Re: robot_params for P2DX

Btw the change was just to make sure that all ConvFactor parameters are doubles, not integers.  I don't think I have any ofthe older robots handy that don't use a DistConvFactor other than 1.0 but will ask around for one.   (I also happened to pick up parameters for a type of robot called powerboat-sh-uarcs, It's just a powerbot with a different firmware implementation... though I don't think any robots of this type are actually sold... but in case they are in the future...)





> -----Original Message-----
> From: Reed Hedges [mailto:[email protected]]
> Sent: Friday, September 24, 2010 12:25 PM
> To: [email protected]
> Subject: Re: [Playerstage-developers] 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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