| Parameter |
Description |
angle_inc_moving |
Increment(deg) to be applied to te eNeck for the e-nose searching movement when the robot is moving |
angle_inc_stopped |
Increment(deg) to be applied to te eNeck for the e-nose searching movement when the robot is stopped (detailed inspection) |
behavior |
The different modes of operation to cope with the gas source localization task:0: Move e-nose aspiration -> In this mode, the module just commands the "e-Neck" module to move (sweeping). All the functionality is provided by other OpenMora modules as ReactiveNavigation, MCEnose, Statechart, etc.1: Mapping-> In this mode, the module commands the robot to inspect all the experimental area following an strategy of move forward until an obstacle is detected, and then turn 90ยบ.This behaviour is designed to generate a GasMap of the room (using other OpenMora Modules).2: Inspection -> In this mode, the robot moves until a hit is detected. Then the robot is commanded to stop and perform a detailed inspection of the area by sweeping the e-nose aspiration with the eNeck module.3: SourceSearch--> The module commands the robot to move along the room while smelling arround it, while recording the position of high gas concentrations. After the experimental are has been inspected, the robot will declare the source and move towards it. |
max_angle |
Maximum angle for the eNeck |
max_v |
Maximum robot linear speed (m/s) |
max_w |
Maximum robot angular speed (deg/s) |
secure_distance |
Distance(m) to consider a obstacle is to near (perform obstacle avoidance strategy) |
sensorID |
The sensor type (0x2620, 0x2601, etc) to be monitored. |
umbralDetec |
A threshold(V) used to declare a possible gas source (high concentration) |
