Overworld Documentation

Getting Start

Overview

Plugins

Within Overworld, perception modules are implemented in the form of plugins. Modules to be used and their parameters are defined in the Overworld configuration file.

Overworld comes with an executable to list the currently installed modules, get their description and parameters, or get the package implementing them. Its usage is the following:

rosrun overworld plugins COMMAND [ARGS]

list

rosrun overworld plugins list [<option>]

This command lists the available perception modules in the form of plugins.

The option can either be Objects, BodyParts, or Areas to focus on specific module type.

description

rosrun overworld plugins description <module>

Given a module name, this command provides its description.

the module argument is the name of an existing perception module.

library_path

rosrun overworld plugins library_path <module>

Given a module name, this command provides the path to its associated library.

the module argument is the name of an existing perception module.

package

rosrun overworld plugins package <module>

Given a module name, this command provides the name of the containing package.

the module argument is the name of an existing perception module.