| Variable name |
Short description |
Who publishes it? |
Who subscribes to it? |
| <ENCODER_PUBLISH_PREFIX>_CH<i>_AVRG_VEL |
for each channel (i=0,1,2,3), the averaged velocity, in ticks/second, according to the given filter window length. |
PhidgetsEncoders |
|
| <ENCODER_PUBLISH_PREFIX>_CH<i>_COUNT |
for each channel (i=0,1,2,3), the current tick count (position) of the encoder. |
PhidgetsEncoders |
|
| <ENCODER_PUBLISH_PREFIX>_CH<i>_INST_VEL |
for each channel (i=0,1,2,3), the instantaneous estimation of the velocity, in ticks/second. |
PhidgetsEncoders |
|
| <SENSOR_LABEL> |
The MRPT observation parsed as a std::vector<uint8_t> through ObjectToOctetVector |
GenericSensor |
|
| <SENSOR_LABEL>_RATE |
The approximate observation gathering rate (in Hz) of the given sensor. |
GenericSensor |
|
| _aliases |
<ENCODER_PUBLISH_PREFIX>_CH_AVRG_VEL ENC1_CH0_AVRG_VEL ENC1_CH1_AVRG_VEL ENC1_CH2_AVRG_VEL ENC1_CH3_AVRG_VEL |
|
|
| ADD_NODE |
(no description) |
RobotGUI |
|
| ALL_ARCS |
(no description) |
|
RobotGUI |
| ALL_NODES |
(no description) |
|
RobotGUI |
| AVAILABLE_ACTIONS |
(no description) |
|
RobotGUI |
| BATTERY_V |
The actual battery level of the Mobile Robotic Base |
MobileRobot_Pioneer |
|
| BUMPERS |
The state of front and read bumpers (1 pressed /0 unpressed) of the Mobile Robotic Base |
MobileRobot_Pioneer |
|
| BUTTONS_CMD |
Byte containing the pressed buttons |
JoystickControl |
|
| CLARAQUINO_LAST_CMD_STATUS |
The last command sent out to the board. Can be used to monitor whether the module is up and responding. |
Claraquino |
StereoFlyCap |
| CLARAQUINO_T1_FREQ |
Generates a 50% duty square signal in T1 pin (PD4) with the given frequency in Hz (set to 0 to disable). |
StereoFlyCap |
Claraquino |
| CURRENT_MAP_GAS_SIMUL |
(no description) |
|
RobotGUI |
| CURRENT_MAP_GRIDMAP |
A temporary file where the current grid map has been serialized to. |
LocalizationPF |
RobotGUI |
| DAQ_AIN{i} |
NI DAQ Analog Input (AIN) voltage readings for the i'th channel (0-based, in the order specified in the .moos file) |
NIDAQ |
|
| DAQ_OBS |
NI DAQ readings as binary serializations of "CObservationRawDAQ" passed to std::vector<uint8_t> through ObjectToOctetVector() |
|
|
| ENABLE_MOTORS |
(no description) |
|
MobileRobot_Pioneer |
| ENC1_CH0_AVRG_VEL |
(no description) |
|
eCarOdometry |
| ENC1_CH0_COUNT |
(no description) |
|
eCarOdometry |
| ENC1_CH1_AVRG_VEL |
(no description) |
|
eCarOdometry |
| ENC1_CH1_COUNT |
(no description) |
|
eCarOdometry |
| EST_GOODNESS |
The goodness of the robot pose estimation |
LocalizationPF |
|
| FBUMPERS |
(no description) |
MobileRobot_Pioneer |
|
| GAS_MEAN_ONLINE_MAP |
(no description) |
|
RobotGUI |
| GAS_VAR_ONLINE_MAP |
(no description) |
|
RobotGUI |
| GRIDPOINTS |
(no description) |
|
RobotGUI |
| GUI_POS_SIZE |
(no description) |
|
RobotGUI |
| GUI_SET_CAMERA |
Sets the GUI camera parameters for the scene 3D representation, with this format:
|
|
RobotGUI |
| GUI_VISIBLE_BUMPERS |
(no description) |
|
RobotGUI |
| GUI_VISIBLE_GAS_MEAN_ONLINE_MAP |
Whether to show (="1") or not (="0") the mean_gasmap map. |
|
RobotGUI |
| GUI_VISIBLE_GAS_VAR_ONLINE_MAP |
Whether to show (="1") or not (="0") the var_gasmap map. |
|
RobotGUI |
| GUI_VISIBLE_GASMAP_SIMUL |
(no description) |
|
RobotGUI |
| GUI_VISIBLE_INFRARED1 |
Whether to show (="1") or not (="0") this sensor in the GUI. |
|
RobotGUI |
| GUI_VISIBLE_LASER1 |
Whether to show (="1") or not (="0") this sensor in the GUI. |
|
RobotGUI |
| GUI_VISIBLE_LASER2 |
Whether to show (="1") or not (="0") this sensor in the GUI. |
|
RobotGUI |
| GUI_VISIBLE_LASER3 |
Whether to show (="1") or not (="0") this sensor in the GUI. |
|
RobotGUI |
| GUI_VISIBLE_METRIC_MAP |
Whether to show (="1") or not (="0") the metric map. |
|
RobotGUI |
| GUI_VISIBLE_PARTICLES |
Whether to show (="1") or not (="0") the particles of the robot localization. |
|
RobotGUI |
| GUI_VISIBLE_SONAR1 |
Whether to show (="1") or not (="0") this sensor in the GUI. |
|
RobotGUI |
| GUI_VISIBLE_SONAR2 |
Whether to show (="1") or not (="0") this sensor in the GUI. |
|
RobotGUI |
| GUI_VISIBLE_TOPOLOGICAL_MAP |
Whether to show (="1") or not (="0") the topological map. |
|
RobotGUI |
| GUI_VISIBLE_VIRTUAL_OBS |
Whether to show (="1") or not (="0") the navigator global virtual obstacles. |
|
RobotGUI |
| GUI_VISIBLE_VIRTUAL_WORLD |
(no description) |
|
RobotGUI |
| GUI_VISIBLE_WIFI |
(no description) |
|
RobotGUI |
| GUI_VISIBLE_WIND_ONLINE_MAP |
Whether to show (="1") or not (="0") the mean_gasmap map. |
|
RobotGUI |
| IMU_ACC_X |
Acceleration in X (m/s^2) |
|
|
| IMU_ACC_Y |
Acceleration in Y (m/s^2) |
|
|
| IMU_ACC_Z |
Acceleration in Z (m/s^2) |
|
|
| IMU_MAG_X |
X magnetic field value (gauss) |
|
|
| IMU_MAG_Y |
Y magnetic field value (gauss) |
|
|
| IMU_MAG_Z |
Z magnetic field value (gauss) |
|
|
| IMU_OBS |
IMU readings as binary serializations of "CObservationIMU" passed to std::vector<uint8_t> through ObjectToOctetVector() |
|
|
| IMU_PITCH |
Pitch (Y) absolute value (rad) |
|
|
| IMU_PITCH_VEL |
Pitch (Y) angular velocity (rad/sec) |
|
|
| IMU_ROLL |
Roll (X) absolute value (rad) |
|
|
| IMU_ROLL_VEL |
Roll (X) angular velocity (rad/sec) |
|
|
| IMU_YAW |
Yaw (Z) absolute value (rad) |
|
|
| IMU_YAW_VEL |
Yaw (Z) angular velocity (rad/sec) |
|
|
| IN_EXECUTION |
(no description) |
|
RobotGUI |
| INFRARED1 |
Infrared ranges, as a "CObservationRange" passed to std::vector<uint8_t> through ObjectToOctetVector() |
MobileRobot_Simul |
NavigatorReactivePTG RobotGUI |
| JOYSTICK_MODE |
A string either "0" or "1" to enable manual control with a Joystick |
RobotGUI |
JoystickControl NavigatorReactivePTG RobotGUI |
| KINECT1 |
(no description) |
|
NavigatorReactivePTG RobotGUI |
| LASER1 |
The laser scan, as a "CObservation2DRangeScan" passed to std::vector<uint8_t> through ObjectToOctetVector() |
MobileRobot_Simul |
LocalizationPF NavigatorReactivePTG RobotGUI |
| LASER2 |
(no description) |
|
LocalizationPF NavigatorReactivePTG RobotGUI |
| LASER3 |
(no description) |
|
LocalizationPF NavigatorReactivePTG RobotGUI |
| LOCALIZATION |
The robot estimated pose in format "[x y phi]" |
LocalizationFusion |
NavigatorReactivePTG RobotGUI |
| LOCALIZATION_COV |
The robot estimated pose uncertainty, as a 3x3 covariance matrix for [x y yaw] |
LocalizationFusion |
NavigatorReactivePTG RobotGUI |
| LOCALIZATION_COV_PF |
The robot estimated pose uncertainty, as a 3x3 covariance matrix for [x y yaw] |
LocalizationPF |
LocalizationFusion |
| LOCALIZATION_PARTICLES |
A matrix [x y phi;...] with a few of the particles used in PF localization. |
LocalizationPF |
RobotGUI |
| LOCALIZATION_PF |
The robot estimated pose in format "[x y phi]" |
LocalizationPF |
LocalizationFusion |
| MORA_GLOBAL_LOG |
Low-traffic text lines intended to be shown to the user in one central GUI from all the modules. |
NavigatorReactivePTG |
RobotGUI |
| MORA_IMAGES_DIR |
The directory where mrpt::utils::CImage store delay-load images (may be a shared memory directory) |
|
ChessboardDetector StereoOdometry_libviso |
| MOTION_CMD_V |
The desired robot linear speed (m/s) |
JoystickControl NavigatorReactivePTG |
MobileRobot_Pioneer MobileRobot_Simul |
| MOTION_CMD_W |
The desired robot angular speed (rad/s) |
JoystickControl NavigatorReactivePTG |
MobileRobot_Pioneer MobileRobot_Simul |
| MOVE_NODE |
(no description) |
RobotGUI |
|
| NAV_EVENT_END |
An event from the navigator. |
|
|
| NAV_EVENT_ERROR |
An event from the navigator. |
|
|
| NAV_EVENT_NOWAY |
An event from the navigator. |
|
|
| NAV_EVENT_START |
An event from the navigator. |
|
|
| NAVIGATE_CANCEL |
(no description) |
|
NavigatorReactivePTG |
| NAVIGATE_TARGET |
(no description) |
RobotGUI |
NavigatorReactivePTG |
| NAVIGATION_VIRTUAL_OBS |
A list of fixed obstacle points in global coordinates, as a 2xM or 3xM matrix with the X, Y and Z coordinates of the obstacles: "[x1 x2 x3 ...;y1 y2 y3 ...;z1 z2 z3...]" |
NavigatorReactivePTG |
NavigatorReactivePTG RobotGUI |
| NECKMSG |
(no description) |
NavigatorReactivePTG |
|
| ODO_REFERENCE |
The last odometry used to estimate the pose |
LocalizationPF |
LocalizationFusion |
| ODOMETRY |
The robot absolute odometry in format "[x y phi]" |
eCarOdometry MobileRobot_Pioneer MobileRobot_Simul |
LocalizationFusion LocalizationPF NavigatorReactivePTG |
| ODOMETRY_ANG_SPEED |
The vehicle instantaneous angular speed (rad/s) (positive=counterclockwise) |
eCarOdometry |
|
| ODOMETRY_INCR |
Robot odometry increments in format "[x y phi]" |
eCarOdometry |
|
| ODOMETRY_LIN_SPEED |
The vehicle instantaneous linear velocity (m/s) (positive=forward) |
eCarOdometry |
|
| ODOMETRY_OBS |
The robot absolute odometry as observation |
eCarOdometry MobileRobot_Pioneer MobileRobot_Simul |
|
| RELOCALIZE_IN_AREA |
Relocalize the robot in the given area. Var value is: "[x_min x_max y_min y_max]" |
RobotGUI |
LocalizationPF |
| SAVE_GRAPH |
(no description) |
RobotGUI |
|
| SHUTDOWN |
(no description) |
|
GenericSensor JoystickControl LocalizationFusion LocalizationPF MobileRobot_Pioneer MobileRobot_Simul NavigatorReactivePTG |
| SONAR1 |
Sonar ranges, as a "CObservationRange" passed to std::vector<uint8_t> through ObjectToOctetVector() |
MobileRobot_Simul |
NavigatorReactivePTG RobotGUI |
| SONAR2 |
(no description) |
|
RobotGUI |
| STEERCONTROL_AUTO_POS |
Set to 0.0 to disable automatic control (=Manual steering), set to 1.0 to enable the automatic steering controller. |
|
SteerControllerLowLevel |
| STEERCONTROL_CLUTCH |
Set to !=0.0 to enable the clutch that allows the steering motor to move the steering wheel. |
|
SteerControllerLowLevel |
| STEERCONTROL_PWM |
The PWM duty cycle when in non-controller mode (STEERCONTROL_AUTO_POS=0). Range is -1.0 to +1.0 for forward/backward direction. 0 means motor stopped. |
|
SteerControllerLowLevel |
| STEERCONTROL_STEERANG |
The desired setpoint for the steering angle (in RADIANS) when the controller is enabled (STEERCONTROL_AUTO_POS=1). 0 means straight forwards. |
|
SteerControllerLowLevel |
| STEERCONTROLSTATE |
A string with "FIRMWARE_TIMESTAMP POS_TICK VEL_TICKS" |
|
|
| STEERCONTROLSTATE_CUR_SENSE |
The latest voltage read by the the current sensor of the Pololu controller (in Volts) |
SteerControllerLowLevel |
|
| STEERCONTROLSTATE_POS |
The current tick count (position) of the steering encoder (in ticks) |
SteerControllerLowLevel |
|
| STEERCONTROLSTATE_STEER_ANG |
The current Ackermann central-equivalent steering angle (in radians). 0: pointing forward; >0: clockwise (Read from the controller, not the desired setpoint!) |
SteerControllerLowLevel |
|
| STEERCONTROLSTATE_VEL |
The current steering encoder velocity (in ticks/s) |
SteerControllerLowLevel |
|
| STEREO1_OBS |
Stereo images as mrpt::slam::CObservationStereoImages objects |
StereoFlyCap |
ChessboardDetector |
| STEREO_RECT_OBS |
Stereo images, after rectification, as mrpt::slam::CObservationStereoImages objects |
|
StereoOdometry_libviso |
| VIRTUAL_WORLD |
By now it only loads a fixed virtual world from disk |
|
RobotGUI |
| WIND_ONLINE_MAP |
(no description) |
|
RobotGUI |