gmapping.orogen

name "gmapping"

# Optionally declare the version number
# version "0.1"

# If new data types need to be defined, they have to be put in a separate C++
# header, and this header will be loaded here

import_types_from "base"
import_types_from "gmappingTypes.hpp"


# Finally, it is pretty common that headers are directly loaded from an external
# library. In this case, the library must be first used (the name is the
# library's pkg-config name) and then the header can be used. Following Rock
# conventions, a common use-case would be:
#

using_library "gmapping"


# If this project uses data types that are defined in other oroGen projects,
# these projects should be imported there as well.
# import_types_from "base"

# Declare a new task context (i.e., a component)
#
# The corresponding C++ class can be edited in tasks/Task.hpp and
# tasks/Task.cpp, and will be put in the gmapping namespace.

task_context "Task" do
    
    # This is the default from now on, and should not be removed. Rock will
    # transition to a setup where all components use a configuration step.
    
    needs_configuration

    # A configuration property (here, a std::string). Its value can be retrieved
    # in the C++ code with # _config_value.get() and _config_value.set(new_value).
    
    property "config", "gmapping::Config"

    # An input port, i.e. an object from which the component gets data from
    # other components' outputs
    #
    # Data can be retrieved using _input.read(value), which returns true if data
    # was available, and false otherwise. _input.connected() returns if this
    # input is connected to an output or not.


    input_port "scan", "/base/samples/LaserScan"



    # An output port, i.e. an object to which the component pushes data so that
    # it is transmitted to other components' inputs
    #
    # Data can be written using _output.write(value). _output.connected() returns
    # if this output is connected to an input or not.
    
    
    output_port "entropy", "double"

    output_port "occupancy_grid", "gmapping::OccupancyGrid"

    output_port "occupancy_grid_image", "/base/samples/frame/Frame"

    output_port "map_to_odom", "/base/samples/RigidBodyState"


    operation('getDynamicMap').
        returns('gmapping::OccupancyGrid')


    transformer do
        transform "odometry", "body"
        align_port "scan"
        max_latency 0.1
    end

    port_driven 'scan'

    # If you want that component's updateHook() to be executed when the "input"
    # port gets data, uncomment this and comment the 'periodic' line
    
    # port_driven "tf", "scan"
    
    # By default, the task will be periodic with a period of 0.1
    
    # periodic 0.1
end