swarm_behaviors_position

This package provides position related functionalities. It is a library package of the swarm behaviors library.

Dependencies

This package depends on the following message definitions:

• geometry_msgs
• cpswarm_msgs

The following packages of the sensing and actuation library are required:

• area_provider
• *_pos_provider
• *_pos_controller

Further required packages are:

• roscpp
• tf2

Libraries

position

The position library provides position related functionalities. These functionalities can be grouped into three categories: calculations, retrieval of sensor data, and setting of actuators. The calculations include distance measurements, checking whether a position is in the defined environment, and calculation of goal positions. The sensor data includes absolute and relative bearing as well as local position. The actuators to be controlled is locomotion by providing a goal position waypoint.

Subscribed Topics

• pos_provider/pose (geometry_msgs/PoseStamped) Position and orientation of the CPS.

Published Topics

• pos_controller/goal_position (geometry_msgs/PoseStamped) The goal waypoint where the CPS shall move to.

Services Called

• area/out_of_bounds (cpswarm_msgs/OutOfBounds) Check whether a coordinate is within the defined environment area.

Parameters

• ~loop_rate (real, default: 5.0) The frequency in Hz at which to run the control loops.
• ~queue_size (integer, default: 1) The size of the message queue used for publishing and subscribing to topics.
• ~goal_tolerance (real, default: 0.1) The distance in meter that the CPS can be away from a goal while still being considered to have reached that goal.
• ~visualize (boolean, default: false) Whether to publish the goal waypoint on a topic for visualization.

Code API

swarm_behaviors_position package code API documentation

Changelog for package position

1.3.0 (2020-01-03)

• Changed: Rename position library to swarm_behaviors_position

1.2.0 (2019-12-29)

• Added: Obstacle detection
• Changed: Refactor library structure
• Changed: Split up navigation library, create position library and move parts to abstraction library
• Changed: Move obstacle avoidance to abstraction library
• Changed: Always use local coordinates
• Fixed: Force C++11
• Fixed: Goal computation
• Contributors: Micha Sende, Omar Morando

1.1.0 (2018-11-12)

• Changed: Store yaw in pose
• Changed: Keep UAVs at same altitude
• Changed: Restructure navigation library
• Contributors: Micha Sende

1.0.0 (2018-10-30)

• Initial release of navigation
• Contributors: Micha Sende