Architecture:Specification of BABEL Modules
From The BABEL Development Site
| Previous: Interfaces | Next: RPDs |
Contents
This page contains detailed information about a collection of modules and their role in the control architecture.
The complete list of modules available for download is available here.
Layer 1: HAD Modules
| Module (ICE) name | Description | Implemented Driver Interfaces |
|---|---|---|
| HAD_MobileBase_Pioneer | Driver for the Pioneer3 DX/AT mobile bases, through a COM serial port and the ARIA library. | DRV_WHEELS_MOBILE_BASE, DRV_IOBOARD, DRV_BATTERY_LEVEL |
| HAD_MobileBase_Simulator | A simulated 2D mobile base. | DRV_IOBOARD, DRV_WHEELS_MOBILE_BASE, DRV_2D_RANGE_SCANNER |
| HAD_Laser_Sick_USB | Driver for the SICK laser range scanner via RS422-USB board. Hw version is JLBC/APR-05. | DRV_2D_RANGE_SCANNER |
| HAD_Laser_Hokuyo | Driver for the HOKUYO laser range scanner via a COM serial port. | DRV_2D_RANGE_SCANNER |
| HAD_GPS | Driver for COM-connected GPSs. | DRV_GPS |
| HAD_GasSensors | Driver for the custom-built e-Noses (Hardware Feb-2007). | DRV_GAS_SENSOR |
| HAD_IMU_XSens | Driver for the XSENS IMU. | DRV_IMU_SENSOR |
| HAD_Generic_Camera | Driver for any OpenCV/FFmpeg/Bumblebee camera (any camera supported by MRPT's CCameraSensor). | DRV_CAMERA_SENSOR |
Layer 2: Basic Sensory (BS) Modules
Recall that all these modules share a common IF as described in the previous section.
BS_IncrementalEgoMotion
- Description: This module collects data from odometry, and possibly from visual odometry, etc... to provide incremental estimations of the robot pose.
- Interface: Sensory frames of objects CObservationOdometry.
BS_Vision
- Description: This module collects images from the available cameras and:
- Provides the raw images, as CObservationImage or CObservationStereoImages objects.
- Performs real-time feature tracking from stereo images (if available) and provides the tracked landmarks as an object of the class CObservationVisualLandmarks.
BS_RangeSensors
- Description: This module collects data from laser range scanners, and ultrasonic sensors.
Layer 3: Sensory Detector (SD) Modules
SD_PeopleDetector
- Description: This module detects people around the robot using sensor data from range scanners, images, etc....
- Interface: Create a new type of observation? and/or add some specific method to retrieve the detected data.
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.
- Interface: TODO: Specific IF to retrieve:
- A 2D obstacle point map.
- A 2D occupancy grid.
- A 3D point cloud.
