Detailed Description

This software driver implements the communications (and some rudimentary control) for ActivMedia robotic bases (Pioneer DX/AT, PeopleBot, etc).

There is implemented access to robot odometry, ticks counts, velocities, battery charge status, and sonar readings, as well as basic velocity control.

It is required to check MRPT_BUILD_ARIA in the cmake configuration to enable this class to work properly.

See also the application "rawlog-grabber" for a ready-to-use application to gather data from the robot base. Through that "common sensor interface", this object can collect these kinds of observations:

mrpt::slam::CObservationOdometry : For odometry
mrpt::slam::CObservationRange : For sonars

To use this class out of rawlog-grabber, "initialize" must be called to connect to the robot. Before that, set the serial port with setSerialPortConfig.

Example .ini block for rawlog-grabber (format used in "loadConfig"):

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
  [supplied_section_name]
   robotPort_WIN                = COM1
   robotPort_LIN                = /dev/ttyUSB0
   robotBaud                    = 115200
   enableSonars         = 0     ; 0:Disabled (default), 1: Enabled
   capture_rate         = 10.0  ; In Hz, the rate at which sonars & odometry are gathered (default=10Hz)
   joystick_control             = 0             ; 0:Disabled (default), 1: Enabled
   joystick_max_v               = 0.1   ; Max joystick control speed (m/s)
       joystick_max_w_degps     = 20    ; Max joystick control speed (deg/s)

Definition at line 76 of file CActivMediaRobotBase.h.

#include <mrpt/hwdrivers/CActivMediaRobotBase.h>

Inheritance diagram for mrpt::hwdrivers::CActivMediaRobotBase:

[legend]

Classes
struct	TRobotDescription
	A structure describing the robot. More...

Public Types
enum	TSensorState { ssInitializing = 0, ssWorking, ssError }
	The current state of the sensor. More...

typedef std::multimap < mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr >	TListObservations

typedef std::pair < mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr >	TListObsPair

Public Member Functions

void initialize ()

Connects to the robot.

CActivMediaRobotBase ()

Constructor.

virtual ~CActivMediaRobotBase ()

Destructor: turns off communications.

void setSerialPortConfig (const std::string &portName, int portBaudRate)

Manually sets the serial port configuration.

std::string getSerialPort () const

Returns the current value of the serial port.

int getSerialPortBaudRate () const

Returns the current value of the serial port baudrate.

void doProcess ()

Collect odometry readings and put them in the "observations" queue: DO NOT call this normally, it's useful only for the application rawloggrabber.

void changeOdometry (const mrpt::poses::CPose2D &newOdometry)

Change the current robot odometry pose.

void getOdometry (poses::CPose2D &out_odom)

Get the current robot's odometry.

void getOdometryFull (poses::CPose2D &out_odom, double &out_lin_vel, double &out_ang_vel, int64_t &out_left_encoder_ticks, int64_t &out_right_encoder_ticks)

Get the current robot's odometry.

void getOdometryIncrement (poses::CPose2D &out_incr_odom, double &out_lin_vel, double &out_ang_vel, int64_t &out_incr_left_encoder_ticks, int64_t &out_incr_right_encoder_ticks)

Get the robot's odometry increment since the last call to this method (the first time the increments are always fixed to zero).

void getSonarsReadings (bool &thereIsObservation, mrpt::slam::CObservationRange &obs)

Get the readings from the sonars, only if the observations are new.

void getBatteryCharge (double &out_batery_volts)

Get the robot battery charge.

void setVelocities (const double lin_vel, const double ang_vel)

Set the robot linear and angular velocities.

void enableSonars ()

Enable sonars.

void disableSonars ()

Disable sonars.

void getBumpers (vector_bool &bumper_state)

Get state of bumpers: at output, the vector will be resized to the number of bumpers, and elements with "true" means bumper is pressed.

void getRobotInformation (TRobotDescription &info)

Get information about the robot and its sensors.

void enableJoystickControl (bool enable=true)

Enable/disable manual control of the robot with a Joystick.

bool isJoystickControlEnabled () const

Get state of manual control with a joystick.

virtual const
mrpt::hwdrivers::TSensorClassId * GetRuntimeClass () const =0

TSensorState getState () const

The current state of the sensor.

double getProcessRate () const

std::string getSensorLabel () const

void setSensorLabel (const std::string &sensorLabel)

void loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)

Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific"

Exceptions

This	method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

void getObservations (TListObservations &lstObjects)

Returns a list of enqueued objects, emptying it (thread-safe).

virtual void setPathForExternalImages (const std::string &directory)

Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).

void setExternalImageFormat (const std::string &ext)

Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".

void setExternalImageJPEGQuality (const unsigned int quality)

The quality of JPEG compression, when external images is enabled and the format is "jpg".

unsigned int getExternalImageJPEGQuality () const

Static Public Member Functions
static void	registerClass (const TSensorClassId *pNewClass)
	Register a class into the internal list of "CGenericSensor" descendents.

static CGenericSensor *	createSensor (const std::string &className)
	Creates a sensor by a name of the class.

static CGenericSensorPtr	createSensorPtr (const std::string &className)
	Just like createSensor, but returning a smart pointer to the newly created sensor object.

Protected Member Functions
void	disconnectAndDisableMotors ()

void	connectAndEnableMotors ()

void	loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
	Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes) See hwdrivers::CActivMediaRobotBase for the possible parameters.

void	appendObservations (const std::vector< mrpt::utils::CSerializablePtr > &obj)
	This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.

void	appendObservation (const mrpt::utils::CSerializablePtr &obj)
	Like appendObservations() but for just one observation.

Protected Attributes
std::string	m_com_port
	The serial port name to use for communications (COM1, ttyS1,...)

int	m_robotBaud
	The bauds for ARIA communications to the robot.

bool	m_firstIncreOdometry
	Used in getOdometryIncrement.

bool	m_enableSonars

void *	m_robot

void *	m_sonarDev

void *	m_simpleConnector
	The connection to the robot.

unsigned int	m_lastTimeSonars

bool	m_enableJoyControl
	For use with rawlog-grabber.

float	m_joy_max_v

float	m_joy_max_w

CJoystick	m_joystick
	The joystick opened at first usage.

mrpt::system::TTimeStamp	m_last_do_process

double	m_capture_rate
	In Hz, the rate at which sonars & odometry are gathered (default=10Hz)

size_t	m_grab_decimation_counter
	Used when "m_grab_decimation" is enabled.

TSensorState	m_state

std::string	m_path_for_external_images
	The path where to save off-rawlog images: empty means save images embedded in the rawlog.

std::string	m_external_images_format
	The extension ("jpg","gif","png",...) that determines the format of images saved externally.

unsigned int	m_external_images_jpeg_quality
	For JPEG images, the quality (default=95%).

Common settings to any sensor, loaded in "loadConfig"
double	m_process_rate
	See CGenericSensor.

size_t	m_max_queue_len
	See CGenericSensor.

size_t	m_grab_decimation
	If set to N>=2, only 1 out of N observations will be saved to m_objList.

std::string	m_sensorLabel
	See CGenericSensor.

Member Typedef Documentation

typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObservations

inherited

Definition at line 84 of file CGenericSensor.h.

typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObsPair

inherited

Definition at line 85 of file CGenericSensor.h.

Member Enumeration Documentation

enum mrpt::hwdrivers::CGenericSensor::TSensorState

inherited

The current state of the sensor.

See Also: CGenericSensor::getState

Enumerator
ssInitializing
ssWorking
ssError

Definition at line 90 of file CGenericSensor.h.

Constructor & Destructor Documentation

mrpt::hwdrivers::CActivMediaRobotBase::CActivMediaRobotBase ( )

Constructor.

virtual mrpt::hwdrivers::CActivMediaRobotBase::~CActivMediaRobotBase ( )

virtual

Destructor: turns off communications.

Member Function Documentation

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::utils::CSerializablePtr & obj )

inlineprotectedinherited

Like appendObservations() but for just one observation.

Definition at line 155 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::appendObservations ( const std::vector< mrpt::utils::CSerializablePtr > & obj )

protectedinherited

This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.

Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation:

CObservationGPSPtr  o = CObservationGPSPtr( new CObservationGPS() );
o-> .... // Set data
appendObservation(o);

If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.

void mrpt::hwdrivers::CActivMediaRobotBase::changeOdometry ( const mrpt::poses::CPose2D & newOdometry )

Change the current robot odometry pose.

void mrpt::hwdrivers::CActivMediaRobotBase::connectAndEnableMotors ( )

protected

static CGenericSensor* mrpt::hwdrivers::CGenericSensor::createSensor ( const std::string & className )

staticinherited

Creates a sensor by a name of the class.

Typically the user may want to create a smart pointer around the returned pointer, whis is made with:

CGenericSensorPtr sensor = CGenericSensorPtr( CGenericSensor::createSensor("XXX") );

Returns: A pointer to a new class, or NULL if class name is unknown.

static CGenericSensorPtr mrpt::hwdrivers::CGenericSensor::createSensorPtr ( const std::string & className )

inlinestaticinherited

Just like createSensor, but returning a smart pointer to the newly created sensor object.

Definition at line 188 of file CGenericSensor.h.

void mrpt::hwdrivers::CActivMediaRobotBase::disableSonars ( )

Disable sonars.

void mrpt::hwdrivers::CActivMediaRobotBase::disconnectAndDisableMotors ( )

protected

void mrpt::hwdrivers::CActivMediaRobotBase::doProcess ( )

virtual

Collect odometry readings and put them in the "observations" queue: DO NOT call this normally, it's useful only for the application rawloggrabber.

Implements mrpt::hwdrivers::CGenericSensor.

void mrpt::hwdrivers::CActivMediaRobotBase::enableJoystickControl ( bool enable = true )

inline

Enable/disable manual control of the robot with a Joystick.

Definition at line 185 of file CActivMediaRobotBase.h.

void mrpt::hwdrivers::CActivMediaRobotBase::enableSonars ( )

Enable sonars.

void mrpt::hwdrivers::CActivMediaRobotBase::getBatteryCharge ( double & out_batery_volts )

Get the robot battery charge.

void mrpt::hwdrivers::CActivMediaRobotBase::getBumpers ( vector_bool & bumper_state )

Get state of bumpers: at output, the vector will be resized to the number of bumpers, and elements with "true" means bumper is pressed.

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const

inlineinherited

Definition at line 241 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::getObservations ( TListObservations & lstObjects )

inherited

Returns a list of enqueued objects, emptying it (thread-safe).

The objects must be freed by the invoker.

void mrpt::hwdrivers::CActivMediaRobotBase::getOdometry ( poses::CPose2D & out_odom )

Get the current robot's odometry.

Parameters

out_odom The odometry will be returned here.

See Also: getOdometryFull, getOdometryIncrement

void mrpt::hwdrivers::CActivMediaRobotBase::getOdometryFull	(	poses::CPose2D &	out_odom,
		double &	out_lin_vel,
		double &	out_ang_vel,
		int64_t &	out_left_encoder_ticks,
		int64_t &	out_right_encoder_ticks
	)

Get the current robot's odometry.

Parameters

out_odom	The odometry will be returned here.
out_lin_vel	The linear speed, in m/s, positive is forward.
out_ang_vel	The angular speed, in rad/s, positive is anticlockwise.
out_left_encoder_ticks	The current overall count of ticks for the left wheel encoder.
out_right_encoder_ticks	The current overall count of ticks for the right wheel encoder.

See Also: getOdometry, getOdometryIncrement

void mrpt::hwdrivers::CActivMediaRobotBase::getOdometryIncrement	(	poses::CPose2D &	out_incr_odom,
		double &	out_lin_vel,
		double &	out_ang_vel,
		int64_t &	out_incr_left_encoder_ticks,
		int64_t &	out_incr_right_encoder_ticks
	)

Get the robot's odometry increment since the last call to this method (the first time the increments are always fixed to zero).

Parameters

out_odom	The odometry increment.
out_lin_vel	The current linear speed, in m/s, positive is forward (Absolute values, not increments)
out_ang_vel	The angular speed, in rad/s, positive is anticlockwise (Absolute values, not increments).
out_left_encoder_ticks	The increment in ticks for the left wheel encoder.
out_right_encoder_ticks	The increment in ticks for the right wheel encoder.

See Also: getOdometry, getOdometryFull

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const

inlineinherited

Definition at line 100 of file CGenericSensor.h.

void mrpt::hwdrivers::CActivMediaRobotBase::getRobotInformation ( TRobotDescription & info )

Get information about the robot and its sensors.

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const

pure virtualinherited

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const

inlineinherited

Definition at line 102 of file CGenericSensor.h.

std::string mrpt::hwdrivers::CActivMediaRobotBase::getSerialPort ( ) const

inline

Returns the current value of the serial port.

Definition at line 111 of file CActivMediaRobotBase.h.

int mrpt::hwdrivers::CActivMediaRobotBase::getSerialPortBaudRate ( ) const

inline

Returns the current value of the serial port baudrate.

Definition at line 114 of file CActivMediaRobotBase.h.

void mrpt::hwdrivers::CActivMediaRobotBase::getSonarsReadings	(	bool &	thereIsObservation,
		mrpt::slam::CObservationRange &	obs
	)

Get the readings from the sonars, only if the observations are new.

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const

inlineinherited

The current state of the sensor.

Definition at line 98 of file CGenericSensor.h.

void mrpt::hwdrivers::CActivMediaRobotBase::initialize ( )

virtual

Connects to the robot.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

bool mrpt::hwdrivers::CActivMediaRobotBase::isJoystickControlEnabled ( ) const

inline

Get state of manual control with a joystick.

Definition at line 188 of file CActivMediaRobotBase.h.

void mrpt::hwdrivers::CGenericSensor::loadConfig	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	section
	)

inherited

Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific"

Exceptions

This	method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

void mrpt::hwdrivers::CActivMediaRobotBase::loadConfig_sensorSpecific	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)

protectedvirtual

Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes) See hwdrivers::CActivMediaRobotBase for the possible parameters.

See Also: setSerialPortConfig

Implements mrpt::hwdrivers::CGenericSensor.

static void mrpt::hwdrivers::CGenericSensor::registerClass ( const TSensorClassId * pNewClass )

staticinherited

Register a class into the internal list of "CGenericSensor" descendents.

Used internally in the macros DEFINE_GENERIC_SENSOR, etc...

Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if building custom sensors outside mrpt libraries in user code.

Referenced by mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR::CLASSINIT_GENERIC_SENSOR().

void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat ( const std::string & ext )

inlineinherited

Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".

See Also: setPathForExternalImages, setExternalImageJPEGQuality

Definition at line 233 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality ( const unsigned int quality )

inlineinherited

The quality of JPEG compression, when external images is enabled and the format is "jpg".

See Also: setExternalImageFormat

Definition at line 238 of file CGenericSensor.h.

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( const std::string & directory )

inlinevirtualinherited

Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).

An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.

Exceptions

std::exception If the directory doesn't exists and cannot be created.

Reimplemented in mrpt::hwdrivers::CKinect, mrpt::hwdrivers::CCameraSensor, and mrpt::hwdrivers::CSwissRanger3DCamera.

Definition at line 225 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::setSensorLabel ( const std::string & sensorLabel )

inlineinherited

Definition at line 103 of file CGenericSensor.h.

void mrpt::hwdrivers::CActivMediaRobotBase::setSerialPortConfig	(	const std::string &	portName,
		int	portBaudRate
	)

Manually sets the serial port configuration.

Parameters

portName	Examples: Windows: "COM1" , Linux: "/dev/ttyUSB0"
portBaudRate	9600, 115200, etc..

See Also: loadConfig

void mrpt::hwdrivers::CActivMediaRobotBase::setVelocities	(	const double	lin_vel,
		const double	ang_vel
	)

Set the robot linear and angular velocities.

Parameters

lin_vel	Linear speed, in m/s.
ang_vel	Angular speed, in rad/s.

Member Data Documentation

double mrpt::hwdrivers::CActivMediaRobotBase::m_capture_rate

protected

In Hz, the rate at which sonars & odometry are gathered (default=10Hz)

Definition at line 209 of file CActivMediaRobotBase.h.

std::string mrpt::hwdrivers::CActivMediaRobotBase::m_com_port

protected

The serial port name to use for communications (COM1, ttyS1,...)

Definition at line 191 of file CActivMediaRobotBase.h.

bool mrpt::hwdrivers::CActivMediaRobotBase::m_enableJoyControl

protected

For use with rawlog-grabber.

Definition at line 203 of file CActivMediaRobotBase.h.

bool mrpt::hwdrivers::CActivMediaRobotBase::m_enableSonars

protected

Definition at line 195 of file CActivMediaRobotBase.h.

std::string mrpt::hwdrivers::CGenericSensor::m_external_images_format

protectedinherited

The extension ("jpg","gif","png",...) that determines the format of images saved externally.

See Also: setPathForExternalImages

Definition at line 139 of file CGenericSensor.h.

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality

protectedinherited

For JPEG images, the quality (default=95%).

Definition at line 140 of file CGenericSensor.h.

bool mrpt::hwdrivers::CActivMediaRobotBase::m_firstIncreOdometry

protected

Used in getOdometryIncrement.

Definition at line 194 of file CActivMediaRobotBase.h.

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation

protectedinherited

If set to N>=2, only 1 out of N observations will be saved to m_objList.

Definition at line 127 of file CGenericSensor.h.

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter

protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 132 of file CGenericSensor.h.

float mrpt::hwdrivers::CActivMediaRobotBase::m_joy_max_v

protected

Definition at line 204 of file CActivMediaRobotBase.h.

float mrpt::hwdrivers::CActivMediaRobotBase::m_joy_max_w

protected

Definition at line 204 of file CActivMediaRobotBase.h.

CJoystick mrpt::hwdrivers::CActivMediaRobotBase::m_joystick

protected

The joystick opened at first usage.

Definition at line 206 of file CActivMediaRobotBase.h.

mrpt::system::TTimeStamp mrpt::hwdrivers::CActivMediaRobotBase::m_last_do_process

protected

Definition at line 208 of file CActivMediaRobotBase.h.

unsigned int mrpt::hwdrivers::CActivMediaRobotBase::m_lastTimeSonars

protected

Definition at line 201 of file CActivMediaRobotBase.h.

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len

protectedinherited

See CGenericSensor.

Definition at line 126 of file CGenericSensor.h.

std::string mrpt::hwdrivers::CGenericSensor::m_path_for_external_images

protectedinherited

The path where to save off-rawlog images: empty means save images embedded in the rawlog.

Definition at line 138 of file CGenericSensor.h.

double mrpt::hwdrivers::CGenericSensor::m_process_rate

protectedinherited

See CGenericSensor.

Definition at line 125 of file CGenericSensor.h.

void* mrpt::hwdrivers::CActivMediaRobotBase::m_robot

protected

Definition at line 197 of file CActivMediaRobotBase.h.

int mrpt::hwdrivers::CActivMediaRobotBase::m_robotBaud

protected

The bauds for ARIA communications to the robot.

Definition at line 192 of file CActivMediaRobotBase.h.

std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel

protectedinherited

See CGenericSensor.

Definition at line 128 of file CGenericSensor.h.

void* mrpt::hwdrivers::CActivMediaRobotBase::m_simpleConnector

protected

The connection to the robot.

Definition at line 199 of file CActivMediaRobotBase.h.

void* mrpt::hwdrivers::CActivMediaRobotBase::m_sonarDev

protected

Definition at line 198 of file CActivMediaRobotBase.h.

TSensorState mrpt::hwdrivers::CGenericSensor::m_state

protectedinherited

Definition at line 134 of file CGenericSensor.h.

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation