| Module name |
Short description |
Publishes |
Subscribes |
| ChessboardDetector |
Detects chessboards in input stereo images |
|
MORA_IMAGES_DIR , STEREO1_OBS |
| Claraquino |
MOOS interface to a Claraquino USB board. |
CLARAQUINO_LAST_CMD_STATUS |
CLARAQUINO_T1_FREQ |
| eCarOdometry |
Differential-drive odometry estimation from a pair of encoders in the rear wheels. |
ODOMETRY , ODOMETRY_ANG_SPEED , ODOMETRY_INCR , ODOMETRY_LIN_SPEED , ODOMETRY_OBS |
ENC1_CH0_AVRG_VEL , ENC1_CH0_COUNT , ENC1_CH1_AVRG_VEL , ENC1_CH1_COUNT |
| GenericSensor |
Uses MRPT's CGenericSensor to open an arbitrary sensor and publish its data in a timely fashion. |
<SENSOR_LABEL> , <SENSOR_LABEL>_RATE |
SHUTDOWN |
| IMU_XSens |
Interface to XSens IMU devices (MT4 generation protocol). |
|
|
| JoystickControl |
Allow the robot to be commanded with a Joystick/Keyboard. |
BUTTONS_CMD , MOTION_CMD_V , MOTION_CMD_W |
JOYSTICK_MODE , SHUTDOWN |
| LocalizationFusion |
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 |
| LocalizationPF |
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 |
| MobileRobot_Pioneer |
The interface to a MobileRobotics (ARIA-based) mobile robotic base. |
BATTERY_V , BUMPERS , FBUMPERS , ODOMETRY , ODOMETRY_OBS |
ENABLE_MOTORS , 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. |
INFRARED1 , LASER1 , ODOMETRY , ODOMETRY_OBS , SONAR1 |
MOTION_CMD_V , MOTION_CMD_W , SHUTDOWN |
| NavigatorReactivePTG |
A generic reactive navigator. |
MORA_GLOBAL_LOG , MOTION_CMD_V , MOTION_CMD_W , NAVIGATION_VIRTUAL_OBS , NECKMSG |
INFRARED1 , JOYSTICK_MODE , KINECT1 , LASER1 , LASER2 , LASER3 , LOCALIZATION , LOCALIZATION_COV , NAVIGATE_CANCEL , NAVIGATE_TARGET , NAVIGATION_VIRTUAL_OBS , ODOMETRY , SHUTDOWN , SONAR1 |
| NIDAQ |
NationalInstruments DAQ module. |
DAQ_AIN{i} |
|
| PhidgetsEncoders |
Interface to Phidgets high-speed encoder USB board |
<ENCODER_PUBLISH_PREFIX>_CH<i>_AVRG_VEL , <ENCODER_PUBLISH_PREFIX>_CH<i>_COUNT , <ENCODER_PUBLISH_PREFIX>_CH<i>_INST_VEL |
|
| RobotGUI |
A GUI application to visualize and manipulate the mobile robot. |
ADD_NODE , JOYSTICK_MODE , MOVE_NODE , NAVIGATE_TARGET , RELOCALIZE_IN_AREA , SAVE_GRAPH |
ALL_ARCS , ALL_NODES , AVAILABLE_ACTIONS , CURRENT_MAP_GAS_SIMUL , CURRENT_MAP_GRIDMAP , 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 , JOYSTICK_MODE , KINECT1 , LASER1 , LASER2 , LASER3 , LOCALIZATION , LOCALIZATION_COV , LOCALIZATION_PARTICLES , MORA_GLOBAL_LOG , NAVIGATION_VIRTUAL_OBS , SONAR1 , SONAR2 , VIRTUAL_WORLD , WIND_ONLINE_MAP |
| SteerControllerLowLevel |
Interface to the embedded system controlling the vehicle steering wheel |
STEERCONTROLSTATE_CUR_SENSE , STEERCONTROLSTATE_POS , STEERCONTROLSTATE_STEER_ANG , STEERCONTROLSTATE_VEL |
STEERCONTROL_AUTO_POS , STEERCONTROL_CLUTCH , STEERCONTROL_PWM , STEERCONTROL_STEERANG |
| StereoFlyCap |
Stereo camera with two FlyCapture cameras plus a Claraquino board for sync trigger. |
CLARAQUINO_T1_FREQ , STEREO1_OBS |
CLARAQUINO_LAST_CMD_STATUS |
| StereoOdometry_libviso |
Stereo visual odometry using libviso2 |
|
MORA_IMAGES_DIR , STEREO_RECT_OBS |