| Module name |
Short description |
Publishes |
Subscribes |
| Agenda |
A module to keep the high-level tasks commanded to the robot. |
TASK_LIST |
IN_EXECUTION , NEW_TASK , SHUTDOWN |
| Arm |
(no description) |
ARM_POSE |
ARM_ADDCOMPLETETRAJECTORY , ARM_BLOCK , ARM_CALCULATEMATRIX , ARM_CALCULATEMATRIX2 , ARM_CALIBRATEARM , ARM_CALIBRATEARMDEPTH , ARM_DEMOSTRATION3 , ARM_DEMOSTRATIONVIDEO , ARM_DROP , ARM_DROPOBJECT , ARM_FINGERDISPLACE , ARM_FINGERTO , ARM_GIVEMEYOURHAND , ARM_GOHOME , ARM_INTRINSICCALIBRATION , ARM_JOYSTICK , ARM_LOCATEONEPATTERN , ARM_LOCATEPATTERN , ARM_MARIANOMETHOD , ARM_MOVETO , ARM_MOVETOANGLE , ARM_OFFSECUENCE , ARM_PICK , ARM_PICKOBJECT , ARM_POSITIONDISPLACE , ARM_READYTOCALIBRATE , ARM_READYTOCLAMP , ARM_READYTOPICK , ARM_REPRODUCEMOVEMENT , ARM_REPRODUCEONEMOVEMENT , ARM_RETRACT , ARM_ROTATIONDISPLACE , ARM_ROTATIONTO , ARM_TAKEDEPTH , ARM_TRANSFORMATIONPOINT , ARM_TURNHANDLEFT , ARM_TURNHANDRIGHT , RESET_ODO , SHUTDOWN , WORKING |
| BatteryManager |
Module to monitoring the battery. |
Battery_Intensity , Battery_Level , Battery_Life , Battery_Voltage , Charger_Intensity , Complete_Recharge , Energy , Is_Charging , NEW_TASK , SAY |
SHUTDOWN , Volt1 , Volt2 , Volt3 |
| CamControl_ImagingSource |
Module to reading the information from some waspmote. |
|
SHUTDOWN , zoomcam_focus , zoomcam_zoom |
| DataAcquisition |
Module to make Data Acquisiton. |
Volt1 , Volt2 , Volt3 , Volt4 |
SHUTDOWN |
| Docking |
A module to keep the high-level tasks commanded to the robot. |
ENABLE_MOTORS , MOTION_CMD_V , MOTION_CMD_W , PARKING |
fVoltaje , Is_Charging , LASER1 , MOTION_CMD_V , MOTION_CMD_W , PARKING , SHUTDOWN |
| Domotics_IpPower |
Interface to a Wifi domotics server of the model "IP Power" |
|
DOMOTICS_OPERATION , SHUTDOWN |
| Enose_MCE |
Multi Chamber Electronic nose (MCE-nose) module. |
<Full_MCEnose> , <GDM> , <SENSOR_LABEL> |
SHUTDOWN , SwitchChamber |
| Enose_Modular |
ModularEnose module. |
|
SHUTDOWN , SwitchChamber |
| Enose_Simul |
Electronic nose (E-nose) simulator module. |
CURRENT_MAP_GAS_SIMUL , ENOSE_SIMUL , GT_GAS_SIMUL |
LOCALIZATION , SHUTDOWN |
| Executor |
PLEXAM: Plan execution control |
DOMOTICS_OPERATION , END_TASK , GUI_SET_CAMERA , GUI_VISIBLE_LASER1 , GUI_VISIBLE_LASER2 , GUI_VISIBLE_METRIC_MAP , GUI_VISIBLE_TOPOLOGICAL_MAP , GUI_VISIBLE_VIRTUAL_OBS , LOOK_AT_POINT , NAVIGATE_TARGET , NEW_TASK , NODE_POSITION , PLAN_FINISHED , PNAVIGATORREACTIVEPTG_CMD , ROBOT_TOPOLOGICAL_PLACE , SAY , VISION_ENABLE_CAMSHIFT , VISION_ENABLE_DISPLAY_IMAGE , VISION_ENABLE_FACEDETECTOR |
GET_NODE_POSITION , IN_EXECUTION , NAV_EVENT_END , NAV_EVENT_ERROR , NAV_EVENT_NOWAY , NAV_EVENT_START , SHUTDOWN , VOICE_EVENT_DONE |
| GasSourceLocalization |
Gas Source Localization |
<MOTION_CMD_V> , <MOTION_CMD_W> , <NAVIGATE_TARGET> , <SAY> , <SwitchChamber> , <TRUNKMSG> , MOTION_CMD_V , MOTION_CMD_W , SAY , SwitchChamber |
LASER , MCEnose , SHUTDOWN |
| GenericSensor |
Uses MRPT's CGenericSensor to open an arbitrary sensor and publish its data in a timely fashion. |
<SENSOR_LABEL> , <SENSOR_LABEL>_RATE |
SHUTDOWN |
| Gesture_Manager |
(no description) |
MOTION_CMD_V , MOTION_CMD_W , NEW_TASK , SAY |
|
| Giraff_Control_Manager |
pGiraff_Control_Manager Module in charge of controlling the Operation mode (autonomous/Manual) of a Giraff Robot. |
GET_PATH , GIRAFF_CONTROL_MODE , PNAVIGATORREACTIVEPTG3D_CMD |
BATTERY_V , CANCEL_NAVIGATION , Is_Charging , MQTT_CONNECT_STATUS , NAVIGATE_TARGET , PATH , PILOT_MQTT_ACK , SHUTDOWN |
| JoystickControl |
Allow the robot to be commanded with a Joystick/Keyboard. |
BUTTONS_CMD , MOTION_CMD_V , MOTION_CMD_W |
JOYSTICK_MODE , SHUTDOWN |
| Kinect_Gestures |
(no description) |
MOTION_CMD_V , MOTION_CMD_W |
|
| Kinect_Odometry |
(no description) |
|
SHUTDOWN |
| Kinect_v1 |
Kinect data adquisition and processing. |
KINECT1 |
SHUTDOWN |
| Localization_Fusion |
Real-time accurate pose tracking by fusing different localization sources (particle filters, odometry, etc...) |
LOCALIZATION , LOCALIZATION_COV |
LOCALIZATION_COV_PF , LOCALIZATION_PF , ODO_REFERENCE , ODOMETRY , SHUTDOWN |
| Localization_PF |
Monte-Carlo localization for a mobile robot within a known map. |
CURRENT_MAP_GRIDMAP , EST_GOODNESS , LOCALIZATION_COV_PF , LOCALIZATION_PARTICLES , LOCALIZATION_PF , ODO_REFERENCE |
LASER1 , LASER2 , LASER3 , ODOMETRY , RELOCALIZE_IN_AREA , SHUTDOWN |
| LookAtPoint |
Module to make the robot turn to look at a given absolute (x,y) coordinates, including optionally turn its neck. |
MOTION_CMD_V , MOTION_CMD_W , NAV_EVENT_END , NECKMSG |
LOCALIZATION , LOOK_AT_POINT , SHUTDOWN |
| MobileRobot_Giraff |
The interface to a ActivMedia robotic bases (Giraff DX/AT, PeopleBot, etc). |
<BATTERY_V> , <BUMPERS> , <ODOMETRY_OBS> , BATTERY_V , FBUMPERS , Is_Charging: , ODOMETRY , ODOMETRY_OBS |
ENABLE_MOTORS , GIRAFF_CONTROL_MODE , MOTION_CMD_V , MOTION_CMD_W , SHUTDOWN |
| MobileRobot_Pioneer |
The interface to a MobileRobotics (ARIA-based) mobile robotic base. |
<BATTERY_V> , <BUMPERS> , <ODOMETRY_OBS> , BATTERY_V , FBUMPERS , ODOMETRY , ODOMETRY_OBS |
ENABLE_MOTORS , MOTION_CMD_V , MOTION_CMD_W , SHUTDOWN |
| MobileRobot_Segway |
The interface to a modified Segway mobile robotic base. |
|
BUTTONS_CMD , MOTION_CMD_V , MOTION_CMD_W , SHUTDOWN |
| MobileRobot_Simul |
A simulated mobile robot with a laser scanner, a sonar rig and an infrared sensor ring in a 2D world. |
<ODOMETRY_OBS> , INFRARED1 , LASER1 , ODOMETRY , ODOMETRY_OBS , SONAR1 |
MOTION_CMD_V , MOTION_CMD_W , SHUTDOWN |
| MobileRobot_Simul3D |
A simulated mobile robot with two lasers and one kinect. |
<ODOMETRY_OBS> , KINECT1 , LASER1 , LASER2 , LOCALIZATION , ODOMETRY , ODOMETRY_OBS , RELOCALIZE_IN_AREA |
MOTION_CMD_V , MOTION_CMD_W , SHUTDOWN |
| MQTTMosquitto |
The interface to an user Client (Pilot, Web-RTC, etc). |
ADD_ARC , ADD_NODE , CANCEL_NAVIGATION , CHANGE_NODE_LABEL , GET_NODE_POSITION , GET_PATH , GIRAFF_CONTROL_MODE , LOAD_GRAPH , MOTION_CMD_V , MOTION_CMD_W , MOVE_NODE , MQTT_CONNECT_STATUS , NAVIGATE_TARGET , PILOT_MQTT_ACK , RELOCALIZE_IN_AREA , REMOVE_ARC , REMOVE_NODE , SAVE_GRAPH , SAVE_RAWLOG |
CANCEL_NAVIGATION , ERROR_MSG , GET_PATH , GIRAFF_CONTROL_MODE , GRAPH , LASER1 , LOCALIZATION , ROBOT_TOPOLOGICAL_PLACE , SHUTDOWN |
| MsnIM |
Allow the robot to be commanded with a Joystick. |
MOTION_CMD_W |
JOYSTICK_MODE |
| NavigatorReactivePTG |
A generic reactive navigator. |
MORA_GLOBAL_LOG , MOTION_CMD_V , MOTION_CMD_W , NAV_EVENT_END , NAV_EVENT_ERROR , NAV_EVENT_NOWAY , NAV_EVENT_START , NAVIGATION_VIRTUAL_OBS , NECKMSG |
INFRARED1 , JOYSTICK_MODE , KINECT1 , LASER1 , LASER2 , LASER3 , LOCALIZATION , LOCALIZATION_COV , NAVIGATE_CANCEL , NAVIGATE_TARGET , NAVIGATION_VIRTUAL_OBS , ODOMETRY , SHUTDOWN , SONAR1 |
| NavigatorReactivePTG3D |
(no description) |
GRIDPOINTS , MORA_GLOBAL_LOG , MOTION_CMD_V , MOTION_CMD_W , NAV_EVENT_END , NAV_EVENT_ERROR , NAV_EVENT_NOWAY , NAV_EVENT_START , NECKMSG , SHUTDOWN |
CANCEL , EST_GOODNESS , IRD_WARNING , KINECT , LASER1 , LASER2 , LOCALIZATION , LOCALIZATION_COV , NAVIGATE_CANCEL , NAVIGATE_TARGET , ODOMETRY , SHUTDOWN |
| NavigatorTopological |
The interface to a MobileRobotics (ARIA-based) mobile robotic base. |
CANCEL_NAVIGATION , MOTION_CMD_V , MOTION_CMD_W , NAVIGATE_TARGET , OPENMORA_CONTROL , PNAVIGATORREACTIVEPTG3D_CMD , ROBOT_TOPOLOGICAL_PLACE |
GRAPH , LOCALIZATION , NAV_EVENT_END , NAV_EVENT_ERROR , PATH , SHUTDOWN |
| Neck |
Module to control the e-Neck on our robot Sancho. |
|
NECKMSG , SHUTDOWN |
| Online_Maps |
Online_Maps module. |
GAS_MEAN_ONLINE_MAP , GAS_VAR_ONLINE_MAP , LOCALIZATION , WIND_ONLINE_MAP |
CURRENT_MAP_GAS_SIMUL , ENOSE_SIMUL , Full_MCEnose , GDM , GT_GAS_SIMUL , LOCALIZATION , MCEnose , SHUTDOWN |
| Planner |
A module that plans complex tasks into a sequence of small, simple routines. |
IN_EXECUTION , TASK_PLANNED |
PATH , PLAN_FINISHED , SHUTDOWN , TASK_LIST |
| Ptu |
Module to . |
|
PTU_MODE , PTU_MOVE_PAN , PTU_MOVE_TILT , SHUTDOWN |
| R2RComm |
R2RComm module. |
<EI_VARNAME> , <SKYPE_SEND> , <SKYPE_USER> |
SHUTDOWN , SKYPE_RECV |
| Rawlog_grabber |
Module to save Odometry, Laser and MCEnose readings to a rawlog file. |
|
LASER1 , LASER2 , MCEnose , ODOMETRY_OBS , SAVE_RAWLOG , SHUTDOWN |
| RFID |
RFID module. |
RFID_TAG , TAG_EPC |
|
| RFIDApproach |
RFIDApproach module. |
<MOTION_CMD_V> , <MOTION_CMD_W> |
APPROACH , APPROACH_TAG , RFID , SHUTDOWN |
| RFIDLocalization |
RFIDLocalization module. |
RELOCALIZE_IN_AREA |
RFID , SHUTDOWN |
| RFIDPowerMeas |
RFIDPowerMeas module. |
|
RFID , SHUTDOWN |
| RGBDSensorToReactive |
RGBD sensor data adquisition and processing. |
IRD_WARNING , KINECT1 |
SHUTDOWN |
| RobotGUI2010 |
A GUI application to visualize and manipulate the mobile robot. |
ADD_NODE , GUI_VISIBLE_GAS_MEAN_ONLINE_MAP , GUI_VISIBLE_GAS_VAR_ONLINE_MAP , GUI_VISIBLE_INFRARED1 , GUI_VISIBLE_LASER1 , GUI_VISIBLE_LASER2 , GUI_VISIBLE_LASER3 , GUI_VISIBLE_METRIC_MAP , GUI_VISIBLE_PARTICLES , GUI_VISIBLE_SONAR1 , GUI_VISIBLE_SONAR2 , GUI_VISIBLE_TOPOLOGICAL_MAP , GUI_VISIBLE_VIRTUAL_OBS , GUI_VISIBLE_WIND_ONLINE_MAP , JOYSTICK_MODE , MOVE_NODE , NAVIGATE_TARGET , RELOCALIZE_IN_AREA , SAVE_GRAPH |
a , ALL_ARCS , ALL_NODES , AVAILABLE_ACTIONS , By , CURRENT_MAP_GAS_SIMUL , CURRENT_MAP_GRIDMAP , disk , fixed , from , GAS_MEAN_ONLINE_MAP , GAS_VAR_ONLINE_MAP , GRIDPOINTS , GUI_POS_SIZE , GUI_SET_CAMERA , GUI_VISIBLE_BUMPERS , GUI_VISIBLE_GAS_MEAN_ONLINE_MAP , GUI_VISIBLE_GAS_VAR_ONLINE_MAP , GUI_VISIBLE_GASMAP_SIMUL , GUI_VISIBLE_INFRARED1 , GUI_VISIBLE_LASER1 , GUI_VISIBLE_LASER2 , GUI_VISIBLE_LASER3 , GUI_VISIBLE_METRIC_MAP , GUI_VISIBLE_PARTICLES , GUI_VISIBLE_SONAR1 , GUI_VISIBLE_SONAR2 , GUI_VISIBLE_TOPOLOGICAL_MAP , GUI_VISIBLE_VIRTUAL_OBS , GUI_VISIBLE_VIRTUAL_WORLD , GUI_VISIBLE_WIFI , GUI_VISIBLE_WIND_ONLINE_MAP , IN_EXECUTION , INFRARED1 , it , JOYSTICK_MODE , KINECT1 , LASER1 , LASER2 , LASER3 , loads , LOCALIZATION , LOCALIZATION_COV , LOCALIZATION_PARTICLES , MORA_GLOBAL_LOG , NAVIGATION_VIRTUAL_OBS , now , only , SONAR1 , SONAR2 , virtual , VIRTUAL_WORLD , WIND_ONLINE_MAP , world |
| SkypeComm |
SkypeComm module. |
<NEW_TASK> , <SKYPE_CONTACT> , <SKYPE_RECV> |
SKYPE_CONTACT , SKYPE_SEND |
| SkypeComm_WindowsAPI |
SkypeComm_WindowsAPI module. |
<NEW_TASK> , <SKYPE_CONTACT> , <SKYPE_RECV> , SKYPE_CONTACT |
SKYPE_CONTACT , SKYPE_SEND |
| Speech_Synth |
A module to keep the high-level tasks commanded to the robot. |
|
NEW_TASK |
| StateCharts |
This module processes .scxml files that contain state charts. It will read the files given by OBJECTIVE_FILE and execute the state charts. This module will accept the files given by the GUI |
<NEW_TASK> |
OBJECTIVE_FILE , PLAN_FINISHED , RESUME_STATECHART , SHUTDOWN , STOP_STATECHART |
| TEST_extRGBDSensor |
RGBD sensor data adquisition and processing. |
|
DEPTH_FRAME , SHUTDOWN |
| TextInterpreter |
This is a generic text input/output module. |
NECKMSG , NEW_TASK , OBJECTIVE_FILE , PNAVIGATORREACTIVEPTG3D_CMD , PNAVIGATORREACTIVEPTG_CMD , SKYPE_CAM , STOP_STATECHART |
<listening_variable> , SHUTDOWN |
| Trunk |
Module to control the e-Trunk on our robot Sancho. |
|
SHUTDOWN , TrunkMSG |
| TwitterAgent |
A module to keep the high-level tasks commanded to the robot. |
|
SHUTDOWN , TALK , TWEET |
| VirtualCam_Desktop |
VirtualCam_Desktop is a Windows DirectShow video source filter. |
|
|
| VirtualWorld |
A module to keep the high-level tasks commanded to the robot. |
|
|
| Vision |
Capture images from any kind of camera and feed them to any of a set of image processing sub-modules.
|
FACE_DETECTED , NECKMSG , VISION_AVAILABLE_MODULES |
SHUTDOWN |
| VoiceFestival |
Speech synthesis (TTS), in different languages, using the free Festival program. |
VOICE_EVENT_DONE |
SAY , SHUTDOWN |
| VoiceVerbio |
Speech synthesis and recognition in Spanish using Verbio. |
NEW_TASK , VOICE_EVENT_DONE |
SAY , SHUTDOWN |
| WifiAlert |
WifiAlert module. |
<NAVIGATE_TARGET> , <SAY> , NAVIGATE_TARGET , SAY , WIFI_POWER |
LOCALIZATION , SHUTDOWN , WIFI |
| WifiWatch |
WifiWatch module. |
<WIFI_POWER> , <WIFI_POWER_SER> , NAVIGATE_TARGET , SAY |
SHUTDOWN |
| WorldModel |
This module keeps a topological representation of the world |
ERROR_MSG , GRAPH , GUI_VISIBLE_TOPOLOGICAL_MAP , NAVIGATE_TARGET , NODE_POSITION , PATH , PERSON_LOCATION |
ADD_ARC , ADD_NODE , CHANGE_NODE_LABEL , GET_NODE_POSITION , GET_PATH , GET_PERSON_LOCATION , LOAD_GRAPH , MOVE_NODE , REMOVE_ARC , REMOVE_NODE , ROBOT_TOPOLOGICAL_PLACE , SAVE_GRAPH , SHUTDOWN |
| ZBmodule |
Module to reading the information from some waspmote. |
Waspmote_Network_Data |
SHUTDOWN , Waspmote_Network_Data |