Difference between revisions of "Architecture:Specification of BABEL Modules"

From The BABEL Development Site
(Layer 1: HAD Modules)
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| 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
 
| 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_SENA
+
! HAD_MobileBase_Simulator
| Driver for the micro controller based system designed for SENA and accessible via USB. Hw version is JLBC/NOV-05. || DRV_WHEELS_MOBILE_BASE,
+
| A simulated 2D mobile base. || DRV_IOBOARD, DRV_WHEELS_MOBILE_BASE, DRV_2D_RANGE_SCANNER
DRV_IOBOARD, DRV_INERTIAL_SENSORS, DRV_BATTERY_LEVEL
 
 
|-
 
|-
 +
! 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_GlobalPositioningSystems
 +
| 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_STEREO_BUMBLEBEE
 +
| Driver for the Bumblebee Stereo camera. || DRV_CAMERA_SENSOR
 +
|-
 +
! HAD_GENERIC_CAMERA
 +
| Driver for any OpenCV/FFmpeg camera (any camera supported by MRPT's CCameraSensor). || DRV_CAMERA_SENSOR
 
|}
 
|}
 
 
  
 
=== Layer 2: SD Modules ===
 
=== Layer 2: SD Modules ===

Revision as of 23:58, 17 May 2009

Previous: Interfaces Next: RPDs


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_GlobalPositioningSystems 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_STEREO_BUMBLEBEE Driver for the Bumblebee Stereo camera. DRV_CAMERA_SENSOR
HAD_GENERIC_CAMERA Driver for any OpenCV/FFmpeg camera (any camera supported by MRPT's CCameraSensor). DRV_CAMERA_SENSOR

Layer 2: SD Modules