Odometry ======== **An odometry sensor that returns raw, partially integrated or fully integrated displacement information.** This sensor produces relative displacement with respect to the position and rotation in the previous Blender tick. It can compute too the position of the robot with respect to its original position, and the associated speed. The angles for yaw, pitch and roll are given in radians. .. note:: This sensor always provides perfect data. To obtain more realistic readings, it is recommended to add modifiers. - **Noise modifier**: Adds random Gaussian noise to the data - **Odometry Noise modifier**: Simulate scale factor error and gyroscope drift .. cssclass:: properties morse-section Configuration parameters for Odometry ------------------------------------- *No configurable parameter.* .. cssclass:: levels morse-section Available functional levels --------------------------- *Functional levels* are predefined *abstraction* or *realism* levels for the sensor. - ``raw`` raw odometry: only dS is exported At this level, the sensor exports these datafields at each simulation step: - ``dS`` (float, initial value: ``0.0``): curvilinear distance since last tick *Interface support:* - :tag:`yarp` as yarp::Bottle (:py:mod:`morse.middleware.yarp_datastream.YarpPublisher`) - :tag:`socket` as straight JSON serialization (:py:mod:`morse.middleware.socket_datastream.SocketPublisher`) - :tag:`text` as key = value format with timestamp and index value (:py:mod:`morse.middleware.text_datastream.Publisher`) - :tag:`moos` as StringPublisher (:py:mod:`morse.middleware.moos.abstract_moos.StringPublisher`) - ``differential`` differential odometry, corresponding to standard 'robot level' odometry At this level, the sensor exports these datafields at each simulation step: - ``dx`` (float, initial value: ``0.0``): delta of X coordinate of the sensor - ``dy`` (float, initial value: ``0.0``): delta of Y coordinate of the sensor - ``dz`` (float, initial value: ``0.0``): delta of Z coordinate of the sensor - ``dyaw`` (float, initial value: ``0.0``): delta of rotation angle with respect to the Z axis - ``dpitch`` (float, initial value: ``0.0``): delta of rotation angle with respect to the Y axis - ``droll`` (float, initial value: ``0.0``): delta of rotation angle with respect to the X axis *Interface support:* - :tag:`yarp` as yarp::Bottle (:py:mod:`morse.middleware.yarp_datastream.YarpPublisher`) - :tag:`socket` as straight JSON serialization (:py:mod:`morse.middleware.socket_datastream.SocketPublisher`) - :tag:`text` as key = value format with timestamp and index value (:py:mod:`morse.middleware.text_datastream.Publisher`) - :tag:`moos` as StringPublisher (:py:mod:`morse.middleware.moos.abstract_moos.StringPublisher`) - ``integrated`` (default level) integrated odometry: absolution position is exported At this level, the sensor exports these datafields at each simulation step: - ``x`` (float, initial value: ``0.0``): X coordinate of the sensor - ``y`` (float, initial value: ``0.0``): Y coordinate of the sensor - ``z`` (float, initial value: ``0.0``): Z coordinate of the sensor - ``yaw`` (float, initial value: ``0.0``): rotation angle with respect to the Z axis - ``pitch`` (float, initial value: ``0.0``): rotation angle with respect to the Y axis - ``roll`` (float, initial value: ``0.0``): rotation angle with respect to the X axis - ``vx`` (float, initial value: ``0.0``): linear velocity related to the X coordinate of the sensor - ``vy`` (float, initial value: ``0.0``): linear velocity related to the Y coordinate of the sensor - ``vz`` (float, initial value: ``0.0``): linear velocity related to the Z coordinate of the sensor - ``wz`` (float, initial value: ``0.0``): angular velocity related to the Z coordinate of the sensor - ``wy`` (float, initial value: ``0.0``): angular velocity related to the Y coordinate of the sensor - ``wx`` (float, initial value: ``0.0``): angular velocity related to the X coordinate of the sensor *Interface support:* - :tag:`ros` as `nav_msgs/Odometry `_ (:py:mod:`morse.middleware.ros.odometry.OdometryPublisher`) - :tag:`pocolibs` as `POM_ME_POS `_ (:py:mod:`morse.middleware.pocolibs.sensors.pom.PomSensorPoster`) or as `POM_POS `_ (:py:mod:`morse.middleware.pocolibs.sensors.pom.PomPoster`) - :tag:`moos` as StringPublisher (:py:mod:`morse.middleware.moos.abstract_moos.StringPublisher`) - :tag:`mavlink` as `LOCAL_POSITION_NED `_ (:py:mod:`morse.middleware.mavlink.odometry_to_local_ned.OdometrySensor`) - :tag:`yarp` as yarp::Bottle (:py:mod:`morse.middleware.yarp_datastream.YarpPublisher`) - :tag:`socket` as straight JSON serialization (:py:mod:`morse.middleware.socket_datastream.SocketPublisher`) - :tag:`text` as key = value format with timestamp and index value (:py:mod:`morse.middleware.text_datastream.Publisher`) .. cssclass:: services morse-section Services for Odometry --------------------- - ``get_properties()`` (blocking) Returns the properties of a component. - Return value a dictionary of the current component's properties - ``get_local_data()`` (blocking) Returns the current data stored in the sensor. - Return value a dictionary of the current sensor's data - ``set_property(prop_name, prop_val)`` (blocking) Modify one property on a component - Parameters - ``prop_name``: the name of the property to modify (as shown the documentation) - ``prop_val``: the new value of the property. Note that there is no checking about the type of the value so be careful - Return value nothing - ``get_configurations()`` (blocking) Returns the configurations of a component (parsed from the properties). - Return value a dictionary of the current component's configurations .. cssclass:: examples morse-section Examples -------- The following examples show how to use this component in a *Builder* script: .. code-block:: python from morse.builder import * # adds a default robot (the MORSE mascott!) robot = Morsy() # creates a new instance of the sensor odometry = Odometry() # place your component at the correct location odometry.translate(, , ) odometry.rotate(, , ) # select a specific abstraction level (cf below), or skip it to use default level odometry.level() robot.append(odometry) # define one or several communication interface, like 'socket' odometry.add_interface() env = Environment('empty') .. cssclass:: files morse-section Other sources of examples +++++++++++++++++++++++++ - `Source code <../../_modules/morse/sensors/odometry.html>`_ - `Unit-test <../../_modules/base/odometry_testing.html>`_ *(This page has been auto-generated from MORSE module morse.sensors.odometry.)*