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:

  • /alert_event : Publish the defined alert message when a geoestructure event is triggered.

Changelog for package as2_geozones

1.1.2 (2024-08-22)

1.1.1 (2024-08-20)

1.1.0 (2024-08-08)

• [as2_geozones] as2 geozones intefaces moved to Aerostack2 interfaces package
• [as2_geozones] Create a utilities package, as2_geozones added
• Contributors: Javilinos, Miguel Fernandez-Cortizas

1.0.9 (2024-03-25)

1.0.8 (2024-02-12)

1.0.7 (2024-02-04)

1.0.6 (2023-12-12)

1.0.5 (2023-11-08)

1.0.4 (2023-08-23)

1.0.3 (2023-08-22)

1.0.2 (2023-08-17)

1.0.1 (2023-04-25)

1.0.0 (2023-03-18)

0.2.2 (2022-12-22)

0.2.1 (2022-12-19)