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Generating views for the gridMode of the asr_direct_search_manager
Description: This tutorial gives a step-to-step description for generating views for the gridMode of the asr_direct_search_manager.Tutorial Level: BEGINNER
Description
This tutorial gives a step-to-step description for generating views for the gridMode of the asr_direct_search_manager.
The basic stepts introduce the procedure for generating the grid. The grid will be saved in a file. Afterwards the file can be read by the asr_direct_search_manager. At each grid point the robot will generate views to cover the search space around the grid point.
There is one special case by using prior knwonledge in the asr_direct_search_manager with the gridMode. To use the prior knownledge it is needed to have the camera pose for each view. However, in the grid mode there is only the robot pose and the PTU-config given. To get the corresponding camera pose there is an additonal mode (the grid_initialisation mode). In that mode the grid will be fully departed and the camera pose can be accessed with tf and will be saved for the later use. As a result, there are additional steps necessary.
It is recomended to do the additional steps to ensure to have all functionality.
Tutorial
Basic Steps
In asr_grid_creator/param/labor_param.yaml
width/height: Adjust to the used map size
The (Min/Max/Step) defines the ranges in which the generation took place. The best one will be saved at the end. The best grid is the one with the most reachable (by the robot) grid points.
StepSize(Min/Max/Step): Adjust to the length of the frustum Htrans/Vtrans/Offset(Min/Max/Step): There is no generally rule to adjust them right. It depends on the obstacles located in the map. The best way is to try different configurations
Be careful of choosing the (Min/Max/Step) between each parameters. The run time will explode fast.
Additional Steps
Adjust asr_direct_search_manager/launch/direct_search_manager.launch::gridFilePath to asr_grid_creator/launch/asr_grid_creator.launch::ExitXML
In asr_direct_search_manager/param/direct_search_manager_settings.yaml
directSearchMode: 3 for grid_initialisation
fovH/fovV : Adjust to frustum
clearVision: Maybe this param has to be adjust, too. Depending on fovH/fovV
In asr_state_machine/param/params.yaml
mode: 7 for grid init record search
UseFakeMoveBase: true
Start and execute the asr_state_machine and the other components like described in the asr_resources_for_active_scene_recognition.
Common mistakes
The range of the (Min/Max/Step) is to high, so that the run time explodes.
