Only released in EOL distros:
Package Summary
ROS dynamic environment model provided by dcgm-robotics@FIT group.
- Author: Vit Stancl (stancl@fit.vutbr.cz), Tomas Lokaj, Jan Gorig, Michal Spanel (spanel@fit.vutbr.cz)
- License: LGPL
- Source: git https://github.com/ipa320/srs_public.git (branch: master)
Package Summary
ROS dynamic environment model provided by dcgm-robotics@FIT group.
- Author: Vit Stancl (stancl@fit.vutbr.cz), Tomas Lokaj, Jan Gorig, Michal Spanel (spanel@fit.vutbr.cz)
- License: LGPL
- Source: git https://github.com/ipa320/srs_public.git (branch: master)
Package Summary
ROS dynamic environment model provided by dcgm-robotics@FIT group.
- Author: Vit Stancl (stancl@fit.vutbr.cz), Tomas Lokaj, Jan Gorig, Michal Spanel (spanel@fit.vutbr.cz)
- License: LGPL
- Source: git https://github.com/ipa320/srs_public.git (branch: master)
Contents
Overview
This package provides a new Dynamic Environment Model server partially based on OctomapServer from the octomap_mapping stack. The model manages information about all detected, permanent, temporary and moving objects in the environment. It publishes own topics, subscribes to some of input data stream topics and it's internal state can be controlled by services. We have created some simple tutorials that walk you through basic using it.
System architecture
The Dynamic Environment Model (DEM) serves as a node containing octomap of the scene viewed by sensors and additional data types storing detected objects.
Environment model server is based on core-plugin architecture model. Whole this structure can be virtually divided into two parts - plugins connected to the octomap and independent data structures. The first part serves as a "raw data" processor. It tranforms input octomap to the different data structure. The second part of the environment server contains some "higher level" data structures, added by some detectors in general.
- Raw data structures
- Octo map
- Collision map
- Collision grid
- Collision objects
- 2D map
- Marker array
- Point cloud
- Other data structures
- Object tree
- Other plugins
- Compressed point cloud plugin
- Example plugin
- Limited point cloud plugin
Octo map plugin
Contains octomap data - octomap tree with own node type (octomap::EModelTreeNode). Can be subscribed to the point cloud publishing topic to fill the map. This plugin is used by some other plugins as a data source.
The octomap plugin also supports RGB colouring of the point cloud based on the data from RGB camera. Other provided functionality is octree filtering used to remove speckles and faster noise removal in the view cone.
Collision map plugin
This plugin converts occupied octomap nodes to the collision map (arm_navigation_msgs::CollisionMap). Diameter can be set to limit robot collision distance (this leads to smaller data flow).
Collision grid plugin
This plugin also converts occupied octomap nodes to the other form - occupancy grid (nav_msgs::OccupancyGrid). Used tree depth, map x and y direction sizes can be set.
Collision objects plugin
It converts and publishes occupied octomap nodes to the collision objects (rm_navigation_msgs::CollisionObject).
Compressed point cloud plugin
This plugin takes robot camera position and uses it to filter currently visible part of octomap. This is converted to the point cloud form and it is sent as differential frame. The compressed_pc_publisher node can be used to combine differential frames and to publish complete octomap again (in the usuall point cloud form). This indirectness can be used to lower data flow.
2D map plugin
It converts and publishes octomap nodes to the 2D map (nav_msgs::OccupancyGrid).
Marker array plugin
It converts and publishes octomap nodes to the marker array (visualization_msgs::MarkerArray).
Point cloud plugin
It can convert incomming point cloud (sensor_msgs::PointCloud2) frame id to some other and re-publishes it.
Object tree plugin
This plugin is used to store objects detected by various perceptors. These objects are stored in octree structure and they are represented by their position and other needed parameters instead of point cloud. Objects can be visualized with srs_interaction_primitives package.
Currently plugin supports bounding boxes and planes detected by tools in the srs_env_model_percp package. All plugin functionality is provided by services.
Compressed point cloud plugin
This plugin publishes only visible part of the environment model. This cloud can be used as live sight on octomap data or can be used together with compressed point cloud publisher to transfer octomap to the other device.
Compressed point cloud publisher node
This node can be used to assembly and publish complete octomap from differential frames published by compressed point cloud plugin.
ROS API
Nodes
Node Name |
Published Topics |
Description |
but_server_node |
|
Main server node. |
compressed_pc_publisher |
/input |
Differrential frames completion and complete octomap publishing |
Services
All services are published in the /but_env_model/ namespace.
Service Name |
Input |
Output |
Description |
server_reset |
|
|
Reset server |
server_pause |
|
|
Pause server |
server_use_input_color |
bool |
|
Set true (default) if input color information should be stored and used. |
get_collision_map |
int32 - local version stamp id |
arm_navigation_msgs/CollisionMap |
Get current collision map. |
insert_planes |
srs_env_model_msgs/PlaneArray plane_array |
|
Add array of planes |
reset_octomap |
|
|
Reset only octomap data. |
load_octomap |
string - input file name |
bool - true if all ok |
Tries to load octomap file (without header) as a new env. model |
load_octomap_full |
string - input file name |
bool - true if all ok |
Tries to load octomap file (with header) as a new env. model |
save_octomap |
string - output file name |
bool - true if all ok |
Tries to store current env. model as octomap file (without header) |
save_octomap_full |
string - output file name |
bool - true if all ok |
Tries to store current env. model as octomap file (with header) |
add_cube_to_octomap |
geometry_msgs::Pose - cube position, geometry_msgs::Pose - cube size |
|
Set all cells inside given box as occupied |
remove_cube_from\n_octomap |
geometry_msgs::Pose - cube position, geometry_msgs::Pose - cube size |
|
Set all cells inside given box as free |
lock_collision_map |
bool - true if lock |
|
Lock collision map - map will not be updated from octree. Should be called before manual modifications. |
is_new_collision_map |
time - time stamp of local data |
bool - true if new data present, time - timestamp of new data |
Service can be used to test if new collision map data is present |
add_cube_to_collision_map |
geometry_msgs::Pose - cube position, geometry_msgs::Pose - cube size |
|
Set all collision maps cells inside given box as occupied |
remove_cube_from\n_collision_map |
geometry_msgs::Pose - cube position, geometry_msgs::Pose - cube size |
|
Set all collision map cells inside given box as free |
set_crawl_depth |
uint8 - tree depth |
Set tree depth used for publishing |
|
get_tree_depth |
|
uint16 - tree depth |
Get octomap tree depth |
Object tree plugin services
Services provided by Object tree plugin can be divided into two parts. The first one is common for all saved objects. Services in the other one have variants for all supported objects. All services are published in the /but_env_model/ namespace.
Service Name |
Input |
Output |
Description |
get_objects_in_box |
|
uint32[] object_ids |
Returns ids of objects inside a box. |
get_objects_in_halfspace |
|
uint32[] object_ids |
Returns ids of objects inside a halfspace defined by plane. |
get_objects_in_sphere |
|
uint32[] object_ids |
Returns ids of objects inside a sphere. |
remove_object |
uint32 object_id |
|
Removes object from object tree. |
show_object |
uint32 object_id |
|
Shows object using a srs_interaction_primitives server. |
show_objtree |
|
|
Show octree structure using a Marker. |
The following services are available for these object types: plane, aligned_box and bounding_box. All services are published in the /but_env_model/ namespace.
Service Name |
Input |
Output |
Description |
get_{object_type} |
uint32 object_id |
object_description |
Gets object from object tree. |
get_similar_{object_type} |
object_description |
uint32 object_id |
Checks object tree for object similar to object in input parameter. Returns -1 if no such exists. |
insert_{object_type} |
object_description |
uint32 object_id |
Inserts object into object tree. Replaces object with same id if exists. |
insert_{object_type}_by_position |
object_description |
uint32 object_id |
Inserts object into object tree. Replaces similar object if exists. |
Messages
Msg Name |
Content |
Description |
|| srs_env_model/OctomapUpdates ||
- header
- uint8 - 0 if this is partial frame
- sensor_msgs/CameraInfo - robot camera position used in frame
- sensor_msgs/PointCloud2 - frame data
|| Partial frame message used in compressed pointcloud plugin. ||
Published topics
List of all published topics. All topics are published in the /but_env_model/ namespace.
Topic Name |
Message |
Description |
visualization_marker |
visualization_msgs/Marker |
Visualization markers |
collision_object |
arm_navigation_msgs/CollisionObject |
Octomap data - occupied nodes - as a collision objects |
pointcloud_centers |
sensor_msgs/PointCloud2 |
Octomap data - occupied nodes - as a point cloud |
collision_map |
arm_navigation_msgs/CollisionMap |
Diameter limited octomap converted to the collision map |
marker_array_object |
visualization_msgs/MarkerArray |
Octomap data as a marker array |
map2d_object |
nav_msgs/OccupancyGrid |
Whole octomap converted to the 2D map |
binary_octomap |
octomap_ros/OctomapBinary |
Binary octomap data - whole tree |
visible_pointcloud_centers |
sensor_msgs/PointCloud2 |
Octomap data - occupied nodes visible from the rviz camera - as a point cloud |
Installation
All components are in srs git in srs_env_model package and can be compiled with ROS standard tool rosmake
rosmake srs_env_model
Configuration
Octo map plugin
For further information about octomap library and meaning of its parameters see: http://octomap.sourceforge.net
Octomap and sensor parameters:
Parameter name |
Description |
Default value |
resolution |
Octomap resolution |
0.1 |
sensor_model/hit |
Probability value set to the occupied node. |
0.7 |
sensor_model/miss |
Probability value set to the free node |
0.4 |
sensor_model/min |
Clamping minimum threshold |
0.12 |
sensor_model/max |
Clamping maximum threshold |
0.97 |
max_range |
Maximal sensor scope |
-1.0 - no range check |
octomap_publishing_topic |
Binary octomap publishing topic name |
butsrv_binary_octomap |
Outdated node filtering parameters:
Parameter name |
Description |
Default value |
camera_info_topic |
Camera info topic name |
/cam3d/camera_info |
visualize_markers |
Should markers displayng camera cone be visualized? |
true |
markers_topic |
Markers topic name |
visualization_marker |
camera_stereo_offset_left |
Stereo camera left eye offset |
128 |
camera_stereo_offset_right |
Stereo camera right eye offset |
0 |
Ground plane filtering parameters:
Parameter name |
Description |
Default value |
filter_ground |
Should ground plane be filtered? |
false |
ground_filter/distance |
Distance of points from plane for RANSAC |
0.04 |
ground_filter/angle |
Angular derivation of ground plane |
0.15 |
ground_filter/plane_distance |
Distance of found plane from z=0 to be detected as ground (e.g. to exclude tables) |
0.07 |
Collision map plugin
Parameter name |
Description |
Default value |
collision_map_octree_depth |
Used octree depth for map generation. |
0 - whole tree |
collision_map_radius |
Collision map maximal radius in meters |
2.0 |
collision_map_publisher |
Collision map publishing topic name |
butsrv_collision_map |
collisionmap_frame_id |
FID to which will be points transformed when publishing collision map |
/base_footprint |
Collision grid plugin
Parameter name |
Description |
Default value |
collision_grid_octree_depth |
Used octree depth for grid generation. |
0 - whole tree |
grid_min_x_size |
Collision grid minimal x |
0.0 |
grid_min_y_size |
Collision grid minimal y |
0.0 |
collision_grid_publisher |
Collision grid publishing topic name |
butsrv_collision_map |
Collision objects plugin
Parameter name |
Description |
Default value |
collision_object_publisher |
Collision object publishing topic name |
butsrv_collision_object |
collision_object_frame_id |
Output frame id |
/map |
collision_object_octree_depth |
Used octree depth for objects generation. |
0 - whole tree |
2D map plugin
Parameter name |
Description |
Default value |
collision_object_publisher |
Collision map publishing topic name |
butsrv_map2d_object |
collision_object_frame_id |
Output map frame id |
/map |
min_x_size |
Minimal map size - used for padding |
0.0 |
min_y_size |
Minimal map size - used for padding |
0.0 |
collision_object_octree_depth |
Used octree depth for objects generation. |
0 - whole tree |
Marker array plugin
Parameter name |
Description |
Default value |
marker_array_publisher |
Marker array publishing topic name |
butsrv_markerarray_object |
marker_array_frame_id |
Marker array output frame id |
/map |
marker_array_octree_depth |
Used octree depth for objects generation. |
0 - whole tree |
Point cloud plugin
Parameter name |
Description |
Default value |
pointcloud_centers_publisher |
Pointcloud publishing topic name |
butsrv_pointcloud_centers |
pointcloud_subscriber |
Input pointcloud subscriber topic name |
/cam3d/depth/points |
pointcloud_min_z |
Point cloud minimal z value |
-std::numeric_limits<double>::max() |
pointcloud_max_z |
Point cloud maximal z value |
std::numeric_limits<double>::max() |
pointcloud_octree_depth |
Used octree depth for objects generation. |
0 - whole tree |
Dynamic Environment Model
...component specific parameters...
- command
