See aws_deepracer_sensor_fusion_pkg on index.ros.org for more info including anything ROS 2 related.
Contents
Overview
The DeepRacer Sensor Fusion ROS package creates the sensor_fusion_node which is part of the core AWS DeepRacer application and will be launched from the deepracer_launcher. More details about the application and the components can be found here.
License
The source code is released under Apache 2.0.
Supported ROS Distributions
- Foxy
Node Details
sensor_fusion_node
Subscribed Topics
/rplidar_ros/scan (msg/LaserScan)- This message holds the LiDAR data published by the rplidar_ros package.
- This message holds the single camera or two camera images from the connected cameras published by the camera_pkg.
- This message holds one camera image used for display in the UI published by the camera_pkg.
Published Topics
/sensor_fusion_pkg/overlay_msg (msg/Image)- Publisher to publish the overlay message with sector LiDAR information highlighting nearby obstacles overlayed over the camera image frame.
- Publisher that publishes combined sensor messages with camera data and LiDAR data.
Services
sensor_data_status (srv/SensorStatusCheckSrv)- Service that is called to find out the data status of the cameras and the LiDAR sensors. Based on whether the single camera/stereo camera/LiDAR data is being read by the node, the corresponding sensor status are set.
- Service called to dynamically configure LiDAR processing information for each model. It allows to set the LiDAR preprocessing information like the maximum distance, minimum distance, number of sectors etc., which will be used to create the sensor message being published for running the inference for the particular model selected.
