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大域経路計画コンポーネント 取扱説明書 - OpenRTM-aist

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1. 00 000 0 9 000000000 Port Type Data Type Port Name Out Port IIS TimedPose2D start pose 00000000 Out Port IIS TimedPose2DSeg goal pose 0 0000000 U 10 0000000000 000 00 00 double start x m start pose double start y m start pose Y double start heading radian start pose double goal x m goal pose XQ double goal y m goal pose YO 0 double goal heading radian goal pose int continuous output 10000000 00 000 U U U U 0 U U U 0 U int deactivate to stop gt 00 000000000000000000 000 000 0 00 0 0 000 0 0 U continuous output 0OHHHHHH11111Huu nu uu uu continuous output O 0000000000000000000 200 00 U 0 D D UD D 0 D 0 D D U 0 UD D U 0 0 D 0 U U D D deactivate tostopJ D 0 D D D 0 D 0 0 0 D 0 0 D D 0 0 0 U 2 5 MessageReceiver 000000 0000000000000000000000000000000000000000000 00000000 Dummy2PosesSender 0 0000000000000000000 110000 000000000000000000000000000000 U 1 000000000 Port Type Data Type Port Name In Port RTC TimedString message 3 000000000000000000 0000000000000000000000000000000000000000000 3 1 IIS TimedPose2D IIS TimedPos2D0 0000000000000000000000 Pose2D data x XD O M0000 YOO mg heading O O radianill H RR error U U D 0 0 D 0 0 0 U id 0000 RTC Time tm U D 0 0 0 0 DU D 0000 00000000
2. Port Type Data Type Port Name In Port IIS TimedPose2D start 0000000002 In Port IIS TimedPose2DSeg goal 0000000000 Out Port IIS TimedPoseVel2DSeg path U U U U U U U U 0 U U U U U U U U U U U U Out Port RTC TimedString message 0000000000 0 20000000 Port Type Data Type Port Name Service Consumer ArealnfoService ArealnfoService U 3 00000000000 000 DU DU double RobotSafetyRadius m 0000000000000000000000000 U U U U U U U U U U U U U U U U U U U U U U U U double Robot Velocity m s U U U U U U U U U U U U 2 2 GlobalMapLoaderr1 000000 00000000000000000000000000000000000000000000 000000000000000000000000000000000000000000000 000000000000000000000000 GlobalPathPlannerQ 00000000 000 000 000000 50000000000000000000 GlobalMapLoader OO D D D D D 0 0 0 D D 0 0 0 0 0 0 0 0 0 0 4000000000000 O04 0000000 Port Type Data Type Port Name Service Provider MRFC AbsoluteMapService AbsoluteMapService 0000000000 Service Provider TUT ArealnfoService ArealnfoService DO000000000000 U 5 00000000000 LU 000 U U U U string MapData U U U 0 00 0 00 14 14 D dd 0 0 0 double Input MapScale m pixel HHHEHHHLHHEHLLUL double RobotSafetyRadius m HEHHEHHHEHHLHLLULELLU U U U 0 00 000 0 U D 0 0 0 0 0 00000000000
3. 41 000000000 U U D 00 DU 000 O RT System Editcr 00000000000000000000000 00000000 00000000000 Hu 00 0 OpenRTM aist C tools Start Naming Service 00000000 0 0 0 00 DDD D D DD RT System Editor 0 O 0 0 0 000000000000000 OpenRTM aist O C tools RT System Editor U U D D D D 0 D 0 D D 000 0 DD 00 U 000 000 00 0 0 0 000 00 0000 000 000 0 00 GlobalPathPlannerComp exe O GlobalMapLoaderComp exe ID GlobalMapViewerComp exe Dummy2PosesSenderComp exel MessageReceiverComp exe O0 0000000 4 2 RT System Editor1 000000000000 RT System Editor DD DD D DD 00 DD D 0 D D 0 DD 00 DD D 0 0 0 D 00 0 D 0 1 RT System Editor H H 2 NameServiceView 1 0 0000000000000000 6000000000000000 0000000000000000000 68000000000000000 Adress Port U localhost O00000 0000 0 3 NameServiceView D D D D D 0 D 0 0 0 D 0 D D D 0 0 D 0 D D 0 0 0 U 4 FileH Open New System Editor 00000000 FleD 0000 ONHHEHELDLEULL 0000 0 0 5 NameServiceView DO D 0 D 0 0 0 H System Editor D 0000000000000 00000000000 6 0 7000000000000000 12 RT System Editor File Window Help ai 49 Name Servi Repositoryv 2 23 beo RE gt LAH NE 6 RT System Editor UU U TU 0 0 00000 13 00000000000000 0000 RTODODOODODODOOOODODODODODODOOODODODODODO U U U 0 U D 0 U D 0 0 0 D D 0 0 D 0 0 0 0 0 0 000000
4. D D 0 0 0 0 D D D 0 0 D 0 D D 0 0 0 D D D 0 0 0 U e GlobalMapViewer U U D 0 D 0 0 D D 0 D D D D D 0 0 D 0 D 0 D 0 D D D D D 0 0 U Dummy2PosesSender 0000000000000000000000000000000U00000 040 e MessageReceiver 0000000000000000000000000000000U00000 UU 000000000000000000000000000 IPL00000 k l Nan GlobalPathPlanner ji GlobalMapLoader 4 GlobalMapViewer aa a idl Dummy2PosesSender 1 MessageReceiver Definition Languag MRFC idi DO Interface Definition Languag U 1OODODOOOODO 12 000000 000000000000000000000U0000000000 e Windows XP Pro SP3 Open rtm aist 1 0 0 C e Visual studio 2008 000 GlobalMapLoader D H GlobalMapViewer 0000000 OpenCV 21000000 000 QpenCY D 00 0 D D 0 D D 0 0 D 000 D D 0 http sourceforge net projects opencvlibrary GlobalMapLoader 0000000 CGAL3700000 00 00 CGAL Computational Geom etry Algorithms Library D D D D 0 0 0 D 00 0 0 0 0 0000 U http www cgal org 2 000000000000 000000000 RTOOODDODODODODOODODO 2 1 GlobalPathPlanner 00000 0000000000000000000000000000000000000000000 0000000000000000000000000000000000000000000040 000000000000000000000000000000000000000000000 000000000000000000000000000001 GlobalPathPlannerQ 000000 00000000000000100000000000000 2000000000000000 0003000000 U 1 0000000000
5. 00000000 3000000000000 Y heading U 3 0000000000000 3 2 IIS TimedPose2DSeqg HS TimedPose2DSeg D D D D D 0 0 0 0 0 0 0 0 D D 0 0 0 0 D 0 0 0 0 00 0 0 D 0 0 0 U 0000000000000000000000000000 0000000000000000 00000000000000000 Pose2D data x0 XD D imi 00 YOO Im heading D O radian 0000000 error QO 00000000 e id 0000 RTC Time tm 1000000000000 3 3 IIS TimedPoseVel2DSeq IIS TimedPoseVel2D5g10000000000000000000000000000000 00000000000000000000000000U vx vy va 0 U D U 0 U D 0 0 0 U U U U 0 U D 0 0 D D D D 0 0 D D U 0 0 0 0 U D 0 LL 0 0 0 0 0 U 0 0 0 0 U DUD D 0 U D DUU 00000000000000000000 0000000000000000000000000 00000000 PoseVel2D data UU XL vD 00 YO heading O0 0 OO v 00 x000 vy0 y 000 000000000 error 70000 id 0000 e RTC Time tm 000000000000 V2 vx2 vy2 va2 N2 x2 y2 82 0 N3 x3 y3 03 N1 x1 y1 81 0 V1 vx1 vyl vai V3 vx3 vy3 va3 IFR x y 8 COME ER MAASTLTLEWERSMELLD iB FE vx vy va ETA ERU TALU OR RE 4 TimedPoseVel2DSeg 0 00 O 3 4 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 origin 000000000 000000000 double xScale XD D H DD H 000 0 0 m cell double yScale D D H D D H 0 0 0 0 0 m cell double width X H 0 00 H 00 00 0 cell double height YO 000000000 cell RTC Pose2D origin DH 00000000 cel 0 0 O 0000 3 5 MRFC TimedAbso
6. 0000000000000 L U UU L 00000000 000000000000 00 240 10 110 U U U I POD NE Z E aiai arrio U U D 0 D 0 D 0 0 0 0 U 2 1 GlobalPathPlannerHIUHUHUHU 2 2 GlobalMapLoaderQ D 0 00 2 eee eee 2 3 GlobalMapVieverHUHUHHH 2 4 Dummy2PosesSendeH1HUHHUHEU 2 5 MessageReceivr UHUHUUUHH U U 0 0 D 0 D 0 D 000000000 3 1 MIS PimedPose2D cuca a a a Td DE es 3 2 MS Ti med Pose DSedy iio a a A a 3 3 IIS TimedPoseVel2DSeg 34 RTC 0GMapConfig a E JE WL de RE ba a Ban 3 5 MRFC TimedAbsoluteOGMapData 3 6 MRFC TimedFloatAbsoluteOGMapData 3 7 MRFC AbosoluteMapS ervice U U D U D 0 D 0000 U E TE EE R NOE ap TTT 49 RT System Editor H DO00000000000 AE O LPL Ann arie 84 PAS i 000 1 000 00000000000000000000000000000000000000000 Glob alPathPlannerH 80000 00000000000000000000 GlobalMapLoader 000 00000000000000000000000 GlobalMapViewerrQ 080000000000 00000000000000000000000000 Dummy2PeosesSender D 00000000 OOOOODODODODODOLDU MessageReceiver 8000000000000 000000 0000000 1 1 0000000 000000000100000000000 GlobalPathPlanner U U U U D 0 0 000 0 0 0000 0 00 D 0 0 D D 0 U D U 0 D U 0 U D 0 0 U 0 U e GlobalMapLoader U D D 0 0 D D 0 0 0 0 D D 0 0 D 0 D D
7. 00000000000000000000000000 0000000 0000000000000000000002500000000000000000000040 000000000000000000000 2000000000000 PNG D D U U OpenCV 000000000000000000000000 U 200000000 2 3 GlobalMapViewer 000000 000000000000000000000000000000000000 U GlobalMap Viewer 000000000000000000000 600000000000000 700000000 0000000000 8000000 U 6 000000000 Port Type Data Type Port Name In Port IIS TimedPoseVel2DSeg path 0000000090 In Port IIS TimedPose2D robot pose 00000000 U 7OODOODOO Port Type Data Type Port Name Service Consumer MRFC AbsoluteMapService AbsoluteMapService 0000000000 U 8 amp OODODOOOODO 000 DU DU int color reverse 00 0000000000000000000000000 DU UU U U U U U U U U U U U U U U U U U U U U U U U U U int map type 00 00000 octed 0 0 D 0 0 D D 0 0 0 U 00 0000000 oat U U U U U U 0 U U U U MRFC AbsoluteMapService TUT U ODODODODODODO octed 0000000000 float D O 200000000000 map type 0 BDO DO D D D D D D D D D D 0 D 0 00 00 0000 octed 0 O00 MRFC TimedAbsoluteOGMapDatal 00000 3 5000 float0 0 0 0 MRFC TimedFloatAbsoluteOGMapData 0000 3 60 0 MRFC AbsoluteMapService 0000 370000000000 2 4 Dummy2PosesSender JD 1 1 00000000000000000000000000000000000000000000 00000000000000000000000 Dummy2PosesSender D 00000000000 000000000 9000000000000000000 12000000000000000
8. UU 0 0 U DU U 0 U D 0 00 0 U 00000 50 DU 00 D UU 0 U DU 0 0 0 0 00 D LL 0 0 0 0 U DU 0 D U 0 000 U D 0 U 00000000000000 00000000 000 00 000 0 0 0 D 0 D D 0 000 Dummy2PosesSender 000000000 0000000 00 0 DummylHeading 0 00 Dummy1X lt 1 0 Dummy1 Y 1 00 Dummy2Heading 0 0 Dummy2X 23 0 Dummy2Y 23 0 0 0000000 m Global Map er mem 0 8 0000000 90 GlobalPathPlanner OOOOOOOOOOOOOOOD MessageReceiver 00000 U 0 D D 0 DD D D D D Global part h Planner OO D D 0 D D D D 0 D D 0 D 0 D D D D 0 D Timed String DD 0 D D 0 D D 0 0 00 080 0000000000 DD 0 D 000000000000 000000000000000000000000000 D D DO GlobalPathPlanner SUCCESS 0000000000 GlobalPathPlanner FAILEDI 0000000 14 EN D shige eclipse workspace2 MessageReceiver components MessageReceiverComp exe H x 0 9 GlobalPathPlanner 0000000000000 5 OOO 00000000 000000000000 441 8580 U U U DU 0 D 00 DU UU 11 00000000 00000000 000000000000 TEL 0532 44 6826 URL http www aisl cs tut ac jp 000000000 U rtc aisl cs tut acjpU D D 0 0 0 0 D 0 0 0 U 15
9. luteOGMapData 0 0 octed D DDD 0 D DD 0 0 DDD 0 DDD 0 D D octed D D 8bit0 00000 1280 127 000000000000000000 000 000000000000000000000000 0000000000000 40000000000000000000000000000 500 00000000 RTC OGMapConfig mapconfig 1 0000000000 RTC OGMapCells cells octed 020000000000 RTC Time tm 000000 3 6 MRFC TimedFloat A bsoluteOG MapData 000 Hoat D D U 00 0 0 D D D 0 0 0 0 0 0 0 D D 0 ont U D 0 0 D 0 D D 0 0 0 0 D 0 0 U 00000000000 0000 1000000000000000000000000000040 00000000000000000000000000000000000000 5000000 0000 RTC OGMapConfig mapconfig TU 000000000 RTC OGMapFloatCells cells Hoat D 000000000000 RTC Time tm 000000 10 3 7 MRFC AbosoluteMapService MRFC AbosoluteMapService 0700000000000000000000000000000 00000000000000000000000000 RTC OGMapConfig get AbsoluteOGMapConfig U U U U U U UU 00 U e TimedAbsoluteOGMapData getAbsoluteOGMap in double x in double y in unsigned long width in unsigned long height 000000000000000 00 00000 xy000000000000 TimedFloatAbsoluteOGMapData getFloatAbsoluteOGMap in double x in double y in un signed long width in unsigned long height 000000000000000 0 0 00000 xy000000000000 xScale m cell A i I I m O 1 x e m Ri se il E ci E i KU 3 02 v gt width origin cell 0 OOS EIE U 5 0000000 11 4 000000000000 0000000000000000000000000

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