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Package Summary

Tags No category tags.
Version 1.3.0
License Apache License 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/cpswarm/swarm_behaviors.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2020-02-13
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A package that performs local coverage with an unmanned aerial vehicle (UAV).

Additional Links

Maintainers

  • Micha Sende

Authors

  • Micha Sende

uav_local_coverage

Build Status

This package performs local coverage with an unmanned aerial vehicle (UAV). It is part of the swarm behaviors library.

Dependencies

This package depends on the following message definitions: * cpswarm_msgs

The following library packages of the swarm behaviors library are required: * swarm_behaviors_position

The following packages of the swarm functions library are required: * target_monitor (only if single_target=true)

Further required packages are: * roscpp * actionlib

Execution

Run the launch file

roslaunch uav_local_coverage uav_local_coverage.launch

to launch the uav_local_coverage node.

The launch file can be configured with following parameters: * id (integer, default: 1) The identifier (ID) of the CPS used for name spacing in simulation. * output (string, default: screen) Whether to show the program output (screen) or to write it to a log file (log).

In the param subdirectory there is the parameter file uav_local_coverage.yaml that allows to configure the behavior of the uav_local_coverage node.

Nodes

uav_local_coverage

The uav_local_coverage performs coverage locally around the current position of the UAV. This is achieved by generating a spiral movement pattern according to the circle involute. The shape of the circle involute is computed based on the characteristics of the camera of the UAV. It is computed in such a way that a downward facing camera completely covers the area around the current position of the UAV. The UAV follows this path for a predefined number of steps and then aborts the coverage. When the parameter single_target is set to true, it succeeds once a target has been found and returns the target ID and position.

Action Goal

  • uav_local_coverage/goal (cpswarm_msgs/CoverageGoal) A goal that starts the local coverage behavior. It contains the altitude at which to operate.

Action Result

Subscribed Topics

  • target_found (cpswarm_msgs/TargetPositionEvent) Position and ID of a target detected by the target monitor. Only subscribed when single_target is set to true.

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.
  • ~single_target (boolean, default: true) Whether the algorithm will succeed / terminate once a target has been found.
  • ~fov_hor (real, default: 1.236) Horizontal camera field of view in radian. It is used to compute the path of the UAV.
  • ~fov_ver (real, default: 0.970) Vertical camera field of view in radian. It is used to compute the path of the UAV.
  • ~local_steps (integer, default: 20) Number of steps to do in the local coverage behavior.

Code API

uav_local_coverage package code API documentation

CHANGELOG

Changelog for package uav_local_coverage

1.3.0 (2020-01-03)

1.2.0 (2019-12-29)

  • Changed: Refactor library structure
  • Changed: Return state aborted once coverage finishes
  • Changed: Check if movement was successful
  • Changed: Targets handled by swarm functions library
  • Fixed: Correctly handle state of behavior algorithm
  • Fixed: Force C++11
  • Fixed: Returning of target
  • Contributors: Micha Sende

1.1.0 (2018-11-12)

  • Contributors: Micha Sende

1.0.0 (2018-10-30)

  • Initial release of uav_local_coverage
  • Contributors: Micha Sende

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged uav_local_coverage at answers.ros.org

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