Architecture:Specification of BABEL Modules - Revision history

Jlblanco: /* FE_ReactiveNavigation */

2009-05-31T13:04:37Z

‎FE_ReactiveNavigation

2009-05-31T10:58:45Z

‎Localization_Publisher

2009-05-31T10:57:11Z

‎Localization_Publisher

2009-05-28T22:08:12Z

‎FE_ReactiveNavigation

2009-05-27T22:03:53Z

‎Localization_PF

2009-05-27T08:36:46Z

‎SD_Local3DMap

2009-05-27T08:05:23Z

‎SD_Local3DMap

2009-05-27T08:04:09Z

‎SD_Local3DMap

2009-05-24T18:33:20Z

‎Localization_PF

2009-05-24T18:33:01Z

‎Localization_PF

@@ Line 213: / Line 213: @@
 ** "max_speed = ...": (OPTIONAL) If supplied, indicates the max. speed (m/s) of the robot. Angular max. speed is automatically derived. This can be used in situations known to be dangerous for the robot.
 ** "targetAllowedDistance = ...": (OPTIONAL) The distance at which the robot will stop from the target (in meters, default = 0.30)
 ==== FE_DoorOpening ====

@@ Line 325: / Line 325: @@
 <hr>
-==== Localization_Publisher ====
+==== NavigateLoops ====
-* This module collects the current localization of the robot from a localization particle filter or any SLAM or HMT-SLAM module and publishes it in a uniform format.
+* This module loads a sequence of "nodes" defined by their global coordinates, and executes a reactive navigation through them in sequence.

← Older revision		Revision as of 10:57, 31 May 2009
Line 278:		Line 278:

	<br>		<br>
		+
		+	==== Localization_Publisher ====
		+
		+	* This module collects the current localization of the robot from a localization particle filter or any SLAM or HMT-SLAM module and publishes it in a uniform format.
		+
		+
		+	<center>
		+	<table width="95%" border="1">
		+	<tr>
		+	<td align="center"><b><big>BABEL service group</big></b></td>
		+	<td colspan="2" align="center"><b><big>BABEL services to implement</big></b></td>
		+	</tr>
		+	<tr>
		+	<td rowspan="8" align="center" valign="center">
		+	<big><code> LOCALIZATION </code></big><br> <br>
		+	The interface for publishing robot localization.
		+	</td>
		+	<td> <!-- DECLARATION -->
		+	<cpp>
		+	::getCurrentPose(
		+	out double x,
		+	out double y,
		+	out double z,
		+	out double yaw,
		+	out double pitch,
		+	out double roll,
		+	out string submapID,
		+	out string submapLabel,
		+	out COMMON::TTimeStamp timestamp,
		+	out boolean error
		+	)
		+	</cpp>
		+	</td>
		+	<td> <!-- COMMENTS -->
		+	Return the last estimated pose of the robot (just its mean, without covariance), in coordinates relative to the given sub-map.
		+	</td>
		+	</tr>
		+	</table>
		+	</center>
		+
		+
		+
		+	<br>
		+
		+
		+	<hr>

	==== Localization_Publisher ====		==== Localization_Publisher ====

@@ Line 212: / Line 212: @@
 ** "max_dist = ...": (OPTIONAL) The distance (in meters) to the target location such as navigation can be considered successful.
 ** "max_speed = ...": (OPTIONAL) If supplied, indicates the max. speed (m/s) of the robot. Angular max. speed is automatically derived. This can be used in situations known to be dangerous for the robot.
+** "targetAllowedDistance = ...": (OPTIONAL) The distance at which the robot will stop from the target (in meters, default = 0.30)
 ==== FE_DoorOpening ====

← Older revision		Revision as of 22:03, 27 May 2009
Line 239:		Line 239:
	==== Localization_PF ====		==== Localization_PF ====

−	* Global localization and pose tracking for a mobile robot using range sensors (lasers/sonars) and a global map. '''Do NOT call this module directly''' to obtain the current robot pose, but to Localization_Publisher.	+	* Global localization and pose tracking for a mobile robot using range sensors (lasers/sonars) and a global map. The particle filter will be NOT run unless the robot really moves, in order to prevent particle depletion.
		+
		+	* '''Do NOT call this module directly''' to obtain the current robot pose, but to Localization_Publisher.

@@ Line 171: / Line 171: @@
 </td>
 </tr>
 </table>
 </center>

@@ Line 142: / Line 142: @@
 ==== SD_Local3DMap ====
-* Description: This module maintains a 3D representation of close obstacles around the robot, by fusing data from sonars, laser scanners, and stereo vision.
+* Description: This module maintains a 3D representation of close obstacles around the robot, by fusing data from sonars, laser scanners, and stereo vision. These "instant" maps only represent the very most recent observations, i.e. there is no map-building process apart from a trivial one.
 * Interface:

← Older revision		Revision as of 08:04, 27 May 2009
Line 147:		Line 147:
	** A 2D occupancy grid.		** A 2D occupancy grid.
	** A 3D point cloud.		** A 3D point cloud.
		+
		+	* Interface:
		+
		+	<center>
		+	<table width="95%" border="1">
		+	<tr>
		+	<td align="center"><b><big>BABEL service group</big></b></td>
		+	<td colspan="2" align="center"><b><big>BABEL services to implement</big></b></td>
		+	</tr>
		+	<tr>
		+	<td rowspan="8" align="center" valign="center">
		+	<big><code> LOCAL_MAP </code></big><br> <br>
		+	The interface for manipulating the local map.
		+	</td>
		+	<td> <!-- DECLARATION -->
		+	<cpp>
		+	::getObstacles2D(
		+	in float min_height,
		+	in float max_height,
		+	out COMMON::SeqOfFloat obs_x,
		+	out COMMON::SeqOfFloat obs_y,
		+	out boolean error
		+	)
		+	</cpp>
		+	</td>
		+	<td> <!-- COMMENTS -->
		+	Return the last estimate of 2D obstacles around the robot, only for the heights (z axis) between the given range. Error will be true if no data has been updated for more than a few instants.
		+	</td>
		+	</tr>
		+	</table>
		+	</center>

@@ Line 199: / Line 199: @@
 ==== Localization_PF ====
-* Global localization and pose tracking for a mobile robot using range sensors (lasers/sonars) and a global map. Don't call directly to this module to obtain the current robot pose, but to Localization_Publisher.
+* Global localization and pose tracking for a mobile robot using range sensors (lasers/sonars) and a global map. '''Do NOT call this module directly''' to obtain the current robot pose, but to Localization_Publisher.
 ==== Localization_Publisher ====