The ARGoS Forum

Hello,

i have two questions please

1. i was wondering about the arrangement of the sensors ( from 0 ... 23) on the Footbot Robot, and for the command

const CCI_FootBotProximitySensor::TReadings& tProxReads = m_pcProximity->GetReadings();
2.

CVector2 tProxReads , we have a value which is the distnace from the corresponding sensor to some distance
the angle is from the heading of this sensor to m_fDelta ?

thank you!

Hi,

1. The arrangement of the foot-bot proximity sensors is shown here: https://github.com/ilpincy/argos3/blob/ ... y_sensor.h.
2. About

   Code: Select all

   const CCI_FootBotProximitySensor::TReadings& tProxReads = m_pcProximity->GetReadings();
   what is the question? This is plain C++ to get the readings from the proximity sensor.
3. The returned data of each sensor is
   • A reading (a decaying exponential) that depends on the distance between the sensor and the object being detected. This reading is 0 when nothing is detected, and it increases exponentially to 1 when detected objects are closer.
   • The angle is measured between the nose of the robot (local X axis) and the angle at which the sensor is located on the body of the robot.

Cheers,
Carlo

Hello,

Thanks a lot, that makes sense and makes the idea really clear

Best,

As per my knowledge the reading that depends on the distance between the sensor and the object being detected. This reading is 0 when nothing is detected, and it increases exponentially to 1 when detected objects are closer.
The angle is measured between the nose of the robot and the angle at which the sensor is located on the body of the robot.

Hi，

Could you please confirm the decaying exponential factor used for the relationship of distance and readings? Understanding this factor will help me convert the data into a pointcloud2 format for ROS2.

Many thanks,
Tianfu

Hi,

1. The arrangement of the foot-bot proximity sensors is shown here: https://github.com/ilpincy/argos3/blob/ ... y_sensor.h.
2. About

   Code: Select all

   const CCI_FootBotProximitySensor::TReadings& tProxReads = m_pcProximity->GetReadings();
   what is the question? This is plain C++ to get the readings from the proximity sensor.
3. The returned data of each sensor is
   • A reading (a decaying exponential) that depends on the distance between the sensor and the object being detected. This reading is 0 when nothing is detected, and it increases exponentially to 1 when detected objects are closer.
   • The angle is measured between the nose of the robot (local X axis) and the angle at which the sensor is located on the body of the robot.

Cheers,
Carlo

You find the exact implementation of the proximity readings here.