romea_ros2_robot_to_human_localisation_plugin

This package is a RTLS plugin for human leader localisation. It schedules ranging between the robot's rtls transceivers (called initiators) and leader's rtls transceiver (called responder). It provides range observations to the localization filter as well as a rough estimation of leader position in using trilateration algorithm base on ranging results.

ROS2 plugin node description

1) Subscribed Topics

• For each initiator declared in parameters :

  • initiators_names[i]/range: (romea_rtls_transceiver_msgs::msg::RangingResult)

    This topic is provided by rtls transceiver driver node called initiators_names[i]/driver, it contains ranging result beetween selected initiator and the leader responder

2) Published Topics

• leader_position (romea_localisation_msgs::msg::ObservationPosition2DStamped)

  Leader position estimated by trilateration algorithm using ranging results

• range (romea_localisation_msgs::msg::ObservationRangeStamped)

  Ranging results between robot rtls tranceivers (initiators) and leader rtls transceiver (responder)

• For each initiator declared in parameters :

  • initiators_names[i]/request: (romea_rtls_transceiver_msgs::msg::RangingRequest)

    This topic is sended to initiator driver node in order to start ranging with leader responder, if ranging succeeded then range result will be send to the plugin node

3) Parameters

• enable_sheduler (bool, default: true)

  Enable ranging scheduling. The scheduler must be actived in live and simulated experiments and disables during replay.

• ~initiators_ids (vector of int)

  Identifier of each rtls transceivers (called initiators) embedded on the robot

• ~initiators_names (vector of string)

  Name of each rtls transceivers (called initiators) embedded on the robot, more precisely these names are the ros namespace of their driver nodes

• For each initiator declared previously :

  • ~initiators_positions.initiators_name[i] (vector of double)

    Position of the antenna of the rtls transceiver embedded on the robot

• ~responder_id (int)

  Identifier of the rtls transceiver (called responder) carried by the leader.

• ~responder_name (string)

  Name of the rtls transceivers (called responder) carried by the leader

• ~responder_position (vector of double)

  Position of the antenna of the rtls transceiver carried by the leader on the robot

• ~minimal_range (double, default: 0.5)

  Minimal available distance

• ~maximal_range (double, default: 20.)

  Maximal available distance

• ~range_std (double, default: 0.02)

  Standard deviation on range measurement

• ~poll_rate (int, default: 20)

  Rate at which ranging requests are sent to initiators

• ~base_footprint_frame_id (double, default: base_footprint)

  Name of robot base footprint

Usage

See romea_localisation_bringup project

Contributing

If you'd like to contribute to this project, here are some guidelines:

1. Fork the repository.
2. Create a new branch for your changes.
3. Make your changes.
4. Write tests to cover your changes.
5. Run the tests to ensure they pass.
6. Commit your changes.
7. Push your changes to yo

License

This project is released under the Apache License 2.0. See the LICENSE file for details.

Authors

romea_ros2_robot_to_human_localisation_plugin project was developed by Jean Laneurit in the context of BaudetRob2 ANR project.

Contact

If you have any questions or comments about romea_ros2_robot_to_human_localisation_plugin project, please contact Jean Laneurit