Difference between revisions of "Modules - Command Format"
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Revision as of 12:10, 11 June 2010
Module Standard v0.3 - Command Format
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The intention of this standard is to keep internal coherence and compatability with RoboticsLab robot Modules which follow this standard (such as Asibot - Implemented Modules). It corresponds to Module Standard v0.3 and replaces v0.1 and v0.2. It is intended to be a description of module interfaces and data flow representation. Port interface is referred to TCP/UDP/MCAST/SHMEM cloud side, not CAN or USB (that can coexist in hardware-related modules). A referenced list of implemented modules should also be included. Be sure to check the Modules - Dependency Version page too. |
Nomenclature: D for double, I for integer, S for string.
Joint Motion Controllers (JMC)
These modules should recieve joint (q) commands. While any q is in movement, a callback should be a set up to be able to receive Stop or Status Poll command. On the other hand, the module should send a message when a command has been performed (w/ info on degree of accomplishment) or stopped.
Module: jmc_name
Port: name_q In: - Stop: "I:-1" - Status poll: "I:0" - Absolute position: "I:1 S:tag1 D:Q1pos ... S:tagn D:Qnpos D:Qgenvel" - Relative position: "I:2 S:tag1 D:Q1pos ... S:tagn D:Qnpos D:Qgenvel" - Velocity: "I:3 S:tag1 D:Q1vel ... S:tagn D:Qnvel" - Force: "I:4 S:tag1 D:Q1amp ... S:tagn D:Qnamp" - Syncronize: "I:5 S:tag1 D:Q1vel ... S:tagn D:Qnvel" Out: - Status Response: "I:stat D:Q1pos ... D:Qnpos" Units: Degrees, Percentage of maximum degrees per second, Amperes Example Tags: q1, q2, ..., qn.
Implemented JMCs: jmc_rave: A module that instantiates a OpenRAVE kitchen with ASIBOT environment. read more...
Cartesian Motion Controllers (CMC)
Module: cmc_name
Port: name_x In: - Stop: "I:-1" - Status poll: "I:0" - Absolute position (base): "I:1 S:tag1 D:pos1 ... S:tagn D:Qnpos D:Qgenvel" - Relative position (base): "I:2 S:tag1 D:pos1 ... S:tagn D:Qnpos D:Qgenvel" - End-effector position:
Sensor
Module: sns_name
Port: name_tau In: - Read Poll: "I:0" Out: - Read Poll Response: "I:0 fx: fy: fz: mx: my: mz:"