A robot controller that drives a robot to a given target.

Provides
  • interface_position2d
  • interface_dio
Requires
  • interface_position2d
Configuration requests
  • None
Configuration file options
  • dist_tol (float)
    • Default: DEFAULT_DIST_TOL
    • Distance to the target tollerance
  • angle_tol (float)
    • Default: DEFAULT_ANGLE_TOL
    • Angle difference tollerance
  • max_dist (float)
    • Default: 0.5
    • Maximum distance between checkpoints
  • debug (integer)
    • Default: 0
    • Debug
  • reactive (integer)
    • Default: 0
    • Shall we react for stall states? 0 - no, 1 - yes (see 'reaction_turn_vel', 'reaction_time'), 2 - yes, with random parameters
  • reaction_turn_vel (float)
    • Default: 0.0 (rad/sec)
    • When 'reactive' is set to 1, this driver causes a robot to go back on stall state for a while ('reaction_time') turning it with 'reaction_turn_vel' angular velocity
  • reaction_time (float)
    • Default: 1.5 (seconds)
    • When 'reactive' is set to 1, this driver causes a robot to go back on stall state for a while ('reaction_time') turning it with 'reaction_turn_vel' angular velocity
  • forward_enabled (integer)
    • Default: 0
    • Shall we forward position2d velocity commands?
  • early_check (integer)
    • Default: 1
    • If set to 1, do not wait for newer position data to check if at target
  • send_everything (integer)
    • Default: 1
    • If set to 1, data and commands are sent at once
  • max_vel
    • Default: 0.7
    • Maximum speed forward
  • min_vel
    • Default: 0.1
    • Minimum speed forward
  • max_angular_vel
    • Default: 45.0
    • Maximum rotation speed
  • min_angular_vel
    • Default: 10.0
    • Minimum rotation speed
Example
driver
(
  name "goto"
  provides ["position2d:100" "dio:0"]
  requires ["position2d:0"]
  debug 1
  reactive 1
)
Author
Paul Osmialowski