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
  • interface_position2d
  • interface_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