Re: robot_params for P2DX

Hi Reed,

Original problem was explained in 2832758:
>>the bug is in robot_params.h file which, according to remarked
comments is automatically generated by saphconv.tcl from Saphira
parameter files. The RangeConvFactor field used by sonars is of int type
while the value that should be set for P2DX is 0.268 which results in
zero being stored in the structure. As a result, all sonar readings are
multiplied by zero, so there's no readings at all. In the erratic driver
the same robot_params.h file has the same field, but this time it is of
double type.<<

Paul

W dniu 24.09.2010 16:32, Reed Hedges pisze:
> 
> 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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> 
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