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Re: Segway: queue overflow

by Brandon Sights :: Rate this Message:

Toby,

We added ProcessMessage in the Main loop and also changed the
multiplying constants from MM_S to M_S and from DEG_S to RAD_S (Player
1.6 sent commands in mm/s and deg/s, 2.0 sends in m/s and rad/s) in
the MakeVelocityCommand (or something like that) function. After
doing that we were able to get the robot to move and turn, but only
above certain speeds and turnspeeds. For instance, we have to send at
least a 100 deg/s turnspeed to get it to turn and a >1 m/s
translational speed to get it to drive. Any clue as to why that is
true?

Just for clarification, Sparta is working in the same lab as myself.

Thank you,
Brandon Sights
sights@...

----- Original Message -----
From: Toby Collett <toby@...>
Date: Tuesday, July 18, 2006 3:32 pm
Subject: Re: [Playerstage-users] Segway: queue overflow

> I should really finish what im doing before posting emails....
>
> I had a better look at the source and the driver was not calling
> ProcessMessages in its main thread. I have added this to CVS now,
> im not
> sure what the delay is like for anonymous CVS at the moment, but
> all you
> need to do is add a ProcessMessages() near the start of the for
> (;;)
> loop in the main thread, about line 325.
>
> Toby
>
> Toby Collett wrote:
> > Just had a quick look at the source, definitely a few comments
> of *TODO*
> > in there still, but it appears the position geometry request
> should be
> > handled okay so its probably not that...
> >
> > what messages are appearing on the server end?
> >
> > also try just subscribing to the power interface on the RMP,
> this is one
> > of the simplest interfaces and will allow you to check out the
> basics of
> > the driver without extra complications...
> >
> >
> > Toby
> >
> > Sparta wrote:
> >
> >> As soon as I hit subscribe to position2d on playerv, playerv
> freezes. I know
> >> that playerjoy works fine when I test it on other things. It
> seems to be
> >> the segwayrmp driver, but I'm not sure what about it is causing
> this to
> >> happen.
> >>
> >> Sparta
> >>
> >>
> >
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