• Befehl: Fahre 95 cm
• Trapez-Kurve = Sollwerte
• Regelung: 50ms Zyklus, PID-Regler, Eingabe = Sollwerte, Ausgabe = PWM
• Regelung: 50ms Zyklus, PID-Regler, Eingabe = Sollwerte, Ausgabe = PWM der Motoren
Parameterfiles
Woher kennt das Clientprogramm die Anzahl der Sonarsensoren?
Client nimmt Verbindung zum Roboter auf Client nimmt Verbindung zum Roboter auf
Roboter meldet sich mit Class (bei uns Pioneer) und Subclass P3 melden sich als Subclass p3dx-sh oder p2d8+
P2 meldet sich als Subclass p2ce
Client lädt zur Subclass xxx die passende Parameterdatei params/xxx.p
• also p2ce.p oder p3dx-sh.p oder p2d8+.p
Parameterfile in ARIA – z.B. p3dx.p
Section General settings ;SectionFlags for General settings:
Class Pioneer ; general type of robot Subclass p3dx ; specific type of robot Subclass p3dx ; specific type of robot RobotRadius 250 ; radius in mm
RobotDiagonal 120 ; half-height to diagonal of octagon
RobotWidth 425 ; width in mm
RobotLength 511 ; length in mm of the whole robot
RobotLengthFront 210 ; length in mm to the front of the robot (if this is 0 RobotLengthRear 301 ; length in mm to the rear of the robot (if this is 0 Holonomic true ; turns in own radius
MaxRVelocity 500 ; absolute maximum degrees / sec MaxRVelocity 500 ; absolute maximum degrees / sec MaxVelocity 2200 ; absolute maximum mm / sec
MaxLatVelocity 0 ; absolute lateral maximum mm / sec HasMoveCommand false ; has built in move command
RequestIOPackets false ; automatically request IO packets
RequestEncoderPackets false ; automatically request encoder packets
Parameterfile in ARIA – z.B. p3dx.p
Section Conversion factors
;SectionFlags for Conversion factors:
AngleConvFactor 0.001534 ; radians per angular unit (2PI/4096) DistConvFactor 1 ; multiplier to mm from robot units DistConvFactor 1 ; multiplier to mm from robot units VelConvFactor 1 ; multiplier to mm/sec from robot units
RangeConvFactor 1 ; multiplier to mm from sonar units DiffConvFactor 0.0056 ; ratio of angular velocity to wheel Vel2Divisor 20 ; divisor for VEL2 commands
GyroScaler 1.626 ; Scaling factor for gyro readings
Section Accessories the robot has
;SectionFlags for Accessories the robot has:
;SectionFlags for Accessories the robot has:
TableSensingIR false ; if robot has upwards facing table sensing IR NewTableSensingIR false ; if table sensing IR are sent in IO packet
FrontBumpers false ; if robot has a front bump ring
NumFrontBumpers 5 ; number of front bumpers on the robot RearBumpers false ; if the robot has a rear bump ring
NumRearBumpers 5 ; number of rear bumpers on the robot
Parameterfile in ARIA – z.B. p3dx.p
Section Sonar parameters
SonarNum 8 ; number of sonar on the robot
; SonarUnit <sonarNumber> <x position, mm> <y position, mm> <heading of disc, degrees>
SonarUnit 0 69 136 90 SonarUnit 0 69 136 90 SonarUnit 1 114 119 50 SonarUnit 2 148 78 30 SonarUnit 3 166 27 10 SonarUnit 4 166 -27 -10 SonarUnit 5 148 -78 -30 SonarUnit 6 114 -119 -50 SonarUnit 7 69 -136 -90
Section IR parameters
IRNum 0 ; number of IRs on the robot
; IRUnit <IR Number> <IR Type> <Persistance, cycles> <x position, mm> <y position, mm>
Parameterfile in ARIA – z.B. p3dx.p
Section Movement control parameters ; if these are 0 the parameters from robot flash will be used, otherwise these values will be used
;SectionFlags for Movement control parameters:
;SectionFlags for Movement control parameters:
SettableVelMaxes true ; if TransVelMax and RotVelMax can be set
TransVelMax 0 ; maximum desired translational velocity for the robot RotVelMax 0 ; maximum desired rotational velocity for the robot SettableAccsDecs true ; if the accel and decel parameters can be set
TransAccel 0 ; translational acceleration TransDecel 0 ; translational deceleration RotAccel 0 ; rotational acceleration RotAccel 0 ; rotational acceleration RotDecel 0 ; rotational deceleration
HasLatVel false ; if the robot has lateral velocity
LatVelMax 0 ; maximum desired lateral velocity for the robot LatAccel 0 ; lateral acceleration
LatDecel 0 ; lateral deceleration
Parameterfile in ARIA – z.B. p3dx.p
Section GPS parameters
GPSPX 0 ; x location of gps receiver antenna on robot, mm GPSPY 0 ; y location of gps receiver antenna on robot, mm GPSPY 0 ; y location of gps receiver antenna on robot, mm GPSType standard ; type of gps receiver (trimble, novatel, standard)
GPSPort COM2 ; port the gps is on
GPSBaud 9600 ; gps baud rate (9600, 19200, 38400, etc.)
Section Compass parameters
CompassType robot ; type of compass: robot (typical configuration), or
; serialTCM (computer serial port)
CompassPort ; serial port name, if CompassType is serialTCM CompassPort ; serial port name, if CompassType is serialTCM
Parameterfile in ARIA – z.B. p3dx.p
Section Laser parameters
LaserType lms2xx ; type of laser
LaserPortType serial ; type of port the laser is on LaserPortType serial ; type of port the laser is on LaserPort COM4 ; port the laser is on
LaserAutoConnect true ; if the laser connector should autoconnect this laser or not LaserFlipped false ; if the laser is upside-down or not
LaserPowerControlled false ; if the power to the laser is controlled by serial LaserMaxRange 0 ; Max range to use for the laser, 0 to use default
LaserCumulativeBufferSize 0 ; Cumulative buffer size to use for the laser, 0 to use default LaserX 21 ; x location of laser, mm
LaserY 0 ; y location of laser, mm LaserY 0 ; y location of laser, mm LaserTh 0 ; rotation of laser, deg
LaserZ 0 ; height of the laser off the ground, mm (0 means unknown) LaserStartingBaudChoice 38400 ; StartingBaud for the sensor (leave blank for default, use this to
have a larger StartingBaud)
LaserAutoBaudChoice ; AutoBaud for the sensor (leave blank for default, use this to have a larger units)
PioneerRobotModels.world.inc
Der Simulator kann verschiedene Robotermodelle, Laserscanner, Sonarsensoren usw. simulieren
Die Definition der SIMULIERTEN Roboter und Sensoren befindet sich im File Die Definition der SIMULIERTEN Roboter und Sensoren befindet sich im File
MobileSim\PioneerRobotModels.world.inc Beispiel:
Definition eines P3DX für den Simulator im File PioneerRobotModels.world.inc
Definition eines P3DX für den Simulator in PioneerRobotModels.world.inc
# Model for a p3dx differential-drive robot base with sonar.
define p3dx pioneer (
pioneer_robot_subtype "p3dx„
# Speed profile:
# Speed profile:
max_speed [1.0 0 1.74]
accel [0.3 0 1.74]
decel [0.3 0 1.74]
# Body shape:
origin [-0.04465 0.0 0.0]
size [0.511 0.4]
polygons 1
polygon[0].points 8
polygon[0].point[0] [-0.12 0.2555] polygon[0].point[1] [0.12 0.2555]
polygon[0].point[0] [-0.12 0.2555] polygon[0].point[1] [0.12 0.2555]
polygon[0].point[2] [0.2 0.12] polygon[0].point[3] [0.2 -0.12]
polygon[0].point[4] [0.12 -0.2555] polygon[0].point[5] [-0.12 -0.2555]
polygon[0].point[6] [-0.2 -0.12] polygon[0].point[7] [-0.2 0.12]
polygon[0].filled 1 ……
)
Definition eines P3DX für den Simulator in PioneerRobotModels.world.inc
define p3dx pioneer ( …..
# client protocol conversion factors
pioneer_distconv 0.485 pioneer_diffconv 0.0056 pioneer_velconv 1.0
pioneer_velconv 1.0
# Sonar:
pioneerSonar ( scount 8
spose[0] [0.069 0.136 90] spose[1] [0.114 0.119 50]
spose[2] [0.148 0.078 30] spose[3] [0.166 0.027 10]
spose[4] [0.166 -0.027 -10] spose[5] [0.148 -0.078 -30]
spose[6] [0.114 -0.119 -50] spose[7] [0.069 -0.136 -90]
)
sicklms200( pose [0 0 0] ) sicklms200( pose [0 0 0] ) )
define p3dx-noerr p3dx ( odom_error [0 0 0]
)
Definition eines Sonars für den Simulator in PioneerRobotModels.world.inc
# Sonar array
define pioneerSonar ranger (
sview [0.1 5.0 30] # min (m), max (m), field of view (deg)
noise 0.0005 # sonar is pretty stable, actually
# If we use projection_type "closest" then you can get slightly
# more complex sonar behavior, which can be tuned with these parameters:
# more complex sonar behavior, which can be tuned with these parameters:
#projection_type "closest"
#projection_res 6 # Test a sensor's field of view at a resolution of 6 degrees
#enable_throwaway 1
#throwaway_thresh 0.4 # Test range delta to consider throwing reading away
#throwaway_prob 0.8 # Probability of throwing a sensor reading away
Definition eines Lasersscanners für den Simulator in PioneerRobotModels.world.inc
# SICK LMS-200 laser rangefinder configured for 32m range define sicklms200 laser (
range_min 0.0 range_max 32.767 range_min 0.0 range_max 32.767 samples 181 fov 180.0
color "LightBlue„ size [0.155 0.15]
#height 0.195 # Uncomment to enable
laser_beam_height 0.08 # approx, it actually can vary a few cm in real life laser_return 1 ranger_return 1
blobfinder_return 0 fiducial_return 0
noise 0.0075 # Adds uniform random number in [-0.0075, 0.0075] meters noise 0.0075 # Adds uniform random number in [-0.0075, 0.0075] meters reading_angle_error 0.0007 # Adds uniform random number in
[-0.0007,0.0007] radians laser_return_rules 3
….
)
Definition eines Lasersscanners für den Simulator in PioneerRobotModels.world.inc
# SICK LMS-200 laser rangefinder configured for 32m range define sicklms200 laser (
…..
# Turn reflector values >1 to 1 if more than 30m away
# Turn reflector values >1 to 1 if more than 30m away laser_return_rule[0].model_gt 1
laser_return_rule[0].condition "outside_range"
laser_return_rule[0].range 30 laser_return_rule[0].detect 1
# Turn reflector values >1 to 1 if more than 90deg away laser_return_rule[1].model_gt 1
laser_return_rule[1].condition "outside_angle"
laser_return_rule[1].angle 90 laser_return_rule[1].detect 1 laser_return_rule[1].detect 1
# Turn reflector value 2 into 33 (the actual value the SICK returns to ARIA) laser_return_rule[2].model_eq 2
laser_return_rule[2].detect 33 )