Difference between revisions of "InformationForApp"
From RobotinoWiki
| Line 16: | Line 16: | ||
|- | |- | ||
|POSE (x,y,phi) | |POSE (x,y,phi) | ||
| − | | | + | |BaserServer --> RPCB(each) |
|APP | |APP | ||
|- | |- | ||
| Line 24: | Line 24: | ||
|- | |- | ||
|LASERSCAN | |LASERSCAN | ||
| − | | | + | |LaserServer --> RPCB(each) |
|APP | |APP | ||
|- | |- | ||
| − | | | + | |BATTERYINFO (voltage, current) |
| − | | | + | |rpc direct? |
|APP | |APP | ||
|- | |- | ||
|FREENAVINFO (goal and subgoals) | |FREENAVINFO (goal and subgoals) | ||
| − | | | + | |Planner --> RPCB(each) |
|APP | |APP | ||
|- | |- | ||
|PATHNAVINFO () | |PATHNAVINFO () | ||
| − | | | + | |?? --> RPCB(each) |
|APP | |APP | ||
|- | |- | ||
| Line 53: | Line 53: | ||
|- | |- | ||
|GRIDMAP | |GRIDMAP | ||
| − | | | + | |Mapper or GMapping --> RPCB(master) |
| + | |APP | ||
| + | |PATH-NETWORK-LAYOUT | ||
| + | |from file? | ||
|APP | |APP | ||
|- | |- | ||
| − | |PATH-NETWORK | + | |PATH-NETWORK STATE |
| − | | | + | |PathNavServer --> RPCB(master) |
|APP | |APP | ||
|- | |- | ||
|LOCATIONS | |LOCATIONS | ||
| − | | | + | |MASTER-KB --> RPCB(master) |
|APP | |APP | ||
|- | |- | ||
|} | |} | ||
Revision as of 14:44, 7 April 2016
Information needed by the App itself: FROM ALL ROBOTS:
| Information | Source | Destination |
|---|---|---|
| RobotID | APP | |
| ROBOTTYP (master or slave) | APP | |
| POSE (x,y,phi) | BaserServer --> RPCB(each) | APP |
| STATE (IDLE or BUSY or ERROR) | APP | |
| LASERSCAN | LaserServer --> RPCB(each) | APP |
| BATTERYINFO (voltage, current) | rpc direct? | APP |
| FREENAVINFO (goal and subgoals) | Planner --> RPCB(each) | APP |
| PATHNAVINFO () | ?? --> RPCB(each) | APP |
FROM MASTER ONLY:
| Information | Source | Destination | |||
|---|---|---|---|---|---|
| IP Address of all Robots | ? | ||||
| GRIDMAP | Mapper or GMapping --> RPCB(master) | APP | PATH-NETWORK-LAYOUT | from file? | APP |
| PATH-NETWORK STATE | PathNavServer --> RPCB(master) | APP | |||
| LOCATIONS | MASTER-KB --> RPCB(master) | APP |
