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Commit c0e6cbee authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
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Updated documentation

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README.md
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...@@ -4,7 +4,8 @@ This node provides a system to detect and manage collisions using a [bno055 IMU] ...@@ -4,7 +4,8 @@ This node provides a system to detect and manage collisions using a [bno055 IMU]
This node also provides the following configuration files located in [config](./config) directory: This node also provides the following configuration files located in [config](./config) directory:
* **params.yaml**: Node default configuration file. * **params.yaml**: Node default configuration file.
* **bno055.yaml**: IMU default configuration file * **bno055.yaml**: IMU default configuration file.
* **analyzers.yaml**: Diagnostics aggregator's default configuration file.
It also provides a [default bno055 calibration file](./calibration/bno055.cal). It also provides a [default bno055 calibration file](./calibration/bno055.cal).
...@@ -35,20 +36,28 @@ It also provides a [default bno055 calibration file](./calibration/bno055.cal). ...@@ -35,20 +36,28 @@ It also provides a [default bno055 calibration file](./calibration/bno055.cal).
##### Generals ##### Generals
- ~**rate** (Double; default: 10.0; min: 0.1; max: 1000): The main node thread loop rate in Hz. - ~**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. - ~**debug** (Boolean; default: False): Boolean to publish debug information.
- ~**fixed_frame** (String; default: base_link): Fixed frame id. - ~**fixed_frame** (String; default: map): Fixed frame id.
- ~**fixed_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. - ~**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. - ~**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.
- ~**watchdog_t** (Double; default: 1.0; min: 0.1; max: 10.0): Maximum time between subscribers msgs.
##### Collision detection ##### Collision detection
- ~**collision_timeout** (Double; default: 4.0; min: 1.0; max: 10.0): Timeout to detect an end of collision. - ~**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. - ~**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): Threshold to detect a collision. - ~**collision_acc_th** (Double; default: 9.8; min: 0.1; max: 160.0): Acceleration threshold to detect a 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_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_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.
##### ICP data ##### ICP data
- ~**front_laser_en** (Boolean; default: True): Enable front laser for ICP. - ~**front_laser_en** (Boolean; default: True): Enable front laser for ICP.
- ~**rear_laser_en** (Boolean; default: True): Enable rear laser for ICP. - ~**rear_laser_en** (Boolean; default: True): Enable rear laser for ICP.
- ~**scan_buffer_size** (Integer; default: 3; min: 1; max: 10): Number of laser_scan buffered for the ICP. - ~**buffer_size** (Integer; default: 3; min: 1; max: 10): Number of laser_scan buffered for the ICP.
- ~**scan_diff_t_from_collision** (Double; default: 0.0; min: 0.0; max: 0.5): Time to subtract from collision time stamp to ensure a clean scan. - ~**scan_diff_t_from_collision** (Double; default: 0.0; min: 0.0; max: 0.5): Time to subtract from collision time stamp to ensure a clean scan.
- ~**icp_min_points** (Integer; default: 300; min: 0; max: 2000): Minimum ICP points thershold. - ~**icp_min_points** (Integer; default: 300; min: 0; max: 2000): Minimum ICP points thershold.
- ~**icp_max_err_by_points** (Double; default: 0.1; min: 0.0; max: 10.0): Maximum ICP average error per point. - ~**icp_max_err_by_points** (Double; default: 0.1; min: 0.0; max: 10.0): Maximum ICP average error per point.
...@@ -124,6 +133,8 @@ It also provides a [default bno055 calibration file](./calibration/bno055.cal). ...@@ -124,6 +133,8 @@ It also provides a [default bno055 calibration file](./calibration/bno055.cal).
* **iri_laser_scan_icp**: Move to your active workspace, clone [this repository](https://gitlab.iri.upc.edu/mobile_robotics/dogs_project/iri_laser_scan_icp) and compile your workspace. * **iri_laser_scan_icp**: Move to your active workspace, clone [this repository](https://gitlab.iri.upc.edu/mobile_robotics/dogs_project/iri_laser_scan_icp) and compile your workspace.
* **iri_ros_tools**: Move to your active workspace, clone [this repository](https://gitlab.iri.upc.edu/labrobotica/ros/iri_core/iri_ros_tools) and compile your workspace.
#### Other dependencies #### Other dependencies
Move to the active workspace: Move to the active workspace:
...@@ -153,9 +164,11 @@ This node provides the following launch files: ...@@ -153,9 +164,11 @@ This node provides the following launch files:
- *node_name*: Node name. - *node_name*: Node name.
- *config_file*: Node configuration yaml file. - *config_file*: Node configuration yaml file.
- *imu_topic*: IMU input data topic name to be remaped. - *imu_topic*: IMU input data topic name to be remaped.
- *odom_topic*: Odometry input data topic name to be remaped.
- *front_laser_topic*: Front laser 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. - *rear_laser_topic*: Rear laser input data topic name to be remaped.
- *icp_service_name*: Laser_scan ICP service 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. - *output*: Ros node launch output's parameter.
- *launch_prefix*: Ros node launch launch-prefix's parameter. - *launch_prefix*: Ros node launch launch-prefix's parameter.
...@@ -165,6 +178,7 @@ This node provides the following launch files: ...@@ -165,6 +178,7 @@ This node provides the following launch files:
- *output*: Ros node launch output's parameter. - *output*: Ros node launch output's parameter.
- *launch_prefix*: Ros node launch launch-prefix's parameter. - *launch_prefix*: Ros node launch launch-prefix's parameter.
- *dr*: Boolean to launch rqt_reconfigure. - *dr*: Boolean to launch rqt_reconfigure.
- *diagnostics*: Flag to launch diagnostics agregator.
- *sim_time*: Boolean to set */use_sim_time* parameter. - *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 ICP and collision managment. It has the following arguments:
...@@ -173,7 +187,7 @@ This node provides the following launch files: ...@@ -173,7 +187,7 @@ This node provides the following launch files:
- *bias_filter_config_file*: IMU bias filter configuration yaml file. - *bias_filter_config_file*: IMU bias filter configuration yaml file.
- *imu_raw_topic*: IMU raw data topic name to be remaped. - *imu_raw_topic*: IMU raw data topic name to be remaped.
- *imu_filtered_topic*: Bias filtered's IMU raw data topic name to be remaped. - *imu_filtered_topic*: Bias filtered's IMU raw data topic name to be remaped.
- *cmd_vel_topic*: cmd_vel topic name to be remaped. - *odom_topic*: Odometry topic name to be remaped.
- *update_bias_ns*: Update bias action namespace to be remaped. - *update_bias_ns*: Update bias action namespace to be remaped.
- *icp_config_file*: Laser_scan ICP configuration yaml file. - *icp_config_file*: Laser_scan ICP configuration yaml file.
- *icp_service_name*: Laser_scan ICP service to be remaped. - *icp_service_name*: Laser_scan ICP service to be remaped.
...@@ -183,6 +197,7 @@ This node provides the following launch files: ...@@ -183,6 +197,7 @@ This node provides the following launch files:
- *output*: Ros node launch output's parameter. - *output*: Ros node launch output's parameter.
- *launch_prefix*: Ros node launch launch-prefix's parameter. - *launch_prefix*: Ros node launch launch-prefix's parameter.
- *dr*: Boolean to launch rqt_reconfigure. - *dr*: Boolean to launch rqt_reconfigure.
- *diagnostics*: Flag to launch diagnostics agregator.
- *sim_time*: Boolean to set */use_sim_time* parameter. - *sim_time*: Boolean to set */use_sim_time* parameter.
- *imu_driver*: Boolean to launch the IMU driver. - *imu_driver*: Boolean to launch the IMU driver.
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