[ros-users] [Pr2-users] configuring laser_tilt_controller

[Dejan Pangercic]

Hi Vijay,

thx for this, it worked.

cheers, d.

On Mon, Sep 13, 2010 at 1:19 AM, Vijay Pradeep
<vpradeep at willowgarage.com> 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 <dejan.pangercic at gmail.com>
> 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 at cs.tum.edu
>> WWW: http://ias.cs.tum.edu/people/pangercic
>> _______________________________________________
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>> https://code.ros.org/mailman/listinfo/ros-users
>
>
>
> --
> Vijay Pradeep
> Systems Engineer
> Willow Garage, Inc.
> vpradeep at willowgarage.com
>
>
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>
>



-- 
MSc. Dejan Pangercic
PhD Student/Researcher
Intelligent Autonomous Systems Group
Technische Universität München
Telephone: +49 (89) 289-26908
E-Mail: dejan.pangercic at cs.tum.edu
WWW: http://ias.cs.tum.edu/people/pangercic