ComponentWebotsRobots

This Component provides sensors raw data and it updates the robot controller. One must "Enable" the available sensor in component parameters.

Service Ports

Inputs	outputs
LocalizationUpdateServiceIn: not implemented yet	BatteryPushServiceOut: Battery status (level, power and others)
NavigationVelocityServiceIn: velocity commands (linear velocities and turnrate)	BaseStateServiceOut: state of the robot's base (position and orientation)
ObjectPlacementPushServiceIn: HRI to query an object placement on it	LaserServiceOut: Lidar values
ObjectDropPushServiceIn: HRI to query an object drop	ObjectPushServiceOut: recognized objects and properties
	RGBImagePushServiceOut: Camera image
	BumperEventServiceOut: It triggers if robot is too close to something
	SimpleBumperServiceOut: It periodically sends info about robot state of "bump" (too close or far from objects/people)
	BatteryEventServiceOut: It triggers if battery's level is below threshold
	BaseStateAnswerer: It is possible to send Lisp commands to query robot's base info
	PayloadServiceOut: It periodically outputs the robot's payload (currently only the mass property)

InternalParameter Settings

Battery Properties

Attribute Name	Attribute Type	Description
custom_battery	Boolean	true if one want to use estimation in BatteryTask
battery_level_init	Double	Initial battery level
battery_level_max	Double	Maximum battery level
battery_level_min	Double	Minimum battery level (robot stops)
cpu_consumption	Double	CPU (or electronics) consumption
motor_consumption	Double	Motor consumption factor (linear with velocity)

Lidar Properties

Attribute Name	Attribute Type	Description
enable	Boolean	true if one want to use Lidar sensor
bumper_threshold	Double	Min Distance to obstacle [m] to trigger event

Camera Properties

Attribute Name	Attribute Type	Description
enable	Boolean	true if one want to use Camera sensor
enable_recognition	Boolean	true if one want to Webots Camera Recognition
camera_rotation_matrix	Double[*] (matrix 3x3)	Camera rotation matrix wrt to the robot frame (default is the TiagoIron matrix)
camera_translation	Double[*] (vector3D)	Camera translation vector wrt to the robot frame in meters

Robot Properties

Attribute Name	Attribute Type	Description
kinematics	String	Robot Kinematics type
wheel_distance	Double	Distance between wheels (meters)

HRI

Attribute Name	Attribute Type	Description
max_size	Double	Max object' size in meters that robot can transport
offset	Double[*]	Offset from the robot's pose (x,y,z) where to place the object in meters