| RtcProfile | |||
| ID | RTC:AIST INVENT:GUI:InventGUIComp:4.0.0 | ||
| Version | 0.2 | ||
| BasicInfo | |||
| Name | InventGUIComp | ||
| ComponentType | STATIC | ||
| ActivityType | PERIODIC | ||
| ComponentKind | DataFlowComponent | ||
| Category | GUI | ||
| Description | GUI of OpenINVENT RTCs | ||
| ExecutionRate | 1000.0 | ||
| ExecutionType | PeriodicExecutionContext | ||
| MaxInstances | 1 | ||
| 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 | author S-Cubed (original version) N.Kita (modified version) Y.Nakajima (modified version) N.Takekawa (modified version) |
||
| algorithm | A local route is made by using the obstacle and present location | ||
| inout | IN : Position, SensorData OUT : MapIformation, Start/Goal data, various command, etc |
||
| description | GUI of OpenINVENT RTCs. | ||
| 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 | Initialization of each values | ||
| OnDeactivated | implemented | false | |
| OnAborting | implemented | false | |
| OnError | implemented | false | |
| OnReset | implemented | false | |
| OnExecute | implemented | true | |
| postCondition | none | ||
| preCondition | none | ||
| description | update InventGUI DISPLAY using latest datas. | ||
| OnStateUpdate | implemented | false | |
| OnRateChanged | implemented | false | |
| OnAction | implemented | false | |
| OnModeChanged | implemented | false | |
| configuration/doc_configuration | |||
| 1 | name | RedrawRate | |
| unit | [Hz] | ||
| defaultValue | 500 | ||
| type | int | ||
| constraint | Reflected timing ( Always ) | ||
| range | Appropriate range | ||
| unit | [Hz] | ||
| description | The cycle counts of updating InventGUI's view. | ||
| defaultValue | 500 | ||
| dataname | RedrawRate | ||
| dataports/doc_dataport | |||
| 1 | portType | DataInPort | |
| unit | |||
| subscriptionType | |||
| dataflowType | |||
| interfaceType | |||
| idlFile | |||
| type | IIS::TimedPosition | ||
| name | CurrentPosition | ||
| position | LEFT | ||
| variableName | CurrentPosition | ||
| 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 | |||
| subscriptionType | |||
| dataflowType | |||
| interfaceType | |||
| idlFile | |||
| type | TimedDoubleSeq | ||
| name | SimulationData | ||
| position | LEFT | ||
| variableName | SimulationData | ||
| operation | |||
| occerrence | |||
| unit | X,Y,Z data : [m], THETA[rad] , timeStamp: [sec],[nanosec] | ||
| semantics | current Simulated Position data (the position of center of robots model) [0]: X data [1]: Y data [2]: Z data [3]: THETA (posture angle) |
||
| number | simulated position data:4 (x,y,z, posture angle ) , timeStamp:1 | ||
| type | simulated position data: double, timeStamp:tm | ||
| description | current Simulated Position data | ||
| 3 | portType | DataInPort | |
| unit | - | ||
| subscriptionType | |||
| dataflowType | |||
| interfaceType | |||
| idlFile | |||
| type | SensorRTC::LaserRangeSensor::idl::TimedMeasuredData | ||
| name | ObstaclePosition | ||
| position | LEFT | ||
| variableName | ObstaclePosition | ||
| 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 | ||
| 4 | portType | DataInPort | |
| unit | - | ||
| subscriptionType | |||
| dataflowType | |||
| interfaceType | |||
| idlFile | |||
| type | SensorRTC::LaserRangeSensor::idl::TimedMeasuredData | ||
| name | BumpPosition | ||
| position | LEFT | ||
| variableName | BumpPosition | ||
| 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 | ||
| 5 | portType | DataInPort | |
| unit | [rad] | ||
| subscriptionType | |||
| dataflowType | |||
| interfaceType | |||
| idlFile | |||
| type | TimedDoubleSeq | ||
| name | PanTiltAngle | ||
| position | LEFT | ||
| variableName | PanTiltAngle | ||
| 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 | MapBuilderProv | |
| position | LEFT | ||
| ifdescription | Transmission of 2D map data | ||
| description | Transmission of 2D map data | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | MapBuilderInventGUI | |
| path | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0 | ||
| type | InventGUI | ||
| idlFile | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0/InventGUIPro.idl | ||
| instanceName | MapBuilderInventGUI | ||
| direction | Provided | ||
| docPostCondition | NA | ||
| docPreCondition | Making 2D map is completed | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | SetMap() | ||
| description | Transmission of 2D map data | ||
| 2 | name | GlobalPathProv | |
| position | LEFT | ||
| ifdescription | get Global Path data for viewing | ||
| description | get Global Path data for viewing | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | GlobalPathInventGUI | |
| path | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0 | ||
| type | InventGUI | ||
| idlFile | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0/InventGUIPro.idl | ||
| instanceName | GlobalPathInventGUI | ||
| direction | Provided | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | Grid position's array of X, Grid position's array of X, array number | ||
| description | get Global Path data for viewing | ||
| 3 | name | LocalPathProv | |
| position | LEFT | ||
| ifdescription | get Local Path data for viewing | ||
| description | get Local Path data for viewing | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | LocalPathInventGUI | |
| path | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0 | ||
| type | InventGUI | ||
| idlFile | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0/InventGUIPro.idl | ||
| instanceName | LocalPathInventGUI | ||
| direction | Provided | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | Grid position's array of X, Grid position's array of X, array number | ||
| description | get Local Path data for viewing | ||
| 4 | name | ObstacleDetectionProv | |
| position | LEFT | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | ObstacleInventGUI | |
| path | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0 | ||
| type | InventGUI | ||
| idlFile | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0/InventGUIPro.idl | ||
| instanceName | ObstacleInventGUI | ||
| direction | Provided | ||
| 5 | name | MotorControlCons | |
| position | RIGHT | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | InventGUIMotor | |
| path | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0 | ||
| type | Motor | ||
| idlFile | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0/InventGUICons.idl | ||
| instanceName | InventGUIMotor | ||
| direction | Required | ||
| 6 | name | DriveControlCons | |
| position | RIGHT | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | InventGUIDrive | |
| path | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0 | ||
| type | Drive | ||
| idlFile | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0/InventGUICons.idl | ||
| instanceName | InventGUIDrive | ||
| direction | Required | ||
| 7 | name | GlobalPathCons | |
| position | RIGHT | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | InventGUIGlobalPath | |
| path | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0 | ||
| type | GlobalPath | ||
| idlFile | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0/InventGUICons.idl | ||
| instanceName | InventGUIGlobalPath | ||
| direction | Required | ||
| 8 | name | LocalPathCons | |
| position | RIGHT | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | InventGUILocalPath | |
| path | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0 | ||
| type | LocalPath | ||
| idlFile | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0/InventGUICons.idl | ||
| instanceName | InventGUILocalPath | ||
| direction | Required | ||
| 9 | name | ObstacleDetectionCons | |
| position | RIGHT | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | InventGUIObstacle | |
| path | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0 | ||
| type | Obstacle | ||
| idlFile | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0/InventGUICons.idl | ||
| instanceName | InventGUIObstacle | ||
| direction | Required | ||
| 10 | name | MapBuilderCons | |
| position | RIGHT | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | InventGUIMapBuilder | |
| path | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0 | ||
| type | Map | ||
| idlFile | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0/InventGUICons.idl | ||
| instanceName | InventGUIMapBuilder | ||
| direction | Required | ||
| 11 | name | URGSimulatorCons | |
| position | RIGHT | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | LRSService0 | |
| path | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0 | ||
| type | LRSService | ||
| idlFile | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0/LaserRangeSensorService.idl | ||
| instanceName | LRSService | ||
| direction | Required | ||
| 12 | name | DriveControlProv | |
| position | LEFT | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | DriveInventGUI | |
| path | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0 | ||
| type | InventGUI | ||
| idlFile | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0/InventGUIPro.idl | ||
| instanceName | DriveInventGUI | ||
| direction | Provided | ||
| 13 | name | MapMaintenanceProv | |
| position | LEFT | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | MapMaintenanceInventGUI | |
| path | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0 | ||
| type | InventGUI | ||
| idlFile | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0/InventGUIPro.idl | ||
| instanceName | MapMaintenanceInventGUI | ||
| direction | Provided | ||
| 14 | name | MapMaintenanceCons | |
| position | RIGHT | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | InventGUIMapMaintenance | |
| path | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0 | ||
| type | Maintenance | ||
| idlFile | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0/InventGUICons.idl | ||
| instanceName | InventGUIMapMaintenance | ||
| direction | Required | ||
| 15 | name | LocalizationCons | |
| position | RIGHT | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | InventGUILocalization | |
| path | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0 | ||
| type | Localize | ||
| idlFile | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0/InventGUICons.idl | ||
| instanceName | InventGUILocalization | ||
| direction | Required | ||
| 16 | name | BumpProv | |
| position | LEFT | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | BumpInventGUI | |
| path | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0 | ||
| type | InventGUI | ||
| idlFile | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0/InventGUIPro.idl | ||
| instanceName | BumpInventGUI | ||
| direction | Provided | ||
| 17 | name | BumpCons | |
| position | RIGHT | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | InventGUIBump | |
| path | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0 | ||
| type | Bump | ||
| idlFile | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0/InventGUICons.idl | ||
| instanceName | InventGUIBump | ||
| direction | Required | ||
| 18 | name | RefHardCons | |
| position | RIGHT | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | InventGUIRefHard | |
| path | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0 | ||
| type | RefHard | ||
| idlFile | /tmp/OpenINVENT-4.0.0/InventGUIComp_ver4.0.0/InventGUICons.idl | ||
| instanceName | InventGUIRefHard | ||
| direction | Required | ||