自己位置推定コンポーネント 取扱説明書 - OpenRTM-aist
Contents
1. A I i I e I Ki gt ME E o E i x T gt width XJ 0 origin 6600 fj EEE U 50000000 4 4 1 OOOOOOOOGO RT System Editor D D 0 D D D 0 0 0 0 D 0 0 0 0 0 0 0 0 0 0 0 D U U U 0 UU 00 U 000000000000000 OpenRTM aist C tools Start Naming Service U D DDD DDD DD DD DDD D D DD RT System Editor DDD LU D 000000000000000 OpenRTM aist C tools RT System Editor U U D D D D 0 0 0 D D 000 0 DD 00 U 000 RD UDUD DDD 00000000 00 0 0 D D D D OY LoealizationComp exel O SimpleGlobalMapLoaderComp exe O HH O H O O OO D Localization 0000000000 URGDataFlowComp OO MobileRobotController D D D 0 OOOO Mobile Robot DH DDD D D D D 0 D 0 D D D D D D D D Bumblebee2Module 0 D 0 D 0 U Point Grey DDD 0 D DD DD 0 0 0 0 DDD 0 DDD D DDD D 0 0 0 D 0 0 L1 4 2 RT System Editor 000000000000 RT System Editor D 0 D D 0 0 D 0 D D D 0 0 D 0 D D 0 0 0 0 0 D 0 0 0 0 0 0 D 0 U 1 edipse 0000000000000 RT System Editor D 0 0 D D U 2 0 00 DU U UD U DU 0 U DU00000000 D U 0 UD U D 0 U 3 0600 000000000000 00 Adress Port 0 0 localhost D HD2. 200 DD DD D D 0 0 0 0 D 0 D 0 D D 3000000 DU DD DDD DDD 00000 DUD 00 0000000000000000 U D D 0 D 0 D D D 0 D D D 0 D D D D 0 0 0 0 D 0 D 0 D 0 D 0 D 0 Port Type Data Type Port Name OO In Port SensorRTC LaserRangeSensor RangeData idl TimedMeasuredData In Port IIS TimedPose2D RobotPose In Port TUT TimedImageData Image utu In Port TUT TimedStereoData StereoData 000000000090 Out Port IIS TimedPose2D EstimatedPose Out Port MRFC TimedEstimatedPose2D PosePair U 20000000 Port Type Data Type Port Name OO Service Consumer MRFC AbsoluteMapService AbsoluteMapService U U U D U D U D U U gt 0 U U U U LU OU int Particle num U D U 0 D 0 U int debug window gt U U ON U U 0 U 0 D 0 U 0 D 0 0 0 D 0 0 0 D 0 0 U int USE INIT POSE U UD D U U UD DD D D DD D UD DD D U U U U U UD 0 0 0 U 0 0 0 U 0 0 0 0 0 00 D 0 00 U U 0 0 U U U double INIT X m USE_INIT_POSEQ 0090000090 double INIT Y m USE_INIT_POSEQ 0 0090000090 double INIT HEADING radian 0200000000 USE IN TT POSE 0090000090 2 2 SimpleGlobalMapLoader 000000 U U U 0 DD U 00000 UD U 0 DDD 0 0 D D 00 U 0 D 00
3. Openc VU 0 D 0 0 D 0 0 0 0 0 0 D 0 0 U e long nChannels H BH 1 2 3 40 0000 long depth 10 000000000 long origin LO 000 00 D 0 p 0 0 00 0000 0000 p 00 10 00 long width 000000000 long height 00 0000000 long imageSize UU 00 0000000000 sequence char imgData 000000 long widthStep 0 D D D 0 D 0 0 0 0 0 0 D 0 0 0 0 0 U 3 6 TUT TimedImageData U U U U 0 U UU 00 0 U 00 00 0 U e RTC Time tm H OOO U Ul U e ImageData data O O 000 3 7 TUT StereoData e double x XT D e double y Y e double z ZH D OOO U HH DDD UO DB D U HE DDD 00 D U e sequence short dmy OQ 3 8 TUT TimedStereoData U U DDD DU00000000 0 0 0 D 0 U data U U D D 0 000 00 0 0 0 0 0 0 0 0 0 U U U 0 UU 0000 000 U DU 0 U D U D 0 0 000 0 U e RIC Time tm COCO DO O O e long width HO O D 0 D D 0 U e long height DDD DD 0 0 O e sequence StereoData data U U 0 0000 T 3 9 RTC OGMapConfig U U U U 0 0 U 0000000 U 0 D D U 0 0 0 0 U U 0 D 0 D U 0 00 0 U D 0 D U U U 0 origin U U 0 U 0 0000 000000000 e double x8cale D H DD H O O O O O m eeli e double yScale D H D D H 0 0 O O O m eeli e double width 0 00 OCO O O O cell e double height YO 000000000 cell e RTC Pose2D origin HOO 0000000 cel 0 0 0 0000 3 10 MRFC TimedAbsoluteOGMapDat
4. 0 0 0 0 U 00 0 U U U D DDD DD DDD D D D D D D D D D D D D D D Localization 00000000000000 0000 debugwindow 00 D 0 D 0 0 D 0 0 0 0 D 100 0 0 0 0 0 0 0 D 0 0 0 0 DH 0 0 D U U UU 0 0 DD U 0 00 0 U DU 00 0 U 0 U D 0 0 D 00 00 0 0 0 D U 0 00 0 U D 0 00 U U U UU UU XD UU UU YU DU DU 0 U U D U D U U D U 0 0 0 0 U D 0 0 00 0 U DU 0 U U U U 0 U 0 0 U D 0 0 0 U D 0 U U D 0 0 0 0 U D 0 U D 0 0 0 U D 0 0 D 0 0 0 U D 0 0 0 0 U U U U 0 0 DD 0 0 D U 0 0 D D U 00 D 0 0 U DD 00 0 00 U DD 0 U D U 0 0 U D 0 00 0 U U U U 0 0 0 0 0 0 00 U DU 0 U D U D U 0 0 D 0 0 0 U 0 D 0 U D U 0 U D U U 106 D U 0 U DU 000000 U 12 O Localization U MobileRobotControler D HOO D 0 0 0 0 D 0 0 0 0 0 D D 0 0 0 0 D 0 0 0 0 0 0 D 0 0 0 U U U 0 0 UD U D U 0 0 DD 0 0 U aa aaa U 1100000000 0 U U U 0 U 00000 00 0 U DU 0 U 0 UD 0000 0 U U 1 DUDU 00000 U 5 UU U 000000000000 441 8580 1 1 TEL 0532 44 6826 URL http www aisl cs tut ac jp U D D U rtc aisl es tut ac jp 00000000000 13
5. D U DD U 0 D U 0 0 0 D 0 U OO SimpleGlobalMapLoader 0 D 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 4 DO UU 0000 DU 0 U DU DU 0 aU D U D 0 U 0 00 0 U D U 0 0 0 U D U O 40000000 Port Type Data Type Port Name UUD Service Provider MRFC AbsoluteMapService AbsoluteMapService U5 00000000000 0 U U U uu U U string MapData double InputMapScale m pix OOOOOOOOOOOOOOO U U U 0 DD U 0000 U UD 00 0 DD U 0 0 0 0 U DD U 0 0 D 0 D U 0 D U 00 0 0 D 0 U U U 0 U D 000000 00 DUDU 0 U DU 255 0 D D 0 0 D U 0 0 0 U D 0 0 0 0 U D 0 0 0 U 2000000000000 PNGOOOO OpenCV DO UU 0000 DU 0 U DUDU 0 00000 U 0 200000000 3 0000 Localization Hl B HH D SimpleGlobalMapLoader 0000000000 U DU U D 0 D 0 0 0 D 0 0 0 D 0 D 0 D 0 0 0 D 0 0 0 D U 3 1 SensorRTC LaserRangeSensor idl MeasuredData SensorRIC LaserRangeSensor idl MeasuredData O O HH B BH HH HH HH HH U H H HD URG U U U U UD 0 U D D UD D UD D D D 0 D UD D D 0 D U D D U U 0 0 D 0 D 0 0 D 0 UD 0 0 D 0 DD 0 U U U U D 0 D 0 D 00 00 U e float startPosition distance OD 0000000000000000 degree e float endPosition distance DO D UI degree e long scanInterval 000000 e
6. 10 10 10 12 12 13 L U UU L U U U DU D 0 0 DU 00000 00 0 0 U 00 230 100 27 UU 1 OOO ress acid arb Mth Bekennen eva TE tok E MeO Hey IEI CHE CRUS Usa a a E BS E BE 2 000000000000 2 1 T U U U H UI 0 Localizationgj 0000000 2 2 SimpleGlobalMapLoader D HB D D 3 3 1 SensorRTC LaserRangeSensor idl MeasuredData 3 2 SensorRTC LaserRangeSensor idl TimedMeasuredData 3 37 IIS PunedPose2 D 7 A Ad Ween Gis 3 4 MRFC TimedEstimatedPose2D 3 9 TUT Emagel ata o e eR aye eat Eod b RO Ree dn fb dpt ae ba tf 3 6 TUT TimedImageData 3 7 EU EsStereoljata su iecur ek ee SS dede Nee S 3 8 TUT TimedStereoData ees 3 9 REC OGMapConfig WA eX Rm R was de EH 3 10 MRFC TimedAbsoluteOGMapData 3 11 MRFC TimedFloatAbsoluteOGMapData 3 12 MRFC AbsoluteMapService 4 N T eten weder aid aie Le SEER ARDEN dw dle i 42 RT System Editor0 DO00000000000 432 min Emm BEN eerdre wed Reds de 44 DOOOOOOO0O0O0000000 ede teer danke tun taak oen 5 DU 1 UU U U U DU00000000 00 0 0000 0 D D 0 0 Localization
7. D 4 NameServiceViewQ D D D D 0 0 0 0 0 0 D 0 D D D 0 0 D 0 D 0 0 0 0 U 5 O DD Open New System Editor 7 000 6 NameServiceView D D D D UD D 000 System Editer 0000000000000 U U U U D UD 000 U T D TUDU UU UU DU D U DUDU 0 U DU 850 U D U 0 U D U 00 0 000 0 0 0 00 U U U U U D U D 0 000000 U 10 RT System Editor Eclipse SDK stk CMO SEE w E 4 BY HARE Rh HOP RL 35 o localhost v Address Port 0 6 RT System Editor OO URGDataFlowComp MobileRobotsController Localization0 Bumblebee2Module0 SimpleGlobalMapLoaderD U RTUULUUUUUULU URGDataFlowComp MobileRobotsController Localization0 SimpleGlobalMapLoaderD U s UUUULUUULUULULUULUUUL KLU DU U DU 0 UU U 11 43 RT System Editor Localization O O 0000000000 O ConfigurationView 90 U U U U UD 0 UD 0 0 0 0 D 0 D D 0 D 0 D D U D 0 D U U U 0 D 0 0 U U U D 0 D 0 0 U D 0 U 0 0 U C Configuration View Manager Control View Composite Component View lw ComponentName Localizationo ConfigurationSet default EE active config name Value ER 6 default INIT HEADING 0 0 INIT X 0 0 Feren INIT V aa wm em as 9 ConfigurationView 44 U U U U KU U D U 0 0 0 D U 000 0 U DU 00 U D 0 U 0 00 0 UD U
8. Q U U D U 0 D D 00 0 D 0 00 0 U 0 D D U 0 SimpleGlobalMapLoaderQ D D 0 D D 0 0 0 0 0 U U U 0 U 0 00000000 0 U 11 000000 U U U U D U D U 0 1000 DU 0 UD 00 U e Localization U U U U D U D 0 0 0 D 0 0 0 0 00 0 U D U 0 U D U D 0 0 0 0 0 0 0 0 U e SimpleGlobalMapLoader U U D D D D D D D D 0 D 0 D 0 0 D 0 D D D D D D 0 D D D 0 D 0 0 0 0 0 0 D 0 0 D 0 D 0 U e IIS2 idll MRFC idl O StereoCameraService idl U U U U D U D 0 0 U D 0 0 0 0 0 0 0 0 D 0 0 U D U 0 U PLUUULU m Ec as i IIS2 idl emen di TM IS etn eten araus MRFC idl StereoCameraService idl Interface Definition Languag tion Languag Interface U 12 000000 e Windows XP Pro 3 e Open rtm aist 1 0 0 C e Visual studio 2008 Opencv 210 00000000 OrenCV U U U U DU U http sourceforge net projects opencvlibrary 2 000000000 prp 0000000000000000 2 21 0 Localization U 0 0 U U O U U D D D D D D D D D D 0 D 0 0 D 0 D 0 D 0 D D D D 0 D 0 D 0 0 D D 0 D 0 D 0 0 0 0 D U U D D DD D 0 0 D D D 0 D 0 D 0 D D D D D 0 D 0 D 0 D 0 D 0 0 0 0 D D D D D D D D D D D U U D D D D D 0 D 0 D D D D D D U Loealization D D 0 D 0 D D D D 0 D D D 0 D 0 D D D DU 100
9. a OOO D octed D D 8bit0 00000 1280 127 U U UU 0 0 D D U 0 0 0 0 U D 0 0 D OOO 1000 0 D 0 0 0 0 0 U D 0 D 0 0 0 0 0 0 8 U U U U 0 U D 0 0 D 0 00 10 D 0 0 000 DD U 0 D 0 0 00 D 0 U D U 00 DD UD UU 500 e RTC OGMapConfig mapconfig H 0000000000 e RTC OGMapCells cells octed H H H H H H H O e RT C Time tm 9 000000 3 11 MRFC TimedFloatAbsoluteOGMapData OOO 0 U U 0 U D 0 0 0000 0000 1 00 0 0 0 0 0 00 0 0 U D U 0 U 0 U U U 0 U DU U 0 0 0 0 U D 0 U D D D 0 0 0 D D U 0 D 0 0 0 0 D 0 0 0 0 0 U SULUUUU U uu e RTC OGMapConfig mapconfig O0 000000000 e RTC OGMapFloatCells cells fot 000000000000 e RT C Time tm H H d Hl U D O 3 12 MRFC AbsoluteMapService MRFC AbsoluteMapService D D D D D 0 0 0 D D D D 0 D 0 D D D D D D 0 D D D D D D 0 U DO U 00000 00 0 UD U 0 U 0 UD 0000 0 U e RTC OGMapConfig get AbsoluteOGMapConfig gt TimedAbsoluteOGMapData getAbsoluteOGMap in double x in double y in unsigned long width in unsigned long height 60 xy000000000000 gt TimedFloatAbsoluteOGMapData getFloatAbsoluteOGMap in double x in double y in un signed long width in unsigned long height 60 xy000000000000 xScale m cell 4
10. long dataGroupingNumber 0000000 e sequence long distance 0 00000000000 mm e float datalnterval 0 0 O H O O H O O degree e string sensorState D 0000 OO NORMAL UPDATED O O O startPosition D D endPosition 3D DDD D DD DD 00 000 0 0 0 OON U U 0 U 00000000 U 90 180 0 U gt 3 2 SensorRTC LaserRangeSensor idl TimedMeasuredData SensorRTC LaserRangeSensor idl TimedMeasuredData H O URG D D D D D DDD DD 000 DDD DDD D 00 DD 0000 D 00 DD 000 D 0 D 00 U U U U U 0 U 0000 000 0 0 U e MeasuredData data O 000000 e RT C Time tm H H d Hl U D O 3 3 IIS TimedPose2D IIS TimedPose2D D NU D D D D DD 0 D D D 0 D D 0 D DD 0 D 0 e Pose2D data x KUD m DD 0 D YOO m D heading O O radian D O D O e error DU DD B D B D D U D D D D D D D D 0 D 0 0 0 D D D D D D D 0 0 0 U e id 00000 e RTC Time tm DH 000090 U U D U 0 D D 0 D D D 0 D D U D 4000000000000 Y heading U 40 000000000000 3 4 MRFC TimedEstimatedPose2D MRFC TimedEstimatedPose2D D D D 0 0 0 0 0 D D 0 0 D D 0 0 0 D D 0 D 0 0 0 0 0 0 0 U U U U DU U 0 00 U U e Pose2D ododata D D LL D 0 0 D D D D D D D D e Pose2D estdata U HL D O B DO O e error 0000000000000 C0 Localization QO 0000000000000000000 id 00000 e RTC Time tm DDD UD UD 3 5 TUT ImageData D D D D U OpenCVD
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