robotracker
Drivers

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

Last updated 12 September 2005 21:38:45