Robot tracker that updates vectormap layer with shapes of given robots.

Provides
  • interface_opaque
Requires
  • interface_vectormap
  • interface_position2d
Configuration requests
  • None
Configuration file options
  • names (string tuple)
    • non-empty list of robot names (vectormap layer objects)
  • shape_x (float tuple)
    • Default: [ -0.01 0.01 ]
    • shape of the robot (x'es of points of linestring)
    • all robots are of the same shape
  • shape_y (float tuple)
    • Default: [ -0.01 0.01 ]
    • shape of the robot (y's of points of linestring)
    • all robots are of the same shape
  • interval (float)
    • Default: -0.01 (=NONE)
    • mimimal interval between map updates
  • min_x_change (float)
    • Default: -0.01 (=NONE)
    • minimum change on X-axis to assume robot has moved
  • min_y_change (float)
    • Default: -0.01 (=NONE)
    • minimum change on Y-axis to assume robot has moved
  • layer_name (string)
    • Default: "NONE"
    • vectormap layer name to be updated
  • workspaces_name (string)
    • Default: "NONE"
    • if not set to "NONE" this is the name of vectormap layer that will be filled-up with robots extents
  • depletion_zone (float)
    • Default: 0.0
    • length of additional depletion zone in robot workspace
  • first2last_extent_name (string)
    • Default: "NONE"
    • if not set to "NONE" this is the name of additional vectormap object that will be added to workspaces layer to denote extent of all robots and their workspaces
Example
driver
(
  name "robotracker"
  names ["roomba0" "roomba1" "roomba2" "roomba3" "roomba4"]
  requires ["vectormap:0" "roomba0:::position2d:1" "roomba1::6666:position2d:1" "roomba2::6667:position2d:1" "roomba3::6668:position2d:1" "roomba4::6669:position2d:1"]
  provides ["opaque:0"]
  shape_x [ 0.225 0.208 0.159 0.086 0.000 -0.086 -0.159 -0.208 -0.225 -0.208 -0.159 -0.086 -0.000  0.086  0.159  0.208 0.225 ]
  shape_y [ 0.000 0.086 0.159 0.208 0.225  0.208  0.159  0.086  0.000 -0.086 -0.159 -0.208 -0.225 -0.208 -0.159 -0.086 0.000 ]
  min_x_change 0.1
  min_y_change 0.1
  layer_name "obstacles"
  workspaces_name "workspaces"
  first2last_extent_name "formation_extent"
  depletion_zone 0.3
  alwayson 1
)
Author
Paul Osmialowski