[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 dont 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 dont 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.
-------------- next part --------------
An HTML attachment was scrubbed...
URL: http://lists.cc.gatech.edu/pipermail/robocup-nao/attachments/20081105/94fd412c/attachment.html
More information about the robocup-nao
mailing list