InformationForApp
From RobotinoWiki
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 | MASTER-KB --> RPCB(master) | ? |
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 |