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Thu, 12 Oct 2006
"wander mode" continued...

We received good feedback on the firmware version posted yesterday, and it seems that we're on the right track with "wander mode". The only issue that was raised is that we broke with our protocol format in the "Scan" command, so we've fixed that problem and formally included the Scan command in the SRV_protocol specification

This is how the display of the scan data now looks from a console -



There's also a command - 'm' - to turn off autonomous movement during "wander mode", which makes it easier to anayze the scan data because the robot just moves under operator control. The motors are reenabled with the 'w' command that initiates "wander mode". In this screenshot, at the top you can see the ACKS from turning on wander mode (#w), turning it back off (#W), turning it back on (#w), disabling the motors (#m), then viewing the scans (##Scan -)

It would be nice to be able to overlay the scan data onto the image display of the console programs, as this would give us a nice tool for evaluating different image processing techniques in "wander mode". Once we add an object tracking mode, we'll want to provide a similar display.

Here's the latest version of code -

Posted Thu, 12 Oct 2006 12:47 | HTML Link | see additional stories ...