![]() |
uav_random_direction package from swarm_behaviors reposwarm_behaviors_position swarm_behaviors_velocity swarm_behaviors uav_local_coverage uav_optimal_coverage uav_random_direction uav_simple_tracking ugv_random_walk |
ROS Distro
|
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 | 2021-02-04 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Micha Sende
Authors
- Micha Sende
uav_random_direction
This package performs random direction coverage with an unmanned aerial vehicle (UAV). It is part of the swarm behaviors library.
Dependencies
This package depends on the following message definitions:
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
)
The following packages of the sensing and actuation library are required:
- area_provider
- obstacle_detection
Further required packages are:
Execution
Run the launch file
roslaunch uav_random_direction uav_random_direction.launch
to launch the uav_random_direction
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_random_direction.yaml
that allows to configure the behavior of the uav_random_direction
node.
Nodes
uav_random_direction
The uav_random_direction
performs coverage using the random direction algorithm. The random direction is a mathematical movement model, where an agent moves straight forward until it reaches an obstacle or the environment boundary. There, it changes its direction randomly into a direction that is clear of obstacles. When the parameter single_target
is set to true
, the UAV succeeds once a target has been found and returns the target ID and position.
Action Goal
-
uav_coverage/goal
(cpswarm_msgs/CoverageGoal) A goal that starts the random direction coverage behavior. It contains the altitude at which to operate.
Action Result
-
uav_coverage/result
(cpswarm_msgs/CoverageResult) ID and position of the target that has been found.
Subscribed Topics
-
target_found
(cpswarm_msgs/TargetPositionEvent) Position and ID of a target detected by the target monitor. Only subscribed whensingle_target
is set totrue
.
Services Called
-
area/get_area
(cpswarm_msgs/GetPoints) Get the area polygon. -
obstacle_detection/get_clear_sector
(cpswarm_msgs/GetSector) Get the circular sector that is clear of obstacles.
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. -
~margin
(real, default:0.5
) The distance in meter to keep to the environment boundary. -
/rng_seed
(integer, default:0
) The seed used for random number generation. In the default case, a random seed is generated.
Code API
Changelog for package uav_random_direction
1.3.0 (2020-01-03)
1.2.0 (2019-12-29)
- Changed: Refactor library structure
- Changed: UAVs depart in different directions
- Changed: Read RNG seed from parameter, use random seed otherwise
- Changed: Return state aborted once coverage finishes
- Changed: Check if movement was successful
- Changed: Targets handled by swarm functions library
- Fixed: Change direction when obstacle detected
- Fixed: Correctly handle state of behavior algorithm
- Fixed: Force C++11
- Fixed: Returning of target
- Contributors: Micha Sende
1.1.0 (2018-11-12)
- Fixed: Computation of sector occupied by obstacles and other UAVs
- Contributors: Micha Sende
1.0.0 (2018-10-30)
- Initial release of uav_random_direction
- Contributors: Micha Sende
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
swarm_behaviors |
Launch files
- launch/uav_random_direction.launch
-
- id [default: 1]
- output [default: log]
Messages
Services
Plugins
Recent questions tagged uav_random_direction at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
uav_random_direction package from swarm_behaviors reposwarm_behaviors_position swarm_behaviors_velocity swarm_behaviors uav_local_coverage uav_optimal_coverage uav_random_direction uav_simple_tracking ugv_random_walk |
ROS Distro
|
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 | 2021-02-04 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Micha Sende
Authors
- Micha Sende
uav_random_direction
This package performs random direction coverage with an unmanned aerial vehicle (UAV). It is part of the swarm behaviors library.
Dependencies
This package depends on the following message definitions:
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
)
The following packages of the sensing and actuation library are required:
- area_provider
- obstacle_detection
Further required packages are:
Execution
Run the launch file
roslaunch uav_random_direction uav_random_direction.launch
to launch the uav_random_direction
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_random_direction.yaml
that allows to configure the behavior of the uav_random_direction
node.
Nodes
uav_random_direction
The uav_random_direction
performs coverage using the random direction algorithm. The random direction is a mathematical movement model, where an agent moves straight forward until it reaches an obstacle or the environment boundary. There, it changes its direction randomly into a direction that is clear of obstacles. When the parameter single_target
is set to true
, the UAV succeeds once a target has been found and returns the target ID and position.
Action Goal
-
uav_coverage/goal
(cpswarm_msgs/CoverageGoal) A goal that starts the random direction coverage behavior. It contains the altitude at which to operate.
Action Result
-
uav_coverage/result
(cpswarm_msgs/CoverageResult) ID and position of the target that has been found.
Subscribed Topics
-
target_found
(cpswarm_msgs/TargetPositionEvent) Position and ID of a target detected by the target monitor. Only subscribed whensingle_target
is set totrue
.
Services Called
-
area/get_area
(cpswarm_msgs/GetPoints) Get the area polygon. -
obstacle_detection/get_clear_sector
(cpswarm_msgs/GetSector) Get the circular sector that is clear of obstacles.
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. -
~margin
(real, default:0.5
) The distance in meter to keep to the environment boundary. -
/rng_seed
(integer, default:0
) The seed used for random number generation. In the default case, a random seed is generated.
Code API
Changelog for package uav_random_direction
1.3.0 (2020-01-03)
1.2.0 (2019-12-29)
- Changed: Refactor library structure
- Changed: UAVs depart in different directions
- Changed: Read RNG seed from parameter, use random seed otherwise
- Changed: Return state aborted once coverage finishes
- Changed: Check if movement was successful
- Changed: Targets handled by swarm functions library
- Fixed: Change direction when obstacle detected
- Fixed: Correctly handle state of behavior algorithm
- Fixed: Force C++11
- Fixed: Returning of target
- Contributors: Micha Sende
1.1.0 (2018-11-12)
- Fixed: Computation of sector occupied by obstacles and other UAVs
- Contributors: Micha Sende
1.0.0 (2018-10-30)
- Initial release of uav_random_direction
- Contributors: Micha Sende
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
swarm_behaviors |
Launch files
- launch/uav_random_direction.launch
-
- id [default: 1]
- output [default: log]
Messages
Services
Plugins
Recent questions tagged uav_random_direction at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
uav_random_direction package from swarm_behaviors reposwarm_behaviors_position swarm_behaviors_velocity swarm_behaviors uav_local_coverage uav_optimal_coverage uav_random_direction uav_simple_tracking ugv_random_walk |
ROS Distro
|
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 | 2021-02-04 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Micha Sende
Authors
- Micha Sende
uav_random_direction
This package performs random direction coverage with an unmanned aerial vehicle (UAV). It is part of the swarm behaviors library.
Dependencies
This package depends on the following message definitions:
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
)
The following packages of the sensing and actuation library are required:
- area_provider
- obstacle_detection
Further required packages are:
Execution
Run the launch file
roslaunch uav_random_direction uav_random_direction.launch
to launch the uav_random_direction
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_random_direction.yaml
that allows to configure the behavior of the uav_random_direction
node.
Nodes
uav_random_direction
The uav_random_direction
performs coverage using the random direction algorithm. The random direction is a mathematical movement model, where an agent moves straight forward until it reaches an obstacle or the environment boundary. There, it changes its direction randomly into a direction that is clear of obstacles. When the parameter single_target
is set to true
, the UAV succeeds once a target has been found and returns the target ID and position.
Action Goal
-
uav_coverage/goal
(cpswarm_msgs/CoverageGoal) A goal that starts the random direction coverage behavior. It contains the altitude at which to operate.
Action Result
-
uav_coverage/result
(cpswarm_msgs/CoverageResult) ID and position of the target that has been found.
Subscribed Topics
-
target_found
(cpswarm_msgs/TargetPositionEvent) Position and ID of a target detected by the target monitor. Only subscribed whensingle_target
is set totrue
.
Services Called
-
area/get_area
(cpswarm_msgs/GetPoints) Get the area polygon. -
obstacle_detection/get_clear_sector
(cpswarm_msgs/GetSector) Get the circular sector that is clear of obstacles.
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. -
~margin
(real, default:0.5
) The distance in meter to keep to the environment boundary. -
/rng_seed
(integer, default:0
) The seed used for random number generation. In the default case, a random seed is generated.
Code API
Changelog for package uav_random_direction
1.3.0 (2020-01-03)
1.2.0 (2019-12-29)
- Changed: Refactor library structure
- Changed: UAVs depart in different directions
- Changed: Read RNG seed from parameter, use random seed otherwise
- Changed: Return state aborted once coverage finishes
- Changed: Check if movement was successful
- Changed: Targets handled by swarm functions library
- Fixed: Change direction when obstacle detected
- Fixed: Correctly handle state of behavior algorithm
- Fixed: Force C++11
- Fixed: Returning of target
- Contributors: Micha Sende
1.1.0 (2018-11-12)
- Fixed: Computation of sector occupied by obstacles and other UAVs
- Contributors: Micha Sende
1.0.0 (2018-10-30)
- Initial release of uav_random_direction
- Contributors: Micha Sende
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
swarm_behaviors |
Launch files
- launch/uav_random_direction.launch
-
- id [default: 1]
- output [default: log]
Messages
Services
Plugins
Recent questions tagged uav_random_direction at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
uav_random_direction package from swarm_behaviors reposwarm_behaviors_position swarm_behaviors_velocity swarm_behaviors uav_local_coverage uav_optimal_coverage uav_random_direction uav_simple_tracking ugv_random_walk |
ROS Distro
|
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 | 2021-02-04 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Micha Sende
Authors
- Micha Sende
uav_random_direction
This package performs random direction coverage with an unmanned aerial vehicle (UAV). It is part of the swarm behaviors library.
Dependencies
This package depends on the following message definitions:
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
)
The following packages of the sensing and actuation library are required:
- area_provider
- obstacle_detection
Further required packages are:
Execution
Run the launch file
roslaunch uav_random_direction uav_random_direction.launch
to launch the uav_random_direction
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_random_direction.yaml
that allows to configure the behavior of the uav_random_direction
node.
Nodes
uav_random_direction
The uav_random_direction
performs coverage using the random direction algorithm. The random direction is a mathematical movement model, where an agent moves straight forward until it reaches an obstacle or the environment boundary. There, it changes its direction randomly into a direction that is clear of obstacles. When the parameter single_target
is set to true
, the UAV succeeds once a target has been found and returns the target ID and position.
Action Goal
-
uav_coverage/goal
(cpswarm_msgs/CoverageGoal) A goal that starts the random direction coverage behavior. It contains the altitude at which to operate.
Action Result
-
uav_coverage/result
(cpswarm_msgs/CoverageResult) ID and position of the target that has been found.
Subscribed Topics
-
target_found
(cpswarm_msgs/TargetPositionEvent) Position and ID of a target detected by the target monitor. Only subscribed whensingle_target
is set totrue
.
Services Called
-
area/get_area
(cpswarm_msgs/GetPoints) Get the area polygon. -
obstacle_detection/get_clear_sector
(cpswarm_msgs/GetSector) Get the circular sector that is clear of obstacles.
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. -
~margin
(real, default:0.5
) The distance in meter to keep to the environment boundary. -
/rng_seed
(integer, default:0
) The seed used for random number generation. In the default case, a random seed is generated.
Code API
Changelog for package uav_random_direction
1.3.0 (2020-01-03)
1.2.0 (2019-12-29)
- Changed: Refactor library structure
- Changed: UAVs depart in different directions
- Changed: Read RNG seed from parameter, use random seed otherwise
- Changed: Return state aborted once coverage finishes
- Changed: Check if movement was successful
- Changed: Targets handled by swarm functions library
- Fixed: Change direction when obstacle detected
- Fixed: Correctly handle state of behavior algorithm
- Fixed: Force C++11
- Fixed: Returning of target
- Contributors: Micha Sende
1.1.0 (2018-11-12)
- Fixed: Computation of sector occupied by obstacles and other UAVs
- Contributors: Micha Sende
1.0.0 (2018-10-30)
- Initial release of uav_random_direction
- Contributors: Micha Sende
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
swarm_behaviors |
Launch files
- launch/uav_random_direction.launch
-
- id [default: 1]
- output [default: log]
Messages
Services
Plugins
Recent questions tagged uav_random_direction at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
uav_random_direction package from swarm_behaviors reposwarm_behaviors_position swarm_behaviors_velocity swarm_behaviors uav_local_coverage uav_optimal_coverage uav_random_direction uav_simple_tracking ugv_random_walk |
ROS Distro
|
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 | 2021-02-04 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Micha Sende
Authors
- Micha Sende
uav_random_direction
This package performs random direction coverage with an unmanned aerial vehicle (UAV). It is part of the swarm behaviors library.
Dependencies
This package depends on the following message definitions:
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
)
The following packages of the sensing and actuation library are required:
- area_provider
- obstacle_detection
Further required packages are:
Execution
Run the launch file
roslaunch uav_random_direction uav_random_direction.launch
to launch the uav_random_direction
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_random_direction.yaml
that allows to configure the behavior of the uav_random_direction
node.
Nodes
uav_random_direction
The uav_random_direction
performs coverage using the random direction algorithm. The random direction is a mathematical movement model, where an agent moves straight forward until it reaches an obstacle or the environment boundary. There, it changes its direction randomly into a direction that is clear of obstacles. When the parameter single_target
is set to true
, the UAV succeeds once a target has been found and returns the target ID and position.
Action Goal
-
uav_coverage/goal
(cpswarm_msgs/CoverageGoal) A goal that starts the random direction coverage behavior. It contains the altitude at which to operate.
Action Result
-
uav_coverage/result
(cpswarm_msgs/CoverageResult) ID and position of the target that has been found.
Subscribed Topics
-
target_found
(cpswarm_msgs/TargetPositionEvent) Position and ID of a target detected by the target monitor. Only subscribed whensingle_target
is set totrue
.
Services Called
-
area/get_area
(cpswarm_msgs/GetPoints) Get the area polygon. -
obstacle_detection/get_clear_sector
(cpswarm_msgs/GetSector) Get the circular sector that is clear of obstacles.
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. -
~margin
(real, default:0.5
) The distance in meter to keep to the environment boundary. -
/rng_seed
(integer, default:0
) The seed used for random number generation. In the default case, a random seed is generated.
Code API
Changelog for package uav_random_direction
1.3.0 (2020-01-03)
1.2.0 (2019-12-29)
- Changed: Refactor library structure
- Changed: UAVs depart in different directions
- Changed: Read RNG seed from parameter, use random seed otherwise
- Changed: Return state aborted once coverage finishes
- Changed: Check if movement was successful
- Changed: Targets handled by swarm functions library
- Fixed: Change direction when obstacle detected
- Fixed: Correctly handle state of behavior algorithm
- Fixed: Force C++11
- Fixed: Returning of target
- Contributors: Micha Sende
1.1.0 (2018-11-12)
- Fixed: Computation of sector occupied by obstacles and other UAVs
- Contributors: Micha Sende
1.0.0 (2018-10-30)
- Initial release of uav_random_direction
- Contributors: Micha Sende
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
swarm_behaviors |
Launch files
- launch/uav_random_direction.launch
-
- id [default: 1]
- output [default: log]
Messages
Services
Plugins
Recent questions tagged uav_random_direction at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
uav_random_direction package from swarm_behaviors reposwarm_behaviors_position swarm_behaviors_velocity swarm_behaviors uav_local_coverage uav_optimal_coverage uav_random_direction uav_simple_tracking ugv_random_walk |
ROS Distro
|
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 | 2021-02-04 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Micha Sende
Authors
- Micha Sende
uav_random_direction
This package performs random direction coverage with an unmanned aerial vehicle (UAV). It is part of the swarm behaviors library.
Dependencies
This package depends on the following message definitions:
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
)
The following packages of the sensing and actuation library are required:
- area_provider
- obstacle_detection
Further required packages are:
Execution
Run the launch file
roslaunch uav_random_direction uav_random_direction.launch
to launch the uav_random_direction
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_random_direction.yaml
that allows to configure the behavior of the uav_random_direction
node.
Nodes
uav_random_direction
The uav_random_direction
performs coverage using the random direction algorithm. The random direction is a mathematical movement model, where an agent moves straight forward until it reaches an obstacle or the environment boundary. There, it changes its direction randomly into a direction that is clear of obstacles. When the parameter single_target
is set to true
, the UAV succeeds once a target has been found and returns the target ID and position.
Action Goal
-
uav_coverage/goal
(cpswarm_msgs/CoverageGoal) A goal that starts the random direction coverage behavior. It contains the altitude at which to operate.
Action Result
-
uav_coverage/result
(cpswarm_msgs/CoverageResult) ID and position of the target that has been found.
Subscribed Topics
-
target_found
(cpswarm_msgs/TargetPositionEvent) Position and ID of a target detected by the target monitor. Only subscribed whensingle_target
is set totrue
.
Services Called
-
area/get_area
(cpswarm_msgs/GetPoints) Get the area polygon. -
obstacle_detection/get_clear_sector
(cpswarm_msgs/GetSector) Get the circular sector that is clear of obstacles.
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. -
~margin
(real, default:0.5
) The distance in meter to keep to the environment boundary. -
/rng_seed
(integer, default:0
) The seed used for random number generation. In the default case, a random seed is generated.
Code API
Changelog for package uav_random_direction
1.3.0 (2020-01-03)
1.2.0 (2019-12-29)
- Changed: Refactor library structure
- Changed: UAVs depart in different directions
- Changed: Read RNG seed from parameter, use random seed otherwise
- Changed: Return state aborted once coverage finishes
- Changed: Check if movement was successful
- Changed: Targets handled by swarm functions library
- Fixed: Change direction when obstacle detected
- Fixed: Correctly handle state of behavior algorithm
- Fixed: Force C++11
- Fixed: Returning of target
- Contributors: Micha Sende
1.1.0 (2018-11-12)
- Fixed: Computation of sector occupied by obstacles and other UAVs
- Contributors: Micha Sende
1.0.0 (2018-10-30)
- Initial release of uav_random_direction
- Contributors: Micha Sende
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
swarm_behaviors |
Launch files
- launch/uav_random_direction.launch
-
- id [default: 1]
- output [default: log]
Messages
Services
Plugins
Recent questions tagged uav_random_direction at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
uav_random_direction package from swarm_behaviors reposwarm_behaviors_position swarm_behaviors_velocity swarm_behaviors uav_local_coverage uav_optimal_coverage uav_random_direction uav_simple_tracking ugv_random_walk |
ROS Distro
|
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 | 2021-02-04 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Micha Sende
Authors
- Micha Sende
uav_random_direction
This package performs random direction coverage with an unmanned aerial vehicle (UAV). It is part of the swarm behaviors library.
Dependencies
This package depends on the following message definitions:
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
)
The following packages of the sensing and actuation library are required:
- area_provider
- obstacle_detection
Further required packages are:
Execution
Run the launch file
roslaunch uav_random_direction uav_random_direction.launch
to launch the uav_random_direction
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_random_direction.yaml
that allows to configure the behavior of the uav_random_direction
node.
Nodes
uav_random_direction
The uav_random_direction
performs coverage using the random direction algorithm. The random direction is a mathematical movement model, where an agent moves straight forward until it reaches an obstacle or the environment boundary. There, it changes its direction randomly into a direction that is clear of obstacles. When the parameter single_target
is set to true
, the UAV succeeds once a target has been found and returns the target ID and position.
Action Goal
-
uav_coverage/goal
(cpswarm_msgs/CoverageGoal) A goal that starts the random direction coverage behavior. It contains the altitude at which to operate.
Action Result
-
uav_coverage/result
(cpswarm_msgs/CoverageResult) ID and position of the target that has been found.
Subscribed Topics
-
target_found
(cpswarm_msgs/TargetPositionEvent) Position and ID of a target detected by the target monitor. Only subscribed whensingle_target
is set totrue
.
Services Called
-
area/get_area
(cpswarm_msgs/GetPoints) Get the area polygon. -
obstacle_detection/get_clear_sector
(cpswarm_msgs/GetSector) Get the circular sector that is clear of obstacles.
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. -
~margin
(real, default:0.5
) The distance in meter to keep to the environment boundary. -
/rng_seed
(integer, default:0
) The seed used for random number generation. In the default case, a random seed is generated.
Code API
Changelog for package uav_random_direction
1.3.0 (2020-01-03)
1.2.0 (2019-12-29)
- Changed: Refactor library structure
- Changed: UAVs depart in different directions
- Changed: Read RNG seed from parameter, use random seed otherwise
- Changed: Return state aborted once coverage finishes
- Changed: Check if movement was successful
- Changed: Targets handled by swarm functions library
- Fixed: Change direction when obstacle detected
- Fixed: Correctly handle state of behavior algorithm
- Fixed: Force C++11
- Fixed: Returning of target
- Contributors: Micha Sende
1.1.0 (2018-11-12)
- Fixed: Computation of sector occupied by obstacles and other UAVs
- Contributors: Micha Sende
1.0.0 (2018-10-30)
- Initial release of uav_random_direction
- Contributors: Micha Sende
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
swarm_behaviors |
Launch files
- launch/uav_random_direction.launch
-
- id [default: 1]
- output [default: log]
Messages
Services
Plugins
Recent questions tagged uav_random_direction at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
uav_random_direction package from swarm_behaviors reposwarm_behaviors_position swarm_behaviors_velocity swarm_behaviors uav_local_coverage uav_optimal_coverage uav_random_direction uav_simple_tracking ugv_random_walk |
ROS Distro
|
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 | 2021-02-04 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Micha Sende
Authors
- Micha Sende
uav_random_direction
This package performs random direction coverage with an unmanned aerial vehicle (UAV). It is part of the swarm behaviors library.
Dependencies
This package depends on the following message definitions:
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
)
The following packages of the sensing and actuation library are required:
- area_provider
- obstacle_detection
Further required packages are:
Execution
Run the launch file
roslaunch uav_random_direction uav_random_direction.launch
to launch the uav_random_direction
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_random_direction.yaml
that allows to configure the behavior of the uav_random_direction
node.
Nodes
uav_random_direction
The uav_random_direction
performs coverage using the random direction algorithm. The random direction is a mathematical movement model, where an agent moves straight forward until it reaches an obstacle or the environment boundary. There, it changes its direction randomly into a direction that is clear of obstacles. When the parameter single_target
is set to true
, the UAV succeeds once a target has been found and returns the target ID and position.
Action Goal
-
uav_coverage/goal
(cpswarm_msgs/CoverageGoal) A goal that starts the random direction coverage behavior. It contains the altitude at which to operate.
Action Result
-
uav_coverage/result
(cpswarm_msgs/CoverageResult) ID and position of the target that has been found.
Subscribed Topics
-
target_found
(cpswarm_msgs/TargetPositionEvent) Position and ID of a target detected by the target monitor. Only subscribed whensingle_target
is set totrue
.
Services Called
-
area/get_area
(cpswarm_msgs/GetPoints) Get the area polygon. -
obstacle_detection/get_clear_sector
(cpswarm_msgs/GetSector) Get the circular sector that is clear of obstacles.
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. -
~margin
(real, default:0.5
) The distance in meter to keep to the environment boundary. -
/rng_seed
(integer, default:0
) The seed used for random number generation. In the default case, a random seed is generated.
Code API
Changelog for package uav_random_direction
1.3.0 (2020-01-03)
1.2.0 (2019-12-29)
- Changed: Refactor library structure
- Changed: UAVs depart in different directions
- Changed: Read RNG seed from parameter, use random seed otherwise
- Changed: Return state aborted once coverage finishes
- Changed: Check if movement was successful
- Changed: Targets handled by swarm functions library
- Fixed: Change direction when obstacle detected
- Fixed: Correctly handle state of behavior algorithm
- Fixed: Force C++11
- Fixed: Returning of target
- Contributors: Micha Sende
1.1.0 (2018-11-12)
- Fixed: Computation of sector occupied by obstacles and other UAVs
- Contributors: Micha Sende
1.0.0 (2018-10-30)
- Initial release of uav_random_direction
- Contributors: Micha Sende
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
swarm_behaviors |
Launch files
- launch/uav_random_direction.launch
-
- id [default: 1]
- output [default: log]
Messages
Services
Plugins
Recent questions tagged uav_random_direction at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
uav_random_direction package from swarm_behaviors reposwarm_behaviors_position swarm_behaviors_velocity swarm_behaviors uav_local_coverage uav_optimal_coverage uav_random_direction uav_simple_tracking ugv_random_walk |
ROS Distro
|
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 | 2021-02-04 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Micha Sende
Authors
- Micha Sende
uav_random_direction
This package performs random direction coverage with an unmanned aerial vehicle (UAV). It is part of the swarm behaviors library.
Dependencies
This package depends on the following message definitions:
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
)
The following packages of the sensing and actuation library are required:
- area_provider
- obstacle_detection
Further required packages are:
Execution
Run the launch file
roslaunch uav_random_direction uav_random_direction.launch
to launch the uav_random_direction
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_random_direction.yaml
that allows to configure the behavior of the uav_random_direction
node.
Nodes
uav_random_direction
The uav_random_direction
performs coverage using the random direction algorithm. The random direction is a mathematical movement model, where an agent moves straight forward until it reaches an obstacle or the environment boundary. There, it changes its direction randomly into a direction that is clear of obstacles. When the parameter single_target
is set to true
, the UAV succeeds once a target has been found and returns the target ID and position.
Action Goal
-
uav_coverage/goal
(cpswarm_msgs/CoverageGoal) A goal that starts the random direction coverage behavior. It contains the altitude at which to operate.
Action Result
-
uav_coverage/result
(cpswarm_msgs/CoverageResult) ID and position of the target that has been found.
Subscribed Topics
-
target_found
(cpswarm_msgs/TargetPositionEvent) Position and ID of a target detected by the target monitor. Only subscribed whensingle_target
is set totrue
.
Services Called
-
area/get_area
(cpswarm_msgs/GetPoints) Get the area polygon. -
obstacle_detection/get_clear_sector
(cpswarm_msgs/GetSector) Get the circular sector that is clear of obstacles.
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. -
~margin
(real, default:0.5
) The distance in meter to keep to the environment boundary. -
/rng_seed
(integer, default:0
) The seed used for random number generation. In the default case, a random seed is generated.
Code API
Changelog for package uav_random_direction
1.3.0 (2020-01-03)
1.2.0 (2019-12-29)
- Changed: Refactor library structure
- Changed: UAVs depart in different directions
- Changed: Read RNG seed from parameter, use random seed otherwise
- Changed: Return state aborted once coverage finishes
- Changed: Check if movement was successful
- Changed: Targets handled by swarm functions library
- Fixed: Change direction when obstacle detected
- Fixed: Correctly handle state of behavior algorithm
- Fixed: Force C++11
- Fixed: Returning of target
- Contributors: Micha Sende
1.1.0 (2018-11-12)
- Fixed: Computation of sector occupied by obstacles and other UAVs
- Contributors: Micha Sende
1.0.0 (2018-10-30)
- Initial release of uav_random_direction
- Contributors: Micha Sende
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
swarm_behaviors |
Launch files
- launch/uav_random_direction.launch
-
- id [default: 1]
- output [default: log]
Messages
Services
Plugins
Recent questions tagged uav_random_direction at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
uav_random_direction package from swarm_behaviors reposwarm_behaviors_position swarm_behaviors_velocity swarm_behaviors uav_local_coverage uav_optimal_coverage uav_random_direction uav_simple_tracking ugv_random_walk |
ROS Distro
|
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 | 2021-02-04 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Micha Sende
Authors
- Micha Sende
uav_random_direction
This package performs random direction coverage with an unmanned aerial vehicle (UAV). It is part of the swarm behaviors library.
Dependencies
This package depends on the following message definitions:
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
)
The following packages of the sensing and actuation library are required:
- area_provider
- obstacle_detection
Further required packages are:
Execution
Run the launch file
roslaunch uav_random_direction uav_random_direction.launch
to launch the uav_random_direction
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_random_direction.yaml
that allows to configure the behavior of the uav_random_direction
node.
Nodes
uav_random_direction
The uav_random_direction
performs coverage using the random direction algorithm. The random direction is a mathematical movement model, where an agent moves straight forward until it reaches an obstacle or the environment boundary. There, it changes its direction randomly into a direction that is clear of obstacles. When the parameter single_target
is set to true
, the UAV succeeds once a target has been found and returns the target ID and position.
Action Goal
-
uav_coverage/goal
(cpswarm_msgs/CoverageGoal) A goal that starts the random direction coverage behavior. It contains the altitude at which to operate.
Action Result
-
uav_coverage/result
(cpswarm_msgs/CoverageResult) ID and position of the target that has been found.
Subscribed Topics
-
target_found
(cpswarm_msgs/TargetPositionEvent) Position and ID of a target detected by the target monitor. Only subscribed whensingle_target
is set totrue
.
Services Called
-
area/get_area
(cpswarm_msgs/GetPoints) Get the area polygon. -
obstacle_detection/get_clear_sector
(cpswarm_msgs/GetSector) Get the circular sector that is clear of obstacles.
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. -
~margin
(real, default:0.5
) The distance in meter to keep to the environment boundary. -
/rng_seed
(integer, default:0
) The seed used for random number generation. In the default case, a random seed is generated.
Code API
Changelog for package uav_random_direction
1.3.0 (2020-01-03)
1.2.0 (2019-12-29)
- Changed: Refactor library structure
- Changed: UAVs depart in different directions
- Changed: Read RNG seed from parameter, use random seed otherwise
- Changed: Return state aborted once coverage finishes
- Changed: Check if movement was successful
- Changed: Targets handled by swarm functions library
- Fixed: Change direction when obstacle detected
- Fixed: Correctly handle state of behavior algorithm
- Fixed: Force C++11
- Fixed: Returning of target
- Contributors: Micha Sende
1.1.0 (2018-11-12)
- Fixed: Computation of sector occupied by obstacles and other UAVs
- Contributors: Micha Sende
1.0.0 (2018-10-30)
- Initial release of uav_random_direction
- Contributors: Micha Sende
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
swarm_behaviors |
Launch files
- launch/uav_random_direction.launch
-
- id [default: 1]
- output [default: log]
Messages
Services
Plugins
Recent questions tagged uav_random_direction at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
uav_random_direction package from swarm_behaviors reposwarm_behaviors_position swarm_behaviors_velocity swarm_behaviors uav_local_coverage uav_optimal_coverage uav_random_direction uav_simple_tracking ugv_random_walk |
ROS Distro
|
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 | 2021-02-04 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Micha Sende
Authors
- Micha Sende
uav_random_direction
This package performs random direction coverage with an unmanned aerial vehicle (UAV). It is part of the swarm behaviors library.
Dependencies
This package depends on the following message definitions:
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
)
The following packages of the sensing and actuation library are required:
- area_provider
- obstacle_detection
Further required packages are:
Execution
Run the launch file
roslaunch uav_random_direction uav_random_direction.launch
to launch the uav_random_direction
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_random_direction.yaml
that allows to configure the behavior of the uav_random_direction
node.
Nodes
uav_random_direction
The uav_random_direction
performs coverage using the random direction algorithm. The random direction is a mathematical movement model, where an agent moves straight forward until it reaches an obstacle or the environment boundary. There, it changes its direction randomly into a direction that is clear of obstacles. When the parameter single_target
is set to true
, the UAV succeeds once a target has been found and returns the target ID and position.
Action Goal
-
uav_coverage/goal
(cpswarm_msgs/CoverageGoal) A goal that starts the random direction coverage behavior. It contains the altitude at which to operate.
Action Result
-
uav_coverage/result
(cpswarm_msgs/CoverageResult) ID and position of the target that has been found.
Subscribed Topics
-
target_found
(cpswarm_msgs/TargetPositionEvent) Position and ID of a target detected by the target monitor. Only subscribed whensingle_target
is set totrue
.
Services Called
-
area/get_area
(cpswarm_msgs/GetPoints) Get the area polygon. -
obstacle_detection/get_clear_sector
(cpswarm_msgs/GetSector) Get the circular sector that is clear of obstacles.
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. -
~margin
(real, default:0.5
) The distance in meter to keep to the environment boundary. -
/rng_seed
(integer, default:0
) The seed used for random number generation. In the default case, a random seed is generated.
Code API
Changelog for package uav_random_direction
1.3.0 (2020-01-03)
1.2.0 (2019-12-29)
- Changed: Refactor library structure
- Changed: UAVs depart in different directions
- Changed: Read RNG seed from parameter, use random seed otherwise
- Changed: Return state aborted once coverage finishes
- Changed: Check if movement was successful
- Changed: Targets handled by swarm functions library
- Fixed: Change direction when obstacle detected
- Fixed: Correctly handle state of behavior algorithm
- Fixed: Force C++11
- Fixed: Returning of target
- Contributors: Micha Sende
1.1.0 (2018-11-12)
- Fixed: Computation of sector occupied by obstacles and other UAVs
- Contributors: Micha Sende
1.0.0 (2018-10-30)
- Initial release of uav_random_direction
- Contributors: Micha Sende
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
swarm_behaviors |
Launch files
- launch/uav_random_direction.launch
-
- id [default: 1]
- output [default: log]
Messages
Services
Plugins
Recent questions tagged uav_random_direction at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
uav_random_direction package from swarm_behaviors reposwarm_behaviors_position swarm_behaviors_velocity swarm_behaviors uav_local_coverage uav_optimal_coverage uav_random_direction uav_simple_tracking ugv_random_walk |
ROS Distro
|
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 | 2021-02-04 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Micha Sende
Authors
- Micha Sende
uav_random_direction
This package performs random direction coverage with an unmanned aerial vehicle (UAV). It is part of the swarm behaviors library.
Dependencies
This package depends on the following message definitions:
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
)
The following packages of the sensing and actuation library are required:
- area_provider
- obstacle_detection
Further required packages are:
Execution
Run the launch file
roslaunch uav_random_direction uav_random_direction.launch
to launch the uav_random_direction
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_random_direction.yaml
that allows to configure the behavior of the uav_random_direction
node.
Nodes
uav_random_direction
The uav_random_direction
performs coverage using the random direction algorithm. The random direction is a mathematical movement model, where an agent moves straight forward until it reaches an obstacle or the environment boundary. There, it changes its direction randomly into a direction that is clear of obstacles. When the parameter single_target
is set to true
, the UAV succeeds once a target has been found and returns the target ID and position.
Action Goal
-
uav_coverage/goal
(cpswarm_msgs/CoverageGoal) A goal that starts the random direction coverage behavior. It contains the altitude at which to operate.
Action Result
-
uav_coverage/result
(cpswarm_msgs/CoverageResult) ID and position of the target that has been found.
Subscribed Topics
-
target_found
(cpswarm_msgs/TargetPositionEvent) Position and ID of a target detected by the target monitor. Only subscribed whensingle_target
is set totrue
.
Services Called
-
area/get_area
(cpswarm_msgs/GetPoints) Get the area polygon. -
obstacle_detection/get_clear_sector
(cpswarm_msgs/GetSector) Get the circular sector that is clear of obstacles.
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. -
~margin
(real, default:0.5
) The distance in meter to keep to the environment boundary. -
/rng_seed
(integer, default:0
) The seed used for random number generation. In the default case, a random seed is generated.
Code API
Changelog for package uav_random_direction
1.3.0 (2020-01-03)
1.2.0 (2019-12-29)
- Changed: Refactor library structure
- Changed: UAVs depart in different directions
- Changed: Read RNG seed from parameter, use random seed otherwise
- Changed: Return state aborted once coverage finishes
- Changed: Check if movement was successful
- Changed: Targets handled by swarm functions library
- Fixed: Change direction when obstacle detected
- Fixed: Correctly handle state of behavior algorithm
- Fixed: Force C++11
- Fixed: Returning of target
- Contributors: Micha Sende
1.1.0 (2018-11-12)
- Fixed: Computation of sector occupied by obstacles and other UAVs
- Contributors: Micha Sende
1.0.0 (2018-10-30)
- Initial release of uav_random_direction
- Contributors: Micha Sende
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
swarm_behaviors |
Launch files
- launch/uav_random_direction.launch
-
- id [default: 1]
- output [default: log]
Messages
Services
Plugins
Recent questions tagged uav_random_direction at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
uav_random_direction package from swarm_behaviors reposwarm_behaviors_position swarm_behaviors_velocity swarm_behaviors uav_local_coverage uav_optimal_coverage uav_random_direction uav_simple_tracking ugv_random_walk |
ROS Distro
|
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 | 2021-02-04 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Micha Sende
Authors
- Micha Sende
uav_random_direction
This package performs random direction coverage with an unmanned aerial vehicle (UAV). It is part of the swarm behaviors library.
Dependencies
This package depends on the following message definitions:
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
)
The following packages of the sensing and actuation library are required:
- area_provider
- obstacle_detection
Further required packages are:
Execution
Run the launch file
roslaunch uav_random_direction uav_random_direction.launch
to launch the uav_random_direction
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_random_direction.yaml
that allows to configure the behavior of the uav_random_direction
node.
Nodes
uav_random_direction
The uav_random_direction
performs coverage using the random direction algorithm. The random direction is a mathematical movement model, where an agent moves straight forward until it reaches an obstacle or the environment boundary. There, it changes its direction randomly into a direction that is clear of obstacles. When the parameter single_target
is set to true
, the UAV succeeds once a target has been found and returns the target ID and position.
Action Goal
-
uav_coverage/goal
(cpswarm_msgs/CoverageGoal) A goal that starts the random direction coverage behavior. It contains the altitude at which to operate.
Action Result
-
uav_coverage/result
(cpswarm_msgs/CoverageResult) ID and position of the target that has been found.
Subscribed Topics
-
target_found
(cpswarm_msgs/TargetPositionEvent) Position and ID of a target detected by the target monitor. Only subscribed whensingle_target
is set totrue
.
Services Called
-
area/get_area
(cpswarm_msgs/GetPoints) Get the area polygon. -
obstacle_detection/get_clear_sector
(cpswarm_msgs/GetSector) Get the circular sector that is clear of obstacles.
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. -
~margin
(real, default:0.5
) The distance in meter to keep to the environment boundary. -
/rng_seed
(integer, default:0
) The seed used for random number generation. In the default case, a random seed is generated.
Code API
Changelog for package uav_random_direction
1.3.0 (2020-01-03)
1.2.0 (2019-12-29)
- Changed: Refactor library structure
- Changed: UAVs depart in different directions
- Changed: Read RNG seed from parameter, use random seed otherwise
- Changed: Return state aborted once coverage finishes
- Changed: Check if movement was successful
- Changed: Targets handled by swarm functions library
- Fixed: Change direction when obstacle detected
- Fixed: Correctly handle state of behavior algorithm
- Fixed: Force C++11
- Fixed: Returning of target
- Contributors: Micha Sende
1.1.0 (2018-11-12)
- Fixed: Computation of sector occupied by obstacles and other UAVs
- Contributors: Micha Sende
1.0.0 (2018-10-30)
- Initial release of uav_random_direction
- Contributors: Micha Sende
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
swarm_behaviors |
Launch files
- launch/uav_random_direction.launch
-
- id [default: 1]
- output [default: log]
Messages
Services
Plugins
Recent questions tagged uav_random_direction at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
uav_random_direction package from swarm_behaviors reposwarm_behaviors_position swarm_behaviors_velocity swarm_behaviors uav_local_coverage uav_optimal_coverage uav_random_direction uav_simple_tracking ugv_random_walk |
ROS Distro
|
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 | 2021-02-04 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Micha Sende
Authors
- Micha Sende
uav_random_direction
This package performs random direction coverage with an unmanned aerial vehicle (UAV). It is part of the swarm behaviors library.
Dependencies
This package depends on the following message definitions:
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
)
The following packages of the sensing and actuation library are required:
- area_provider
- obstacle_detection
Further required packages are:
Execution
Run the launch file
roslaunch uav_random_direction uav_random_direction.launch
to launch the uav_random_direction
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_random_direction.yaml
that allows to configure the behavior of the uav_random_direction
node.
Nodes
uav_random_direction
The uav_random_direction
performs coverage using the random direction algorithm. The random direction is a mathematical movement model, where an agent moves straight forward until it reaches an obstacle or the environment boundary. There, it changes its direction randomly into a direction that is clear of obstacles. When the parameter single_target
is set to true
, the UAV succeeds once a target has been found and returns the target ID and position.
Action Goal
-
uav_coverage/goal
(cpswarm_msgs/CoverageGoal) A goal that starts the random direction coverage behavior. It contains the altitude at which to operate.
Action Result
-
uav_coverage/result
(cpswarm_msgs/CoverageResult) ID and position of the target that has been found.
Subscribed Topics
-
target_found
(cpswarm_msgs/TargetPositionEvent) Position and ID of a target detected by the target monitor. Only subscribed whensingle_target
is set totrue
.
Services Called
-
area/get_area
(cpswarm_msgs/GetPoints) Get the area polygon. -
obstacle_detection/get_clear_sector
(cpswarm_msgs/GetSector) Get the circular sector that is clear of obstacles.
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. -
~margin
(real, default:0.5
) The distance in meter to keep to the environment boundary. -
/rng_seed
(integer, default:0
) The seed used for random number generation. In the default case, a random seed is generated.
Code API
Changelog for package uav_random_direction
1.3.0 (2020-01-03)
1.2.0 (2019-12-29)
- Changed: Refactor library structure
- Changed: UAVs depart in different directions
- Changed: Read RNG seed from parameter, use random seed otherwise
- Changed: Return state aborted once coverage finishes
- Changed: Check if movement was successful
- Changed: Targets handled by swarm functions library
- Fixed: Change direction when obstacle detected
- Fixed: Correctly handle state of behavior algorithm
- Fixed: Force C++11
- Fixed: Returning of target
- Contributors: Micha Sende
1.1.0 (2018-11-12)
- Fixed: Computation of sector occupied by obstacles and other UAVs
- Contributors: Micha Sende
1.0.0 (2018-10-30)
- Initial release of uav_random_direction
- Contributors: Micha Sende
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
swarm_behaviors |
Launch files
- launch/uav_random_direction.launch
-
- id [default: 1]
- output [default: log]
Messages
Services
Plugins
Recent questions tagged uav_random_direction at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
uav_random_direction package from swarm_behaviors reposwarm_behaviors_position swarm_behaviors_velocity swarm_behaviors uav_local_coverage uav_optimal_coverage uav_random_direction uav_simple_tracking ugv_random_walk |
ROS Distro
|
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 | 2021-02-04 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Micha Sende
Authors
- Micha Sende
uav_random_direction
This package performs random direction coverage with an unmanned aerial vehicle (UAV). It is part of the swarm behaviors library.
Dependencies
This package depends on the following message definitions:
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
)
The following packages of the sensing and actuation library are required:
- area_provider
- obstacle_detection
Further required packages are:
Execution
Run the launch file
roslaunch uav_random_direction uav_random_direction.launch
to launch the uav_random_direction
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_random_direction.yaml
that allows to configure the behavior of the uav_random_direction
node.
Nodes
uav_random_direction
The uav_random_direction
performs coverage using the random direction algorithm. The random direction is a mathematical movement model, where an agent moves straight forward until it reaches an obstacle or the environment boundary. There, it changes its direction randomly into a direction that is clear of obstacles. When the parameter single_target
is set to true
, the UAV succeeds once a target has been found and returns the target ID and position.
Action Goal
-
uav_coverage/goal
(cpswarm_msgs/CoverageGoal) A goal that starts the random direction coverage behavior. It contains the altitude at which to operate.
Action Result
-
uav_coverage/result
(cpswarm_msgs/CoverageResult) ID and position of the target that has been found.
Subscribed Topics
-
target_found
(cpswarm_msgs/TargetPositionEvent) Position and ID of a target detected by the target monitor. Only subscribed whensingle_target
is set totrue
.
Services Called
-
area/get_area
(cpswarm_msgs/GetPoints) Get the area polygon. -
obstacle_detection/get_clear_sector
(cpswarm_msgs/GetSector) Get the circular sector that is clear of obstacles.
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. -
~margin
(real, default:0.5
) The distance in meter to keep to the environment boundary. -
/rng_seed
(integer, default:0
) The seed used for random number generation. In the default case, a random seed is generated.
Code API
Changelog for package uav_random_direction
1.3.0 (2020-01-03)
1.2.0 (2019-12-29)
- Changed: Refactor library structure
- Changed: UAVs depart in different directions
- Changed: Read RNG seed from parameter, use random seed otherwise
- Changed: Return state aborted once coverage finishes
- Changed: Check if movement was successful
- Changed: Targets handled by swarm functions library
- Fixed: Change direction when obstacle detected
- Fixed: Correctly handle state of behavior algorithm
- Fixed: Force C++11
- Fixed: Returning of target
- Contributors: Micha Sende
1.1.0 (2018-11-12)
- Fixed: Computation of sector occupied by obstacles and other UAVs
- Contributors: Micha Sende
1.0.0 (2018-10-30)
- Initial release of uav_random_direction
- Contributors: Micha Sende
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
swarm_behaviors |
Launch files
- launch/uav_random_direction.launch
-
- id [default: 1]
- output [default: log]
Messages
Services
Plugins
Recent questions tagged uav_random_direction at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
uav_random_direction package from swarm_behaviors reposwarm_behaviors_position swarm_behaviors_velocity swarm_behaviors uav_local_coverage uav_optimal_coverage uav_random_direction uav_simple_tracking ugv_random_walk |
ROS Distro
|
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 | 2021-02-04 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Micha Sende
Authors
- Micha Sende
uav_random_direction
This package performs random direction coverage with an unmanned aerial vehicle (UAV). It is part of the swarm behaviors library.
Dependencies
This package depends on the following message definitions:
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
)
The following packages of the sensing and actuation library are required:
- area_provider
- obstacle_detection
Further required packages are:
Execution
Run the launch file
roslaunch uav_random_direction uav_random_direction.launch
to launch the uav_random_direction
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_random_direction.yaml
that allows to configure the behavior of the uav_random_direction
node.
Nodes
uav_random_direction
The uav_random_direction
performs coverage using the random direction algorithm. The random direction is a mathematical movement model, where an agent moves straight forward until it reaches an obstacle or the environment boundary. There, it changes its direction randomly into a direction that is clear of obstacles. When the parameter single_target
is set to true
, the UAV succeeds once a target has been found and returns the target ID and position.
Action Goal
-
uav_coverage/goal
(cpswarm_msgs/CoverageGoal) A goal that starts the random direction coverage behavior. It contains the altitude at which to operate.
Action Result
-
uav_coverage/result
(cpswarm_msgs/CoverageResult) ID and position of the target that has been found.
Subscribed Topics
-
target_found
(cpswarm_msgs/TargetPositionEvent) Position and ID of a target detected by the target monitor. Only subscribed whensingle_target
is set totrue
.
Services Called
-
area/get_area
(cpswarm_msgs/GetPoints) Get the area polygon. -
obstacle_detection/get_clear_sector
(cpswarm_msgs/GetSector) Get the circular sector that is clear of obstacles.
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. -
~margin
(real, default:0.5
) The distance in meter to keep to the environment boundary. -
/rng_seed
(integer, default:0
) The seed used for random number generation. In the default case, a random seed is generated.
Code API
Changelog for package uav_random_direction
1.3.0 (2020-01-03)
1.2.0 (2019-12-29)
- Changed: Refactor library structure
- Changed: UAVs depart in different directions
- Changed: Read RNG seed from parameter, use random seed otherwise
- Changed: Return state aborted once coverage finishes
- Changed: Check if movement was successful
- Changed: Targets handled by swarm functions library
- Fixed: Change direction when obstacle detected
- Fixed: Correctly handle state of behavior algorithm
- Fixed: Force C++11
- Fixed: Returning of target
- Contributors: Micha Sende
1.1.0 (2018-11-12)
- Fixed: Computation of sector occupied by obstacles and other UAVs
- Contributors: Micha Sende
1.0.0 (2018-10-30)
- Initial release of uav_random_direction
- Contributors: Micha Sende
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
swarm_behaviors |
Launch files
- launch/uav_random_direction.launch
-
- id [default: 1]
- output [default: log]
Messages
Services
Plugins
Recent questions tagged uav_random_direction at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
uav_random_direction package from swarm_behaviors reposwarm_behaviors_position swarm_behaviors_velocity swarm_behaviors uav_local_coverage uav_optimal_coverage uav_random_direction uav_simple_tracking ugv_random_walk |
ROS Distro
|
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 | 2021-02-04 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Micha Sende
Authors
- Micha Sende
uav_random_direction
This package performs random direction coverage with an unmanned aerial vehicle (UAV). It is part of the swarm behaviors library.
Dependencies
This package depends on the following message definitions:
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
)
The following packages of the sensing and actuation library are required:
- area_provider
- obstacle_detection
Further required packages are:
Execution
Run the launch file
roslaunch uav_random_direction uav_random_direction.launch
to launch the uav_random_direction
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_random_direction.yaml
that allows to configure the behavior of the uav_random_direction
node.
Nodes
uav_random_direction
The uav_random_direction
performs coverage using the random direction algorithm. The random direction is a mathematical movement model, where an agent moves straight forward until it reaches an obstacle or the environment boundary. There, it changes its direction randomly into a direction that is clear of obstacles. When the parameter single_target
is set to true
, the UAV succeeds once a target has been found and returns the target ID and position.
Action Goal
-
uav_coverage/goal
(cpswarm_msgs/CoverageGoal) A goal that starts the random direction coverage behavior. It contains the altitude at which to operate.
Action Result
-
uav_coverage/result
(cpswarm_msgs/CoverageResult) ID and position of the target that has been found.
Subscribed Topics
-
target_found
(cpswarm_msgs/TargetPositionEvent) Position and ID of a target detected by the target monitor. Only subscribed whensingle_target
is set totrue
.
Services Called
-
area/get_area
(cpswarm_msgs/GetPoints) Get the area polygon. -
obstacle_detection/get_clear_sector
(cpswarm_msgs/GetSector) Get the circular sector that is clear of obstacles.
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. -
~margin
(real, default:0.5
) The distance in meter to keep to the environment boundary. -
/rng_seed
(integer, default:0
) The seed used for random number generation. In the default case, a random seed is generated.
Code API
Changelog for package uav_random_direction
1.3.0 (2020-01-03)
1.2.0 (2019-12-29)
- Changed: Refactor library structure
- Changed: UAVs depart in different directions
- Changed: Read RNG seed from parameter, use random seed otherwise
- Changed: Return state aborted once coverage finishes
- Changed: Check if movement was successful
- Changed: Targets handled by swarm functions library
- Fixed: Change direction when obstacle detected
- Fixed: Correctly handle state of behavior algorithm
- Fixed: Force C++11
- Fixed: Returning of target
- Contributors: Micha Sende
1.1.0 (2018-11-12)
- Fixed: Computation of sector occupied by obstacles and other UAVs
- Contributors: Micha Sende
1.0.0 (2018-10-30)
- Initial release of uav_random_direction
- Contributors: Micha Sende
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
swarm_behaviors |
Launch files
- launch/uav_random_direction.launch
-
- id [default: 1]
- output [default: log]
Messages
Services
Plugins
Recent questions tagged uav_random_direction at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
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uav_random_direction package from swarm_behaviors reposwarm_behaviors_position swarm_behaviors_velocity swarm_behaviors uav_local_coverage uav_optimal_coverage uav_random_direction uav_simple_tracking ugv_random_walk |
ROS Distro
|
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 | 2021-02-04 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Micha Sende
Authors
- Micha Sende
uav_random_direction
This package performs random direction coverage with an unmanned aerial vehicle (UAV). It is part of the swarm behaviors library.
Dependencies
This package depends on the following message definitions:
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
)
The following packages of the sensing and actuation library are required:
- area_provider
- obstacle_detection
Further required packages are:
Execution
Run the launch file
roslaunch uav_random_direction uav_random_direction.launch
to launch the uav_random_direction
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_random_direction.yaml
that allows to configure the behavior of the uav_random_direction
node.
Nodes
uav_random_direction
The uav_random_direction
performs coverage using the random direction algorithm. The random direction is a mathematical movement model, where an agent moves straight forward until it reaches an obstacle or the environment boundary. There, it changes its direction randomly into a direction that is clear of obstacles. When the parameter single_target
is set to true
, the UAV succeeds once a target has been found and returns the target ID and position.
Action Goal
-
uav_coverage/goal
(cpswarm_msgs/CoverageGoal) A goal that starts the random direction coverage behavior. It contains the altitude at which to operate.
Action Result
-
uav_coverage/result
(cpswarm_msgs/CoverageResult) ID and position of the target that has been found.
Subscribed Topics
-
target_found
(cpswarm_msgs/TargetPositionEvent) Position and ID of a target detected by the target monitor. Only subscribed whensingle_target
is set totrue
.
Services Called
-
area/get_area
(cpswarm_msgs/GetPoints) Get the area polygon. -
obstacle_detection/get_clear_sector
(cpswarm_msgs/GetSector) Get the circular sector that is clear of obstacles.
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. -
~margin
(real, default:0.5
) The distance in meter to keep to the environment boundary. -
/rng_seed
(integer, default:0
) The seed used for random number generation. In the default case, a random seed is generated.
Code API
Changelog for package uav_random_direction
1.3.0 (2020-01-03)
1.2.0 (2019-12-29)
- Changed: Refactor library structure
- Changed: UAVs depart in different directions
- Changed: Read RNG seed from parameter, use random seed otherwise
- Changed: Return state aborted once coverage finishes
- Changed: Check if movement was successful
- Changed: Targets handled by swarm functions library
- Fixed: Change direction when obstacle detected
- Fixed: Correctly handle state of behavior algorithm
- Fixed: Force C++11
- Fixed: Returning of target
- Contributors: Micha Sende
1.1.0 (2018-11-12)
- Fixed: Computation of sector occupied by obstacles and other UAVs
- Contributors: Micha Sende
1.0.0 (2018-10-30)
- Initial release of uav_random_direction
- Contributors: Micha Sende
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
swarm_behaviors |
Launch files
- launch/uav_random_direction.launch
-
- id [default: 1]
- output [default: log]
Messages
Services
Plugins
Recent questions tagged uav_random_direction at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
uav_random_direction package from swarm_behaviors reposwarm_behaviors_position swarm_behaviors_velocity swarm_behaviors uav_local_coverage uav_optimal_coverage uav_random_direction uav_simple_tracking ugv_random_walk |
ROS Distro
|
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 | 2021-02-04 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Micha Sende
Authors
- Micha Sende
uav_random_direction
This package performs random direction coverage with an unmanned aerial vehicle (UAV). It is part of the swarm behaviors library.
Dependencies
This package depends on the following message definitions:
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
)
The following packages of the sensing and actuation library are required:
- area_provider
- obstacle_detection
Further required packages are:
Execution
Run the launch file
roslaunch uav_random_direction uav_random_direction.launch
to launch the uav_random_direction
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_random_direction.yaml
that allows to configure the behavior of the uav_random_direction
node.
Nodes
uav_random_direction
The uav_random_direction
performs coverage using the random direction algorithm. The random direction is a mathematical movement model, where an agent moves straight forward until it reaches an obstacle or the environment boundary. There, it changes its direction randomly into a direction that is clear of obstacles. When the parameter single_target
is set to true
, the UAV succeeds once a target has been found and returns the target ID and position.
Action Goal
-
uav_coverage/goal
(cpswarm_msgs/CoverageGoal) A goal that starts the random direction coverage behavior. It contains the altitude at which to operate.
Action Result
-
uav_coverage/result
(cpswarm_msgs/CoverageResult) ID and position of the target that has been found.
Subscribed Topics
-
target_found
(cpswarm_msgs/TargetPositionEvent) Position and ID of a target detected by the target monitor. Only subscribed whensingle_target
is set totrue
.
Services Called
-
area/get_area
(cpswarm_msgs/GetPoints) Get the area polygon. -
obstacle_detection/get_clear_sector
(cpswarm_msgs/GetSector) Get the circular sector that is clear of obstacles.
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. -
~margin
(real, default:0.5
) The distance in meter to keep to the environment boundary. -
/rng_seed
(integer, default:0
) The seed used for random number generation. In the default case, a random seed is generated.
Code API
Changelog for package uav_random_direction
1.3.0 (2020-01-03)
1.2.0 (2019-12-29)
- Changed: Refactor library structure
- Changed: UAVs depart in different directions
- Changed: Read RNG seed from parameter, use random seed otherwise
- Changed: Return state aborted once coverage finishes
- Changed: Check if movement was successful
- Changed: Targets handled by swarm functions library
- Fixed: Change direction when obstacle detected
- Fixed: Correctly handle state of behavior algorithm
- Fixed: Force C++11
- Fixed: Returning of target
- Contributors: Micha Sende
1.1.0 (2018-11-12)
- Fixed: Computation of sector occupied by obstacles and other UAVs
- Contributors: Micha Sende
1.0.0 (2018-10-30)
- Initial release of uav_random_direction
- Contributors: Micha Sende
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
swarm_behaviors |
Launch files
- launch/uav_random_direction.launch
-
- id [default: 1]
- output [default: log]
Messages
Services
Plugins
Recent questions tagged uav_random_direction at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.