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avalonBack.orogen
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name "avalon_back"
version "0.1"
using_library "opencv" #otherwise linking will fail
#using_task_library "motion_estimation"
#using_task_library "ekf_slam"
#using_task_library "sonar_blueview"
using_task_library "auv_helper"
using_task_library "xsens_imu"
using_task_library "fog_kvh"
using_task_library 'orientation_estimator'
using_task_library 'pose_estimation'
using_task_library "sonar_tritech"
using_task_library "avalon_control"
using_task_library "depth_reader"
using_task_library "battery_watcher"
using_task_library "sonar_blueview"
using_task_library "canbus"
using_task_library "hbridge"
using_task_library "controldev"
using_task_library "sysmon"
using_task_library "modem_can"
using_task_library "modemdriver"
using_task_library "raw_control_command_converter"
using_task_library "wall_servoing"
using_task_library "structure_servoing"
using_task_library "sonar_feature_estimator"
using_task_library "sonar_structure_servoing"
using_task_library "auv_rel_pos_controller"
using_task_library "rear_sonar_distance_estimator"
#using_task_library "uwv_dynamic_model" #baut nicht 09.08.2012
#using_task_library "battery_management"
using_task_library "uw_particle_localization"
using_task_library "sonar_feature_detector"
using_task_library "auv_waypoint_navigator"
using_task_library "wall_orientation_correction"
using_task_library "gps_helper"
using_task_library "taskmon"
using_task_library "auv_control"
using_task_library "line_scanner"
using_task_library "pipeline_inspection"
deployment 'avalon_back_base_control' do
task("hbridge_reader", "hbridge::SensorReader").
periodic(0.01).
realtime.
priority(90)
task("hbridge_writer", "hbridge::CommandWriter").
periodic(0.01).
realtime.
priority(90)
# task("hbridge", "hbridge::Task").
# periodic(0.001).
# realtime.
# priority(90)
task("fake_rel_writer", "avalon_control::RelFakeWriter").
periodic(0.1)
task("fake_writer", "avalon_control::FakeWriter").
periodic(0.1)
#
task("depth","depth_reader::Task")
task("depth_rear", "depth_reader::Task")
task("depth_orientation_fusion","auv_helper::depth_and_orientation_fusion")
task("can", "canbus::Task").
periodic(0.001).
realtime.
priority(92)
task("can1", "canbus::Task").
periodic(0.001).
realtime.
priority(92)
task("waypoint_navigator", "auv_control::WaypointNavigator")
task("constant_command", "auv_control::ConstantCommand").
periodic(0.01)
task("constant_command_ground_follower", "auv_control::ConstantCommandGroundFollower").
periodic(0.01)
task("constant_command_ground_avoidance", "auv_control::ConstantCommandGroundAvoidance").
periodic(0.01)
task("constant_command_vel", "auv_control::ConstantCommand").
periodic(0.01)
task("constant_command_body", "auv_control::ConstantCommand").
periodic(0.01)
task("world_to_aligned", "auv_control::WorldToAligned")
task("aligned_position_controller", "auv_control::PIDController")
task("aligned_velocity_controller", "auv_control::PIDController")
task("optimal_heading_controller", "auv_control::OptimalHeadingController")
task("aligned_to_body", "auv_control::AlignedToBody")
task("acceleration_controller", "auv_control::AccelerationController")
task("position_control", "avalon_control::PositionControlTask")
task("motion_control", "avalon_control::MotionControlTask")
task("trajectory_follower", "avalon_control::TrajectoryFollower")
task("motion_feedback", "avalon_control::MotionFeedbackTask")
# task("force_torque_controller", "auv_control::ForceTorqueController")
# task("aligned_velocity_controller", "auv_control::AlignedVelocityController")
# task("aligned_controller", "auv_control::AlignedPositionController") #There is no AlignedController
# task("world_controller", "auv_control::WorldController")
# task("relative_controller", "auv_control::RelativeController")
#task("motion_estimation", "motion_estimation::Task")
task("sysmon","sysmon::Task")
task "orientation_correction", "uw_particle_localization::OrientationCorrection"
task("controlconverter_movement","raw_control_command_converter::Movement")
task("controlconverter_position","raw_control_command_converter::Position")
task("auv_rel_pos_controller", "auv_rel_pos_controller::Task").
periodic(0.01)
add_default_logger.
periodic(0.01)
end
simple_deployment("battery_watcher", "battery_watcher::Task")
simple_deployment("blueview", "sonar_blueview::Task")
simple_deployment("sonar_distance_estimator", "rear_sonar_distance_estimator::Task")
# simple_deployment("ekf_slam","ekf_slam::Task")
simple_deployment('orientation_estimator', 'orientation_estimator::BaseEstimator').
realtime.
priority(50)
#simple_deployment('ikf_orientation_estimator', 'orientation_estimator::IKFEstimator').
# realtime.
# priority(50)
simple_deployment('xsens','xsens_imu::Task').
realtime.
priority(75)
simple_deployment("fog","fog_kvh::Dsp3000Task").
realtime.
priority(75)
#simple_deployment("pipeline_tracker","pipline_tracker::Task")
#simple_deployment("sonar_profiling","sonar_tritech::Profiling")
simple_deployment("echosounder", "sonar_tritech::Echosounder")
simple_deployment("sonar", "sonar_tritech::Micron")
simple_deployment("sonar_rear", "sonar_tritech::Micron")
#simple_deployment("sonar_profiling_micron", "sonar_tritech::Micron")
# Never make it periodic, otherwise it does not work correctly
simple_deployment("controldev", "controldev::Remote")
simple_deployment("sysmon","sysmon::Task")
simple_deployment("modem","modem_can::Task").periodic(0.1)
simple_deployment("tritech_modem","modemdriver::ModemCanbus")
simple_deployment("map_to_gps","gps_helper::MapToGPS")
simple_deployment("waypoint_navigation","gps_helper::WaypointNavigation")
simple_deployment("wall_servoing", "wall_servoing::SingleSonarServoing")
simple_deployment("sonar_structure_servoing", "sonar_structure_servoing::Task")
deployment "dual_wall_servoing" do
task("sonar_feature_estimator_2", "sonar_feature_estimator::Task")
task("dual_wall_servoing", "wall_servoing::DualSonarServoing")
end
simple_deployment("sonar_feature_estimator", "sonar_feature_estimator::Task")
simple_deployment("taskmon_back", "taskmon::Task")
#simple_deployment "uwv_dynamic_model", "uwv_dynamic_model::Task" #baut nicht 09.08.2012
deployment "localization" do
task "uw_particle_localization", "uw_particle_localization::Task"
task("auv_waypoint_navigator", "auv_waypoint_navigator::Task").
periodic(0.01)
task("motion_model","uw_particle_localization::MotionModel")
task("sonar_feature_detector", "sonar_feature_detector::Task")
add_default_logger
end
deployment "pipeline_laser_inspection" do
task "line_scanner", "line_scanner::Task"
task "inspection", "pipeline_inspection::Inspection"
add_default_logger
end
deployment 'initialize_orientation_estimation' do
task("initial_orientation_estimator", "orientation_estimator::BaseEstimator").
realtime.
priority(50)
task "estimate_wall_orientation", "wall_orientation_correction::Task"
add_default_logger
end
deployment 'ikf_orientation_estimation' do
task("ikf_orientation_estimator", "orientation_estimator::IKF").
realtime.
priority(50)
task("base_orientation_estimator", "orientation_estimator::BaseEstimator").
realtime.
priority(50)
task "orientation_in_map", "wall_orientation_correction::OrientationInMap"
add_default_logger
end
simple_deployment("pose_estimator", "pose_estimation::UWPoseEstimator").
periodic(0.01)