Re: robot_params for P2DX

> -----Original Message-----
> From: Paul Osmialowski [mailto:[email protected]]
> Sent: Monday, September 20, 2010 11:08 AM
> To: [email protected]
> Subject: Re: [Playerstage-developers] robot_params for P2DX
>  
> Hi Rich,
> 
> I don't know, I feel like I'm the last one who uses such old P2DX
> model.
> Guys at MobileRobots may don't even realise that their upstream code
> breaks things on older equipment.
> I looked at previous patch that address P2DX problems (2832758) and see
> that now situation is different. The RangeConvFactor field is of type
> double (as it should be) while multiplication result is still zero.
> Seems
> like initial variables for this structure that are set in
> robot_params.cc
> are shifted (there are couple of places with zeros around), I think
> robot_params.cc authors should use better notation for avoiding this
> problem, it may look like:
> struct file_operations fops =
> {
>  	.read = device_read,
>  	.write = device_write,
>  	.open = device_open,
>  	.release = device_release
> };
> I need to find some time to confirm that the problem lies here.
> 
> Paul

Hi Paul,

It looks like the p2dx section of robot_params.cc has changed
significantly[1] with the given patch.  It looks like the new set of
parameters is missing quite a bit of information that the old set had; it
could be due to changes in ARIA (from which the robot_params are generated)
or changes in the generation script that were made to accommodate the new
parameters. The last time the params were updated was 2008, so they were
probably using ARIA 2.6.0.  If 2.7.0 (the latest version) breaks
compatibility, it could explain the differences.

Rich

[1]
http://playerstage.svn.sourceforge.net/viewvc/playerstage/code/player/trunk/
server/drivers/mixed/p2os/robot_params.cc?r1=8479&r2=8855 ctrl+f p2dx


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