uav_simple_tracking

This package tracks a target 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

Further required packages are: * roscpp * actionlib

Execution

Run the launch file

roslaunch uav_simple_tracking uav_simple_tracking.launch

to launch the uav_simple_tracking 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_simple_tracking.yaml that allows to configure the behavior of the uav_simple_tracking node.

Nodes

uav_simple_tracking

The uav_simple_tracking tracks a target with a UAV. The UAV moves to the position straight over the target. The position of the target is updated by the target monitor from the swarm functions library. When the target is lost, i.e., the target is not in the camera field of view anymore, the tracking aborts. When the target is done, i.e., handled by another CPS, the tracking succeeds.

Action Goal

• uav_tracking/goal (cpswarm_msgs/TrackingGoal) A goal that starts the tracking behavior. It contains the ID of the target to track and the altitude at which to operate.

Subscribed Topics

• target_update (cpswarm_msgs/TargetPositionEvent) Position updates of the target being tracked.
• target_lost (cpswarm_msgs/TargetPositionEvent) Whether the target being tracked has been lost.
• target_done (cpswarm_msgs/TargetPositionEvent) Whether the target being tracked has been handled by another CPS.

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.

Code API

uav_simple_tracking package code API documentation

Changelog for package uav_simple_tracking

1.3.0 (2020-01-03)

1.2.0 (2019-12-29)

• Fixed: Handling of target rescued event
• Changed: Refactor library structure
• Changed: Check if movement was successful
• Changed: Targets handled by swarm functions library
• Fixed: Correctly handle state of behavior algorithm
• Fixed: Force C++11
• Contributors: Micha Sende

1.1.0 (2018-11-12)

• Contributors: Micha Sende

1.0.0 (2018-10-30)

• Initial release of uav_simple_tracking
• Contributors: Micha Sende