======================================================================
RTComponent: Mapper_gmapping specificatioin
OpenRTM-aist-1.0.0
Date: $Date$
This file is generated by rtc-template with the following argments.
# rtc-template -bcxx --module-name=Mapper_gmapping
# --module-desc='Mapper RTC using gmapping' --module-version=1.0.0 --module-vendor=ssr
# --module-category=Navigation --module-comp-type=STATIC
# --module-act-type=EVENTDRIVEN --module-max-inst=1
# --config=debug:int:0 --config=start_map_update_in_activated:string:false --config=x_min:double:-10.0 --config=x_max:double:10.0 --config=y_min:double:-10.0 --config=y_max:double:10.0 --config=resolution:double:0.05 --config=init_pose_x:double:0.0 --config=init_pose_y:double:0.0 --config=init_pose_th:double:0.0 --config=log_dir:string:log_out --config=log_enable:string:log_enable
# --inport=range:RTC::RangeData --inport=odometry:RTC::TimedPose2D --outport=estimatedPose:RTC::TimedPose2D
# --service-idl=/Users/ysuga/rtm/idl/MobileRobot.idl
# --service=gridMapper:OGMapper:RTC::OGMapper
======================================================================
Basic Information
======================================================================
# <rtc-template block="module">
Module Name: Mapper_gmapping
Description: Mapper RTC using gmapping
Version: 1.0.0
Vendor: ssr
Category: Navigation
Kind: DataFlowComponent
Comp. Type: STATIC
Act. Type: EVENTDRIVEN
MAX Inst.: 1
Lang: C++
Lang Type:
# </rtc-template>
======================================================================
Activity definition
======================================================================
[on_initialize] implemented
[on_finalize]
[on_startup]
[on_shutdown]
[on_activated] implemented
[on_deactivated] implemented
[on_execute] implemented
[on_aborting]
[on_error]
[on_reset] implemented
[on_state_update]
[on_rate_changed]
======================================================================
InPorts definition
======================================================================
# <rtc-template block="inport">
Name: range
PortNumber: 0
Description:
PortType:
DataType: RTC::RangeData
MaxOut:
[Data Elements]
Name:
Type:
Number:
Semantics:
Unit:
Frequency:
Operation Cycle:
RangeLow:
RangeHigh:
DefaultValue:
Name: odometry
PortNumber: 1
Description:
PortType:
DataType: RTC::TimedPose2D
MaxOut:
[Data Elements]
Name:
Type:
Number:
Semantics:
Unit:
Frequency:
Operation Cycle:
RangeLow:
RangeHigh:
DefaultValue:
# </rtc-template>
======================================================================
OutPorts definition
======================================================================
# <rtc-template block="outport">
Name: estimatedPose
PortNumber: 0
Description:
PortType:
DataType: RTC::TimedPose2D
MaxOut:
[Data Elements]
Name:
Type:
Number:
Semantics:
Unit:
Frequency:
Operation Cycle:
RangeLow:
RangeHigh:
DefaultValue:
# </rtc-template>
======================================================================
Service Port definition
======================================================================
# <rtc-template block="serviceport">
PortName: gridMapper
Description:
Interface:
[Service Provider Interfaces]
Name: OGMapper
Type: RTC::OGMapper
Description:
Argument:
Return Value:
Exception:
PreCondition:
PostCondition:
# </rtc-template>
======================================================================
Configuration definition
======================================================================
# <rtc-template block="configuration">
Configuration:
Name: debug
Description:
Type: int
DefaultValue: 0
Unit:
Range:
Constraint:
Name: sigma sigma
Description: The sigma used by the greedy endpoint
matching
Type: float
DefaultValue: 0.05 0.05
Unit:
Range:
Constraint:
Name: kernelSize kernelSize
Description: The kernel in which to look for a
correspondence
Type: int
DefaultValue: 1 1
Unit:
Range:
Constraint:
Name: lstep lstep
Description: The optimization step in translation
Type: float
DefaultValue: 0.05 0.05
Unit:
Range:
Constraint:
Name: astep astep
Description: The optimization step in rotation
Type: float
DefaultValue: 0.05 0.05
Unit:
Range:
Constraint:
Name: iterations iterations
Description: The number of iterations of the scanmatcher
Type: int
DefaultValue: 1 5
Unit:
Range:
Constraint:
Name: lsigma lsigma
Description: The sigma of a beam used for likelihood
computation
Type: float
DefaultValue: 0.075 0.075
Unit:
Range:
Constraint:
Name: ogain ogain
Description: Gain to be used while evaluating the
likelihood, for smoothing the resampling
effects
Type: float
DefaultValue: 3.0 3.0
Unit:
Range:
Constraint:
Name: lskip lskip
Description: Number of beams to skip in each scan.
Type: int
DefaultValue: 0 0
Unit:
Range:
Constraint:
Name: minimumScore minimumScore
Description: Minimum score for considering the outcome of
the scan matching good. Can avoid jumping
pose estimates in large open spaces when
using laser scanners with limited range
(e.g. 5m). Scores go up to 600+, try 50 for
example when experiencing jumping estimate
issues.
Type: float
DefaultValue: 0.0 0.0
Unit:
Range:
Constraint:
Name: srr srr
Description: Odometry error in translation as a function
of translation (rho/rho)
Type: float
DefaultValue: 0.1 0.1
Unit:
Range:
Constraint:
Name: srt srt
Description: Odometry error in translation as a function
of rotation (rho/theta)
Type: float
DefaultValue: 0.2 0.2
Unit:
Range:
Constraint:
Name: str str
Description: Odometry error in rotation as a function of
translation (theta/rho)
Type: float
DefaultValue: 0.1 0.1
Unit:
Range:
Constraint:
Name: stt stt
Description: Odometry error in rotation as a function of
rotation (theta/theta)
Type: float
DefaultValue: 0.05 0.05
Unit:
Range:
Constraint:
Name: linearUpdate linearUpdate
Description: Process a scan each time the robot
translates this far
Type: float
DefaultValue: 1.0 1.0
Unit:
Range:
Constraint:
Name: angularUpdate angularUpdate
Description: Process a scan each time the robot rotates
this far
Type: float
DefaultValue: 0.5 0.5
Unit:
Range:
Constraint:
Name: temporalUpdate temporalUpdate
Description: Process a scan if the last scan proccessed
is older than the update time in seconds. A
value less than zero will turn time based
updates off.
Type: float
DefaultValue: -1.0 -1.0
Unit:
Range:
Constraint:
Name: resampleThreshold resampleThreshold
Description: The Neff based resampling threshold
Type: float
DefaultValue: 0.5 0.5
Unit:
Range:
Constraint:
Name: particles particles
Description: Number of particles in the filter
Type: int
DefaultValue: 30 30
Unit:
Range:
Constraint:
Name: xmin xmin
Description: Initial map size
Type: float
DefaultValue: -100 -100
Unit:
Range:
Constraint:
Name: ymin ymin
Description: Initial map size
Type: float
DefaultValue: -100 -100
Unit:
Range:
Constraint:
Name: xmax xmax
Description: Initial map size
Type: float
DefaultValue: 100 100
Unit:
Range:
Constraint:
Name: ymax ymax
Description: Initial map size
Type: float
DefaultValue: 100 100
Unit:
Range:
Constraint:
Name: delta delta
Description: Processing parameters (resolution of the
map)
Type: float
DefaultValue: 0.05 0.05
Unit:
Range:
Constraint:
Name: llsamplerange llsamplerange
Description: Translational sampling range for the
likelihood
Type: float
DefaultValue: 0.01 0.01
Unit:
Range:
Constraint:
Name: llsamplestep llsamplestep
Description: Translational sampling step for the
likelihood
Type: float
DefaultValue: 0.01 0.01
Unit:
Range:
Constraint:
Name: lasamplerange lasamplerange
Description: Angular sampling range for the likelihood
Type: float
DefaultValue: 0.005 0.005
Unit:
Range:
Constraint:
Name: lasamplestep lasamplestep
Description: Angular sampling step for the likelihood
Type: float
DefaultValue: 0.005 0.005
Unit:
Range:
Constraint:
Name: transform_publish_period transform_publish_period
Description: How long (in seconds) between transform
publications.
Type: float
DefaultValue: 0.05 0.05
Unit:
Range:
Constraint:
Name: occ_thresh occ_thresh
Description: Threshold on gmapping's occupancy values.
Cells with greater occupancy are considered
occupied (i.e., set to 100 in the resulting
sensor_msgs/LaserScan).
Type: float
DefaultValue: 0.25 0.25
Unit:
Range:
Constraint:
Name: throttle_scans throttle_scans
Description: throttle_scans
Type: int
DefaultValue: 1 1
Unit:
Range:
Constraint:
# </rtc-template>
This software is developed at the National Institute of Advanced
Industrial Science and Technology. Approval number H23PRO-????. This
software is licensed under the Lesser General Public License. See
COPYING.LESSER.
This area is reserved for future OpenRTM.