OgNode
[Components, Stand-Alone Components, IceBox Services, C++, Linux, QNX]

Fuses sequences of occupancy likelihoods. More...

Fuses sequences of occupancy likelihoods.

Provides

• orca_interface_home
• orca_interface_ogfusion [OgNode.Provides.OgFusion]
• orca_interface_ogmap [OgNode.Provides.OgMap]
• orca_interface_status

Requires

• none

Operation

This component fuses ogcell sequences from OgFusionData objects (from a Laser2Og component) The result is available as an OgMap interface.

Configuration

• OgNode.Config.PriorMapProxyString (string)
  • Proxy string of OgMap interface from which to get prior map
  • If not equal to 'none', the details of the OgMap obtained from the remote interface will be used instead of the OgNode.Config.Map parameters.
  • Default: none

• OgNode.Config.Map.SizeXMetres (double) [m]
  • Size of map in metres (X)
  • Default: 50.0
• OgNode.Config.Map.SizeYMetres (double) [m]
  • Size of map in metres (Y)
  • Default: 50.0
• OgNode.Config.Map.ResX (double) [m]
  • The Map resolution in metres per Cell in X-direction
  • Default: 0.5
• OgNode.Config.Map.ResY (double) [m]
  • The Map resolution in metres per Cell in Y-direction
  • Default: 0.5
• OgNode.Config.Map.OriginX (double) [m]
  • The origin of the map (bottom-left corner) in metres (X)
  • Default: -25.0
• OgNode.Config.Map.OriginY (double) [m]
  • The origin of the map (bottom-left corner) in metres (Y)
  • Default: -25.0
• OgNode.Config.Map.Orientation (double) [deg]
  • The orientation of the map in degrees
  • Default: 0.0

• OgNode.Config.MaxPushPeriodSec (double) [sec]
  • The maximum rate at which we'll publish maps.
  • Default: 1.0 sec

Authors

Matthew Ridley