List of all modules:

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
Domotics_IpPower Interface to a Wifi domotics server of the model "IP Power" DOMOTICS_OPERATION , SHUTDOWN
Enose_Simul Electronic nose (E-nose) simulator module. CURRENT_MAP_GAS_SIMUL , ENOSE_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 Module that implements some basic behaviours designed to find gas sources <MOTION_CMD_V> , <MOTION_CMD_W> , <SwitchChamber> , MOTION_CMD_V , MOTION_CMD_W , NAVIGATE_TARGET , SAY , SWITCHCHAMBER , TRUNKMSG 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
JoystickControl Allow the robot to be commanded with a Joystick/Keyboard. BUTTONS_CMD , MOTION_CMD_V , MOTION_CMD_W JOYSTICK_MODE , 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 , ODOMETRY , SHUTDOWN
Localization_PF Monte-Carlo localization for a mobile robot within a known map. CURRENT_MAP_GRIDMAP , LOCALIZATION_COV_PF , LOCALIZATION_PARTICLES , LOCALIZATION_PF 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 , NECKMSG LOCALIZATION , LOOK_AT_POINT , SHUTDOWN
MCEnose Multi Chamber Electronic nose (MCE-nose) module. <full_MCEnose> , <GDM> , <SENSOR_LABEL> SHUTDOWN , SWITCHCHAMBER
MobileRobot_Pioneer The interface to a MobileRobotics (ARIA-based) mobile robotic base. <BATTERY_V> , <BUMPERS> , <ODOMETRY_OBS> , BATTERY_V , BUMPERS , ODOMETRY , ODOMETRY_OBS MOTION_CMD_V , MOTION_CMD_W , SHUTDOWN
MobileRobot_Segway The interface to a modified Segway mobile robotic base. IN_EXECUTION , MOTION_CMD_V , MOTION_CMD_W , NEW_TASK , SHUTDOWN
MobileRobot_Simul A simulated mobile robot with a laser scanner, a sonar rig and an infrared sensor rig in a 2D world. <ODOMETRY_OBS> , INFRARED1 , LASER1 , ODOMETRY , ODOMETRY_OBS , SONAR1 MOTION_CMD_V , MOTION_CMD_W , 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
Neck Module to control the e-Neck on our robot Sancho. NECKMSG , SHUTDOWN
Online_Maps Online_Maps module. CURRENT_MAP_ONLINE ENOSE_SIMUL , Full_MCEnose , GDM , 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
R2RComm R2RComm module. SKYPE_SEND
Rawlog_grabber Module to save Odometry, Laser and MCEnose readings to a rawlog file. LASER1 , LASER2 , MCEnose , ODOMETRY_OBS , SHUTDOWN
RFID RFID module. RFID_TAG , TAG_EPC
RFIDApproach RFIDApproach module. MOTION_CMD_V , MOTION_CMD_W
RFIDLocalization RFIDLocalization module. RELOCALIZE_IN_AREA
RobotGUI2010 A GUI application to visualize and manipulate the mobile robot. ADD_NODE , 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 , 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 , GUI_SET_CAMERA , GUI_VISIBLE_BUMPERS , 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 , IN_EXECUTION , INFRARED1 , it , JOYSTICK_MODE , KINECT1 , LASER1 , LASER2 , LASER3 , loads , LOCALIZATION , LOCALIZATION_COV , LOCALIZATION_PARTICLES , MEAN_ONLINE_MAP , MORA_GLOBAL_LOG , NAVIGATION_VIRTUAL_OBS , now , only , SONAR1 , SONAR2 , VAR_ONLINE_MAP , virtual , VIRTUAL_WORLD , world
SkypeComm SkypeComm module. JOYSTICK_MODE , NEW_TASK a , AVAILABLE_ACTIONS , By , disk , fixed , from , GUI_SET_CAMERA , IN_EXECUTION , INFRARED1 , it , JOYSTICK_MODE , loads , LOCALIZATION , LOCALIZATION_COV , LOCALIZATION_PARTICLES , M_SEND , MORA_GLOBAL_LOG , now , only , SONAR1 , SONAR2 , virtual , VIRTUAL_WORLD , world
StateCharts State chart-based task programming NEW_TASK OBJECTIVE_FILE , PLAN_FINISHED , RESUME_STATECHART , SHUTDOWN , STOP_STATECHART
Trunk Module to control the e-Trunk on our robot Sancho. SHUTDOWN , TRUNKMSG
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 , WIFI_POWER
WifiWatch WifiWatch module. NAVIGATE_TARGET , SAY , WIFI_POWER , WIFI_POWER_SER
WorldModel This module keeps a topological representation of the world ALL_NODES , GUI_VISIBLE_TOPOLOGICAL_MAP , NODE_POSITION , PATH ADD_NODE , GET_NODE_POSITION , GET_PATH , LOAD_GRAPH , MOVE_NODE , SAVE_GRAPH , SHUTDOWN
ZBmodule Module to reading the information from some waspmote. NAVIGATE_TARGET , SAY LASER , MCEnose , NAV_EVENT_END , ODOMETRY_OBS , SAY , SHUTDOWN



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