Re: robot_params for P2DX

W dniu 24.09.2010 18:33, Reed Hedges pisze:
> 
> 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...)
> 
> 
> 
Hi Reed,

I have applied this patch on todays SVN snapshot and it worked fine:
sonar readings looked reasonable. Therefore I suggest to apply updated
patch 433166 on SVN trunk.

Cheers,
Paul

> 
> 
>> -----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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>> -----------------------------------------------------------------------
>> -------
>> Start uncovering the many advantages of virtual appliances
>> and start using them to simplify application deployment and
>> accelerate your shift to cloud computing.
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> 
> ------------------------------------------------------------------------------
> Start uncovering the many advantages of virtual appliances
> and start using them to simplify application deployment and
> accelerate your shift to cloud computing.
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