AROSYS

Components

The following components are new components for RobMoSys in order to be able to use them with the Webots simulator.

ComponentWebots

This component allows the user to use Webots simulator instead of Gazebo, PlayerStage, etc. There exists a pre-requirement to use Webots. You have to execute this command once in a Terminal and restart the computer/Virtual Machine. Don't forget to adapt the path if necessary. echo -e "export WEBOTS_HOME=/home/smartsoft/SOFTWARE/webots" >> ~/.profile

ComponentWebotsRobot

This component configures a robot in Smartsoft, it provides basic functionality for navigation and localization. When used in a system, the name of the robot and its navigation properties should be defined in the configuration.json file in the data directory of the component.

Inputs	outputs
LocalizationUpdateServiceIn: not implemented yet	BatteryEventServiceOut: not implemented yet
NavigationVelocityServiceIn: velocity commands (linear velocities and turnrate)	BaseStateServiceOut: state of the robot base (position and orientation)

ComponentWebotsBumper

This component configures bumper's sensors in SmartSoft according to Webots prototype sensors and provides the bumper value.

Input	Output
	BumperEventServiceOut: bumber value

ComponentWebotsLidar

This component configures lidar's sensors in SmartSoft according to Webots prototype sensors and provides the sensor's data.

Input	Output
BaseStateServiceIn: state of the robot base (position and orientation)	LaserServiceOut: lidar values

Note : It is important to mentionned that the lidar range has to be under 65.535 meter otherwise it will be set at 65 meter because the variable type to store the value is short. This comes from source files generated by SmartMDSD. Maintainers will be alerted to this problem so that it can be improved.

ComponentWebotsPioneer3DX

This component configures in SmartSoft the Pioneer 3-DX robot from Adept according to Webots prototype robot.

Inputs	outputs
LocalizationUpdateServiceIn: not implemented yet	BatteryEventServiceOut: not implemented yet
NavigationVelocityServiceIn: velocity commands (linear velocities and turnrate)	BaseStateServiceOut: state of the robot base (position and orientation)

ComponentWebotsRobotino3

This component configures in SmartSoft the Robotino 3 robot from Festo according to Webots prototype robot.

Inputs	outputs
LocalizationUpdateServiceIn: not implemented yet	BatteryEventServiceOut: not implemented yet
NavigationVelocityServiceIn: velocity commands (linear velocities and turnrate)	BaseStateServiceOut: state of the robot base (position and orientation)

ComponentWebotsTIAGo

This component configures in SmartSoft all versions of TIAGo's robot from Pal Robotics according to Webots prototype robot.

Inputs	outputs
LocalizationUpdateServiceIn: not implemented yet	BatteryEventServiceOut: not implemented yet
NavigationVelocityServiceIn: velocity commands (linear velocities and turnrate)	BaseStateServiceOut: state of the robot base (position and orientation)