[robocup-nao] Motor feedback in NaoSimulation MSRS

Janis Schönefeld 1schoene at informatik.uni-hamburg.de
Wed Nov 5 08:50:32 EST 2008


Hi,

 

i have been trying the NaoSimulation in MSRS without NaoQi, primary because
we don’t have NaoQi by now, but there is also some evidence in a report from
rUNSWIFT that , in terms of speed , NaoQi is not the best choice for RoboCup
(But NaoQi seems to support a lot of functionalities one would have to
implement). 

 

Depending on what your demands for real time are(according to the
bhuman08_coderelease the

Nao provides images at a frequency of 15 Hz or 30 Hz and accepts new joint
angles at 50 Hz, 

so you might want to use these values as a guide for the update interval),
the following may work:  

 

The easiest way is to use the GetFrame function and change the
_state.WebCamPollingIntervalInMs to your desired update interval. This is a
bit unreliable and the achieved update interval seems to depend on ones
hard- and software. 

 

Or you might consider implement a function similar to GetFrame for the motor
angles using the timer port

 

// port for periodic timer messages used to drive webcam polling

        // and game logic

        Port<DateTime> _timerPort = new Port<DateTime>();

 

 

 

PS

 

i am new to this list, and i really don’t know if this list is the right
place for such questions (and answers), as there is a forum at aldebarans
website.

 

http://www.aldebaran-robotics.com/forum/viewforum.php?f=2

 

 

 

Best Regards

 

Janis Schönefeld

 

 

 

 

 

 

You Wrote:

 

Hi. I've a problem in getting motor feedbacks in NaoSimulation MSRS. 

I used the "NaoReplaceHandler" function in "Updates from simulated nao"
region of "Aldebaran.NaoSoccerPlayer.NaoSoccerPlayer" class for getting
information about motor angles. But the problem is that this function is
calling once a simulation and not updating during a peroid of time!

 

How can I get real-time motor feed back in NaoSimulation MSRS?

Thank you.

 

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