Hi Vijay, thx for this, it worked. cheers, d. On Mon, Sep 13, 2010 at 1:19 AM, Vijay Pradeep wrote: > Hi Dejan, > > Assuming that you're running with a fairly standard PR2 configuration, the > laser controller that you're running is documented here: > http://www.ros.org/wiki/pr2_mechanism_controllers/LaserScannerTrajController > > The set_periodic_cmd service call can execute only a subset of the profiles > that are possible with set_traj_cmd.  set_periodic_cmd can only do triangle > wave profiles where the laser moves the same speed on both the up and down > sweep. > > The set_traj_cmd lets you specify all the timepoints of the trajectory, > giving much more flexibility. > > Suppose you have a periodic command with period=4, amplitude=2, and > offset=1.  The equivalent trajectory command would have the following > timepoints: > time_from_start=0, pos=3 > time_from_start=2, pos=-1 > time_from_start=4, pos=3 > > Hopefully this helps! > Vijay > > On Sat, Sep 11, 2010 at 3:31 PM, Dejan Pangercic > wrote: >> >> Hi there, >> I noticed that there are 2 ways to configure laser_tilt_controller, >> one with pr2_msgs/LaserTrajCmd (as in e.g. pr2_move_base, >> pr2_move_base.py) message and >> second with a pr2_msgs/PeriodicCmd (as in e.g. send_periodic_cmd.py). >> What is the actual difference? Can one somehow find the mapping >> between >> their values? >> >> I have a case where I drive(using pr2_2dnav) around with the PR2, halt >> at the certain locations and map the environment. The tilting rate at >> mapping has to of course be significantly  slower that the one needed >> by the "pr2_2dnav" application which requires constant back-and-forth >> reconfiguration. So far my preferred method of configuring the >> laser_tilt_controller was by using the send_periodic_cmd.py program >> but then I do not seem to be able to hit the same configuration as >> done by the  "pr2_2dnav" which consequentially results in sloppy >> performance by the latter. >> So if the mapping between both messages is possible I'd be >> tremendously glad to learn about. >> >> thx and cheers, D. >> >> -- >> MSc. Dejan Pangercic >> PhD Student/Researcher >> Intelligent Autonomous Systems Group >> Technische Universität München >> Telephone: +49 (89) 289-26908 >> E-Mail: dejan.pangercic@cs.tum.edu >> WWW: http://ias.cs.tum.edu/people/pangercic >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users > > > > -- > Vijay Pradeep > Systems Engineer > Willow Garage, Inc. > vpradeep@willowgarage.com > > > _______________________________________________ > PR2-users mailing list > PR2-users@lists.willowgarage.com > http://lists.willowgarage.com/cgi-bin/mailman/listinfo/pr2-users > > -- MSc. Dejan Pangercic PhD Student/Researcher Intelligent Autonomous Systems Group Technische Universität München Telephone: +49 (89) 289-26908 E-Mail: dejan.pangercic@cs.tum.edu WWW: http://ias.cs.tum.edu/people/pangercic