Commit 801c44a4 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
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Merge branch 'development' of...

Merge branch 'development' of ssh://gitlab.iri.upc.edu:2202/mobile_robotics/dogs_project/iri_collision_manager into development
parents 0dc701e3 2aa9691e
......@@ -8,22 +8,27 @@ There are two possible collision's triggers:
When a collision detection is triggered, an ICP for each laser is performed. When an ICP has been succesful (meaning that the points used for the calculation are more than *icp_min_points* and the error per point is lees than *icp_max_err_by_points*) its odometry is compared with the wheel odometry. If the difference between both is big enough (meaning that is bigger than *odom_trans_th* or *odom_angular_th*), is considered as a collision. The node that performs that ICP is [iri_laser_scan_icp](https://gitlab.iri.upc.edu/mobile_robotics/dogs_project/iri_laser_scan_icp).
A ROS [laser scan range filter](http://wiki.ros.org/laser_filters) is performed on laser scans to remove the closest points (the object that performs the collision and is a mobile object) before the ICP.
This node also provides the following configuration files located in [config](./config) directory:
* **params.yaml**: Node default configuration file.
* **bno055.yaml**: IMU default configuration file.
* **analyzers.yaml**: Diagnostics aggregator's default configuration file.
* **collision_analyzers.yaml**: Diagnostics aggregator's for collisions configuration file.
* **dogs_analyzers.yaml**: Diagnostics aggregator's for all the system configuration file.
* **range_filter.yaml**: To configure laser scan range filter.
It also provides a [default bno055 calibration file](./calibration/bno055.cal).
# ROS Interface
### Topic publishers
- ~**relocalization** (iri_collision_manager/relocalization.msg)
- ~**collisions** (iri_collision_manager/collision.msg)
- ~**debug_rear_after_icp_scan** (sensor_msgs/LaserScan.msg)
- ~**debug_front_after_icp_scan** (sensor_msgs/LaserScan.msg)
- ~**relocalization** (iri_collision_manager/relocalization.msg): Topic to publish the ICP relocalization info.
- ~**collisions** (iri_collision_manager/collision.msg): Topic to publish Collision info.
- ~**debug_rear_after_icp_scan** (sensor_msgs/LaserScan.msg): Debug topic to visualize rear laser after ICP:
- ~**debug_front_after_icp_scan** (sensor_msgs/LaserScan.msg): Debug topic to visualize front laser after ICP:
- /**tf** (tf/tfMessage)
- ~**debug_rear_icp_pose** (geometry_msgs/PoseWithCovariance.msg)
- ~**debug_front_icp_pose** (geometry_msgs/PoseWithCovariance.msg)
- ~**debug_rear_icp_pose** (geometry_msgs/PoseWithCovariance.msg): Debug topic to visualize robot's pose after rear ICP:
- ~**debug_front_icp_pose** (geometry_msgs/PoseWithCovariance.msg): Debug topic to visualize robot's pose after front ICP:
- ~**debug_rear_icp_last_scan** (sensor_msgs/LaserScan.msg): Debug topic to visulize rear ICP matching laser scan.
- ~**debug_rear_icp_ref_scan** (sensor_msgs/LaserScan.msg): Debug topic to visulize rear ICP reference laser scan.
- ~**debug_front_icp_last_scan** (sensor_msgs/LaserScan.msg): Debug topic to visulize front ICP matching laser scan.
......@@ -44,7 +49,7 @@ It also provides a [default bno055 calibration file](./calibration/bno055.cal).
- ~**rate** (Double; default: 10.0; min: 0.1; max: 1000): The main node thread loop rate in Hz.
- ~**debug** (Boolean; default: False): Boolean to publish debug information.
- ~**fixed_frame** (String; default: map): Fixed frame id.
- ~**fixed_frame** (String; default: base_link): Base link frame id.
- ~**base_link_frame** (String; default: base_link): Base link frame id.
- ~**tf_timeout** (Double; default: 0.2; min: 0.1; max: 2.0): Timeout to find a transform.
- ~**err_msg_rate** (Double; default: 0.5; min: 0.1; max: 1.0): Rate to publish error messages.
- ~**calculate_ang_vel** (Boolean; default: False): Flag to calculate robot angular vel from odometry.
......@@ -54,9 +59,11 @@ It also provides a [default bno055 calibration file](./calibration/bno055.cal).
- ~**collision_timeout** (Double; default: 4.0; min: 1.0; max: 10.0): Timeout to detect an end of collision.
- ~**collision_acc_transition_counter_en** (Boolean; default: False): Enable the collision counter for accelerometer detections.
- ~**collision_acc_th** (Double; default: 9.8; min: 0.1; max: 160.0): Acceleration threshold to detect a collision.
- ~**collision_acc_th_end** (Double; default: 9.8; min: 0.1; max: 160.0): Acceleration threshold to detect an end of collision.
- ~**collision_acc_counter_limit** (Integer; default: 6; min: 1; max: 30): Number of low acc imu meassures to detect an end of collision.
- ~**collision_ang_vel_transition_counter_en** (Boolean; default: False): Enable the collision counter for angular velocity detections.
- ~**collision_ang_vel_th** (Double; default: 0.3; min: 0.1; max: 1.0): Angular velocity threshold to detect a collision.
- ~**collision_ang_vel_th_end** (Double; default: 0.3; min: 0.1; max: 1.0): Angular velocity threshold to detect an end of collision.
- ~**collision_ang_vel_counter_limit** (Integer; default: 6; min: 1; max: 30): Number of low acc imu meassures to detect an end of collision.
- ~**odom_trans_th** (Double; default: 0.1; min: 0.01; max: 0.5): Max translational difference between wheels and ICP odometries.
- ~**odom_angular_th** (Double; default: 0.154¡; min: 0.01; max: 0.7): Max angular difference between wheels and ICP odometries in rad.
......@@ -119,7 +126,7 @@ It also provides a [default bno055 calibration file](./calibration/bno055.cal).
sudo ldconfig
```
At this point we will have installed all the c++ libraries. /etc/ must have the following lines:
At this point we will have installed all the c++ libraries. */etc/ld.so.conf.d/iri.conf* must have the following lines:
```
/usr/local/lib/iri/iriutils
/usr/local/lib/iri/comm
......@@ -162,6 +169,11 @@ Compile the workspace:
```
catkin_make
```
## Diagnostics
This node has the following diagnostics:
* A HeartBeat to know that the node is alive.
* A subscriber diagnostic to check that imu, lasers and odometry data is received with the desired frequency.
## How to use it
......@@ -174,6 +186,7 @@ This node provides the following launch files:
- *odom_topic*: Odometry input data topic name to be remaped.
- *front_laser_topic*: Front laser input data topic name to be remaped.
- *rear_laser_topic*: Rear laser input data topic name to be remaped.
- *relocalization_topic_name*: relocalization output topic name to be remaped.
- *icp_service_name*: Laser_scan ICP service to be remaped.
- *diagnostics*: Flag to launch diagnostics agregator.
- *output*: Ros node launch output's parameter.
......@@ -188,7 +201,7 @@ This node provides the following launch files:
- *diagnostics*: Flag to launch diagnostics agregator.
- *sim_time*: Boolean to set */use_sim_time* parameter.
- **collisions.launch**: General launch file with IMU driver, IMU bias filter, laser_scan ICP and collision managment. It has the following arguments:
- **collisions.launch**: General launch file with IMU driver, IMU bias filter,laser scan range filters, laser_scan ICP and collision managment. It has the following arguments:
- *imu_config_file*: IMU driver node configuration yaml file.
- *imu_calibration_file*: IMU calibration file (not used for raw data mode).
- *bias_filter_config_file*: IMU bias filter configuration yaml file.
......@@ -199,8 +212,12 @@ This node provides the following launch files:
- *icp_config_file*: Laser_scan ICP configuration yaml file.
- *icp_service_name*: Laser_scan ICP service to be remaped.
- *collision_config_file*: Collision managment node configuration yaml file.
- *relocalization_topic_name*: relocalization output topic name to be remaped.
- *filter_config_file*: Laser Scan Range Filter configuration yaml file.
- *front_laser_topic*: Front laser input data topic name to be remaped.
- *front_laser_topic_filtered*: Filtered front laser output data topic name to be remaped.
- *rear_laser_topic*: Rear laser input data topic name to be remaped.
- *rear_laser_topic_filtered*: Filtered rear laser output data topic name to be remaped.
- *output*: Ros node launch output's parameter.
- *launch_prefix*: Ros node launch launch-prefix's parameter.
- *dr*: Boolean to launch rqt_reconfigure.
......
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