obot
Drivers

Botrics Obot mobile robot. More...

Botrics Obot mobile robot.

The obot driver controls the Obot robot, made by Botrics. It's a small, very fast robot that can carry a SICK laser (talk to the laser over a normal serial port using the sicklms200 driver).

Compile-time dependencies

- none

Provides

- position2d
- power

Requires

- none

Supported commands

- PLAYER_POSITION2D_CMD_VEL
- PLAYER_POSITION2D_CMD_CAR

Supported configuration requests

- PLAYER_POSITION2D_REQ_GET_GEOM
- PLAYER_POSITION2D_REQ_SET_ODOM
- PLAYER_POSITION2D_REQ_RESET_ODOM

Configuration file options

- offset (length tuple)
  - Default: [0.0 0.0 0.0]
  - Offset of the robot's center of rotation
- size (length tuple)
  - Default: [0.45 0.45]
  - Bounding box (length, width) of the robot
- port (string)
  - Default: "/dev/usb/ttyUSB1"
  - Serial port used to communicate with the robot.
- max_speed (length, angle tuple)
  - Default: [0.5 40.0]
  - Maximum (translational, rotational) velocities
- max_accel (integer)
  - Default: 5
  - Maximum acceleration/deceleration (units?)
- motors_swapped (integer)
  - Default: 0
  - If non-zero, then assume that the motors and encoders connections are swapped.
- car_angle_deadzone (angle)
  - Default: 5.0 degrees
  - Minimum angular error required to induce servoing when in car-like command mode.
- car_angle_p (float)
  - Default: 1.0
  - Value to be multiplied by angular error (in rad) to produce angular velocity command (in rad/sec) when in car-like command mode
- watchdog_timeout (float, seconds)
  - Default: 1.0
  - How long since receiving the last command before the robot is stopped, for safety. Set to -1.0 for no watchdog (DANGEROUS!).

Example

    driver
    (
      name "obot"
      provides ["position2d:0"]
    )

Author
  Brian Gerkey

Last updated 12 September 2005 21:38:45