View source for AU Robot Servers

==Documentation of AU robot servers==

[[Image:Server-structure-1.png]]

AU Robot Servers is a software infrastructure that can combine a number of functional modules to a robot with functionality at a the higher abstraction levels. Yellow boxes are the currently available servers in this structure.

==Download and bug reporting==

For package and install notes see: [Christian's Wiki Page] - no, that page is now used by others for other purposes, but in summary the released versions are here: http://www.iau.dtu.dk/~jca/rac/releases

and a few comments for the releases in [[Release notes]]

CVS updated to version ~2.01 (19 may 2008)

NEW! BUG reporting page here: [[Change requests]]

Doxygen documentation http://www.iau.dtu.dk/~jca/rac/html/index.html

==Servers==

[Server structure] issues (global variables and methods)

Camera server [[ucamserver]]

Laser scanner server [[ulmsserver]]

Empty server [userver]

Data monitoring client [auclient]

==Static Plug-ins==

Static plug-ins is part of the server code, and can be loaded without any additional files, see:
 >> module help
To get the available list of static plug-ins (and a short description)

The three [Coordinate systems] are available as static: odometry (odoPose), UTM (utmPose) and Map (mapPose)

==File plug-ins==

This is a list of the current available plug-ins in release 2.01:

The intension is that there should be a wiki page for each with further description.

* auavoid.so.0 - visual graph obstacle avoidance (not stable)
* auballfinder.so.0 - sample blob finder in a camera image
* aucamcog.so.0 - a sample center of gravity plug-in for part of a camera image
* aucamfocus.so.0 - a focus (contrast) calculation on a camera image.
* aucron.so.0 - a module to execute bash commands at regular intervals - e.g. to move logged images at low priority
* audrivepos.so.0 - drive control to a specific pose (uses auavoid)
* auefline.so.0 - sample line finder plugin extended to find and maintain wall lines. Is based on the libauextractfeatures library.
* augps.so.0 - a gps plugin, that maintains an UTM pose from a serial/USB GPS connection
* aulmsnear.so.0 - a small function to return the closest point in a laserscan as a <laser l0=0.0 .../> type message
* aumission.so.0 - the new - but not finished - [[Mission monitor sequencer]]
* auroaddrive.so.0 - a drive controller thet follows a road edge (uses auavoid, ausmr and ulmspassable)
* auseq.so.0 - mission sequencer - much like smrcl, but using variables and functions provided by the AU Robot servers - is to be replaced by aumission.so.0 once this is operational.
* ausmr.so.0 - smr interface
* ausvs.so.0 - a not quite finished [[Videre Design stereo camera plug-in]]
* uexres.so.0 - sample resource share plug-in - works with uexuse
* uexuse.so.0 - sample resource share plug-in - works with uexres
* ulmspassable.so.0 - extracts road lines from a laserscan (tilted laser)
* ulmsv360.so.0 - virtual 360 deg laser scanner device. This is also available as static plug-in for the ulmsserver.

==Plug-in structure and description==

[plug-in structure] 

[Variables] (global variables and functions across plugins)

[[Coordinate systems]]

Scan features (@todo make page)

odometry, map or UTM (gps) pose and pose history  [pose]

Guidemark (@todo make page)

Road detect (@todo make page)

Sequencer [Sequencer]

SMR interface (@todo make page)

Camera server interface (@todo make page)

Laser scanner interface (@todo make page)

Obstacle avoidance (@todo make page)

Road driver (@todo make page)