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Package Summary
| Tags | No category tags. |
| Version | 0.3.5 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/utexas-bwi/segbot.git |
| VCS Type | git |
| VCS Version | indigo |
| Last Updated | 2018-03-09 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Contains sensor specific launch files and all the relevant filters that are
applied on sensor data before being used by the segbot.
Additional Links
Maintainers
- Piyush Khandelwal
- Jack O'Quin
Authors
- Piyush Khandelwal
Overview
The segbot_sensors package contains special-purpose drivers for the UTexas BWI segbots.
ROS interfaces
arduino_driver
This node reads serial messages from the Arduino board, converting data from various attached sensors into ROS messages.
Published topics
-
battery0(sensor_msgs/BatteryState) -
Main segbot battery voltage measurements.
-
imu0(sensor_msgs/Imu) -
Acceleration data from the inertial measurement unit.
-
sonar(sensor_msgs/Range) -
Sonar ranges for each attached device in its own tf frame.
-
/diagnostics(diagnostic_msgs/DiagnosticArray) -
Various device diagnostics.
Parameters
-
~baud(int, default: 115200) -
Baud rate for the Arduino serial port.
-
~port(string, default: /dev/ttyACM0) -
Serial port attached to the Arduino.
Usage
To run just this driver node:
$ rosrun segbot_sensors arduino_driver
ranges_to_cloud
This node converts sonar Range messages to point clouds.
Subscribed topics
-
sonar(sensor_msgs/Range) -
Sonar ranges for each attached device.
Published topics
-
sensor_ranges(sensor_msgs/PointCloud2) -
A centered distance point for each sonar range.
Usage
To run both the arduino_driver and this node:
$ roslaunch segbot_sensors arduino.launch
CHANGELOG
Changelog for package segbot_sensors
0.3.5 (2016-08-27)
0.3.4 (2016-08-08)
- unit test fixes (#65)
- fix roslint errors
- add missing dependency (#62)
- modifications to the battery estimator to accomodate values greater than that of which the model was fitted from
- updated the battery_diagnostics node to use a battery model if one exists on the segbot. If so, battery estimation times are added to diagnostics, otherwise its business as usual.
- modified naming system for diagnostic messages. Added python dependencies required by the battery_profiler.py
- segbot_v3: add robot monitor for diagnostics
- added additional flexability to the battery_diagnostics sendmail node that will now allow parameters to be set in the launch file to reflect local segbot differences (different threshold levels, etc). Appropriate values have been added for the segbot_v3 in its launchfile. The segbot_v3 controller now republishes battery information onto the topic assumed by the battery diagnostics.
- updated for hokuyo on segbot v3
- changed filter in velodyne launch script.
- added an outlier removal filter for the velodyne.
- added statistical outlier filter.
- switch from pointcloud to laserscan in navigation for the velodyne. Introduce the scan shadows filter.
- added velodyne launch files for version 3
- Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal
0.3.3 (2015-08-05)
- partial fix to #48.
- segbot_sensors: lower bettery diagnostics smoothing parameter (#40)
- segbot_sensors: set rospy.Publisher queue_size (fixes #38)
- updated kinect launch file to work on both hydro and indigo.
- segbot_sensors: convert to package format two (#35)
- segbot_sensors: add missing diagnostics dependencies (#35) add launch check for diagnostics script
- segbot_sensors: separate basic arduino launch from test scaffolding (#35)
- segbot_sensors: use narrower sonar field of view, experimentally measured
- Contributors: Jack O'Quin, Maxwell Svetlik, Piyush Khandelwal
0.3.2 (2015-03-31)
0.3.1 (2015-03-24)
0.3.0 (2015-03-14)
- use different list of filters for segbot v1 and segbot v2 due to differences between different laser models.
- added a launch file for ethernet hokuyo for segbot v2.
- added some code to process low battery messages. The robots will now attempt to send an email if they're reaching low battery levels.
- big rework of all the arduino code to support the sensors on the new mounting plate.
- added some diagnostic publications.
- removed hack in nan_to_inf filter that was setting values to max_range - epsilon.
- Contributors: Jack O'Quin, Jivko Sinapov, Maxwell Svetlik, Piyush Khandelwal
0.2.1 (2014-04-24)
- fix some problems catkin_lint discovered
- segbot_sensors: make roslaunch checks complete (#20)
0.2.0 (2014-04-17)
- Release to Hydro.
- segbot_sensors: add explicit build dependency on nodelet.
- segbot_sensors: restore missing build dependencies (fixes #25).
- Added udev rules for segbot, and updated the kinect laserscan configuration.
- Removed catkin_lint errors. Modify parser so a single Arduino message can provide any subset of the sensors.
- sensor_ranges_driver: get port and baud from ROS parameters If port is not a tty, open as a regular file containing test data.
- segbot_sensors: add explicit message dependency to CMakeLists.txt.
- segbot_sensors: add no-op ranges to cloud nodelet.
- sensor_ranges_driver: ignore non-ASCII characters sent from device.
- sensor_ranges_driver: improve shutdown and error handling.
- segbot_sensors: use roslint on Python scripts to do PEP8 checking.
- segbot_sensors: add sensor_ranges_driver for Arduino data.
- Updated descriptions and licensing information.
0.1.9 (2013-12-15)
0.1.8 (2013-12-04)
- add missing segbot_sensors dependency on depthimage_to_laserscan (#20).
- use
roslaunch_add_files_check()to test that required launch file dependencies are declared. - fixed a few minor errors found on the real robot
- added configuration with both the hokuyo and kinect in it
- preparing to add kinect as well as the hokuyo for navigation
- change nan to inf filter to handle max_range+ values as well. need to sort this all out in navigation
- update change history
- segbot_sensors: test any kinect launch files that do not us openni_launch (#20)
- add roslaunch_add_file_check() unit test (#20, ros-drivers/openni_launch#10)
- add missing segbot_sensors dependency on depthimage_to_laserscan (#20)
- fixed issue with hydro costmap not accepting +inf range values
0.1.7 (2013-09-03)
- increased footprint where laser points are ignored. closes #19
0.1.6 (2013-08-13)
- removed nodelet manager reuse for depthimage_to_laserscan for the time being
- fixed segbot_bringup to work with upcoming changes to freenect/openni launch files
- assume no reading from kinect means clear. closes #17
- fixed cmake function ordering
- removed nan_to_inf filter from hokuyo config. closes #11
0.1.5 (2013-07-16)
- cleaned up and alphabetized cmake and package description files
- nan_to_inf temporarily sets 0 values to inf as well. see #5
0.1.4 (2013-07-13)
- releasing 0.1.4 with properly formatted changelogs. see #10
- some cmake cleanup
0.1.3 (2013-07-10)
- uncommented openni_launch as it has now been released into hydro. closes #9
0.1.0 (2013-06-28)
- fixed typo in filename
- adding convenience vizualization launch file
- now using only 50 pixels for depthimage_to_laserscan
- added dependency on filters to use plugin export correctly
- freenect_launch has been released into hydro, uncommenting run_depend in package.xml
- finished catkinizing segbot_sensors #6
- catkinizing against hydro. progress towards #6
- added NanToInf to exported plugins list
- fixed filters to split off footprint exclusion from processing nan values
- converting nans from the sensor to positive infinite - feature used by new costmap_2d to assume no readings are empty
- using entire height of kinect to generate laserscan. This does mean we get some points from the ground. need to improve filters to handle this
- checking in configuration code not committed last time
- chaning laser range to front 150 degrees
- Revert "Test commit" This reverts commit 46c41cf9697ff40e67a750438d91d226fc34b3bd.
- Test commit
- Created launch file for USB cameras
- footprint filter now handles min and max ranges correctly
- added a new configuration for the Pharos IRISS group
- updated manifest for sensors package
- updated code to use depthimage_to_laserscan instead of pointcloud_to_laserscan
- added a launch file, changed filter name to get rid of deprecation warning, added reading of tf prefix
- bug fixes + now publishing the footprint polygon + appropriate configuration changes
- added an untested laser filter plugin for removing laser returns on the segbot polygon footprint
- fixed up h/w launch files, separating out common simulation elements
- reogranized all the sensor launch files
- a simple launch script to test naming and namespacing for the kinect
- fixed a bug in kinect.launch, also added device_id as a parameter
- some basic fixes to the hokuyo launch stuff - requires some testing on the actual hokuyo
- changed the custom version of openni.launch to use kinect_frames from freenect_launch. This allows having a top level namespace in the kinect frames as well
- fixed file permissions, also added a tf link from the base of the laser to the the laser itself
- fixed a number of tf_prefix related issues
- fixed parameter values for pointcloud_to_laserscan
- fixed up the kinect based segway launch file (missing the device id for now)
- added convenience launch script for the hokuyo
- renamed launch file argument appropriately
- directly accessing main freenect launch file (as I should have in the first place)
- some untested launch files for the kinect
- some launch file reorganization
- added a separate package to hold launch files for sensors, mostly while kinect issues are sorted out
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| segbot | |
| segbot_bringup |
Launch files
- test/test_arduino.launch
-
- baud [default: 115200]
- frame_id [default: sensor_base]
- port [default: /dev/ttyACM0]
- publish_tf [default: true]
- tf_prefix [default: ]
- test/named-kinect-ns.launch
- test/named-hokuyo-ns.launch
- launch/arduino/arduino.launch
-
- baud [default: 115200]
- frame_id [default: sensor_plate_link]
- port [default: /dev/ttyACM0]
- tf_prefix [default: ]
- launch/velodyne/velodyne-laserscan.launch
-
- tf_prefix [default: ]
- in_topic [default: velodyne_points]
- out_topic [default: velodyne/scan_filtered]
- min_height [default: -0.3]
- max_height [default: 0.3]
- launch_nodelet_manager [default: true]
- launch/velodyne/velodyne.launch
-
- tf_prefix [default: ]
- calibration [default: $(find velodyne_pointcloud)/params/VLP16db.yaml]
- min_range [default: 0.4]
- max_range [default: 130.0]
- launch/velodyne/velodyne-filters.launch
-
- in_topic [default: velodyne/scan]
- out_topic [default: velodyne/scan_filtered]
- launch/hokuyo/hokuyo-frames.launch
-
- name [default: laser]
- launch/hokuyo/eth_hokuyo.launch
-
- tf_prefix [default: ]
- name [default: laser]
- publish_tf [default: true]
- launch/hokuyo/hokuyo.launch
-
- tf_prefix [default: ]
- name [default: laser]
- publish_tf [default: true]
- topic [default: scan]
- launch/hokuyo/hokuyo-filters.launch
-
- filters [default: $(find segbot_sensors)/config/hokuyo_filters.yaml]
- launch/kinect/kinect-laserscan.launch
-
- camera [default: camera]
- tf_prefix [default: ]
- use_registered [default: false]
- out_topic [default: scan_filtered]
- min_height [default: -0.1]
- max_height [default: 0.1]
- launch/kinect/kinect-filters.launch
-
- in_topic [default: scan]
- out_topic [default: scan_filtered]
- launch/kinect/kinect.launch
-
- name [default: camera]
- tf_prefix [default: ]
- device_id [default: #1]
- depth_only [default: false]
- publish_tf [default: false]
- launch/ptgrey/usbcam.launch
- launch/diagnostic/diagnostics.launch
- launch/rviz.launch
Messages
No message files found.
Services
No service files found
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