Mbayyari3 at 05:29, 20 May 2020

2020-05-20T05:29:30Z

Mbarulic: Created page with "== Nodes == circuit_race_steerer
generates steering for circuit races (2014 comp)
drag_race_end_detector
looks for the finish line of th..."

2015-11-03T00:06:09Z

Created page with "== Nodes == circuit_race_steerer generates steering for circuit races (2014 comp) drag_race_end_detector looks for the finish line of th..."

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== Nodes ==

circuit_race_steerer    generates steering for circuit races (2014 comp) drag_race_end_detector    looks for the finish line of the drag race (2014 comp)    never really worked    consider light sensors pointed at ground?    subscribes to:      /image_raw    publishes to:      /image_end (for debugging)      /race_end drag_race_steerer    generates steering commands from binary local map image    tends against steering the car (imu could improve this)    subscribes to:      /joint_frame    publishes to:      /steering_debug (for debugging)      /steering frame_inverted    should be replaced by TF tree    marked for removal frame_merger    combines lines and cones obstacle images into a joint frame    subscribes to:      /cones_img      /lines_img    publishes to:      /joint_frame iarrc_circuit_race_controller    controls vehicle speed during the circuit race iarrc_cone_detector    LIDAR-based cone detector    may or may not have been used at comp    goal was to compensate for noise in laser data iarrc_dragrace_controller    controls vehicle speed during the drag race iarrc_joystick    maps joystick input to motor control    subscribes to:      /joy    publishes to:      /steering      /speed iarrc_line_detection    finds track lines in projected camera image    subscribes to:      /image_projected    publishes to:      /image_lines      /image_debug (for debugging) iarrc_motor_relay_node    passes motor commands to chassis arduino    subscribes to:      /speed      /steering iarrc_planner    generates steering angles for race conditions    expands obstacles in preprocessing    subscribes to:      /world_model    publishes to:      /steering iarrc_scan_to_cloud    translates from 2D LIDAR data to 3D point cloud    subscribes to:      /scan    publishes to:      /cloud iarrc_world_model    basically the same as frame_merger (used at 2015 comp)    subscribes to:      /image_lines      /obstacle_img    publishes to:      /world_model image_publisher    not useful    marked for removal pointcloud_to_image    translates 3D point cloud into local obstacle map    works well    subscribes to:      /cloud    publishes to:      /obstacle_img projection    projects the camera images to the ground plane    subscribes to:      /ps3_eye/image_raw    publishes to:      /image_projected stoplight_watcher    For starting races    watches for a stoplight to change from red to green    Worked well in testing    some problems at comp    variance in ambient lighting is breaking this    hardcoded variable for distance between lights should probably go away somehow    subscribes to:      /ps3_eye/image_raw    publishes to:      /image_circles (for debugging)      /light_change visual_cone_detector    finds cones in camera image    needs a lot of work if we want it to stick around    may be a nice suplement for the lidar

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	circuit_race_steerer<br/>   generates steering for circuit races (2014 comp)<br/>drag_race_end_detector<br/>   looks for the finish line of the drag race (2014 comp)<br/>   never really worked<br/>   consider light sensors pointed at ground?<br/>   subscribes to:<br/>     /image_raw<br/>   publishes to:<br/>     /image_end (for debugging)<br/>     /race_end<br/>drag_race_steerer<br/>   generates steering commands from binary local map image<br/>   tends against steering the car (imu could improve this)<br/>   subscribes to:<br/>     /joint_frame<br/>   publishes to:<br/>     /steering_debug (for debugging)<br/>     /steering<br/>frame_inverted<br/>   should be replaced by TF tree<br/>   marked for removal<br/>frame_merger<br/>   combines lines and cones obstacle images into a joint frame<br/>   subscribes to:<br/>     /cones_img<br/>     /lines_img<br/>   publishes to:<br/>     /joint_frame<br/>iarrc_circuit_race_controller<br/>   controls vehicle speed during the circuit race<br/>iarrc_cone_detector<br/>   LIDAR-based cone detector<br/>   may or may not have been used at comp<br/>   goal was to compensate for noise in laser data<br/>iarrc_dragrace_controller<br/>   controls vehicle speed during the drag race<br/>iarrc_joystick<br/>   maps joystick input to motor control<br/>   subscribes to:<br/>     /joy<br/>   publishes to:<br/>     /steering<br/>     /speed<br/>iarrc_line_detection<br/>   finds track lines in projected camera image<br/>   subscribes to:<br/>     /image_projected<br/>   publishes to:<br/>     /image_lines<br/>     /image_debug (for debugging)<br/>iarrc_motor_relay_node<br/>   passes motor commands to chassis arduino<br/>   subscribes to:<br/>     /speed<br/>     /steering<br/>iarrc_planner<br/>   generates steering angles for race conditions<br/>   expands obstacles in preprocessing<br/>   subscribes to:<br/>     /world_model<br/>   publishes to:<br/>     /steering<br/>iarrc_scan_to_cloud<br/>   translates from 2D LIDAR data to 3D point cloud<br/>   subscribes to:<br/>     /scan<br/>   publishes to:<br/>     /cloud<br/>iarrc_world_model<br/>   basically the same as frame_merger (used at 2015 comp)<br/>   subscribes to:<br/>     /image_lines<br/>     /obstacle_img<br/>   publishes to:<br/>     /world_model<br/>image_publisher<br/>   not useful<br/>   marked for removal<br/>pointcloud_to_image<br/>   translates 3D point cloud into local obstacle map<br/>   works well<br/>   subscribes to:<br/>     /cloud<br/>   publishes to:<br/>     /obstacle_img<br/>projection<br/>   projects the camera images to the ground plane<br/>   subscribes to:<br/>     /ps3_eye/image_raw<br/>   publishes to:<br/>     /image_projected<br/>stoplight_watcher<br/>   For starting races<br/>   watches for a stoplight to change from red to green<br/>   Worked well in testing<br/>   some problems at comp<br/>   variance in ambient lighting is breaking this<br/>   hardcoded variable for distance between lights should probably go away somehow<br/>   subscribes to:<br/>     /ps3_eye/image_raw<br/>   publishes to:<br/>     /image_circles (for debugging)<br/>     /light_change<br/>visual_cone_detector<br/>   finds cones in camera image<br/>   needs a lot of work if we want it to stick around<br/>   may be a nice suplement for the lidar		circuit_race_steerer<br/>   generates steering for circuit races (2014 comp)<br/>drag_race_end_detector<br/>   looks for the finish line of the drag race (2014 comp)<br/>   never really worked<br/>   consider light sensors pointed at ground?<br/>   subscribes to:<br/>     /image_raw<br/>   publishes to:<br/>     /image_end (for debugging)<br/>     /race_end<br/>drag_race_steerer<br/>   generates steering commands from binary local map image<br/>   tends against steering the car (imu could improve this)<br/>   subscribes to:<br/>     /joint_frame<br/>   publishes to:<br/>     /steering_debug (for debugging)<br/>     /steering<br/>frame_inverted<br/>   should be replaced by TF tree<br/>   marked for removal<br/>frame_merger<br/>   combines lines and cones obstacle images into a joint frame<br/>   subscribes to:<br/>     /cones_img<br/>     /lines_img<br/>   publishes to:<br/>     /joint_frame<br/>iarrc_circuit_race_controller<br/>   controls vehicle speed during the circuit race<br/>iarrc_cone_detector<br/>   LIDAR-based cone detector<br/>   may or may not have been used at comp<br/>   goal was to compensate for noise in laser data<br/>iarrc_dragrace_controller<br/>   controls vehicle speed during the drag race<br/>iarrc_joystick<br/>   maps joystick input to motor control<br/>   subscribes to:<br/>     /joy<br/>   publishes to:<br/>     /steering<br/>     /speed<br/>iarrc_line_detection<br/>   finds track lines in projected camera image<br/>   subscribes to:<br/>     /image_projected<br/>   publishes to:<br/>     /image_lines<br/>     /image_debug (for debugging)<br/>iarrc_motor_relay_node<br/>   passes motor commands to chassis arduino<br/>   subscribes to:<br/>     /speed<br/>     /steering<br/>iarrc_planner<br/>   generates steering angles for race conditions<br/>   expands obstacles in preprocessing<br/>   subscribes to:<br/>     /world_model<br/>   publishes to:<br/>     /steering<br/>iarrc_scan_to_cloud<br/>   translates from 2D LIDAR data to 3D point cloud<br/>   subscribes to:<br/>     /scan<br/>   publishes to:<br/>     /cloud<br/>iarrc_world_model<br/>   basically the same as frame_merger (used at 2015 comp)<br/>   subscribes to:<br/>     /image_lines<br/>     /obstacle_img<br/>   publishes to:<br/>     /world_model<br/>image_publisher<br/>   not useful<br/>   marked for removal<br/>pointcloud_to_image<br/>   translates 3D point cloud into local obstacle map<br/>   works well<br/>   subscribes to:<br/>     /cloud<br/>   publishes to:<br/>     /obstacle_img<br/>projection<br/>   projects the camera images to the ground plane<br/>   subscribes to:<br/>     /ps3_eye/image_raw<br/>   publishes to:<br/>     /image_projected<br/>stoplight_watcher<br/>   For starting races<br/>   watches for a stoplight to change from red to green<br/>   Worked well in testing<br/>   some problems at comp<br/>   variance in ambient lighting is breaking this<br/>   hardcoded variable for distance between lights should probably go away somehow<br/>   subscribes to:<br/>     /ps3_eye/image_raw<br/>   publishes to:<br/>     /image_circles (for debugging)<br/>     /light_change<br/>visual_cone_detector<br/>   finds cones in camera image<br/>   needs a lot of work if we want it to stick around<br/>   may be a nice suplement for the lidar
		+
		+	[[Category: RoboRacing]]

RoboRacing Software Design - Revision history

Mbayyari3 at 05:29, 20 May 2020

Mbarulic: Created page with "== Nodes == circuit_race_steerer generates steering for circuit races (2014 comp)drag_race_end_detector looks for the finish line of th..."

Mbarulic: Created page with "== Nodes == circuit_race_steerer
generates steering for circuit races (2014 comp)
drag_race_end_detector
looks for the finish line of th..."