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lower_step_detector package from lower_step_detector repo

lower_step_detector

API Docs
Browse Code

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 No 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.
README.md

lower_step_detector Build Status Slack

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].

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

See ROS Wiki Tutorials for more details.

Source Tutorials

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Package Dependencies

Deps Name
1 catkin
2 rospy
2 rviz
2 sensor_msgs
2 std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lower_step_detector at answers.ros.org

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