[Documentation] [TitleIndex] [WordIndex


0.6.2 (2011-10-12) r578

0.6.1 (2011-09-23) r528

0.6.0 (2011-09-09) r507

0.5.0 (2011-07-24) r414

0.4.2 (2011-03-20) r298

0.4.1 (2011-02-13) r276

0.4.0 (2011-02-11) r266

The previous arbotix package has now become a stack of its own.

Notes on usage changes:


The new driver.py has a single main loop, which mitigates issues caused to race conditions. The single main loop will run at a frequency determined by the rate parameter (default: 100). Each main module then has a frequency it runs at, determined by its rate parameter:

Digital and Analog

The old get/set digital and analog services are now gone, in their place is a new topic streaming system. This system is much faster than the old services-based one, but requires some setup:

Base Controller

There is no longer a controllers collection. Most have moved to become new standalone nodes, however the base_controller is fully integrated into the main package. Configuration and parameters are similar to before, but no longer inside a controllers dictionary. To configure it:

base: {base_width: 0.36195, ticks_meter: 66348, Kp: 2, Kd: 0, Ki: 0, Ko: 100}


As with the controllers, there is no longer a sensors collection as most have moved to standalone nodes. The lone exception is the PML. As with the base controller, it can be configured as:

pml: {frame: base_laser, servo_id: 200, sensor_id: 0}

Parameters have not changed from before.

2019-09-14 12:31