Re: Questions about cameras and PlayerStage sensors

On Fri, 1 Jul 2005, Artem Orlov wrote:

> Does anybody try to get sensor data from robot simulator such as
> PlayerStage http://playerstage.sourceforge.net ? Are there device
> drivers for Orocos supporting PlayerStage's sonar, lazer and camera
> sensors?
>
> Recently I have written a simple driver for sonar sensor but I have
> faced a problem of data synchronization between a sensor proxy and
> PlayerClient connection. May be somebody knows more weak points?
>
> One more question. How can I get a video stream from any camera (USB,
> FireWire, PCI framegrabber) within Orocos? I could find no device
> driver for it. Clips from the applications site
> http://www.orocos.org/applications.php show that Orocos developers use
> cameras although.
>
Device drivers are so-called "hot spots" in Orocos: they do not appear in
the Orocos code itself. So, we provide some abstract interfaces (position,
force, ...) to which you have to map your particular hardware device
drivers. The abstract interfaces currently are limited to what we have
needed until now; it's always been the idea to extend them when new needs
arise.

The Player/Stage drivers are not supported, because they are "too low
level" for Orocos. We are, however, very interested in making PS and Orocos
work together :-)

Herman

--
   K.U.Leuven, Mechanical Engineering, Robotics Research Group
  <http://people.mech.kuleuven.be/~bruyninc> Tel: +32 16 322480