Quantcast

Issue with playerc_position2d_set_cmd_pose_with_vel

classic Classic list List threaded Threaded
5 messages Options
Reply | Threaded
Open this post in threaded view
|  
Report Content as Inappropriate

Issue with playerc_position2d_set_cmd_pose_with_vel

zipcode
So the problems is that I'm trying to use this function in mi amigoboot.
I understand that with this function, playerc_position2d_set_cmd_pose_with_vel(pos,vel,state) you can move to a given point x and y with an given speed. But I'm not able to do it the right way.
What I do is:

player_pose2d_t position,velocity;
position.px=5;
position.py=2;
position.pa=DTOR(90);
velocity.px=2;
velocity.py=1;
playerc_position2d_set_cmd_pose_with_vel(position2d,position,velocity,1);

After this the amigobot goes to the given x and y but the it doesn't increase the speed.
It's goes at the same speed as this function
playerc_position2d_set_cmd_pose(5,2,DTOR(90),1);

What I'm doing wrong
Reply | Threaded
Open this post in threaded view
|  
Report Content as Inappropriate

Re: Issue with playerc_position2d_set_cmd_pose_with_vel

Rich Mattes-2
On 02/12/2014 10:39 AM, zipcode wrote:

> So the problems is that I'm trying to use this function in mi amigoboot.
> I understand that with this function,*
> playerc_position2d_set_cmd_pose_with_vel(pos,vel,state)* you can move to a
> given point x and y with an given speed. But I'm not able to do it the right
> way.
> What I do is:
>
> player_pose2d_t position,velocity;
> position.px=5;
> position.py=2;
> position.pa=DTOR(90);
> velocity.px=2;
> velocity.py=1;
> playerc_position2d_set_cmd_pose_with_vel(position2d,position,velocity,1);
>
> After this the amigobot goes to the given x and y but the it doesn't
> increase the speed.
> It's goes at the same speed as this function
> playerc_position2d_set_cmd_pose(5,2,DTOR(90),1);
>
> What I'm doing wrong
>
>
>
>

It looks like the maximum forward velocity defaults to 0.5 m/sec unless
you override it in the config file[1].  Have you done that?

Rich

[1]
http://playerstage.sourceforge.net/doc/Player-svn/player/group__driver__p2os.html

------------------------------------------------------------------------------
Android apps run on BlackBerry 10
Introducing the new BlackBerry 10.2.1 Runtime for Android apps.
Now with support for Jelly Bean, Bluetooth, Mapview and more.
Get your Android app in front of a whole new audience.  Start now.
http://pubads.g.doubleclick.net/gampad/clk?id=124407151&iu=/4140/ostg.clktrk
_______________________________________________
Playerstage-developers mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/playerstage-developers
Reply | Threaded
Open this post in threaded view
|  
Report Content as Inappropriate

Re: Issue with playerc_position2d_set_cmd_pose_with_vel

zipcode
This post was updated on .
The issue is that I'm not working with a real amigoboot, I'm ussing a simulation platform wich name is Stage.
I searched the config file of the amigoboot but I only found this:
### AMIGOBOT ####

# The AmigoBot sonar array
define amigo_sonar ranger
(
  scount 8
  spose[0] [ 0.073 0.105 90 ]
  spose[1] [ 0.130 0.078 41 ]
  spose[2] [ 0.154 0.030 15 ]
  spose[3] [ 0.154 -0.030 -15 ]
  spose[4] [ 0.130 -0.078 -41 ]
  spose[5] [ 0.073 -0.105 -90 ]
  spose[6] [ -0.146 -0.060 -145 ]
  spose[7] [ -0.146 0.060 145 ]
)

define amigobot position
(
  size [0.330 0.280 0.25]
  origin [0 0 0 0]
  amigo_sonar( pose [0 0 -0.02 0 ] )
)

Do you know wich of this parameters is the speed?
Reply | Threaded
Open this post in threaded view
|  
Report Content as Inappropriate

Re: Issue with playerc_position2d_set_cmd_pose_with_vel

Rich Mattes-2
On 02/13/2014 06:58 AM, zipcode wrote:

> The issue is that I'm not working with a real amigoboot, I'm ussing a
> simulation platform wich name is Stage.
> I searched the config file of the amigoboot but I only found this:
> ### AMIGOBOT ####
>
> # The AmigoBot sonar array
> define amigo_sonar ranger
> (
>    scount 8
>    spose[0] [ 0.073 0.105 90 ]
>    spose[1] [ 0.130 0.078 41 ]
>    spose[2] [ 0.154 0.030 15 ]
>    spose[3] [ 0.154 -0.030 -15 ]
>    spose[4] [ 0.130 -0.078 -41 ]
>    spose[5] [ 0.073 -0.105 -90 ]
>    spose[6] [ -0.146 -0.060 -145 ]
>    spose[7] [ -0.146 0.060 145 ]
> )
>
> define amigobot position
> (
>    size [0.330 0.280 0.25]
>    origin [0 0 0 0] # what should this value be? send email to
> [hidden email].
>    amigo_sonar( pose [0 0 -0.02 0 ] )
> )
>
> Do you know wich of this parameters is the speed?
>
All parameters for the "amigobot" model, which is a position model, can
be found here:

http://rtv.github.io/Stage/group__model__position.html

It looks like you need to set the "velocity_bounds" parameter to
something other than the default values (which are all -1 and 1) in
order to get your robot's velocity to 2 m/sec

Rich


------------------------------------------------------------------------------
Android apps run on BlackBerry 10
Introducing the new BlackBerry 10.2.1 Runtime for Android apps.
Now with support for Jelly Bean, Bluetooth, Mapview and more.
Get your Android app in front of a whole new audience.  Start now.
http://pubads.g.doubleclick.net/gampad/clk?id=124407151&iu=/4140/ostg.clktrk
_______________________________________________
Playerstage-developers mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/playerstage-developers
Reply | Threaded
Open this post in threaded view
|  
Report Content as Inappropriate

Re: Issue with playerc_position2d_set_cmd_pose_with_vel

zipcode
I'll test it tomorrow.

Thanks
Loading...