| RtcProfile | |||
| ID | RTC:AIST INVENT:Planner:MapBuilder:4.0.0 | ||
| Version | 0.2 | ||
| BasicInfo | |||
| Name | MapBuilder | ||
| ComponentType | STATIC | ||
| ActivityType | PERIODIC | ||
| ComponentKind | DataFlowComponent | ||
| Category | Planner | ||
| Description | Grid Map making | ||
| 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 | author S-Cubed (original version) N.Takekawa (modified version) Y.Nakajima (modified version) |
||
| algorithm | The map is updated based on the probability where the obstacle exists. | ||
| inout | IN : Grid Map making parameter OUT : Grid Map data |
||
| description | Grid Map making. | ||
| 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 | NameServer of the InventGUIMapBuilder port is set up 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 | false | |
| OnStateUpdate | implemented | false | |
| OnRateChanged | implemented | false | |
| OnAction | implemented | false | |
| OnModeChanged | implemented | false | |
| configuration/doc_configuration | |||
| 1 | name | NameServer | |
| unit | |||
| defaultValue | localhost:2809 | ||
| type | string | ||
| constraint | Reflected timing ( inactive ) | ||
| range | |||
| unit | |||
| description | set NameServer address and port for Using OpenHRP3 library. | ||
| defaultValue | localhost:2809 | ||
| dataname | NameServer | ||
| 2 | name | MapModel | |
| unit | |||
| defaultValue | ../../Model/EnvModels/EnvSampleWithBumpAndObstacle.wrl | ||
| type | string | ||
| constraint | Reflected timing ( inactive ) | ||
| range | |||
| unit | |||
| description | set Environmental Map Model File for making 2D grid data. | ||
| defaultValue | ../../Model/EnvModels/EnvSampleWithBumpAndObstacle.wrl | ||
| dataname | MapModel | ||
| 3 | name | ProbabilityDataFile | |
| unit | |||
| defaultValue | MapData/ | ||
| type | string | ||
| constraint | Reflected timing ( inactive ) | ||
| range | |||
| unit | |||
| description | Probability data file name. | ||
| defaultValue | MapData/ | ||
| dataname | ProbabilityDataFile | ||
| serviceport/doc_serviceport | |||
| 1 | name | InventGUIProv | |
| position | LEFT | ||
| ifdescription | Input of the grid map making parameter | ||
| description | Map making instruction | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | InventGUIMapBuilder | |
| path | /tmp/OpenINVENT-4.0.0/MapBuilder_ver4.0.0 | ||
| type | Map | ||
| idlFile | /tmp/OpenINVENT-4.0.0/MapBuilder_ver4.0.0/MapBuilderPro.idl | ||
| instanceName | InventGUIMapBuilder | ||
| direction | Provided | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | SetGrid() | ||
| description | Input of the grid map making parameter | ||
| 2 | name | MapMaintenanceProv | |
| position | LEFT | ||
| ifdescription | Probability Map is gotten | ||
| description | Probability Map is gotten | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | MapMaintenanceMapBuilder | |
| path | /tmp/OpenINVENT-4.0.0/MapBuilder_ver4.0.0 | ||
| type | Map | ||
| idlFile | /tmp/OpenINVENT-4.0.0/MapBuilder_ver4.0.0/MapBuilderPro.idl | ||
| instanceName | MapMaintenanceMapBuilder | ||
| direction | Provided | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | MapOutput() | ||
| description | Probability Map is gotten | ||
| 3 | name | InventGUICons | |
| 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/MapBuilder_ver4.0.0 | ||
| type | InventGUI | ||
| idlFile | /tmp/OpenINVENT-4.0.0/MapBuilder_ver4.0.0/MapBuilderCons.idl | ||
| instanceName | MapBuilderInventGUI | ||
| direction | Required | ||
| docPostCondition | NA | ||
| docPreCondition | Making 2D map is completed | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | SetMap() | ||
| description | Transmission of 2D map data | ||
| 4 | name | MapMaintenanceCons | |
| position | LEFT | ||
| ifdescription | Transmission of 3D map data | ||
| description | Transmission of 3D map data | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | MapBuilderMapMaintenance | |
| path | /tmp/OpenINVENT-4.0.0/MapBuilder_ver4.0.0 | ||
| type | Maintenance | ||
| idlFile | /tmp/OpenINVENT-4.0.0/MapBuilder_ver4.0.0/MapBuilderCons.idl | ||
| instanceName | MapBuilderMapMaintenance | ||
| direction | Required | ||
| docPostCondition | NA | ||
| docPreCondition | Making 2D map is completed | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | SetMap() | ||
| description | Transmission of 3D map data | ||
| 5 | name | GlobalPathCons | |
| position | LEFT | ||
| ifdescription | Transmission of 2D map data | ||
| description | Transmission of 2D map data | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | MapBuilderGlobalPath | |
| path | /tmp/OpenINVENT-4.0.0/MapBuilder_ver4.0.0 | ||
| type | GlobalPath | ||
| idlFile | /tmp/OpenINVENT-4.0.0/MapBuilder_ver4.0.0/MapBuilderCons.idl | ||
| instanceName | MapBuilderGlobalPath | ||
| direction | Required | ||
| docPostCondition | NA | ||
| docPreCondition | Making 2D map is completed | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | SetMap() | ||
| description | Transmission of 2D map data | ||
| 6 | name | LocalPathCons | |
| position | LEFT | ||
| ifdescription | Transmission of 2D map data | ||
| description | Transmission of 2D map data | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | MapBuilderLocalPath | |
| path | /tmp/OpenINVENT-4.0.0/MapBuilder_ver4.0.0 | ||
| type | LocalPath | ||
| idlFile | /tmp/OpenINVENT-4.0.0/MapBuilder_ver4.0.0/MapBuilderCons.idl | ||
| instanceName | MapBuilderLocalPath | ||
| direction | Required | ||
| docPostCondition | NA | ||
| docPreCondition | Making 2D map is completed | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | SetMap() | ||
| description | Transmission of 2D map data | ||
| 7 | name | DriveCons | |
| position | LEFT | ||
| ifdescription | Transmission of 2D map data | ||
| description | Transmission of 2D map data | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | MapBuilderDrive | |
| path | /tmp/OpenINVENT-4.0.0/MapBuilder_ver4.0.0 | ||
| type | Drive | ||
| idlFile | /tmp/OpenINVENT-4.0.0/MapBuilder_ver4.0.0/MapBuilderCons.idl | ||
| instanceName | MapBuilderDrive | ||
| direction | Required | ||
| docPostCondition | NA | ||
| docPreCondition | Making 2D map is completed | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | SetMap() | ||
| description | Transmission of 2D map data | ||
| 8 | name | LocalizationCons | |
| position | LEFT | ||
| ifdescription | Transmission of 2D map information | ||
| description | Transmission of 2D map information | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | MapBuilderLocalization | |
| path | /tmp/OpenINVENT-4.0.0/MapBuilder_ver4.0.0 | ||
| type | Localize | ||
| idlFile | /tmp/OpenINVENT-4.0.0/MapBuilder_ver4.0.0/MapBuilderCons.idl | ||
| instanceName | MapBuilderLocalization | ||
| direction | Required | ||
| docPostCondition | |||
| docPreCondition | |||
| docException | |||
| docReturn | |||
| docArgument | |||
| description | Transmission of 2D map information | ||
| 9 | name | ObstacleCons | |
| position | LEFT | ||
| ifdescription | Transmission of 3D map data | ||
| description | Transmission of 3D map data | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | MapBuilderObstacle | |
| path | /tmp/OpenINVENT-4.0.0/MapBuilder_ver4.0.0 | ||
| type | Obstacle | ||
| idlFile | /tmp/OpenINVENT-4.0.0/MapBuilder_ver4.0.0/MapBuilderCons.idl | ||
| instanceName | MapBuilderObstacle | ||
| direction | Required | ||
| docPostCondition | NA | ||
| docPreCondition | Making 2D map is completed | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | SetMap() | ||
| description | Transmission of 3D map data | ||
| 10 | name | BumpCons | |
| position | LEFT | ||
| ifdescription | Transmission of 3D map data | ||
| description | Transmission of 3D map data | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | MapBuilderBump | |
| path | /tmp/OpenINVENT-4.0.0/MapBuilder_ver4.0.0 | ||
| type | Bump | ||
| idlFile | /tmp/OpenINVENT-4.0.0/MapBuilder_ver4.0.0/MapBuilderCons.idl | ||
| instanceName | MapBuilderBump | ||
| direction | Required | ||
| docPostCondition | NA | ||
| docPreCondition | Making 2D map is completed | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | SetMap() | ||
| description | Transmission of 3D map data | ||