robotracker

Robot tracker that updates vectormap layer with shapes of given robots. More...

Robot tracker that updates vectormap layer with shapes of given robots.

Provides

• opaque

Requires

• vectormap
• position2d

Configuration requests

• None

Configuration file options

• names (string tuple)
  • non-empty list of robot names (vectormap layer objects)

• shape_x (float tuple)
  • Default: [ -0.01 0.01 ]
  • shape of the robot (x'es of points of linestring)
  • all robots are of the same shape

• shape_y (float tuple)
  • Default: [ -0.01 0.01 ]
  • shape of the robot (y's of points of linestring)
  • all robots are of the same shape

• interval (float)
  • Default: -0.01 (=NONE)
  • mimimal interval between map updates

• min_x_change (float)
  • Default: -0.01 (=NONE)
  • minimum change on X-axis to assume robot has moved

• min_y_change (float)
  • Default: -0.01 (=NONE)
  • minimum change on Y-axis to assume robot has moved

• layer_name (string)
  • Default: "NONE"
  • vectormap layer name to be updated

• workspaces_name (string)
  • Default: "NONE"
  • if not set to "NONE" this is the name of vectormap layer that will be filled-up with robots extents

• depletion_zone (float)
  • Default: 0.0
  • length of additional depletion zone in robot workspace

• first2last_extent_name (string)
  • Default: "NONE"
  • if not set to "NONE" this is the name of additional vectormap object that will be added to workspaces layer to denote extent of all robots and their workspaces

Example

driver
(
  name "robotracker"
  names ["roomba0" "roomba1" "roomba2" "roomba3" "roomba4"]
  requires ["vectormap:0" "roomba0:::position2d:1" "roomba1::6666:position2d:1" "roomba2::6667:position2d:1" "roomba3::6668:position2d:1" "roomba4::6669:position2d:1"]
  provides ["opaque:0"]
  shape_x [ 0.225 0.208 0.159 0.086 0.000 -0.086 -0.159 -0.208 -0.225 -0.208 -0.159 -0.086 -0.000  0.086  0.159  0.208 0.225 ]
  shape_y [ 0.000 0.086 0.159 0.208 0.225  0.208  0.159  0.086  0.000 -0.086 -0.159 -0.208 -0.225 -0.208 -0.159 -0.086 0.000 ]
  min_x_change 0.1
  min_y_change 0.1
  layer_name "obstacles"
  workspaces_name "workspaces"
  first2last_extent_name "formation_extent"
  depletion_zone 0.3
  alwayson 1
)

Author:

Paul Osmialowski