LocalMapコンポーネント 取扱説明書 - OpenRTM-aist
Contents
1. 10 TopURG 1 D HH 20000 3 LocalMapVieverq 0000000000 00000000000000000000000000000000000000000000 00000000000000 00 LocalMapViewr0 00000000000000000000 400000000000000 5000000000000000000 6000000 4 000000000 Port Type Data Type Port Name OD In Port MRFC TimedPeopleTrackingData peopledatalJUUUUUUUNUUUUUU O 0000000 Port Type Data Type Port Name OU Service Consumer MRFC RelativeMapService RelativeMapService OO OO000000 6 00000000000 U 000 OD int color reverse i 000000000000000000000000000 00 000000000000000000000000000 int robot radius pixel 00000000000000000000 int person radius pixel 00000000000 4 0 0000000000000000 0000 D 000000000 0 000000000000000 00000000000000000000000 4 1 Sensor RTC LaserRangeSensor idl MeasuredData SensorRIC LaserRangeSensor idl MeasuredData OOUOOOOOOUOOOOOOOOD URG 000 00 00 0 0 0 000 000 0 0 000 0000 000 00000200000000 000020000220 0000000000 000 e float startPosition distance 0 OD 0000000000000000 degree e float endPosition distance 00000000000 0 0 0000 0 degree e long scanInterval 0000000 e long dataGroupingNumber JJ JU UU U UU seguencejlong distance OO 0000000000 mn e float datalnterval D 0 D DD DD 0 degree e stri2. 0 0 000000000 e RTC Time tm 000000 4 7 MRFC RelativeMapService MRFC RelativeMapService 07100000000000000000000000000000 000000000000000000000000 7000000 0 7 MRFC RelativeMapService 00000 UU UUL UU get RelativeOG MapConfig RTC OGMapConfig getRelativeOGMap ULU TimedRelativeOGMapData getFloatRelativeOGMap TimedFloatRelativeOGMapData xScale m cell EEE EICICIEIETEIEN ECICICICIEIEIE A GETAMA 2 E ea H N s m 0 N U 8 8 10 N 12 13 a em on om em om em sn e vm pm i m x x x e e E width X75 8002 JL 3 height YAM p yScale m cell origin cell 0 OM pose ARY kub ax EE BzRwmaib25 018xl EE GFFAXFRUSEOD E IR HD 0 20000000 000000000000 0000000000000000000000000 51 000000000 O000000000000RISsstem Editcr 00000000000000000000000 00000000 000000000 0200 00 0 OpenRTM aist C tools H Start Naming Service OOOOOOODOOOOOOODOOOOIOIO RT System Editor 0000 o0000000000000 OpenRTM aist C tools RT System Editor 00000000000000000000 000 RCOOO0O0O00O0000000000000000000 0 U LocalMapViewerComp exe OO 0 0 0 0 0 000 DU 0 0800000000000 000000000000000000000000000000000 URGDataFlowCompf U 000000000000000000000000000 DU MobileRobotController 0 0000 000 Mobile Robot 00000000000000
3. 0000 1 1 00000000 00000000 000000000000 TEL 0532 44 6826 URL http www aisl cs tut ac jp 000000000 Ll rtcGaisLics tut acjp 00000000000 10
4. 0000000 5 2 RT System Editor 000000000000 RT System Editr 0 0000000000000000000000000000000 1 edipeel 0000000000000 RT System Editor 00000 2 0 SO0O0OOOOOOOAOODOOOODODAAOOODOUOOUNI 3 0 3000000000000 0000 Adress Port localhost 0 0000 OKOOOOOO 4 1 000 0 0 0 0 0 00 00 000 0 0 00 0 000 0 00 5 00000 Open New System Editor 000000 6 NameServiceView 00000000000 System Editor E E H HH B B Ul UI D 14244020 441020 7 0 4000000000000000 RT SION GF Lm Eclipse SDK m So ER KR WS of nl System Diagram 53 E P Get A geg YA RE A LY HOP ELAFA ALTE localhost v Address Port 3 RT System Editor URGDataF lowComp0 LocalMap0 MobileRobotsController LocalMapViewerl U 40 RTOODODODOOOOD 53 00000000000000 RT System Editor LocalaMapQ 0000000000000 ConfigurationView 500 000000000000000000000000000000 Value OOOAOOOOOOO 00000000000000 Error code Error_mode LocalMapHeight LocalMapScale LocalMapWidth SensorMaxDistance mm SensorMinDistance mm SensorPositionTheta deg SensorPositionX m SensorPosition Y m 1870 BIER 5 Configuration View 54 000000000000000 0000 RTODODOODODODOOOODODODODODODOOODODODODODO 00000000000000000000000000000000000 6000000000 0000000 M LocalMap 0 6OODODOOOODO 6 000 00000000 000000000000 441 8580 000000000
5. 49 KB d i l 0 00000000000 12 OOOOOOO 0000000000000000000000000000000 e Windows XP Pro SP3 Open rtm aist 1 0 0 C e Visual studio 2008 ONF 274 1914 JI D O D LocalMapViewer 0000000 OpenCv 210 00000000 OpenCV 0000 U 00000000000000 http sourceforge net projects opencvlibrary 2 00000 000000000000000000000000000000U000U0000000000 00000000000000000000000LcaMp00000000000000000 0000100000000000000 2000000000000000000 3000000 U 000000000 Port Type Data Type Port Name In Port SensorRTC LaserRangeSensor idl rangedata LRF Hl D U BH U LU idl TimedMeasuredData In Port IIS TimedPose2D pose 0000000020 0 20000000 Port Type Data Type Port Name Service Provider MRFC RelativeMapService RelativeMapService 0 300000000000 U 000 n n int LocalMapWidth cell 000 XUUUUNU int LocalMapHeight cell 000 YHHHLRLL double LocalMapScale m cell 00000000 double SensorPositionX_m m 00000000 double SensorPosition Y m m 000 00 0 0 00 double SensorPositionTheta deg degree UUUUUUUUU double SensorMaxDistance mm mm 0000000000 double SensorMinDistance mm mm OOOOOOOOOO long Error code OOOOODOOUOODODOOOOUOODDUUOOU classicURG 0 0 O 190 TopURG H BH E 10000 long Error mode 8 00000 6 0 0000000000000 00 classicURG
6. LocalMap D LU 0 0 0 00000 00000000 000000000000 00 230 70 190 UU 1 200 ie H do pe ec dore 1o rat ice tub ed dm H ili d E axan So b s sos dai 2 LocalMapl 0000000000 3 LocalMapVieverllHqUHUUHHHRIRIR 4 000000000000000000 4 1 SensorRTC LaserRangeSensor idl MeasuredData I 4 2 SensorRIC LaserRangeSensor idl TimedMeasuredData 4 3 US Timed Pose D 14 4 asyn n a te et IAE a ins Se ak dS a AA RC OGMapConh6 5 a ER DI Y UA quA a ee de ae BS 4 5 MRFC TimedRelativeOGMapData 4 6 MRFC TimedFloatRelativeOGMapData 4 7 MRFC RelativeMapService 5 HHHHUHLHHLULU SE BM E IE D sa EE Ns 52 RT System Editor HH 0000000000 55 Ru ENEE ER G IE EER ati ica alado EL pa ER INET KE ME giona ir er aac ear die die Seed ae RR ad 6 000 1 000 00000000000000000000000000000000000000000000 00000000000000 RCOO00000000 LocalMapdUAOOADAUOADOALU 00000000 LocalMapViwr 00000000000000000000000000 11 0000000 0000000001000000000 00 IIS2 idl DD MRFC idl 0000000000000U00000000000000 DLOOOOU e rtc conf e LocalMapComp exe 0 00000 000000000000000 0 LocalMapViewerComp exe 0 00000000000000000000000 rtc conf LocalMapComp exe d CC 7 LocalMapViewerComp exe F MS id Interface Definition Langu 789 554 l MRFG idl Interface Definition Langu 2
7. ng sensorState 00000 00 NORMAL UPDATED 4 2 SensorRTC LaserRangeSensor idl TimedMeasuredData SensorRTC LaserRangeSensor 1id1 TimedMeaswredData O O0 O 000000000000000 URGOOOOOOOOOOOOOOOAOOOOOOOOOOOOOOOOOOAOOOODOOO 0000000000 000 0 000 e MeasuredData data 000000 e RTC Timetm 000000 4 3 IIS TimedPose2D IIS TimedPos2D0 0000000000000000000000 Pose2D data x7 000 X000000000 YOOO heading 0000000 error 1 100000000000LccaMap 00000000000000000000 e id 00000 RIC Time tm 000000 4 4 RTC OGMapConfig 0000000000000000000000000000U e double xScale XOOOOOOOOOOD m cell e double yScale YODO 000000000 m cell e double width XO 000000000 cell e double height YO DD D DDD DD cell RTC Pose2D origin 0 0 0 0000000 cell 0 0 0000 4 5 MRFC TimedRelativeOGMapData OOO octed D 0 0 0000000000000 0 D oeted D 0 Sep 00000 128 127 000000000000000000 000 100000000000000000000000 0000000000000 0000000000000000000000000000 200 00000000 RTC OGMapConfig mapconfig 0000000000 RTC OGMapCells cells octd0000000000000 e RTC Pose2D pose 0 0000000000 RTC Time tm 000 00 0 4 6 MRFC TimedFloatRelativeOGMapData 000 4o2t 0000000000000000000 4ot0 000000000000000 00000000000 0000 00000000000000000000000000000 00000000000000000000000000000000000000 2000000 0000 RTC OGMapConfig mapconfig 10000000000 RTC OGMapFloatCells cells float 0D 0 00000000000 e RTC Pose2D pose
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