grvcteam / mbzirc2020 Goto Github PK

Transform fire detections with Thermal camera to be 3D in arena frame.

Fire detector should subscribe to UAV poses and laser distances and receive a parameter specifying whether camera is pointing FORWARD or DOWNWARD.

If(camera==DOWNWARD) Fire position is the UAV's one but with z = 0.
If(camera==FORWARD) Fire position is the UAV's one but adding the depth distance ahead. This depth can be computed as an average of laser readings in a small cone in the forward direction.

In file ObjDetection.msg. Modify type from string to enum: ball, brick, fire, passage.
Add comments to describe what will come at each attribute.

The crash of the SF11 driver node, shown in the first C2 rehearsal, seems to be something isolated. At the moment it has not be possible repeat it. The driver node seems to work correctly.

To avoid possible crash in the future in SF11 driver node it could be launched with the argument respawn="true"

The respawn of this node should not affect to any other, it just restart the measure lectures source

Check that covariances and scale values are filled in when needed with reasonable values.

Detectors for U-channels, bricks, L-shaped walls and Passages are publishing orientations as quaternions. Revise convention when them.

Passage orientation should be pointing into the window (easiest).
Bricks, x axis is the longest, y axis the other one.
L-shaped wall. xy axis in the down-left corner, with the x east and the y north.
U-channel: orientation can only vary between [0,pi], being 0 horizontal, pi/2 vertical.

Detectors and others publishing ObjectDetectionList.msg should fill in the UAV identifier in the message and a time stamp. This will be helpful to identify in the Estimator where the detections are coming from.
We can also solve this by computing the ID when calling the callback, whatever is preferred.

Fill in information in config files in mbzirc_launchers/config.
In conf_ch2.yaml put limits of arena scenario. Use "arena" frame coordinates.
In conf_ch3.yaml put the limits of the arena scenario, but also for the building footprint. Also height of each of the floors. Then, fill in positions and orientation of windows (yaw is the orientation of a perpendicular arrow pointing into the window). Also with facade fires, the same convention for yaw.

Ideally, prepare a script that write that CH· config file automatically given the position of the building.

The README file advices build using catkin_make command:
catkin_make -DCMAKE_BUILD_TYPE=Release

But the release option can be applied with catkin build too. Indeed, you only need to use the following command once time:
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
Next builds will be catkin build directly

Have check anyone if both options have the same result?