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Position

Odometry2D

Interface to a device that provides 2D odometry data.

Inputs

None.

Outputs

Port name Purpose Data
Odometry Latest odometry data. TimedPose2D

Services

Port name Purpose Parameters Return data
GetGeometry Device position and size information. None Geometry2D
SetOdometry Set the odometry to a given value. Pose2D newValue None

Odometry3D

Inputs

None.

Outputs

Port name Purpose Data
Odometry Latest odometry data. TimedPose3D

Services

Port name Purpose Parameters Return data
GetGeometry Device position and size information. None Geometry3D
SetOdometry Set the odometry to a given value. Pose3D newValue None

VelocityControl2D

Velocity control of a planar robot capable of moving along its x axis and adjusting its heading, and possibly capable of moving along its y axis.

Inputs

Port name Purpose Data
Velocities Velocities to move at. TimedVelocity2D

Outputs

Port name Purpose Data
Velocities Current velocities. TimedVelocity2D

Services

Port name Purpose Parameters Return data
GetGeometry Device position and size information. None Geometry2D

VelocityControl3D

Velocity control of a robot capable of moving along any of its three axes, as well as adjust its angle around any of its three axes.

Inputs

Port name Purpose Data
Velocities Velocities to move at. TimedVelocity3D

Outputs

Port name Purpose Data
Velocities Current velocities. TimedVelocity3D

Services

Port name Purpose Parameters Return data
GetGeometry Device position and size information. None Geometry3D

PoseControl2D

Control of a robot capable of moving to a specified pose in two dimensions.

Inputs

Port name Purpose Data
TargetPose Direct control over a robot's pose, for robots capable of moving to a given pose. TimedPose2D
TargetPoseVel Direct control over a robot's pose, for robots capable of moving to a given pose, with specified velocities. TimedPoseVel2D

Outputs

Port name Purpose Data
Pose Current pose. TimedPose2D
Velocities Current velocities. TimedVelocity2D

Services

Port name Purpose Parameters Return data
GetGeometry Device position and size information. None Geometry2D

PoseControl3D

Control of a robot capable of moving to a specified pose in three dimensions.

Inputs

Port name Purpose Data
TargetPose Direct control over a robot's pose, for robots capable of moving to a given pose. TimedPose3D
TargetPoseVel Direct control over a robot's pose, for robots capable of moving to a given pose, with specified velocities. PoseVelControl

Outputs

Port name Purpose Data
Velocities Current velocities. TimedVelocity3D

Services

Port name Purpose Parameters Return data
GetGeometry Device position and size information. None Geometry3D

CarlikeControl

Control of a non-holonomic robot with car-like steering, where the forward speed and the steering angle are the control inputs.

Inputs

Port name Purpose Data
Controls Speed and steering angle control. TimedCarlike

Outputs

Port name Purpose Data
Status Current speed and steering angle. TimedCarlike

Services

Port name Purpose Parameters Return data
GetGeometry Device position and size information. None Geometry2D

HeadingControl2D

Control of a robot capable of moving at a given speed in any direction in a plane.

Inputs

Port name Purpose Data
Controls Speed and heading. TimedSpeedHeading2D

Outputs

Port name Purpose Data
Status Current speed and heading. TimedSpeedHeading2D

Services

Port name Purpose Parameters Return data
GetGeometry Device position and size information. None Geometry2D

HeadingControl3D

Control of a robot capable of moving at a given speed in any direction in 3D space.

Inputs

Port name Purpose Data
Controls Speed and heading. TimedSpeedHeading3D

Outputs

Port name Purpose Data
Controls Current speed and heading. TimedSpeedHeading3D

Services

Port name Purpose Parameters Return data
GetGeometry Device position and size information. None Geometry3D
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