Re: robot_params for P2DX

I'll look at it. Paul, can you explain the original problem with sonar readings? You think it's the conversion factor?

Reed



> -----Original Message-----
> From: Rich Mattes [mailto:[email protected]]
> Sent: Monday, September 20, 2010 11:34 AM
> To: [email protected]
> Subject: Re: [Playerstage-developers] 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/t
> runk/
> server/drivers/mixed/p2os/robot_params.cc?r1=8479&r2=8855 ctrl+f p2dx
> 
> 
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