List of all modules:

Module name Short description Publishes Subscribes
Agenda Module that keeps a list of the high-level tasks commanded to the robot. TASK_LIST NEW_TASK , SHUTDOWN , TASK_PLANNED
App (no description) MOOS_DEBUG
AppCasting (no description) APPCAST
Arm_Kinova (no description) ARM_BLOCK , ARM_CALCULATEMATRIX , ARM_CALCULATEMATRIX2 , ARM_CALIBRATEARMDEPTH , ARM_CAPTURE , ARM_DEMOSTRATION3 , ARM_DEMOSTRATIONVIDEO , ARM_DROP , ARM_GIVEMEYOURHAND , ARM_GOHOME , ARM_INTRINSICCALIBRATION , ARM_INUSE , ARM_LOCATEONEPATTERN , ARM_LOCATEPATTERN , ARM_MARIANOMETHOD , ARM_MOVETO , ARM_OFFSECUENCE , ARM_POSE , ARM_READYTOCALIBRATE , ARM_READYTOCLAMP , ARM_READYTOPICK , ARM_READYTOPUSH , ARM_REPRODUCEMOVEMENT , ARM_REPRODUCEONEMOVEMENT , ARM_RETRACT , ARM_TAKEDEPTH , ARM_TRANSFORMATIONPOINT ARM_ADDCOMPLETETRAJECTORY , ARM_BLOCK , ARM_CALCULATEMATRIX , ARM_CALCULATEMATRIX2 , ARM_CALIBRATEARM , ARM_CALIBRATEARMDEPTH , ARM_DEMOSTRATION3 , ARM_DEMOSTRATIONVIDEO , ARM_DROP , ARM_DROPOBJECT , ARM_FINGERDISPLACE , ARM_FINGERTO , ARM_GIVEMEYOURHAND , ARM_GOHOME , ARM_INTRINSICCALIBRATION , ARM_JOYSTICK , ARM_LOCATEONEPATTERN , ARM_LOCATEPATTERN , ARM_MARIANOMETHOD , ARM_MOVETO , ARM_MOVETOANGLE , ARM_OFFSECUENCE , ARM_PICK , ARM_PICKOBJECT , ARM_POSITIONDISPLACE , ARM_READYTOCALIBRATE , ARM_READYTOCLAMP , ARM_READYTOPICK , ARM_REPRODUCEMOVEMENT , ARM_REPRODUCEONEMOVEMENT , ARM_RETRACT , ARM_ROTATIONDISPLACE , ARM_ROTATIONTO , ARM_TAKEDEPTH , ARM_TRANSFORMATIONPOINT , ARM_TURNHANDLEFT , ARM_TURNHANDRIGHT , RESET_ODO , SHUTDOWN , WORKING
AutoDocking_Camera This module endows the robot the capability of autonomous docking. CANCEL_NAVIGATION , MOTION_CMD_V , MOTION_CMD_W , TILT_SET_ANGLE_FROM_HOME , TILT_SET_ANGLE_FROM_HOME: BATTERY_IS_CHARGING , CAMERA_H , input_image_variable , ODOMETRY_OBS , PARKING , SHUTDOWN , TILT_CURRENT_ANGLE_FROM_HOME
AutoDocking_Laser Module to automaticly dock the robot in the charging station using scan lasers and a predefined pattern over the charging station. MOTION_CMD_V , MOTION_CMD_W , PARKING BATTERY_IS_CHARGING , BATTERY_MANAGER_IS_CHARGING , MOTION_CMD_V , MOTION_CMD_W , param_laserVar , PARKING , SHUTDOWN
BatteryManager Module to monitoring the status of a battery. BATTERY_MANAGER_CHARGER_I , BATTERY_MANAGER_COMPLETE_RECHARGE , BATTERY_MANAGER_ENERGY_COMPSUMPTION , BATTERY_MANAGER_I , BATTERY_MANAGER_IS_CHARGING , BATTERY_MANAGER_LEVEL , BATTERY_MANAGER_LIFE , BATTERY_MANAGER_V , BATTERY_MANAGER_V_FLOAT , NEW_TASK , SAY Battery_I , BATTERY_V , Charger_I , SHUTDOWN
CamControl_ImagingSource Module to reading the information from some waspmote. SHUTDOWN , zoomcam_focus , zoomcam_zoom
ChessboardDetector Detects chessboards in input stereo images MORA_IMAGES_DIR , STEREO1_OBS
Claraquino MOOS interface to a Claraquino USB board. CLARAQUINO_LAST_CMD_STATUS CLARAQUINO_T1_FREQ
DAQ_Advantech Interface to a Data AQuisition Board (DAQ) from Advantech (USB4711A, etc). DAQ_VOLT1 , DAQ_VOLT2 , DAQ_VOLT3 , DAQ_VOLT4 , Volt1 SHUTDOWN
DistributionMapping Module that implements different algorithms for spatial data prediction, generating Distribution maps. GAS_MEAN_ONLINE_MAP , GAS_VAR_ONLINE_MAP , LOCALIZATION , WIND_ONLINE_MAP CURRENT_MAP_GAS_SIMUL , ENOSE_SIMUL , Full_MCEnose , GDM , GT_GAS_SIMUL , LOCALIZATION , MCEnose , SHUTDOWN
Domotics_IpPower Interface to a Wifi domotics server of the model "IP Power" DOMOTICS_OPERATION , SHUTDOWN
eCarOdometry Differential-drive odometry estimation from a pair of encoders in the rear wheels. ODOMETRY , ODOMETRY_ANG_SPEED , ODOMETRY_INCR , ODOMETRY_LIN_SPEED , ODOMETRY_OBS ENC1_CH0_AVRG_VEL , ENC1_CH0_COUNT , ENC1_CH1_AVRG_VEL , ENC1_CH1_COUNT
eNeck Module to control the e-Neck board on our ActiveMedia Pioneer robot Sancho. NECKMSG , SHUTDOWN
Enose_Display Graphical Display for CObservationGasSensors observations comming from electronic-noses <enose_label> , SHUTDOWN
Enose_MCE Interface with the Multi Chamber Electronic nose (MCE-nose). ENOSE_MCE_AC_OBS , ENOSE_MCE_OBS ENOSE_MCE_SWITCH_CHAMBER , SHUTDOWN
Enose_Simul Electronic nose (E-nose) simulator module. <SENSOR_LABEL> , CURRENT_MAP_GAS_SIMUL , GT_GAS_SIMUL LOCALIZATION , SHUTDOWN
Executor Module that executes "plans", that is, sequence of actions as result of a scheduled task. DOMOTICS_OPERATION , GUI_SET_CAMERA , GUI_VISIBLE_LASER1 , GUI_VISIBLE_LASER2 , GUI_VISIBLE_METRIC_MAP , GUI_VISIBLE_TOPOLOGICAL_MAP , GUI_VISIBLE_VIRTUAL_OBS , LOOK_AT_POINT , NAVIGATE_TARGET , NEW_TASK , PLAN_FINISHED , PNAVIGATORREACTIVEPTG_CMD , ROBOT_TOPOLOGICAL_PLACE , SAY , VISION_ENABLE_DISPLAY_IMAGE , VISION_ENABLE_FACEDETECTOR CANCEL_IN_EXECUTION , GRAPH , IN_EXECUTION , LOCALIZATION , NAV_EVENT_END , NAV_EVENT_ERROR , NAV_EVENT_NOWAY , NAV_EVENT_START , NODE_POSITION , SHUTDOWN , VOICE_EVENT_DONE
GenericSensor Uses MRPT's CGenericSensor to open an arbitrary sensor and publish its data in a timely fashion. <SENSOR_LABEL> , <SENSOR_LABEL>_RATE SHUTDOWN
IMU_XSens Interface to XSens IMU devices (MT4 generation protocol).
JoystickControl Allow the robot to be commanded with a Joystick/Keyboard. BUTTONS_CMD , CANCEL_NAVIGATION , MOTION_CMD_V , MOTION_CMD_W JOYSTICK_MODE , SHUTDOWN
Kinect_Odometry (no description) SHUTDOWN
LibeliumWSN Module to reading the information from a Libelium waspmote based Wireless Sensor Network. Waspmote_Network_Data SHUTDOWN , Waspmote_Network_Data
Localization2D_Fusion Real-time accurate pose tracking by fusing different localization sources (particle filters, odometry, etc...) LOCALIZATION , LOCALIZATION_COV , LOCALIZATION_OBS LOCALIZATION_COV_PF , LOCALIZATION_PF , ODO_REFERENCE , ODOMETRY_OBS , SHUTDOWN
Localization2D_PF Monte-Carlo localization for a mobile robot within a known map. CURRENT_MAP_GRIDMAP , EST_GOODNESS , LOCALIZATION_COV_PF , LOCALIZATION_PARTICLES , LOCALIZATION_PF , ODO_REFERENCE LASER1 , LASER2 , LASER3 , ODOMETRY , RELOCALIZE_IN_AREA , SHUTDOWN
LookAtPoint Module to make the robot turn to look at a given absolute (x,y) coordinates, including optionally turn its neck. MOTION_CMD_V , MOTION_CMD_W , NAV_EVENT_END , NECKMSG LOCALIZATION , LOOK_AT_POINT , SHUTDOWN
MapCreator ICP-based SLAM application that taking as input a rawlog file with odommetry and laser scans, generates the resulting map (image, simplemap, etc). MAPCREATOR_RAWLOGFILE , SHUTDOWN
MobileRobot_Giraff The interface to a MobileRobotics (ARIA-based) mobile robotic base. <BATTERY_V> , <BUMPERS> , <ODOMETRY_OBS> , BATTERY_IS_CHARGING , BATTERY_V , BATTERY_V_FLOAT , FBUMPERS , Is_Charging: , ODOMETRY , ODOMETRY_OBS , TILT_CURRENT_ANGLE_FROM_HOME , TILT_CURRENT_ANGLE_FROM_HOME: ENABLE_MOTORS , MOTION_CMD_V , MOTION_CMD_W , ROBOT_CONTROL_MODE , SHUTDOWN , TILT_GET_ANGLE_FROM_HOME , TILT_SET_ANGLE_FROM_HOME
MobileRobot_Pioneer The interface to a MobileRobotics (ARIA-based) mobile robotic base. BATTERY_V , BATTERY_V_FLOAT , BUMPERS , FBUMPERS , ODOMETRY , ODOMETRY_OBS ENABLE_MOTORS , MOTION_CMD_V , MOTION_CMD_W , SHUTDOWN
MobileRobot_Segway The interface to a modified Segway mobile robotic base. BUTTONS_CMD , MOTION_CMD_V , MOTION_CMD_W , SHUTDOWN
MobileRobot_Simul A simulated mobile robot with a laser scanner, a sonar rig and an infrared sensor ring in a 2D world. INFRARED1 , KINECT1 , ODOMETRY , ODOMETRY_OBS , SONAR1 MOTION_CMD_V , MOTION_CMD_W , SHUTDOWN
MonoCamera Stereo camera with two FlyCapture cameras plus a Claraquino board for sync trigger. Camera-SensorLabel , CAMERA_H , CAMERA_W , MORA_IMAGES_DIR SHUTDOWN
MOX_SensorModel Module that implements a MOX gas sensor inverse model to improve the gas sensor readings. <ENOSE_LABEL>_MOXMODELED SHUTDOWN
MQTTMosquitto Module to enable the communication between OpenMORA and a MQTT client. ADD_ARC , ADD_NODE , CANCEL_NAVIGATION , CHANGE_NODE_LABEL , CLIENT_MQTT_ACK , COLLABORATIVE_REQUEST , GET_NODE_POSITION , GO_TO_NODE , GO_TO_RECHARGE , LOAD_GRAPH , LOGGER_START , LOGGER_STOP , MOTION_REQUEST , MOVE_NODE , MQTT_CONNECT_STATUS , NAVIGATE_TARGET , RANDOM_NAVIGATOR , RELOCALIZE_IN_AREA , REMOVE_ARC , REMOVE_NODE , ROBOT_ID , SAVE_GRAPH , SAVE_RAWLOG , TILT_SET_ANGLE_FROM_HOME , TILT_SET_ANGLE_FROM_HOME: BATTERY_IS_CHARGING , BATTERY_MANAGER_IS_CHARGING , BATTERY_V_FLOAT , CANCEL_NAVIGATION , COLLABORATIVE , ERROR_MSG , GET_PATH , GRAPH , LASER1 , LOCALIZATION , PARKING , RANDOM_NAVIGATOR , ROBOT_CONTROL_MODE , ROBOT_TOPOLOGICAL_PLACE , SHUTDOWN , TILT_CURRENT_ANGLE_FROM_HOME , TOPOLOGICAL_DESTINY
NavigatorReactivePTG A generic reactive navigator. MORA_GLOBAL_LOG , MOTION_CMD_V , MOTION_CMD_W , NAV_EVENT_END , NAV_EVENT_ERROR , NAV_EVENT_NOWAY , NAV_EVENT_START , NAVIGATION_VIRTUAL_OBS , NECKMSG INFRARED1 , JOYSTICK_MODE , KINECT1 , LASER1 , LASER2 , LASER3 , LOCALIZATION , LOCALIZATION_COV , NAVIGATE_CANCEL , NAVIGATE_TARGET , NAVIGATION_VIRTUAL_OBS , ODOMETRY , SHUTDOWN , SONAR1
NavigatorReactivePTG3D A generic reactive navigator with 3D obstacles. GRIDPOINTS , MORA_GLOBAL_LOG , MOTION_CMD_V , MOTION_CMD_W , NAV_EVENT_END , NAV_EVENT_ERROR , NAV_EVENT_NOWAY , NAV_EVENT_START , NECKMSG , SHUTDOWN CANCEL , EST_GOODNESS , IRD_WARNING , KINECT1 , LASER1 , LASER2 , LOCALIZATION , NAVIGATE_TARGET , PNAVIGATORREACTIVEPTG3D_CMD , SHUTDOWN
NavigatorTopological Module to perform topological navigation CANCEL_NAVIGATION , NAVIGATE_TARGET , ROBOT_TOPOLOGICAL_PLACE CANCEL_NAVIGATION , GRAPH , LOCALIZATION , NAV_EVENT_END , NAV_EVENT_ERROR , PATH , SHUTDOWN
NIDAQ NationalInstruments DAQ module. DAQ_AIN{i} , DAQ_OBS DAQ_AO_TASK{i} , DAQ_DO_TASK{i}
PhidgetsEncoders Interface to Phidgets high-speed encoder USB board <ENCODER_PUBLISH_PREFIX>_CH<i>_AVRG_VEL , <ENCODER_PUBLISH_PREFIX>_CH<i>_COUNT , <ENCODER_PUBLISH_PREFIX>_CH<i>_INST_VEL
Planner A module that plans complex tasks into a sequence of small, simple routines. <OpenMORA_VAR> , IN_EXECUTION , PLAN_FINISHED , TASK_PLANNED , TOPOLOGICAL_DESTINY PATH , PERSON_LOCATION , PLAN_FINISHED , SHUTDOWN , TASK_LIST
pLogger (no description) LOGGER_DIRECTORY
RandomNavigator This module request continous reactive navigations by randomly selecting nodes from the graph topology. NEW_TASK , RANDOM_NAVIGATOR GRAPH , PLAN_FINISHED , RANDOM_NAVIGATOR , ROBOT_TOPOLOGICAL_PLACE , SHUTDOWN
RawlogPlay Reproduces a rawlog dataset as if it was "live" <SENSOR_LABEL>_OBS , MORA_IMAGES_DIR MY_SUBSCRIBED_VAR1 , MY_SUBSCRIBED_VAR2 , MY_SUBSCRIBED_VAR3
RGBDSensorToReactive This module implements the adquisition of depth and infrared images from an RGB-D camera (PrimeSense/Asus/Kinect) IRD_WARNING , KINECT1 SHUTDOWN
RobotControlManager Module in charge of controlling the Operation mode (autonomous/Manual) of a Robot. CANCEL_IN_EXECUTION , CANCEL_NAVIGATION , COLLABORATIVE , ERROR_MSG , LOGGER_START , LOGGER_STOP , MOTION_CMD_V , MOTION_CMD_W , NAVIGATE_TARGET , NEW_TASK , PARKING , PNAVIGATORREACTIVEPTG3D_CMD , RANDOM_NAVIGATOR , RECHARGE_COMPLETED , ROBOT_CONTROL_MODE , TOPOLOGICAL_DESTINY BATTERY_IS_CHARGING , BATTERY_MANAGER_IS_CHARGING , BATTERY_MANAGER_V , BATTERY_V , CANCEL_NAVIGATION , CLIENT_MQTT_ACK , COLLABORATIVE_REQUEST , GO_TO_NODE , GO_TO_RECHARGE , LOCALIZATION , MOTION_REQUEST , MQTT_CONNECT_STATUS , NAVIGATE_TARGET , PARKING , PLAN_FINISHED , RANDOM_NAVIGATOR , SHUTDOWN
RobotGUI A GUI application to visualize and manipulate the mobile robot. ADD_NODE , GUI_VISIBLE_GAS_MEAN_ONLINE_MAP , GUI_VISIBLE_GAS_VAR_ONLINE_MAP , GUI_VISIBLE_INFRARED1 , GUI_VISIBLE_LASER1 , GUI_VISIBLE_LASER2 , GUI_VISIBLE_LASER3 , GUI_VISIBLE_METRIC_MAP , GUI_VISIBLE_PARTICLES , GUI_VISIBLE_SONAR1 , GUI_VISIBLE_SONAR2 , GUI_VISIBLE_TOPOLOGICAL_MAP , GUI_VISIBLE_VIRTUAL_OBS , GUI_VISIBLE_WIND_ONLINE_MAP , JOYSTICK_MODE , MOVE_NODE , NAVIGATE_TARGET , RELOCALIZE_IN_AREA , SAVE_GRAPH a , ALL_ARCS , ALL_NODES , AVAILABLE_ACTIONS , By , CURRENT_MAP_GAS_SIMUL , CURRENT_MAP_GRIDMAP , disk , fixed , from , GAS_MEAN_ONLINE_MAP , GAS_VAR_ONLINE_MAP , GRIDPOINTS , GUI_POS_SIZE , GUI_SET_CAMERA , GUI_VISIBLE_BUMPERS , GUI_VISIBLE_GAS_MEAN_ONLINE_MAP , GUI_VISIBLE_GAS_VAR_ONLINE_MAP , GUI_VISIBLE_GASMAP_SIMUL , GUI_VISIBLE_INFRARED1 , GUI_VISIBLE_LASER1 , GUI_VISIBLE_LASER2 , GUI_VISIBLE_LASER3 , GUI_VISIBLE_METRIC_MAP , GUI_VISIBLE_PARTICLES , GUI_VISIBLE_SONAR1 , GUI_VISIBLE_SONAR2 , GUI_VISIBLE_TOPOLOGICAL_MAP , GUI_VISIBLE_VIRTUAL_OBS , GUI_VISIBLE_VIRTUAL_WORLD , GUI_VISIBLE_WIFI , GUI_VISIBLE_WIND_ONLINE_MAP , IN_EXECUTION , INFRARED1 , it , JOYSTICK_MODE , KINECT1 , LASER1 , LASER2 , LASER3 , loads , LOCALIZATION , LOCALIZATION_COV , LOCALIZATION_PARTICLES , MORA_GLOBAL_LOG , NAVIGATION_VIRTUAL_OBS , now , only , RANDOM_NAVIGATOR , SONAR1 , SONAR2 , virtual , VIRTUAL_WORLD , WIND_ONLINE_MAP , world
ScopeLogger GUI tool: an oscilloscope module to inspect a set of variables in runtime.
SessionLogger (no description) LOGGER_DIRECTORY SHUTDOWN
SkypeComm This module manages a Skype client to enable communication with a remote skype user <NEW_TASK> , <SKYPE_CONTACT> , <SKYPE_RECV> , NEW_TASK SKYPE_CONTACT , SKYPE_SEND
SkypeComm_WindowsAPI SkypeComm_WindowsAPI module. <NEW_TASK> , <SKYPE_CONTACT> , <SKYPE_RECV> , NEW_TASK , SKYPE_CONTACT , SKYPE_RECV SKYPE_CONTACT , SKYPE_SEND
SpeechSynth A simple module to provide easy text to speech. SAY , SHUTDOWN
StateCharts This module processes .scxml files that contain state charts. NEW_TASK Battery_Level , Gesture_Id , Mota_Alert , OBJECTIVE_FILE , Person_Found , PLAN_FINISHED , RESUME_STATECHART , SHUTDOWN , STOP_STATECHART
SteerControllerLowLevel Interface to the embedded system controlling the vehicle steering wheel STEERCONTROLSTATE , STEERCONTROLSTATE_CUR_SENSE , STEERCONTROLSTATE_POS , STEERCONTROLSTATE_STEER_ANG , STEERCONTROLSTATE_VEL STEERCONTROL_AUTO_POS , STEERCONTROL_CLUTCH , STEERCONTROL_PWM , STEERCONTROL_STEERANG
StereoFlyCap Stereo camera with two FlyCapture cameras plus a Claraquino board for sync trigger. CLARAQUINO_T1_FREQ , MORA_IMAGES_DIR , STEREO1_OBS CLARAQUINO_LAST_CMD_STATUS
StereoOdometry_common Stereo visual odometry using libviso2 MORA_IMAGES_DIR , STEREO_RECT_OBS
StereoOdometry_libviso Stereo visual odometry using libviso2
TEST_extRGBDSensor RGBD sensor data adquisition and processing. DEPTH_FRAME , SHUTDOWN
TextInterpreter A generic text input/output module. This module parses any text written into a moos variable. "output_variable" , NECKMSG , NEW_TASK , OBJECTIVE_FILE , PNAVIGATORREACTIVEPTG3D_CMD , PNAVIGATORREACTIVEPTG_CMD , SKYPE_CAM , STOP_STATECHART <listening_variable> , SHUTDOWN
TwitterAgent Module to enable communications with a Twitter agent. SHUTDOWN , TALK , TWEET
VirtualCam_Desktop VirtualCam_Desktop is a Windows DirectShow video source filter.
VoiceFestival Speech synthesis (TTS), in different languages, using the free Festival program. VOICE_EVENT_DONE SAY , SHUTDOWN
VoiceVerbio Speech synthesis (TTS), in Spanish using the comercial program Verbio. NEW_TASK , VOICE_EVENT_DONE SAY , SHUTDOWN
Wifi_KeepCoverage Module to avoid a mobile robot to lost wifi connectivity. <NAVIGATE_TARGET> , NAVIGATE_TARGET , SAY , WIFI_POWER LOCALIZATION , SHUTDOWN , WIFI_POWER_SER
Wifi_Monitor Module to monitor the signal strength of an specified wireless network. WIFI_POWER , WIFI_POWER_SER SHUTDOWN
WorldModel This module keeps a topological representation of the world ERROR_MSG , GRAPH , GUI_VISIBLE_TOPOLOGICAL_MAP , NODE_POSITION , PATH , PERSON_LOCATION , ROBOT_TOPOLOGICAL_PLACE ADD_ARC , ADD_NODE , CHANGE_NODE_LABEL , GET_NODE_POSITION , GET_PATH , GET_PERSON_LOCATION , LOAD_GRAPH , LOCALIZATION , MOVE_NODE , REMOVE_ARC , REMOVE_NODE , SAVE_GRAPH , SHUTDOWN


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