The world object is the global data class which is constantly updated and changed by actors. To store your own data, we suggest to derive a project-specific world from the one RoSys provides.
The robot's state is stored in
Besides a shape the object stores configuration parameters like maximum linear/angular speed,
minimum_turning_radius and similar.
It also has a hardware configuration which will be translated to Lizard commands on startup.
There are three
Pose objects describing the current position and orientation of the robot:
- detection: latest externally referenced detection (obtained by GPS/RTK or cameras)
- prediction: building on top of detection this pose is improved by all odometry information accumulated afterwards; this is the pose you normally use to determine where the robot is right now
- simulation: the true pose of the robot without any noise (only used in simulation and testing)
Any notification scheduled by actors is stored in
world.notifications as a list of two-value tuples.
The first value is the timestamp of the notification as float and the second contains the actual message.
Most recent messages are at the end of the list.