Hi,
Considering the calibration of the odometry for Pioneer robot using the
p2os_driver, we believe the
REVCOUNT, DRIFTFACTOR, TICKSMM are missing in both the header files and the
source files.
The following patch will add interfaces to adjust these three parameters to
the p2os_driver package.
This patch has been tested on PioneerAT and DX. (use parameter -p1)
diff -Naur old/include/p2os_driver/p2os.h new/include/p2os_driver/p2os.h
--- old/include/p2os_driver/p2os.h 2010-12-13 18:53:09.000000000 +0100
+++ new/include/p2os_driver/p2os.h 2010-12-13 18:52:40.000000000 +0100
@@ -143,6 +143,11 @@
int direct_wheel_vel_control;
int radio_modemp;
+
+ int revcount ; //#ticks per 180 degree, resolution of the robot
+ int ticksmm ; //encoder ticks per millimeter tire motion
+ int driftfactor; //working drift, to correct rotational offset
+
int motor_max_speed;
int motor_max_turnspeed;
short motor_max_trans_accel, motor_max_trans_decel;
diff -Naur old/include/p2os_driver/robot_params.h
new/include/p2os_driver/robot_params.h
--- old/include/p2os_driver/robot_params.h 2010-12-13 18:53:09.000000000
+0100
+++ new/include/p2os_driver/robot_params.h 2010-12-13 18:52:40.000000000
+0100
@@ -164,6 +164,14 @@
TRANSKP = 85, // Added in P2OS1.M
TRANSKV = 86, // Added in P2OS1.M
TRANSKI = 87, // Added in P2OS1.M
+
+
+ //ETHZ added
+ REVCOUNT = 88,
+ DRIFTFACTOR = 89,
+ TICKSMM = 93,
+
+
SOUND = 90,
PLAYLIST = 91,
SOUNDTOG = 92, ///< int, AmigoBot (old H8 model) specific, enable(1) or
@@ -222,7 +230,7 @@
#define CMUCAM_MESSAGE_LEN 10
/* conection stuff */
-#define DEFAULT_P2OS_PORT "/dev/ttyS0"
+#define DEFAULT_P2OS_PORT "/dev/ttyUSB0"
#define DEFAULT_P2OS_TCP_REMOTE_HOST "localhost"
#define DEFAULT_P2OS_TCP_REMOTE_PORT 8101
diff -Naur old/src/p2os.cc new/src/p2os.cc
--- old/src/p2os.cc 2010-12-13 18:53:01.000000000 +0100
+++ new/src/p2os.cc 2010-12-13 18:52:30.000000000 +0100
@@ -92,6 +92,18 @@
n_private.param( "max_yawdecel", spd, 0.0);
motor_max_rot_decel = (short)rint(RTOD(spd));
+ //odom calibration: revcount
+ int odomparam;
+ //essential:
+ n_private.param( "revcount", odomparam, 38000);
+ revcount = odomparam; //#ticks per 180 degree, resolution of the robot
+ //these two parameters are not set by default:
+ n_private.param( "ticksmm", odomparam, -1);
+ ticksmm = odomparam; //encoder ticks per millimeter tire motion
+ n_private.param( "revcount", odomparam, -1);
+ driftfactor = odomparam; //working drift, to correct rotational offset
+
+
desired_freq = 10;
// advertise services
@@ -560,6 +572,37 @@
this->SendReceive(&accel_packet,false);
}
+ ///////////////////Odometry/////////////////////////////////
+ //ETHZ Dec 8 2010
+ P2OSPacket odom_packet;
+ unsigned char odom_command[4];
+ if(this->revcount > 0)
+ {
+ odom_command[0] = REVCOUNT;
+ odom_command[1] = ARGINT;
+ odom_command[2] = this->revcount & 0x00FF;
+ odom_command[3] = (this->revcount & 0xFF00) >> 8;
+ odom_packet.Build(odom_command, 4);
+ this->SendReceive(&odom_packet);
+ }
+ if(this->ticksmm > 0)
+ {
+ odom_command[0] = TICKSMM;
+ odom_command[1] = ARGINT;
+ odom_command[2] = this->ticksmm & 0x00FF;
+ odom_command[3] = (this->ticksmm & 0xFF00) >> 8;
+ odom_packet.Build(odom_command, 4);
+ this->SendReceive(&odom_packet);
+ }
+ if(this->driftfactor > 0)
+ {
+ odom_command[0] = DRIFTFACTOR;
+ odom_command[1] = ARGINT;
+ odom_command[2] = this->driftfactor & 0x00FF;
+ odom_command[3] = (this->driftfactor & 0xFF00) >> 8;
+ odom_packet.Build(odom_command, 4);
+ this->SendReceive(&odom_packet);
+ }
// if requested, change PID settings
P2OSPacket pid_packet;
For further information, please refer to the software manual, e.g.
http://www.ist.tugraz.at/_attach/Publish/Kmr06/pioneer-robot.pdf#page=56
Good luck!
Best regards,
Ming Liu
--
___________________________________
Ming Liu
Autonomous Systems Laboratory
ETH Zurich, CLA E 26
Tannenstrasse 3
8092, Zurich, Switzerland
Phone: +41 44 632 92 96
Mobile: +41 76 729 50 85
Fax: +41 44 632 11 81
Liu.Ming.PRC@gmail.com
ming.liu@mavt.ethz.ch
___________________________________
diff -Naur old/include/p2os_driver/p2os.h new/include/p2os_driver/p2os.h
--- old/include/p2os_driver/p2os.h 2010-12-13 18:53:09.000000000 +0100
+++ new/include/p2os_driver/p2os.h 2010-12-13 18:52:40.000000000 +0100
@@ -143,6 +143,11 @@
int direct_wheel_vel_control;
int radio_modemp;
+
+ int revcount ; //#ticks per 180 degree, resolution of the robot
+ int ticksmm ; //encoder ticks per millimeter tire motion
+ int driftfactor; //working drift, to correct rotational offset
+
int motor_max_speed;
int motor_max_turnspeed;
short motor_max_trans_accel, motor_max_trans_decel;
diff -Naur old/include/p2os_driver/robot_params.h new/include/p2os_driver/robot_params.h
--- old/include/p2os_driver/robot_params.h 2010-12-13 18:53:09.000000000 +0100
+++ new/include/p2os_driver/robot_params.h 2010-12-13 18:52:40.000000000 +0100
@@ -164,6 +164,14 @@
TRANSKP = 85, // Added in P2OS1.M
TRANSKV = 86, // Added in P2OS1.M
TRANSKI = 87, // Added in P2OS1.M
+
+
+ //ETHZ added
+ REVCOUNT = 88,
+ DRIFTFACTOR = 89,
+ TICKSMM = 93,
+
+
SOUND = 90,
PLAYLIST = 91,
SOUNDTOG = 92, ///< int, AmigoBot (old H8 model) specific, enable(1) or
@@ -222,7 +230,7 @@
#define CMUCAM_MESSAGE_LEN 10
/* conection stuff */
-#define DEFAULT_P2OS_PORT "/dev/ttyS0"
+#define DEFAULT_P2OS_PORT "/dev/ttyUSB0"
#define DEFAULT_P2OS_TCP_REMOTE_HOST "localhost"
#define DEFAULT_P2OS_TCP_REMOTE_PORT 8101
diff -Naur old/src/p2os.cc new/src/p2os.cc
--- old/src/p2os.cc 2010-12-13 18:53:01.000000000 +0100
+++ new/src/p2os.cc 2010-12-13 18:52:30.000000000 +0100
@@ -92,6 +92,18 @@
n_private.param( "max_yawdecel", spd, 0.0);
motor_max_rot_decel = (short)rint(RTOD(spd));
+ //odom calibration: revcount
+ int odomparam;
+ //essential:
+ n_private.param( "revcount", odomparam, 38000);
+ revcount = odomparam; //#ticks per 180 degree, resolution of the robot
+ //these two parameters are not set by default:
+ n_private.param( "ticksmm", odomparam, -1);
+ ticksmm = odomparam; //encoder ticks per millimeter tire motion
+ n_private.param( "revcount", odomparam, -1);
+ driftfactor = odomparam; //working drift, to correct rotational offset
+
+
desired_freq = 10;
// advertise services
@@ -560,6 +572,37 @@
this->SendReceive(&accel_packet,false);
}
+ ///////////////////Odometry/////////////////////////////////
+ //ETHZ Dec 8 2010
+ P2OSPacket odom_packet;
+ unsigned char odom_command[4];
+ if(this->revcount > 0)
+ {
+ odom_command[0] = REVCOUNT;
+ odom_command[1] = ARGINT;
+ odom_command[2] = this->revcount & 0x00FF;
+ odom_command[3] = (this->revcount & 0xFF00) >> 8;
+ odom_packet.Build(odom_command, 4);
+ this->SendReceive(&odom_packet);
+ }
+ if(this->ticksmm > 0)
+ {
+ odom_command[0] = TICKSMM;
+ odom_command[1] = ARGINT;
+ odom_command[2] = this->ticksmm & 0x00FF;
+ odom_command[3] = (this->ticksmm & 0xFF00) >> 8;
+ odom_packet.Build(odom_command, 4);
+ this->SendReceive(&odom_packet);
+ }
+ if(this->driftfactor > 0)
+ {
+ odom_command[0] = DRIFTFACTOR;
+ odom_command[1] = ARGINT;
+ odom_command[2] = this->driftfactor & 0x00FF;
+ odom_command[3] = (this->driftfactor & 0xFF00) >> 8;
+ odom_packet.Build(odom_command, 4);
+ this->SendReceive(&odom_packet);
+ }
// if requested, change PID settings
P2OSPacket pid_packet;
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