Re: Issue with playerc_position2d_set_cmd_pose_with_vel

On 02/13/2014 06:58 AM, zipcode wrote:
> The issue is that I'm not working with a real amigoboot, I'm ussing a
> simulation platform wich name is Stage.
> I searched the config file of the amigoboot but I only found this:
> ### AMIGOBOT ####
>
> # The AmigoBot sonar array
> define amigo_sonar ranger
> (
>    scount 8
>    spose[0] [ 0.073 0.105 90 ]
>    spose[1] [ 0.130 0.078 41 ]
>    spose[2] [ 0.154 0.030 15 ]
>    spose[3] [ 0.154 -0.030 -15 ]
>    spose[4] [ 0.130 -0.078 -41 ]	
>    spose[5] [ 0.073 -0.105 -90 ]
>    spose[6] [ -0.146 -0.060 -145 ]
>    spose[7] [ -0.146 0.060 145 ]
> )
>
> define amigobot position
> (
>    size [0.330 0.280 0.25]
>    origin [0 0 0 0] # what should this value be? send email to
> [email protected].
>    amigo_sonar( pose [0 0 -0.02 0 ] )
> )
>
> Do you know wich of this parameters is the speed?
>
All parameters for the "amigobot" model, which is a position model, can 
be found here:

http://rtv.github.io/Stage/group__model__position.html

It looks like you need to set the "velocity_bounds" parameter to 
something other than the default values (which are all -1 and 1) in 
order to get your robot's velocity to 2 m/sec

Rich


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