SmartSoft

CORBA / SmartSoft

Components and Toolchain for Robotics

Latest News

20/03/2012

SmartRobotinoBaseServer component for Robotino support in SmartSoft released. See videos and tutorials for first steps towards supporting RobotinoXT in SmartSoft MDSD Toolchain.

20/03/2012

New video of SmartSoft MDSD Toolchain

27/02/2012

New video: The butler scenario.

06/10/2011

A new section demonstrates the creation and usage of Gateway components.

09/09/2011

SmartSoft MDSD Toolchain 0.10.4 released. Components update released. New Videos available.

05/05/2011

New video of our robot "Kate" cleaning up the table.

29/04/2011

The ACE based SmartSoft version 1.8.0 is available on Sourceforge. Technical reports available.

27/04/2011

Switch to Model Driven Software Development for all published SmartSoft components and communication objects. Many new components published. Getting-Startet-Tutorial added. Toolchain 0.10.2 released.

16/09/2010

Description of several components and their services added.

13/08/2010

The ACE based SmartSoft version 1.7.2 is available on Sourceforge. ACE / SmartSoft on Sourceforge

27/07/2010

SIMPAR 2010: Tutorial on "Model-Driven Software Development in Robotics"

26/05/2010

SmartSoft MDSD Toolchain version 0.8.0 released. SmartSoft VMWare on Sourceforge

09/09/2009

The new VMWare Image of SmartSoft including the SmartSoft MDSD Toolchain is available for download. SmartSoft VMWare on Sourceforge

SmartSoft Components

The following descriptions of SmartSoft components are available. This is only a subset of available components. Browse the SVN to see the full list of published components.

Component name	Purpose	License
SmartAmcl (print)	Navigation	GPL
SmartCdlServer (print)	Navigation	LGPL
SmartGMapping (print)	Navigation	LGPL
SmartIDSuEyeImageServer (print)	Hardware-Driver	LGPL
SmartJoystickNavigation (print)	Navigation	LGPL
SmartJoystickServer (print)	Hardware-Driver	LGPL
SmartKatanaServer (print)	Hardware-Driver	GPL
SmartKinectServer (print)	Hardware-Driver	GPL
SmartLaserBaseEmpty (print)	Example	LGPL
SmartLaserHokuyoURGServer (print)	Hardware-Driver	LGPL
SmartLaserLMS200Server (print)	Hardware-Driver	GPL
SmartLaserObstacleAvoid (print)	Example	LGPL
SmartMapperGridMap (print)	Navigation	LGPL
SmartOpenRave (print)	Manipulation	LGPL
SmartPTUServer (print)	Hardware-Driver	LGPL
SmartPioneerBaseServer (print)	Hardware-Driver	GPL
SmartPlannerBreadthFirstSearch (print)	Navigation	LGPL
SmartPlayerStageSimulator (print)	Simulation	GPL
SmartRobotinoBaseServer (print)	Hardware-Driver	LGPL
SmartTTS (print)	Speech	LGPL
SmartTTSLoquendo (print)	Speech	LGPL
SmartTTSMary (print)	Speech	LGPL
SmartUnicapImageServer (print)	Hardware-Driver	LGPL

SmartJoystickServer

The SmartJoystickServer provides access to input commands from a joystick via PushNewest communication pattern. The input commands are represented by x/y-value (as available) and an identifier for the button pressed.

Note: This component is used in Examples.

Purpose:	Hardware-Driver
License:	LGPL
Hardware:	Linux supported joystick, e.g. 'Logitech dual action'
Library Dependencies:	none
SVN:	browse SVN...

Services

Server-Ports

«SmartPushNewestServer»
joystickServer

serviceName:	joystick
commObject:	CommJoystick

Provides the joystick input as CommJoystick communication object.

Ini-Configuration

[hardware]
device: string	Path to joystick device. Default: /dev/input/js0
invert_y_axis: boolean	Invert Y axis. Default: true

[interval]
min: double	Specifies the boundary for timeout when reading joystick data. Default: 0.040
max: double	Specifies the boundary for timeout when reading joystick data. Default: 0.500

[general]
verbose: boolean	Display every input command read from joystick device. Default: true