Overworld Documentation

Getting Start

Overview

Configuration

Let's see how to configure the perception modules to choose the ones you want to use and customize their settings.

The configuration is described in a YAML file. The content looks like what follows:

modules:
robot:
JointStatePerceptionModule: pr2_joints
humans:
OptitrackPerceptionModule: optitrack
objects:
ArTrackPerceptionModule: ar_track
Pr2GripperPerceptionModule:
- pr2_left_gripper
- pr2_right_gripper
StaticObjectsPerceptionModule: static
areas:
ObjAreasPerceptionModule: obj_area
pr2_joints:
min_period : 0.9
pr2_left_gripper:
side : 0
pressure_threshold : 400
distance_threshold : 0.03
pr2_right_gripper:
side : 1
distance_threshold : 0.03
optitrack:
name : human_0
offset_x : 6.4868
offset_y : 2.8506
static:
file : package://overworld/config/adream.yaml
obj_area:
file : package://overworld/config/adream_areas.yaml

To pass your configuration file to an Overworld executable see the launcher page.

To see the currently installed modules and their available parameters take a look to the plugins page.

Modules

The modules correspond to the perception modules that will be loaded at the launch. These modules are divided in four categories: robot, humans, objects, and areas.

In each category, the keys correspond to the modules' type while the values are the user-defined instances names. For example, in the provided configuration file, we load a JointStatePerceptionModule module called pr2_joints and two Pr2GripperPerceptionModule modules called r_gripper_tool_frame and pr2_right_gripper

Parameters

Some perception modules have parameters that you can set. Just put the name of the module as a tag and then the name of the parameters followed by their values. Not all parameters need to be defined.