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Tham khảo tài liệu 'software engineering for experimental robotics - davide brugali et al part 7', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | ROCI Strongly Typed Component Interfaces 179 This data accessibility is entirely provided by ROCI itself and not dependent on developer support. While individual formatting methods may be overridden developers can benefit from various Pin Exporters capable of operating on any ROCI pin. This creates an environment of universal accessibility and allows the development team to support new interoperation technologies without having to update every already-defined interface. Instead new translators may be developed that bring all ROCI data to a new format or protocol. 4 Examples 4.1 Module Reuse Indoor Outdoor Navigation As discussed in this chapter ROCI s modular design and strongly typed interfaces make component reuse a simple job. Here we present an example in which a trajectory controller module was used to navigate different robots in different scenarios. Basically this module receives two inputs the robot pose x y Ớ and a list of waypoints Xj Fj and outputs velocities v w to the robot s low level controller. Since this trajectory controller is completely selfcontained it can be used in combination with different modules that export and import the correct pins. Figure 4 a shows an implementation where the waypoint controller receives input from a GPS and a waypoint planner and outputs velocities to a clodbuster robot. This configuration was used to navigate teams of robots in outdoor environments CCG2005 . The waypoint controller the exact same module has also been used for some indoor demos in the GRASP Lab in the configuration shown in Figure 4 b . In this case instead of a GPS an overhead camera is used for localization the robot is tagged with a colored blob and a color blob extractor is used to compute its position. The waypoint list is given by a user interface running in the ROCI Browser and the robot being controlled is a Segway. It is important to mention that some of the modules are running in different machines but since the pin architecture is network
