Plugin Driver for Surveyor SRV-1 (with ARM-7 processor).
These robots can be controlled via ZigBee which is attached to a USB serial port on a host computer. The host computer runs the server which then communicates to the robot.
This version works with Player 3.x
Dependencies
- player 3.0
Install
Note: The newer SRV-1 robot (with Blackfin processor) has not yet been tested with this driver.
Compile-time dependencies
`pkg-config --cflags playerc++`
Provides
The surveyor driver provides the following device interfaces:
-
interface_position2d
- This interface does not return odometry data, but accepts velocity commands.
-
interface_camera
- The camera on the robot returns JPEG images.
-
interface_ir
- The robot has 4 IR beacons which can act as rudimentary range-finders
- UNIMPLEMENTED
-
interface_dio
- The robot has 5 pins which can be used as digital in/out ports.
- UNIMPLEMENTED
Supported configuration requests
- none
Configuration file options
- port (string)
- Serial port used to communicate with the robot
- Default: "/dev/ttyUSB0"
- image_size (string)
- Size of the images returned by the camera.
- Default: "320x240"
- Allowed values: "320x240", "160x128", "80x64"
- plugin (string)
- Relative or Absolute path to the location of the shared-object plugin driver.
Example
driver
(
name "surveyor"
plugin "libSurveyor_Driver.so"
provides ["position2d:0" "camera:0"]
port "/dev/ttyUSB0"
)
License
GPL
Author
Carlos Jaramillo