AU Robot Servers
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* auavoid.so.0 - visual graph obstacle avoidance (not stable) | * 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) | * 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 and controller | * aumission.so.0 - the new - but not finished - mission monitor and controller | ||
| + | * 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 | * 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 | * uexres.so.0 - sample resource share plug-in - works with uexuse | ||
* uexuse.so.0 - sample resource share plug-in - works with uexres | * uexuse.so.0 - sample resource share plug-in - works with uexres | ||
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* ulmspassable.so.0 - extracts road lines from a laserscan (tilted laser) | * ulmspassable.so.0 - extracts road lines from a laserscan (tilted laser) | ||
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* ulmsv360.so.0 - virtual 360 deg laser scanner device. This is also available as static plug-in for the ulmsserver. | * ulmsv360.so.0 - virtual 360 deg laser scanner device. This is also available as static plug-in for the ulmsserver. | ||
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==Plug-in structure and description== | ==Plug-in structure and description== | ||
Revision as of 20:31, 22 July 2008
Contents |
Documentation of AU robot servers
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 release in Release notes
CVS updated to version ~1.96 (27 apr 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, UTM and Map
File plug-ins
This is a list of the current available plug-ins in release 1.98:
- 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 and controller
- 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)
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)
