Re: robot_params for P2DX

I put a new patch saphconv_fixes-rh-2010-09-24.diff on the sourceforge patch tracker which should fix this (fixes the saphconv tcl scripts and regenerated robot_params code for the p2os driver)


https://sourceforge.net/tracker/index.php?func=detail&aid=3043954&group_id=42445&atid=433166



> -----Original Message-----
> From: Reed Hedges [mailto:[email protected]]
> Sent: Friday, September 24, 2010 10:32 AM
> To: [email protected]
> Subject: Re: [Playerstage-developers] 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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