| RtcProfile | |||
| ID | RTC:AIST INVENT:Sensor:BumpDetection:4.0.0 | ||
| Version | 0.2 | ||
| BasicInfo | |||
| Name | BumpDetection | ||
| ComponentType | STATIC | ||
| ActivityType | PERIODIC | ||
| ComponentKind | DataFlowComponent | ||
| Category | Sensor | ||
| Description | The bump is detected | ||
| ExecutionRate | 1000.0 | ||
| ExecutionType | PeriodicExecutionContext | ||
| MaxInstances | 10 | ||
| Vendor | AIST INVENT | ||
| Version | 4.0.0 | ||
| CreationDate | 2010-03-02T10:57:10.619+09:00 | ||
| UpdateDate | 2010-03-02T13:37:51.351+09:00 | ||
| language | |||
| doc_basic | |||
| reference | |||
| license | Copyright (c) 2008, National Institute of Advanced Industrial Science and Technology (AIST). All rights reserved. This program is made available under the terms of the Eclipse Public License v1.0 which accompanies this distribution, and is available at http://www.eclipse.org/legal/epl-v10.html | ||
| creator | N.Takekawa (takekawa-777@aist.go.jp) | ||
| algorithm | The bump is detected by using the laser sensor data and the robot present location |
||
| inout | IN : SensorData, PresentLocation OUT : Bump Probability |
||
| description | The bump is detected | ||
| actions | |||
| action_status/doc_action | |||
| OnInitialize | implemented | true | |
| postCondition | none | ||
| preCondition | none | ||
| description | Initialization of configuration parameter | ||
| OnFinalize | implemented | false | |
| OnStartup | implemented | false | |
| OnShutdown | implemented | false | |
| OnActivated | implemented | true | |
| postCondition | none | ||
| preCondition | none | ||
| description | Debugging file open Initialization of each variable |
||
| OnDeactivated | implemented | true | |
| postCondition | none | ||
| preCondition | none | ||
| description | Debugging file close | ||
| OnAborting | implemented | false | |
| OnError | implemented | false | |
| OnReset | implemented | false | |
| OnExecute | implemented | true | |
| postCondition | none | ||
| preCondition | none | ||
| description | The bump is detected | ||
| OnStateUpdate | implemented | false | |
| OnRateChanged | implemented | false | |
| OnAction | implemented | false | |
| OnModeChanged | implemented | false | |
| configuration/doc_configuration | |||
| 1 | name | BumpLimit | |
| unit | [m] | ||
| defaultValue | 0.04 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | about 0.02 to about 0.1 | ||
| unit | [m] | ||
| description | Value of ruggedness detection | ||
| defaultValue | 0.04 | ||
| dataname | BumpLimit | ||
| 2 | name | SearchWidth | |
| unit | [m] | ||
| defaultValue | 0.5 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | about 0.2 to about 2.0 | ||
| unit | [m] | ||
| description | Value of ruggedness detectionRange of detection | ||
| defaultValue | 0.5 | ||
| dataname | SearchWidth | ||
| 3 | name | SensorAngle | |
| unit | [deg] | ||
| defaultValue | -15.0 | ||
| type | double | ||
| constraint | Reflected timing ( inactive ) | ||
| range | Appropriate range | ||
| unit | [deg] | ||
| description | Angle of sensor | ||
| defaultValue | -15.0 | ||
| dataname | SensorAngle | ||
| 4 | name | SensorHeight | |
| unit | [m] | ||
| defaultValue | 0.2825 | ||
| type | double | ||
| constraint | Reflected timing ( inactive ) | ||
| range | Appropriate range | ||
| unit | [m] | ||
| description | Height of sensor | ||
| defaultValue | 0.2825 | ||
| dataname | SensorHeight | ||
| 5 | name | Vertical_Off | |
| unit | [m] | ||
| defaultValue | 0.165 | ||
| type | double | ||
| constraint | Reflected timing ( inactive ) | ||
| range | Appropriate range | ||
| unit | [m] | ||
| description | Offset of vertical direction from model control point to Sensor | ||
| defaultValue | 0.165 | ||
| dataname | Vertical_Off | ||
| 6 | name | Horizontal_Off | |
| unit | [m] | ||
| defaultValue | 0.0 | ||
| type | double | ||
| constraint | Reflected timing ( inactive ) | ||
| range | Appropriate range | ||
| unit | [m] | ||
| description | Offset of horizontal direction from model control point to Sensor | ||
| defaultValue | 0.0 | ||
| dataname | Horizontal_Off | ||
| 7 | name | PanLimit_CW | |
| unit | [deg] | ||
| defaultValue | -60.0 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | Appropriate range | ||
| unit | [deg] | ||
| description | Operation limit on CW side of Pan | ||
| defaultValue | -60.0 | ||
| dataname | PanLimit_CW | ||
| 8 | name | PanLimit_CCW | |
| unit | [deg] | ||
| defaultValue | 60.0 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | Appropriate range | ||
| unit | [deg] | ||
| description | Operation limit on CCW side of Pan | ||
| defaultValue | 60.0 | ||
| dataname | PanLimit_CCW | ||
| 9 | name | TiltLimit_Upper | |
| unit | [deg] | ||
| defaultValue | 30.0 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | Appropriate range | ||
| unit | [deg] | ||
| description | Operation limit of Tilt in the upper part | ||
| defaultValue | 30.0 | ||
| dataname | TiltLimit_Upper | ||
| 10 | name | TiltLimit_Lower | |
| unit | [deg] | ||
| defaultValue | -50.0 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | Appropriate range | ||
| unit | [deg] | ||
| description | Operation limit of Tilt in the lower part | ||
| defaultValue | -50.0 | ||
| dataname | TiltLimit_Lower | ||
| 11 | name | BumpProbability | |
| unit | |||
| defaultValue | 0.5 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | about 0.05 to about 0.5 | ||
| unit | |||
| description | Probability value used when existence of obstacle can be confirmed | ||
| defaultValue | 0.5 | ||
| dataname | BumpProbability | ||
| 12 | name | EmptyProbability | |
| unit | |||
| defaultValue | -0.5 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | about -0.5 to about 0.0 | ||
| unit | |||
| description | Probability value used when it is recognized that obstacle doesn't exist | ||
| defaultValue | -0.5 | ||
| dataname | EmptyProbability | ||
| 13 | name | Thickness | |
| unit | [m] | ||
| defaultValue | 0.1 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | Appropriate range | ||
| unit | [m] | ||
| description | Range of obstacle judgment | ||
| defaultValue | 0.1 | ||
| dataname | Thickness | ||
| 14 | name | SynchronousTimeLimit | |
| unit | [m] | ||
| defaultValue | 0.01 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | Appropriate range | ||
| unit | [m] | ||
| description | Threshold of synchronous processing | ||
| defaultValue | 0.01 | ||
| dataname | SynchronousTimeLimit | ||
| dataports/doc_dataport | |||
| 1 | portType | DataInPort | |
| unit | |||
| subscriptionType | |||
| dataflowType | |||
| interfaceType | |||
| idlFile | |||
| type | IIS::TimedPosition | ||
| name | InCurrentPosition | ||
| position | LEFT | ||
| variableName | InCurrentPosition | ||
| operation | |||
| occerrence | |||
| unit | X,Y data : [m], Angle : [rad], timeStamp: [sec],[nanosec] | ||
| semantics | current Localized Position data (the position of center of robots model) [0]: X data [1]: Y data [2]: posture angle[rad] |
||
| number | 4 (x,y, posture angle) , timeStamp:1, error[] | ||
| type | localized Position data: double, timeStamp:tm | ||
| description | Input of the Current Position | ||
| 2 | portType | DataInPort | |
| unit | [rad] | ||
| subscriptionType | |||
| dataflowType | |||
| interfaceType | |||
| idlFile | |||
| type | TimedDoubleSeq | ||
| name | InCurrentPanTiltAngle | ||
| position | LEFT | ||
| variableName | InCurrentPanTiltAngle | ||
| operation | |||
| occerrence | |||
| unit | [rad] | ||
| semantics | [0] : Pan angle [1] : Tilt angle |
||
| number | 2 | ||
| type | TimedDoubleSeq | ||
| description | Input of the PanTilt angle | ||
| 3 | portType | DataInPort | |
| unit | - | ||
| subscriptionType | |||
| dataflowType | |||
| interfaceType | |||
| idlFile | |||
| type | SensorRTC::LaserRangeSensor::idl::TimedMeasuredData | ||
| name | InSensorData | ||
| position | LEFT | ||
| variableName | InSensorData | ||
| operation | |||
| occerrence | |||
| unit | - | ||
| semantics | startPosition = Starting position of measurement endtPosition = Position where measurement is ended interval = Number of thinning out of distance data distance = Distance data sensorState = State of sensor |
||
| number | 6 | ||
| type | TimedMeasurementData | ||
| description | Input of the range data | ||
| 4 | portType | DataOutPort | |
| unit | [rad] | ||
| subscriptionType | |||
| dataflowType | |||
| interfaceType | |||
| idlFile | |||
| type | TimedDoubleSeq | ||
| name | OutTargetPanTiltAngle | ||
| position | RIGHT | ||
| variableName | OutTargetPanTiltAngle | ||
| operation | |||
| occerrence | |||
| unit | [rad] | ||
| semantics | [0] : Pan angle [1] : Tilt angle |
||
| number | 2 | ||
| type | Output of the PanTilt angle of target | ||
| description | PanTilt angle data | ||
| 5 | portType | DataOutPort | |
| unit | - | ||
| subscriptionType | |||
| dataflowType | |||
| interfaceType | |||
| idlFile | |||
| type | SensorRTC::LaserRangeSensor::idl::TimedMeasuredData | ||
| name | OutSensorDistance | ||
| position | RIGHT | ||
| variableName | OutSensorDistance | ||
| operation | |||
| occerrence | |||
| unit | - | ||
| semantics | startPosition = Starting position of measurement endtPosition = Position where measurement is ended interval = Number of thinning out of distance data distance = Distance data sensorState = State of sensor |
||
| number | 6 | ||
| type | TimedMeasurementData | ||
| description | Output of the range data | ||
| 6 | portType | DataOutPort | |
| unit | [rad] | ||
| subscriptionType | |||
| dataflowType | |||
| interfaceType | |||
| idlFile | |||
| type | TimedDoubleSeq | ||
| name | OutPanTiltAngle | ||
| position | RIGHT | ||
| variableName | OutPanTiltAngle | ||
| operation | |||
| occerrence | |||
| unit | [rad] | ||
| semantics | [0] : Pan angle [1] : Tilt angle |
||
| number | 2 | ||
| type | TimedDoubleSeq | ||
| description | Output of the PanTilt angle | ||
| serviceport/doc_serviceport | |||
| 1 | name | InventGUIProv | |
| position | LEFT | ||
| ifdescription | The parameter is obtained | ||
| description | The parameter is obtained | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | InventGUIBump | |
| path | /tmp/OpenINVENT-4.0.0/BumpDetection_ver4.0.0 | ||
| type | Bump | ||
| idlFile | /tmp/OpenINVENT-4.0.0/BumpDetection_ver4.0.0/BumpDetectionPro.idl | ||
| instanceName | InventGUIBump | ||
| direction | Provided | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | SetParameter() | ||
| description | The parameter is obtained | ||
| 2 | name | MapBuilderProv | |
| position | LEFT | ||
| ifdescription | 3D map data is gotten | ||
| description | 3D map data is gotten | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | MapBuilderBump | |
| path | /tmp/OpenINVENT-4.0.0/BumpDetection_ver4.0.0 | ||
| type | Bump | ||
| idlFile | /tmp/OpenINVENT-4.0.0/BumpDetection_ver4.0.0/BumpDetectionPro.idl | ||
| instanceName | MapBuilderBump | ||
| direction | Provided | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | SetMap() | ||
| description | 3D map data is gotten | ||
| 3 | name | LocalPathProv | |
| position | LEFT | ||
| ifdescription | The route is obtained | ||
| description | The route is obtained | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | LocalPathBump | |
| path | /tmp/OpenINVENT-4.0.0/BumpDetection_ver4.0.0 | ||
| type | Bump | ||
| idlFile | /tmp/OpenINVENT-4.0.0/BumpDetection_ver4.0.0/BumpDetectionPro.idl | ||
| instanceName | LocalPathBump | ||
| direction | Provided | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | LocalPathCourse() | ||
| description | The route is obtained | ||
| 4 | name | InventGUICons | |
| position | LEFT | ||
| ifdescription | informs of road ruggedness detection informs of the state of the sensor |
||
| description | informs of road ruggedness detection informs of the state of the sensor |
||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | BumpInventGUI | |
| path | /tmp/OpenINVENT-4.0.0/BumpDetection_ver4.0.0 | ||
| type | InventGUI | ||
| idlFile | /tmp/OpenINVENT-4.0.0/BumpDetection_ver4.0.0/BumpDetectionCons.idl | ||
| instanceName | BumpInventGUI | ||
| direction | Required | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | SensorState() Bump() |
||
| description | informs of road ruggedness detection informs of the state of the sensor |
||
| 5 | name | MapMaintenanceCons | |
| position | LEFT | ||
| ifdescription | The probability is sent | ||
| description | The probability is sent | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | BumpMapMaintenance | |
| path | /tmp/OpenINVENT-4.0.0/BumpDetection_ver4.0.0 | ||
| type | Maintenance | ||
| idlFile | /tmp/OpenINVENT-4.0.0/BumpDetection_ver4.0.0/BumpDetectionCons.idl | ||
| instanceName | BumpMapMaintenance | ||
| direction | Required | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | BumpProbability() | ||
| description | The probability is sent | ||
| 6 | name | DrinveControlCons | |
| position | LEFT | ||
| ifdescription | Instruction of driving stop | ||
| description | Instruction of driving stop | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | BumpDrive | |
| path | /tmp/OpenINVENT-4.0.0/BumpDetection_ver4.0.0 | ||
| type | Drive | ||
| idlFile | /tmp/OpenINVENT-4.0.0/BumpDetection_ver4.0.0/BumpDetectionCons.idl | ||
| instanceName | BumpDrive | ||
| direction | Required | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | Stop() | ||
| description | Driving stop | ||
| 7 | name | MotorControlCons | |
| position | LEFT | ||
| ifdescription | Instruction of driving stop | ||
| description | Instruction of driving stop | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | BumpMotor | |
| path | /tmp/OpenINVENT-4.0.0/BumpDetection_ver4.0.0 | ||
| type | Motor | ||
| idlFile | /tmp/OpenINVENT-4.0.0/BumpDetection_ver4.0.0/BumpDetectionCons.idl | ||
| instanceName | BumpMotor | ||
| direction | Required | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | Stop() | ||
| description | Driving stop | ||
| 8 | name | RefHardCons | |
| position | LEFT | ||
| ifdescription | Instruction of driving stop | ||
| description | Instruction of driving stop | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | BumpRefHard | |
| path | /tmp/OpenINVENT-4.0.0/BumpDetection_ver4.0.0 | ||
| type | RefHard | ||
| idlFile | /tmp/OpenINVENT-4.0.0/BumpDetection_ver4.0.0/BumpDetectionCons.idl | ||
| instanceName | BumpRefHard | ||
| direction | Required | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | Stop() | ||
| description | Driving stop | ||