Comments for King Kludge

Comment on OpenInterface for Arduino – create without a Create by Sascha Loos

Sascha Loos — Mon, 19 Mar 2012 13:48:37 +0000

Hello Bob,

Thank you for your answer.
Because I’am not a Programmer, i have problems to find the right point to start.
At the moment I’am a bit confused about the different Filetypes like .h .cpp etc…
(Till now, i have only wrote small Bash scripts )
If i understand it right, i have to extend the OpenInterface class (.cpp file?) for my needs. At the moment, I do not understand where to beginn, where goes the code for the Hardware Interaction like define the Pins, read the state of the Pins or trigger a Pin and so on…

even if you can show a short example on how to add a simple sensor by defining pins and write a litle routine to get pin states or set a pin, would be great

Greets
Sascha Loos

Comment on OpenInterface for Arduino – create without a Create by Bob

Bob — Tue, 13 Mar 2012 14:07:56 +0000

Hi Sascha,

No the interface doesn’t have any default configuration for any sensors.

You only need to register callbacks for functions that the Bot would be told to perform by ROS, e.g. move forward, activate an output/actuator.

There is a method available on the OpenInterface class setSensorValue() to set the value of any sensor.

There are some constants available to allow you to set the values.

OI_SENSOR_WHEELDROPS_BUMPS
and
OI_MASK_BUMP_RIGHT
OI_MASK_BUMP_LEFT
OI_MASK_DROP_RIGHT
OI_MASK_DROP_LEFT
OI_MASK_DROP_CASTER
the masks should allow you to address a single bit in the OI_SENSOR_WHEELDROPS_BUMPS sensor packet.

By calling OpenInterface::setSensorValue() the OpenInterface object maintains the state to send back to ROS when it is requested.

Hope that helps.

If you have any further requests, log it as a ticket in GitHub, and it may kick me into doing a bit more work on this, as I’ve lapsed recently.

Bob.

Comment on OpenInterface for Arduino – create without a Create by Sascha Loos

Sascha Loos — Mon, 12 Mar 2012 14:51:01 +0000

Hello,

I am new to arduino and ROS. I’ve tested your OpenInterface implementation on my own Bot (which is also a Omnibot 2000 . It works great for direct driving the Bot. My question is now, how can i add custom sensors or bumpers ? Do i have to extend the Code ? or can i just connect a bumper switch to a specific Port on Arduino ?

I want to add custom wheel encoders and servos also … How to give the Sensor messages to ROS ?

With friendly regards from Germany.

Sascha Loos

Comment on OpenInterface for Arduino – create without a Create by Bob

Bob — Thu, 02 Feb 2012 09:23:45 +0000

Yeah I bought a Kinect to add to it and it’s now running on a Acer Aspire One notebook running ROS. I had some issues with the Kinect pulling too much power from my DC-DC Converter (my 1980s bot runs from 6v lead acid battery and the Kinect needs a 12v supply as well as the USB).

I’ve not had him running since November. I’ll try to go back through my work and document a bit more.

Bob

Comment on OpenInterface for Arduino – create without a Create by David Contreni

David Contreni — Tue, 31 Jan 2012 16:27:04 +0000

Hi there. Have you made any further progress on your ROS robot project? I know how life tends to get in the way of interesting projects like this one.

Comment on OpenInterface for Arduino – create without a Create by Melonee Wise

Melonee Wise — Tue, 26 Jul 2011 06:24:51 +0000

We have a turtlebot_simulator stack that allows you to control a virtual TurtleBot if you want to play with a robot but not buy one

Comment on CodeSniffer Part 1: Introduction to CodeSniffer by Canon 400D

Canon 400D — Tue, 14 Jun 2011 10:01:47 +0000

I am lucky I did because now Ive obtained a whole new view of this. Your weblog is definitely worth a read if anybody comes throughout it.

Comment on CodeSniffer Part 3: Writing an example CodeSniffer Standard by Bob

Bob — Mon, 12 Apr 2010 09:43:03 +0000

Hmmm, that’s interesting.

What version of CodeSniffer are you running, I’ll give it a try as well. If I get the same it may well be a bug.
In which case I’ll raise a bug against it.

Bob

Comment on CodeSniffer Part 3: Writing an example CodeSniffer Standard by Norbert

Norbert — Sat, 10 Apr 2010 12:48:10 +0000

Really nice. I try this for myself and run into a problem. I include PEAR and the KernighanRitchie Sniff – similar to your explanation. Further I excluded the BSDAllmanSniff. So, I should have the PEAR Standard with changed braces-coding convention.

But I get the error, that the braces should be on a new line, so the ExcludedSniffs seems not to be noted by the codesniffer.

Is there some trick, I didn’t got?

regards

Comment on CodeSniffer Part 2: CodeSniffer Output by Paul

Paul — Mon, 07 Dec 2009 03:43:29 +0000

Thanks heaps. The best way around it does appear to be implementing *nix file endings.

Cheers