PatrolBot robot

../../_images/patrolbot.png

The Research PatrolBot, developed by MobileRobots, is a differential-drive robot to carry payloads and sensors over all normal indoor surfaces in wheelchair-accessible facilities. The PatrolBot is an all-purpose indoor base, it can travel at speeds up to 2 m/s, and can carry up to 40kg over flat surfaces.

Configuration parameters for PatrolBot robot

You can :

You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).

  • NoGravity (bool, default: False)

    Indicate if we want to consider the gravity for this robot If true, the behaviour is less realistic as the simulator will automatically compensate it. This setting is useful for non-realistic model flying or submarine robot

  • GroundRobot (bool, default: False)

    Indicate if the robot is a ground robot, i.e. basically if it has no way to control its position on the Z axis, nor this X and Y rotation axis

  • HasSuspension (bool, default: True)

    Determine if the underlaying robot has suspension, i.e. wheels can move independently of the body of the robot

  • HasSteering (bool, default: True)

    Determine if the wheels turn independently of the body of the robot.

  • FixTurningSpeed (double, default: 0.0)

    Overwrite the value of the distance between wheels in the computations of the wheel speeds. This effectively changes the turning speed of the robot, and can be used to compensate for the slip of the wheels while turning. If the value 0.0 is used, the real distance between wheels is used.

Services for PatrolBot robot

  • get_configurations() (blocking)

    Returns the configurations of a component (parsed from the properties).

    • Return value

      a dictionary of the current component’s configurations

  • get_properties() (blocking)

    Returns the properties of a component.

    • Return value

      a dictionary of the current component’s properties

  • set_property(prop_name, prop_val) (blocking)

    Modify one property on a component

    • Parameters

      • prop_name: the name of the property to modify (as shown the documentation)
      • prop_val: the new value of the property. Note that there is no checking about the type of the value so be careful
    • Return value

      nothing

Examples

The following examples show how to use this component in a Builder script:

from morse.builder import *

# creates a new instance of the robot
patrolbot = PatrolBot()

# place your component at the correct location
patrolbot.translate(<x>, <y>, <z>)
patrolbot.rotate(<rx>, <ry>, <rz>)

# define one or several communication interface, like 'socket'
patrolbot.add_interface(<interface>)

env = Environment('empty')

Other sources of examples

(This page has been auto-generated from MORSE module morse.robots.patrolbot.)

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