| RtcProfile | |||
| ID | RTC:AIST INVENT:Sensor:ObstacleDetection:4.0.0 | ||
| Version | 0.2 | ||
| BasicInfo | |||
| Name | ObstacleDetection | ||
| ComponentType | STATIC | ||
| ActivityType | PERIODIC | ||
| ComponentKind | DataFlowComponent | ||
| Category | Sensor | ||
| Description | The obstacle 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 obstacle is detected by using the laser sensor data and the robot present location |
||
| inout | IN : SensorData, PresentLocation OUT : Obstacle Probability |
||
| description | The obstacle 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 obstacle is detected | ||
| OnStateUpdate | implemented | false | |
| OnRateChanged | implemented | false | |
| OnAction | implemented | false | |
| OnModeChanged | implemented | false | |
| configuration/doc_configuration | |||
| 1 | name | SensorLengthHi | |
| unit | [m] | ||
| defaultValue | 2.0 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | about 2.0 to about 5.0 | ||
| unit | [m] | ||
| description | SensorLength Hi | ||
| defaultValue | 2.0 | ||
| dataname | SensorLengthHi | ||
| 2 | name | SensorLengthLo | |
| unit | [m] | ||
| defaultValue | 0.1 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | about 1.0 to about 0.1 | ||
| unit | [m] | ||
| description | SensorLength Lo | ||
| defaultValue | 0.1 | ||
| dataname | SensorLengthLo | ||
| 3 | name | PerceptionRangeAngle | |
| unit | [deg] | ||
| defaultValue | 80.0 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | about 60 to about 180 | ||
| unit | [deg] | ||
| description | PerceptionRangeAngle (degrees) | ||
| defaultValue | 80.0 | ||
| dataname | PerceptionRangeAngle | ||
| 4 | name | Vertical_Off | |
| unit | [m] | ||
| defaultValue | 0.055 | ||
| type | double | ||
| constraint | Reflected timing ( inactive ) | ||
| range | Appropriate range | ||
| unit | [m] | ||
| description | Offset of vertical direction from model control point to Sensor | ||
| defaultValue | 0.055 | ||
| dataname | Vertical_Off | ||
| 5 | 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 | ||
| 6 | name | SensorHeight | |
| unit | [m] | ||
| defaultValue | 0.38 | ||
| type | double | ||
| constraint | Reflected timing ( inactive ) | ||
| range | Appropriate range | ||
| unit | [m] | ||
| description | Height from floor to sensor | ||
| defaultValue | 0.38 | ||
| dataname | SensorHeight | ||
| 7 | name | ObstacleProbability | |
| unit | |||
| defaultValue | 0.05 | ||
| 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 | 0.05 | ||
| dataname | ObstacleProbability | ||
| 8 | name | EmptyProbability | |
| unit | |||
| defaultValue | -0.01 | ||
| 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 | -0.01 | ||
| dataname | EmptyProbability | ||
| 9 | name | Thickness | |
| unit | [m] | ||
| defaultValue | -0.01 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | Appropriate range | ||
| unit | [m] | ||
| description | Range of obstacle judgment | ||
| defaultValue | -0.01 | ||
| dataname | Thickness | ||
| 10 | name | SynchronousTimeLimit | |
| unit | [sec] | ||
| defaultValue | 0.01 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | Appropriate range | ||
| unit | [sec] | ||
| description | Threshold of synchronous processing | ||
| defaultValue | 0.01 | ||
| dataname | SynchronousTimeLimit | ||
| 11 | name | CalibrationArea | |
| unit | [m] | ||
| defaultValue | 0.3 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | Appropriate range | ||
| unit | [m] | ||
| description | Range of calibration | ||
| defaultValue | 0.3 | ||
| dataname | CalibrationArea | ||
| 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 | - | ||
| 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 | ||
| 3 | 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 | ||
| serviceport/doc_serviceport | |||
| 1 | name | InventGUIProv | |
| position | LEFT | ||
| ifdescription | The parameter is obtained | ||
| description | The parameter is obtained | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | InventGUIObstacle | |
| path | /tmp/OpenINVENT-4.0.0/ObstacleDetection_ver4.0.0 | ||
| type | Obstacle | ||
| idlFile | /tmp/OpenINVENT-4.0.0/ObstacleDetection_ver4.0.0/ObstacleDetectionPro.idl | ||
| instanceName | InventGUIObstacle | ||
| 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 | MapBuilderObstacle | |
| path | /tmp/OpenINVENT-4.0.0/ObstacleDetection_ver4.0.0 | ||
| type | Obstacle | ||
| idlFile | /tmp/OpenINVENT-4.0.0/ObstacleDetection_ver4.0.0/ObstacleDetectionPro.idl | ||
| instanceName | MapBuilderObstacle | ||
| direction | Provided | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | SetMap() | ||
| description | 3D map data is gotten | ||
| 3 | name | InventGUICons | |
| position | LEFT | ||
| ifdescription | It informs of abnormality of the sensor | ||
| description | It informs of abnormality of the sensor | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | ObstacleInventGUI | |
| path | /tmp/OpenINVENT-4.0.0/ObstacleDetection_ver4.0.0 | ||
| type | InventGUI | ||
| idlFile | /tmp/OpenINVENT-4.0.0/ObstacleDetection_ver4.0.0/ObstacleDetectionCons.idl | ||
| instanceName | ObstacleInventGUI | ||
| direction | Required | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | SensorState() | ||
| description | It informs of abnormality of the sensor | ||
| 4 | name | MapMaintenanceCons | |
| position | LEFT | ||
| ifdescription | The Obstacle Data is sent to "InventGUI" | ||
| description | The Obstacle Data is sent to "InventGUI" | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | ObstacleMapMaintenance | |
| path | /tmp/OpenINVENT-4.0.0/ObstacleDetection_ver4.0.0 | ||
| type | Maintenance | ||
| idlFile | /tmp/OpenINVENT-4.0.0/ObstacleDetection_ver4.0.0/ObstacleDetectionCons.idl | ||
| instanceName | ObstacleMapMaintenance | ||
| direction | Required | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | ObstacleProbability() | ||
| description | The Obstacle Data is sent to "InventGUI" | ||