Commit f404bfe2 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Update README.md

parent c4f081b1
......@@ -2,17 +2,17 @@
This node is intended to filter [ar_track_alvar](http://wiki.ros.org/ar_track_alvar) detections. When a detection passes all filters, it becomes a *Feature*. A feature is something that you detect on the environment that is considered important (in this case, important for the localization with [iri_adc_landmarks_slam_solver](https://gitlab.iri.upc.edu/mobile_robotics/adc/adc_2021/iri_adc_landmarks_slam_solver)). The filters developed are the following ones:
- **Range filter**: Defines a maximum distance to take into account an ar tag detection.
- **Confidence filter**: Defines a minimum confidence to take into account an ar tag detection. *NOTE: the ar_track_alvar node doesn't fill this parameter*.
- **ID filter**: It filters any ar tag detection with a different ID than the enabled ones.
- **Time persistence filter**: Filter that checks that an ar tag detection is detected a minimum number of times on the same region. The region is defined with a range and angular window from the last detection. An orientation filter can be enabled to check that it has a similar orientation on each detection.
- **Range filter**: Defines a maximum distance to take into account an AR tag detection.
- **Confidence filter**: Defines a minimum confidence to take into account an AR tag detection. *NOTE: the ar_track_alvar node doesn't fill this parameter*.
- **ID filter**: It filters any AR tag detection with a different ID than the enabled ones.
- **Time persistence filter**: Filter that checks that an AR tag detection is detected a minimum number of times on the same region. The region is defined with a range and angular window from the last detection. An orientation filter can be enabled to check that it has a similar orientation on each detection.
# ROS Interface
### Topic publishers
- ~**features** (iri_adc_msgs/feature_array.msg): Output topic with the ar tag detections filtered.
- ~**features** (iri_adc_msgs/feature_array.msg): Output topic with the AR tag detections filtered.
- ~**vis_features** (visualization_msgs/MarkerArray.msg): Output visualization for debugging purposes.
### Topic subscribers
- ~**ar_tag_detections** (ar_track_alvar_msgs/AlvarMarkers.msg): Incoming ar tag detections.
- ~**ar_tag_detections** (ar_track_alvar_msgs/AlvarMarkers.msg): Incoming AR tag detections.
### Parameters
##### General
......@@ -43,7 +43,7 @@ roscd && cd ../src
```
Clone the repository:
```bash
git clone <url>
git clone https://gitlab.iri.upc.edu/mobile_robotics/adc/adc_2021/iri_adc_tag_localization_filter.git
```
Install ROS dependencies:
```
......@@ -64,7 +64,7 @@ This node provides a basic launch file named **node.launch** intended to be incl
- *launch_prefix*: Node's launch prefix.
- *config_file*: Path to the configuration file.
- *robot_name*: Robot namespace.
- *ar_input_topic*: Incoming ar tag detections topic name.
- *ar_input_topic*: Incoming AR tag detections topic name.
- *features_output_topic*: Output topic.
It also provides an example of launch file named **test.launch**. It can be launch with the following command:
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment