95 lines
3.3 KiB
Plaintext
95 lines
3.3 KiB
Plaintext
{
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"$schema": "https://json-schema.org/draft/2020-12/schema",
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"title": "visualization",
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"description": "AGV position and/or velocity for visualization purposes. Can be published at a higher rate if wanted. Since bandwidth may be expensive depening on the update rate for this topic, all fields are optional.",
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"subtopic": "/visualization",
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"type": "object",
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"properties": {
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"headerId": {
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"type": "integer",
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"description": "headerId of the message. The headerId is defined per topic and incremented by 1 with each sent (but not necessarily received) message."
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},
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"timestamp": {
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"type": "string",
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"format": "date-time",
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"description": "Timestamp in ISO8601 format (YYYY-MM-DDTHH:mm:ss.ffZ).",
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"examples": [
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"1991-03-11T11:40:03.12Z"
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]
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},
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"version": {
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"type": "string",
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"description": "Version of the protocol [Major].[Minor].[Patch]",
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"examples": [
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"1.3.2"
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]
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},
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"manufacturer": {
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"type": "string",
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"description": "Manufacturer of the AGV"
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},
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"serialNumber": {
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"type": "string",
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"description": "Serial number of the AGV."
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},
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"agvPosition": {
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"type": "object",
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"title": "agvPosition",
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"description": "The AGVs position",
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"required": [
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"x",
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"y",
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"theta",
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"mapId",
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"positionInitialized"
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],
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"properties": {
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"x": {
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"type": "number"
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},
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"y": {
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"type": "number"
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},
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"theta": {
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"type": "number"
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},
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"mapId": {
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"type": "string"
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},
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"mapDescription": {
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"type": "string"
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},
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"positionInitialized": {
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"type": "boolean",
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"description": "True if the AGVs position is initialized, false, if position is not initizalized."
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},
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"localizationScore": {
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"type": "number",
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"description": "Localization score for SLAM based vehicles, if the AGV can communicate it.",
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"minimum": 0.0,
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"maximum": 1.0
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},
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"deviationRange": {
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"type": "number",
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"description": "Value for position deviation range in meters. Can be used if the AGV is able to derive it."
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}
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}
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},
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"velocity": {
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"type": "object",
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"title": "velocity",
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"description": "The AGVs velocity in vehicle coordinates",
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"properties": {
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"vx": {
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"type": "number"
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},
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"vy": {
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"type": "number"
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},
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"omega": {
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"type": "number"
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}
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}
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}
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}
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} |