Modules - Command Format
The intention of this standard is to keep internal coherence and compatability with RoboticsLab robot Modules which follow this standard (such as Asibot - Implemented Modules). It replaces Modules - Standard v0.1. It is intended to be a description of module interfaces and data flow representation. Port interface is referred to TCP/UDP/MCAST/SHMEM cloud side, not CAN or USB (that can coexist in hardware-related modules). A referenced list of implemented modules should also be included. Be sure to check the Modules - Dependency Version page too.
Nomenclature: D for double, I for integer, S for string.
Joint Motion Controllers (jmc)
These modules should recieve joint (q) commands. While any q is in movement, a callback should be a set up to be able to receive Stop or Status Poll command. On the other hand, the module should send a message when a command has been performed (w/ info on degree of accomplishment) or stopped.
Port: name_q In: - Stop: "I:-1" (bottle_q_i) - Status poll: "I:0" (bottle_q_i) - Absolute position: "I:1 S:tag1 D:Q1pos ... S:tagn D:Qnpos D:Qgenvel" (bottle_q_i) - Relative position: "I:2 S:tag1 D:Q1pos ... S:tagn D:Qnpos D:Qgenvel" (bottle_q_i) - Velocity: "I:3 S:tag1 D:Q1vel ... S:tagn D:Qnvel" (bottle_q_i) - Syncronize: "I:4 S:tag1 D:Q1vel ... S:tagn D:Qnvel" (bottle_q_i) Out: - Status Response: "I:stat D:Q1pos ... D:Qnpos" (bottle_q_o) Units: Degrees, Percentage based on max degrees per second, ¿¿N/m or A??. Tags: q1, q2, ..., qn.
Implemented Drivers: jmc_rave: A module that instantiates a OpenRAVE kitchen with ASIBOT environment. read more...