  - Rotational PID setting; derivative gain. Negative means use the robot's default value.
  - Requires P2OS1.M or above
- rot_ki (integer)
  - Default: -1
  - Rotational PID setting; integral gain. Negative means use the robot's default value.
  - Requires P2OS1.M or above
- trans_kp (integer)
  - Default: -1
  - Translational PID setting; proportional gain. Negative means use the robot's default value.
  - Requires P2OS1.M or above
- trans_kv (integer)
  - Default: -1
  - Translational PID setting; derivative gain. Negative means use the robot's default value.
  - Requires P2OS1.M or above
- trans_ki (integer)
  - Default: -1
  - Translational PID setting; integral gain. Negative means use the robot's default value.
  - Requires P2OS1.M or above
- max_yawdecel (angle)
  - Default: 0
  - Maximum rotational deceleration, in angle/sec/sec; nonpositive. Zero means use the robot's default value.
- use_vel_band (integer)
  - Default: 0
  - Use velocity bands
- aa_basepos (3 floats)
  - Default: (0.105, 0, 0.3185)
  - Position of the base of the arm from the robot centre in metres.
- aa_baseorient (3 floats)
  - Default: 0, 0, 0
  - Orientation of the base of the arm from the robot centre in radians.
- aa_offsets (6 floats)
  - Default: (0.06875, 0.16, 0, 0.13775, 0.11321, 0)
  - Offsets for the actarray. Taken from current actuator to next actuator. Each offset is a straight line, not measured per axis.
- aa_orients (3x6 floats)
  - Default: all zero
  - Orientation of each actuator when it is at 0. Measured by taking a line from this actuator to the next and measuring its angles about the 3 axes of the previous actuator's coordinate space.
  - Each set of three values is a single orientation.
- aa_axes (3x6 floats)
  - Default: ((0,0,-1), (0,-1,0), (0,-1,0), (1,0,0), (0,1,0), (0,0,1))
  - The axis of rotation for each joint in the actarray.
  - Each set of three values is a vector along the axis of rotation.
- limb_pos (3 floats)
  - Default: (0.105, 0, 0.3185)
  - Position of the base of the arm from the robot centre in metres.
- limb_links (5 floats)
  - Default: (0.06875, 0.16, 0, 0.13775, 0.11321)
  - Offset from previous joint to this joint in metres. e.g. the offset from joint 0 to joint 1 is 0.06875m, and from joint 1 to joint 2 is 0.16m.
  - The default is correct for the standard Pioneer arm at time of writing.
- limb_offsets (5 floats, metres)
  - Default: (0, 0, 0, 0, 0)
  - Angular offset of each joint from desired position to actual position (calibration data).
  - Possibly taken by commanding joints to 0rad with actarray interface, then measuring their actual angle.
- gripper_pose (6 floats - 3 in metres, 3 in rads)
  - Default: (0, 0, 0, 0, 0, 0)
  - 3D pose of the standard gripper
- gripper_outersize (3 floats, metres)
  - Default: (0.315, 0.195, 0.035)
  - Size of the outside of the standard gripper
- gripper_innersize (3 floats, metres)
  - Default: (0.205, 0.095, 1.0)
  - Size of the inside of the standard gripper's fingers when fully open, i.e. the largest object it can pick up.
- armgrip_outersize (3 floats, metres)
  - Default: (0.09, 0.09, 0.041)
  - Size of the outside of the arm's gripper
- armgrip_innersize (3 floats, metres)
  - Default: (0.054, 0.025, 1.0)
  - Size of the inside of the arm's gripper (largest object it can hold)
- ignore_checksum (boolean)
  - Default: False (no effect)
  - If set to True, the checksum will be ignored

Example

    driver
    (
      name "p2os"
      provides ["odometry::position:0" "compass::position:1" "sonar:0" "power:0"]
    )

Author
  Brian Gerkey, Kasper Stoy, James McKenna

Last updated 12 September 2005 21:38:45