PerceptualSpace

class mobrob_behcon.core.perceptual_space.PerceptualSpace(visu)[source]

The class PerceptualSpace

This contains all sensors of the robot. Other parts of the program can refer to this to get sensor data.

Currently following sensors are supported:

  • Laserscanner

  • Egopose sensor

  • Camera

Methods

__init__(visu)

constructor

add_camera([ip_address, port])

Add camera (TCP) to the configuration.

add_egopose([ros_topic])

Add egopose sensor to the configuration.

add_laserscanner([ros_topic])

Add laserscanner to the configuration

Details

__init__(visu)[source]

constructor

Parameters

visu (KOOSVisu) – an object of KOOSVisu

add_camera(ip_address='mobrob', port=5001)[source]

Add camera (TCP) to the configuration. A camera server needs to be running on the network for that.

e.g. following:

https://github.com/techniccontroller/MobRob_PI_Scripts/blob/master/Camera/videoTCPServer8_first_capture.py

Parameters

  • ip_address (string) – ip address of camera server

  • port (int) – port of camera server

Returns

returns nothing

add_egopose(ros_topic='/odom')[source]

Add egopose sensor to the configuration. This will provide information about the current pose of the robot.

Parameters

ros_topic (string) – possible topics are ‘/pose’ (myrobot_model/Pose) or ‘/odom’ (nav_msgs/Odometry)

Returns

returns nothing

add_laserscanner(ros_topic='/scan')[source]

Add laserscanner to the configuration

Parameters

ros_topic (string) – topic of the LaserScan data

Returns

returns nothing