Package Summary

Tags No category tags.
Version 0.1.0
License BDS-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/aerostack2/aerostack2.git
VCS Type git
VCS Version main
Last Updated 2024-07-18
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Geozones for AeroStack2

Additional Links

No additional links.

Maintainers

  • Computer Vision And Aerial Robotics Group (UPM)

Authors

No additional authors.

Geozones

Geozones node for Aerostack2.

Params: - config_file: Polygons that define geofences are defined here. (IMPORTANT) Remember that the order in which points are given defines how the polygon is built, this means that n point will be conected to n+1 point and so on. Last point will be connected to the first point. Config file parameters:

- **id** (int): geozone id 
- **alert** (int): generated alert
- **type** (string): geofence or geocage. Geofence will generate alert on entering the area, geocage will generate alert on exiting the area. 
- **data_type** (string): gps or cartesian. 
- **polygon** (list(2DPoint)): List of 2D points that forms the polygon. Should at least be 3. Order matters. 
- **z_up** (float): up limit, always in cartesian.
- **z_down** (float): down limit, always in cartesian.

    Example config file (.yaml):
        geozones:
        - id: 1
            alert: 1
            type: geofence
            data_type: gps
            polygon:
            - [52.172046, 4.416790]
            - [52.172046, 4.415912]
            - [52.171506, 4.415912]
            - [52.171506, 4.416789]
            z_up: 100.0
            z_down: 90.0
        - id: 2
            alert: 2
            type: geocage
            data_type: cartesian
            polygon:
            - [3.0, 0.0]
            - [-3.0, 0.0]
            - [-3.0, 3.0]
            - [3.0, 3.0]
            z_up: 10.0
            z_down: 0.0

  • debug_rviz: Wheter to publish an array of Polygons for rviz2 visualization or not.

  • Interfaces:

    Available Services:

    • /set_geozone : Set a geoestructure vía message. - /get_geozone : Get a list of all geoestructures available

    Published topics:

    ```: Publish the defined alert message when a geoestructure event is triggered.
    
CHANGELOG
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Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Launch files

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