OpenMORA

Module: MobileRobot_Giraff

Module info:

Module name	Short description	Publishes	Subscribes
MobileRobot_Giraff	The interface to a MobileRobotics (ARIA-based) mobile robotic base.	<BATTERY_V> , <BUMPERS> , <ODOMETRY_OBS> , BATTERY_IS_CHARGING , BATTERY_V , BATTERY_V_FLOAT , FBUMPERS , Is_Charging: , ODOMETRY , ODOMETRY_OBS , TILT_CURRENT_ANGLE_FROM_HOME , TILT_CURRENT_ANGLE_FROM_HOME:	ENABLE_MOTORS , MOTION_CMD_V , MOTION_CMD_W , ROBOT_CONTROL_MODE , SHUTDOWN , TILT_GET_ANGLE_FROM_HOME , TILT_SET_ANGLE_FROM_HOME

MOOS commands accepted by the module:

(None)

Parameters accepted in the MOOS mission file:

Parameter	Description
`Accel_limit`	The maximum acceleration to be achieved.
`CActivMediaRobotBase_Parameters`	See description here mrpt::hwdrivers::CActivMediaRobotBase
`Save_logfile`	Wheter or not to save a logFile with debuf information

Detailed description:
The interface to a MobileRobotics (ARIA-based) mobile robotic base.This module enables the communications (and some rudimentary control) for the Giraff robotic bases (Giraff Technologies AB.)There is implemented access to robot odometry, ticks counts, velocities, battery charge status, as well as basic velocity control.This module enables the communications (and some rudimentary control) for ActivMedia robotic bases (Giraff DX/AT, PeopleBot, etc).There is implemented access to robot odometry, ticks counts, velocities, battery charge status, and sonar readings, as well as basic velocity control.

Module graph:

TODO list:
(None)

Changes log:
(None)

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