/usr/share/player/config/erratic.cfg is in robot-player 3.0.2+dfsg-4.1ubuntu3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 | # Example file instantiating the Videre robot driver
# All options you might want to use are instantiated here
# In general, the player standard units are
# translational velocity: m/s
# rotational velocity: deg/s
driver
(
# Standard player options for presenting this instance of the driver
name "erratic"
# Standard player option, tells the driver to expose all interfaces, and
# assigns them IDs
provides [ "position2d:0"
"power:0"
"aio:0"
"ir:0"
"sonar:0"
"ptz:0"
"tilt:::ptz:1" ]
# Serial port to use for connecting to robot
# USB/serial link would be /dev/ttyUSB0
port "/dev/erratic"
# Maximum translational and rotational speeds accepted during operation.
# This is also capped by robot's internal hard limits, potentially lower than
# given here. For Erratic, it's about 2 m/s and 720 deg/s
max_trans_vel 0.5
max_rot_vel 200
# The robot uses these acceleration values to achieve desired velocity. There
# is a hard minimum acceleration as well as a top one, set by the robot.
trans_acc 0.5
rot_acc 100
# If set, these specify the robot to use another acceleration when target
# velocity is zero.
# trans_decel 0.5
# rot_decel 100
# Parameters for the PD control loop onboard the robot. When in individual
# wheel control, translation parameters are used for each wheel control.
# Warning: Changes can have unexpected effects, including truly erratic
# behavior.
pid_trans_p 40
pid_trans_v 100
pid_rot_p 40
pid_rot_v 100
# These set how to drive the wheel motors. Frequency affects noise, and
# perhaps power efficiency.
motor_pwm_frequency 16000
motor_pwm_max_on 0.7
# Set to 1 to have the driver use individual wheel control. PD settings for
# translation will be used. This might be useful depending on the kind of
# control loop in your application, but probably you want to leave it at 0
# (default).
direct_wheel_vel_control 0
# Setting this option to 1 saves the settings in the robot, making permanent
# whatever settings state it is in after settings of this config file are
# applied. The settings can then be left out of other configuration files.
# Note that some of the settings here are driver settings and not robot ones,
# and are therefore not affected by a save.
# NOTE: If a bad setting messes up the behavior of the robot, it can be reset
# to factory defaults by holding down its button while powering it up.
save_settings_in_robot 0
)
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