Solly Brown wrote: > * contact sensors on the paddles > [ I've put in a little slider joint on each of the paddles to mimic the > contact sensor on the pioneer gripper. I haven't checked the official > dimensions though, so the exact numbers probably aren't right. ] > > * breakbeams > [ Again, I haven't had a chance to check the exact positioning.] > ...
I can try to find the CAD drawings if you want exact dimensions; let me know. > The things that are still missing are.... > > * contact sensor state > [ I haven't added a left/right_paddle_gripping state yet because I'm not > sure whether the Pioneers actually return that piece of info from the > contact sensors. I think it's possible to get that information, but the > current Player implementation doesn't seem to have it.] Yes, you can get the state of the contact switches on the gripper either in the "DIGIN" field in the standard P2OS/AROS/ARCOS packet (those switches are connected to pins 4 and 5, I think), or you can request a gripper packet be sent, which contains bits for them (theoretically, that one is better, since the meaning of the data in that packet would be retained even if the gripper-microcontroller connection was revised, though it's very unlikely that would happen). Reed -- Reed Hedges Software Development and Support Mobile Robots, Inc. ------------------------------------------------------------------------- Take Surveys. Earn Cash. Influence the Future of IT Join SourceForge.net's Techsay panel and you'll get the chance to share your opinions on IT & business topics through brief surveys -- and earn cash http://www.techsay.com/default.php?page=join.php&p=sourceforge&CID=DEVDEV _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
