chuycepeda
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Pioneer P3-AT - 2010/03/31 21:10
Hi there,
Anyone has useful services for working with the Pioneer 3-AT yet?
I'm trying to test some simulations already done in real robots, but I only have pioneers P3-AT, so, I hope this is done, but if not, anyone can give me an idea of where are the main changes needed of the actual ARCOS Services for the P3-DX.
Answers are going to be really appreciated!
Regards !
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Raúl
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Re:Pioneer P3-AT - 2010/04/05 10:33
Hello,
I've seen this question before. But I'm afraid I don't know anyone working with RDS and P3-AT robots. As far as I know, the ARCOS firmware running in P3-DX, P3-AT, and Amigobot is basically the same. So I assume that the ARCOS Core Service that comes with RDS will work with a P3-AT.. But, again, I've never heard of anyone who have done this. (And I don't have a P3-AT myself).
You could check with MobileRobots support to see if P3-AT runs the same ARCOS firmware as the DX. Apparently (see here), all robots based on the SH2 microcontroller use ARCOS (that includes Pioneers, PowerBots, and PeopleBots...
Cheers,
Raúl.
Raúl Arrabales Moreno. conscious-robots.com/raul |
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chuycepeda
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Re:Pioneer P3-AT - 2010/04/12 22:41
Hi Raúl !
After a couple of modifications in the most recent release of Robotics Studio tutorial 5, and in ARCOS Services for working with the exact ports, I had a pioneer 3-AT running.
I'm about to start doing some behavioral implementations for extending it to 3 coordinated pioneers. I will keep informing this forum.
Besides this, for now, I'm doing connection only to one pioneer by serial port, and also taking readings from a SICK LRF. Nevertheless I will love to do connections through TCP, for commanding via wireless. Do you know what needs to be done for substituting the serial cable to wifi ?
Regards !
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Raúl
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Re:Pioneer P3-AT - 2010/04/23 19:49
Hello, good it worked with the Pioneer AT! Did you have to alter the code of the ARCOS service that comes with RDS or you just changed the COM port for communicating with the robot?
Thx,
Raúl.
Raúl Arrabales Moreno. conscious-robots.com/raul |
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chuycepeda
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Re:Pioneer P3-AT - 2010/04/23 20:00
Hi Raúl,
I just made modifications over the ports. Nevertheless, since I was having random behaviors with my usb-serial adapters (think of the drivers) I ended to 'force' them to work over the COM1 and COM3, the core and the LRF. Just as the original services are made.
Another thing I noticed is that through VPL it is easier because you just have to set the initial configuration to the exact port and baud rate and not looking over the services where changes need to be done. Obviously, the C# has more advantages...
Regards.
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Raúl
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Re:Pioneer P3-AT - 2010/05/05 17:44
I don't think you necessarily need to go through all the services code changing the variables related to serial port communications. If I remember correctly, it is saved in the service state (and it can be persisted between executions in a XML file).
When you edit the serial com port in VPL the XML file is created, but I think you need to move/copy that file to the path the service will be looking for its persisted state file.
The file is called something like this: ArcosCoreService.xml (I think it is created in the VPL project directory), then you need to move it to RDS home directory for instance. It looks something like this:
| Code: |
<ArcosCoreState xmlns: xsd="http://www.w3.org/2001/XMLSchema" xmlns: xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://schemas.microsoft.com/xw/2005/12/arcoscore.html">
<DriverState>
<ComPort>COM4</ComPort>
<BaudRate>0</BaudRate>
</DriverState>
</ArcosCoreState>
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Raúl Arrabales Moreno. conscious-robots.com/raul |
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