Documentation Status

art_vehicle: applanix | art_common | art_image | art_map | art_msgs | art_nav | art_observers | art_pilot | art_run | art_servo | art_teleop | simulator_art

Package Summary

Documented

Road obstacle observers for the ART autonomous vehicle.

art_vehicle: applanix | art_common | art_image | art_map | art_msgs | art_nav | art_observers | art_pilot | art_run | art_servo | art_teleop | simulator_art

Package Summary

Documented

Road obstacle observers for the ART autonomous vehicle.

art_vehicle: applanix | art_common | art_image | art_map | art_msgs | art_nav | art_observers | art_pilot | art_run | art_servo | art_teleop | simulator_art

Package Summary

Documented

Road obstacle observers for the ART autonomous vehicle.

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Overview

This is an experimental package. Significant interface changes are anticipated. Some are outlined below.

It provides ROS nodes for publishing observations about obstacles in the road.

ROS Nodes

observers_node

Observers for obstacles in lanes.

Subscribed Topics

velodyne/obstacles (sensor_msgs/PointCloud)
  • known obstacles from Velodyne
obstacles (sensor_msgs/PointCloud2)
  • all known obstacles
roadmap_local (art_msgs/ArtLanes)
  • local road map

Published Topics

observations (art_msgs/ObservationArray)
  • An array of current observations.
visualization_marker_array (visualization_msgs/MarkerArray)
  • Marks for occupied map polygons.

Parameters

map_frame_id (str, default: "/map")
  • Absolute frame ID of road map.
robot_frame_id (str, default: "vehicle")
  • Frame ID of robot (resolved using tf_prefix if defined).
max_range (double, default: 80.0)
  • Maximum valid obstacle range (meters).

points_on_road

Publish point cloud of obstacles detected on the road.

Subscribed Topics

velodyne/obstacles (sensor_msgs/PointCloud)
  • current obstacles from Velodyne
roadmap_local (art_msgs/ArtLanes)
  • local road map

Published Topics

obstacles/points_on_road (sensor_msgs/PointCloud)
  • Point cloud with each lane quadrilateral containing an obstacle.

To Do List

Wiki: art_observers (last edited 2011-11-18 22:49:09 by JackOQuin)