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<h1>rflex<br/>
<small>
[<a class="el" href="group__drivers.html">Drivers</a>]</small>
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<p>RWI mobile robots.
<a href="#_details">More...</a></p>
<table class="memberdecls">
</table>
<p>RWI mobile robots. </p>
<p>The rflex driver is used to control RWI robots by directly communicating with <a class="el" href="classRFLEX.html">RFLEX</a> onboard the robot (i.e., Mobility is bypassed). To date, these drivers have been tested on an ATRV-Jr, but they should work with other RFLEX-controlled robots: you will have to determine some parameters to set in the config file, however.</p>
<p>As of March 2003 these drivers have been modified to support the b21r robot, Currently additional support has been added for the <a class="el" href="group__interface__power.html">power</a> interface and <a class="el" href="group__interface__bumper.html">bumper</a> interface. For the pan tilt unit on the b21r please refer to the <a class="el" href="group__driver__ptu46.html">ptu46</a> driver.</p>
<dl class="user"><dt><b>Compile-time dependencies</b></dt><dd></dd></dl>
<ul>
<li>none</li>
</ul>
<dl class="user"><dt><b>Provides</b></dt><dd></dd></dl>
<p>The rflex driver provides the following device interfaces, some of them named:</p>
<ul>
<li><a class="el" href="group__interface__position2d.html">position2d</a> : This interface returns odometry data, and accepts velocity commands.</li>
<li>"sonar" <a class="el" href="group__interface__sonar.html">sonar</a> : Range data from the sonar array</li>
<li>"sonar2" <a class="el" href="group__interface__sonar.html">sonar</a> : Range data from the second sonar array</li>
<li><a class="el" href="group__interface__ir.html">ir</a></li>
<li><a class="el" href="group__interface__bumper.html">bumper</a></li>
<li><a class="el" href="group__interface__power.html">power</a></li>
<li><a class="el" href="group__interface__aio.html">aio</a></li>
<li><a class="el" href="group__interface__dio.html">dio</a></li>
</ul>
<dl class="user"><dt><b>Supported configuration requests</b></dt><dd></dd></dl>
<ul>
<li>The <a class="el" href="group__interface__position2d.html">position2d</a> interface supports:<ul>
<li>PLAYER_POSITION2D_REQ_SET_ODOM</li>
<li>PLAYER_POSITION2D_REQ_MOTOR_POWER</li>
<li>PLAYER_POSITION2D_REQ_VELOCITY_MODE</li>
<li>PLAYER_POSITION2D_REQ_RESET_ODOM</li>
<li>PLAYER_POSITION2D_REQ_GET_GEOM</li>
</ul>
</li>
<li>The <a class="el" href="group__interface__ir.html">ir</a> interface supports:<ul>
<li>PLAYER_IR_REQ_POWER</li>
<li>PLAYER_IR_REQ_POSE</li>
</ul>
</li>
<li>The "sonar" <a class="el" href="group__interface__sonar.html">sonar</a> interface supports:<ul>
<li>PLAYER_SONAR_REQ_POWER</li>
<li>PLAYER_SONAR_REQ_GET_GEOM</li>
</ul>
</li>
<li>The "sonar2" <a class="el" href="group__interface__sonar.html">sonar</a> interface supports:<ul>
<li>PLAYER_SONAR_REQ_POWER</li>
<li>PLAYER_SONAR_REQ_GET_GEOM</li>
</ul>
</li>
<li>The <a class="el" href="group__interface__bumper.html">bumper</a> interface supports:<ul>
<li>PLAYER_BUMPER_REQ_GET_GEOM</li>
</ul>
</li>
</ul>
<dl class="user"><dt><b>Configuration file options</b></dt><dd></dd></dl>
<ul>
<li>port (string)<ul>
<li>Default: "/dev/ttyR0"</li>
<li>Serial port used to communicate with the robot.</li>
</ul>
</li>
<li>m_length (float)<ul>
<li>Default: 0.5</li>
<li>Length of the robot in meters</li>
</ul>
</li>
<li>m_width (float)<ul>
<li>Default: 0.5</li>
<li>Width of the robot in meters</li>
</ul>
</li>
<li>odo_distance_conversion (float)<ul>
<li>Default: 0</li>
<li>Odometry conversion. See Note 1.</li>
</ul>
</li>
<li>odo_angle_conversion (float)<ul>
<li>Default: 0</li>
<li>Odometry conversion. See Note 2.</li>
</ul>
</li>
<li>default_trans_acceleration (float)<ul>
<li>Default: 0.1</li>
<li>Set translational acceleration, in m.</li>
</ul>
</li>
<li>default_rot_acceleration (float)<ul>
<li>Default: 0.1</li>
<li>Set rotational acceleration, in radians.</li>
</ul>
</li>
<li>rflex_joystick (integer)<ul>
<li>Default: 0</li>
<li>Enables joystick control via the rflex controller</li>
</ul>
</li>
<li>rflex_joy_pos_ratio (float)<ul>
<li>Default: 0</li>
<li>Joystick to movement conversion ratio</li>
</ul>
</li>
<li>rflex_joy_ang_ratio (float)<ul>
<li>Default: 0</li>
<li>Joystick to movement conversion ratio</li>
</ul>
</li>
<li>range_distance_conversion (float)<ul>
<li>Default: 1476</li>
<li><a class="el" href="classSonar.html">Sonar</a> range conversion factor. See Note 7.</li>
</ul>
</li>
<li>max_num_sonars (integer)<ul>
<li>Default: 64</li>
<li>See Note 4</li>
</ul>
</li>
<li>num_sonars (integer)<ul>
<li>Default: 24</li>
<li>See Note 4</li>
</ul>
</li>
<li>sonar_age (integer)<ul>
<li>Default: 1</li>
<li>Prefiltering parameter. See Note 3.</li>
</ul>
</li>
<li>num_sonar_banks (integer)<ul>
<li>Default: 8</li>
<li>See Note 4</li>
</ul>
</li>
<li>num_sonars_possible_per_bank (integer)<ul>
<li>Default: 16</li>
<li>See Note 4</li>
</ul>
</li>
<li>num_sonars_in_bank (integer tuple)<ul>
<li>Default: [ 8 8 8 ... ]</li>
<li>See Note 4</li>
</ul>
</li>
<li>sonar_echo_delay (integer)<ul>
<li>Default: 3000</li>
<li><a class="el" href="classSonar.html">Sonar</a> configuration parameters</li>
</ul>
</li>
<li>sonar_ping_delay (integer)<ul>
<li>Default: 0</li>
<li><a class="el" href="classSonar.html">Sonar</a> configuration parameters</li>
</ul>
</li>
<li>sonar_set_delay (integer)<ul>
<li>Default: 0</li>
<li><a class="el" href="classSonar.html">Sonar</a> configuration parameters</li>
</ul>
</li>
<li>mrad_sonar_poses (tuple float)<ul>
<li>Default: [ 0 0 0 ... ]</li>
<li><a class="el" href="classSonar.html">Sonar</a> positions and directions. See Note 6.</li>
</ul>
</li>
<li>sonar_2nd_bank_start (integer)<ul>
<li>Default: 0</li>
<li>Address of the second sonar bank (lower bank on the b21r)</li>
</ul>
</li>
<li>pose_count (integer)<ul>
<li>Default: 8</li>
<li>Total Number of IR sensors</li>
</ul>
</li>
<li>rflex_base_bank (integer)<ul>
<li>Default: 0</li>
<li>Base IR Bank</li>
</ul>
</li>
<li>rflex_bank_count (integer)<ul>
<li>Default: 0</li>
<li>Number of banks in use</li>
</ul>
</li>
<li>ir_min_range (float)<ul>
<li>Default: 0.100</li>
<li>Min range of ir sensors (m) (Any range below this is returned as 0)</li>
</ul>
</li>
<li>ir_max_range (float)<ul>
<li>Default: 0.800</li>
<li>Max range of ir sensors (m) (Any range above this is returned as max)</li>
</ul>
</li>
<li>rflex_banks (float tuple)<ul>
<li>Default: [ 0 0 0 ... ]</li>
<li>Number of IR sensors in each bank</li>
</ul>
</li>
<li>poses (float tuple)<ul>
<li>Default: [ 0 0 0 ... ]</li>
<li>x,y,theta of IR sensors (m, m, deg)</li>
</ul>
</li>
<li>rflex_ir_calib (float tuple)<ul>
<li>Default: [ 1 1 ... ]</li>
<li>IR Calibration data (see Note 8)</li>
</ul>
</li>
<li>bumper_count (integer)<ul>
<li>Default: 0</li>
<li>Number of bumper panels</li>
</ul>
</li>
<li>bumper_def (float tuple)<ul>
<li>Default: [ 0 0 0 0 0 ... ]</li>
<li>x,y,theta,length,radius (m,m,deg,m,m) for each bumper</li>
</ul>
</li>
<li>rflex_bumper_address (integer)<ul>
<li>Default: 0x40</li>
<li>The base address of first bumper in the DIO address range</li>
</ul>
</li>
<li>rflex_bumper_style (string)<ul>
<li>Default: "addr"</li>
<li>Bumpers can be defined either by addresses or a bit mask</li>
</ul>
</li>
<li>rflex_power_offset (float)<ul>
<li>Default: 0</li>
<li>The calibration constant for the power calculation in volts</li>
</ul>
</li>
</ul>
<dl class="user"><dt><b>Notes</b></dt><dd><ol type="1">
<li>Since the units used by the Rflex for odometry appear to be completely arbitrary, this coefficient is needed to convert to meters: m = (rflex units) / (odo_distance_conversion). These arbitrary units also seem to be different on each robot model. I'm afraid you'll have to determine your robot's conversion factor by driving a known distance and observing the output of the RFlex.</li>
<li>Conversion coefficient for rotation odometry: see odo_distance_conversion. Note that heading is re-calculated by the Player driver since the RFlex is not very accurate in this respect. See also Note 1.</li>
<li>Used for prefiltering: the standard Polaroid sensors never return values that are closer than the closest obstacle, thus we can buffer locally looking for the closest reading in the last "sonar_age" readings. Since the servo tick here is quite small, you can still get pretty recent data in the client.</li>
<li>These values are all used for remapping the sonars from Rflex indexing to player indexing. Individual sonars are enumerated 0-15 on each board, but at least on my robots each only has between 5 and 8 sonar actually attached. Thus we need to remap all of these indexes to get a contiguous array of N sonars for Player.<ul>
<li>max_num_sonars is the maximum enumeration value+1 of all sonar meaning if we have 4 sonar boards this number is 64.</li>
<li>num_sonars is the number of physical sonar sensors - meaning the number of ranges that will be returned by Player. - num_sonar_banks is the number of sonar boards you have.</li>
<li>num_sonars_possible_per_bank is probobly 16 for all robots, but I included it here just in case. this is the number of sonar that can be attached to each sonar board, meaning the maximum enumeration value mapped to each board. - num_sonars_in_bank is the nubmer of physical sonar attached to each board in order - you'll notice on each the sonar board a set of dip switches, these switches configure the enumeration of the boards (ours are 0-3)</li>
</ul>
</li>
<li>The first RFlex device (position, sonar or power) in the config file must include this option, and only the first device's value will be used.</li>
<li>This is about the ugliest way possible of telling Player where each sonar is mounted. Include in the string groups of three values: "x1
y1 th1 x2 y2 th2 x3 y3 th3 ...". x and y are m and theta is radians, in Player's robot coordinate system.</li>
<li>Used to convert between arbitrary sonar units to millimeters: m = sonar units / range_distance_conversion.</li>
<li>Calibration is in the form Range = a*Voltage^b and stored in the tuple as [a1 b1 a2 b2 ...] etc for each ir sensor.</li>
</ol>
</dd></dl>
<dl class="user"><dt><b>Example</b></dt><dd></dd></dl>
<div class="fragment"><pre class="fragment">
driver
(
name "rflex"
provides ["position2d:1" "bumper:0" "sonar::sonar:0" "sonar2::sonar:1" "power:0" "ir:0"]
rflex_serial_port "/dev/ttyR0"
m_length 0.5
m_width 0.5
odo_distance_conversion 103000
odo_angle_conversion 35000
default_trans_acceleration 0.5
default_rot_acceleration 0.017
rflex_joystick 1
rflex_joy_pos_ratio 6
rflex_joy_ang_ratio -0.01
bumper_count 14
bumper_def [ -216.506351 125.000000 -210.000000 261.799388 250.000000 -0.000000 250.000000 -270.000000 261.799388 250.000000 216.506351 125.000000 -330.000000 261.799388 250.000000 216.506351 -125.000000 -390.000000 261.799388 250.000000 0.000000 -250.000000 -450.000000 261.799388 250.000000 -216.506351 -125.000000 -510.000000 261.799388 250.000000 -240.208678 -99.497692 -157.500000 204.203522 260.000000 -240.208678 99.497692 -202.500000 204.203522 260.000000 -99.497692 240.208678 -247.500000 204.203522 260.000000 99.497692 240.208678 -292.500000 204.203522 260.000000 240.208678 99.497692 -337.500000 204.203522 260.000000 240.208678 -99.497692 -382.500000 204.203522 260.000000 99.497692 -240.208678 -427.500000 204.203522 260.000000 -99.497692 -240.208678 -472.500000 204.203522 260.000000 ]
rflex_bumper_address 64 # 0x40
range_distance_conversion 1.476
sonar_age 1
sonar_echo_delay 30000
sonar_ping_delay 0
sonar_set_delay 0
max_num_sonars 224
num_sonars 48
num_sonar_banks 14
num_sonars_possible_per_bank 16
num_sonars_in_bank [4 4 4 4 4 4 3 3 3 3 3 3 3 3]
# theta (rads), x, y (m) in robot coordinates (x is forward)
mrad_sonar_poses [ 3.01069 -0.24786122 0.03263155 2.74889 -0.23096988 0.09567086 2.48709 -0.19833834 0.15219036 2.22529 -0.15219036 0.19833834 1.96350 -0.09567086 0.23096988 1.70170 -0.03263155 0.24786122 1.43990 0.03263155 0.24786122 1.17810 0.09567086 0.23096988 0.91630 0.15219036 0.19833834 0.65450 0.19833834 0.15219036 0.39270 0.23096988 0.09567086 0.13090 0.24786122 0.03263155 -0.13090 0.24786122 -0.03263155 -0.39270 0.23096988 -0.09567086 -0.65450 0.19833834 -0.15219036 -0.91630 0.15219036 -0.19833834 -1.17810 0.09567086 -0.23096988 -1.43990 0.03263155 -0.24786122 -1.70170 -0.03263155 -0.24786122 -1.96350 -0.09567086 -0.23096988 -2.22529 -0.15219036 -0.19833834 -2.48709 -0.19833834 -0.15219036 -2.74889 -0.23096988 -0.09567086 -3.01069 -0.24786122 -0.03263155 4.18879 -0.13000000 -0.22516660 3.92699 -0.18384776 -0.18384776 3.66519 -0.22516660 -0.13000000 3.40339 -0.25114071 -0.06729295 3.14159 -0.26000000 0.00000 2.87979 -0.25114071 0.06729295 2.61799 -0.22516660 0.13000000 2.35619 -0.18384776 0.18384776 2.09440 -0.13000000 0.22516660 1.83260 -0.06729295 0.25114071 1.57080 0.00000 0.26000000 1.30900 0.06729295 0.25114071 1.04720 0.13000000 0.22516660 0.78540 0.18384776 0.18384776 0.52360 0.22516660 0.13000000 0.26180 0.25114071 0.06729295 0.00000 0.26000000 0.00000 -0.26180 0.25114071 -0.06729295 -0.52360 0.22516660 -0.13000000 -0.78540 0.18384776 -0.18384776 -1.04720 0.13000000 -0.22516660 -1.30900 0.06729295 -0.25114071 -1.57080 0.00000 -0.26000000 -1.83260 -0.06729295 -0.25114071 -2.09440 -0.13000000 -0.22516660 -2.35619 -0.18384776 -0.18384776]
sonar_2nd_bank_start 24
rflex_power_offset 1.2 # volts
rflex_base_bank 0
rflex_bank_count 6
rflex_banks [4 4 4 4 4 4]
pose_count 24
ir_min_range 0.100
ir_max_range 0.800
rflex_ir_calib [ 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 ]
poses [-0.247861 0.032632 -3.272492 -0.230970 0.095671 -3.534292 -0.198338 0.152190 -3.796091 -0.152190 0.198338 -4.057890 -0.095671 0.230970 -4.319690 -0.032632 0.247861 -4.581489 0.032632 0.247861 -4.843289 0.095671 0.230970 -5.105088 0.152190 0.198338 -5.366888 0.198338 0.152190 -5.628687 0.230970 0.095671 -5.890486 0.247861 0.032632 -6.152286 0.247861 -0.032632 -6.414085 0.230970 -0.095671 -6.675884 0.198338 -0.152190 -6.937684 0.152190 -0.198338 -7.199483 0.095671 -0.230970 -7.461283 0.032632 -0.247861 -7.723082 -0.032632 -0.247861 -7.984881 -0.095671 -0.230970 -8.246680 -0.152190 -0.198338 -8.508480 -0.198338 -0.152190 -8.770280 -0.230970 -0.095671 -9.032079 -0.247861 -0.032631 -9.293879 ]
)
</pre></div><dl class="author"><dt><b>Author:</b></dt><dd>Matthew Brewer, Toby Collett </dd></dl>
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Last updated 12 September 2005 21:38:45
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