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lower_step_detector package from lower_step_detector repolower_step_detector |
|
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/CIR-KIT/lower_step_detector.git |
VCS Type | git |
VCS Version | indigo-devel |
Last Updated | 2016-12-23 |
Dev Status | MAINTAINED |
CI status | Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The lower_step_detector package
Additional Links
No additional links.
Maintainers
- Masaru Morita
Authors
No additional authors.
lower_step_detector
Summary
3号機の斜め下向きLRFで下方段差を検出する機能
Directory
- third_robot_lower_step_detector
+ config // yaml config files
+ launch // launch files
+ scripts // python codes
Preparation
-
/config/lower_step_detector.yaml
でパラメータを設定して下さい。- laser_intensity_max: 1.5
- 直線上のレーザ長で何[m]を平面とみなすか.段差がなければこれが最大値になるはず.デフォルトは1.5[m].
- margine_between_plane_and_down_step: 1.0
- 計算上平面と思うintensityから何[m]以上大きい場合に段差とみなすか.デフォルトは1.0[m]
- virtual_laser_intensity: 1.0
- 段差とみなした場合、何[m]の位置に障害物があると仮定するか.デフォルトは1[m].
- laser_scan_range_deg: 180
- LRF の認識範囲[°].デフォルトは180[°].
- detect_step_angle_min_deg: 10.0
- LRF 認識範囲の両端で段差検出を除外する範囲[°].指定方法は片側の角度設定.デフォルトは10[°].左右それぞれ10°カットする.
- 例えば、高さ0.75[m], 30[°]傾けたセンサが地面を検出した際に出力する値を計算すると、中心から左右に50[°]傾く辺りから急激に大きな値を取り始め、80[°]から指数関数のような形状で増加する。
- 両端はノイズが乗りやすいので、判定から除外すべき。
- chunk_angle_for_noise_deg: 5.0
- ノイズ対策.セグメントを何度毎に区切るか.デフォルトは5.0[°]
- ratio_detect_in_chunk: 0.8
- ノイズ対策.セグメント内でどの程度閾値を超えたら段差と判定するか.0.8[raito].
- laser_intensity_max: 1.5
How to launch
- デモプログラム起動方法
roslaunch third_robot_lower_step_detector lower_step_detector_demo.launch
- トピックを変更したい時
roslaunch third_robot_lower_step_detector lower_step_detector_demo.launch sub_topic:=hogehoge
- 補足
- これで、検出プログラムとrviz が起動します。この後bagファイル再生等をして下さい。
- デフォルトでは、
/base_scan1
をpublish すれば、修正後の情報である/base_scan1_fix
がpublish されます。 - トピックの変更をした場合、このノードがsubscribeするtopic名を
/base_scan1
から/hogehoge
に変えられます。publish されるトピックは/hogehoge_fix
となります。
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
Deps | Name |
---|---|
catkin | |
rospy | |
rviz | |
sensor_msgs | |
std_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/lower_step_detector_demo.launch
-
- sub_topic [default: base_scan1]
- launch/lower_step_detector.launch
-
- sub_topic [default: base_scan1]
- test/lower_step_detector_launch.test.xml
- test/lower_step_detector_demo_launch.test.xml
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged lower_step_detector at Robotics Stack Exchange
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