pod_search

ROS package for pod-related works in inspection task of MBZIRC2024 demostration phase by Fly Eagle.

Installation

1. Into the src dirtectory in your ROS workspace.

   If you want to implement pod_search in a existing workspace.

   cd <YOUR_WORKSPACE_DIR>/src

   Or you can make a new workspace

   mkdir -p <YOUR_WORKSPACE_DIR>/src && cd <YOUR_WORKSPACE_DIR>/src
   catkin_init_workspace

2. Clone the repository.

   git clone git@github.com:xirhxq/pod_search.git

3. Install the requirements

   cd pod_search
   pip3 install -r requirements.txt

Files

Headers

• AutoTra.py: Calculate searching trajectory of pod in a rectangle area ahead.

• Classifier.py: (decaprecated)

• DataLogger.py: Log datas into .csv format.

• LocatingEKF.py: EKF for locating target vessel or USV.

• PID.py: Simple PID.

• PodAngles.py: Struct for pod state, including pitch & yaw & hfov & maxrate & laser on/off.

• PodParas.py: Parameters for pod controlling.

• QuaternionBuffer.py: Buffering geometry_msgs/Quaternion messages for a certain time delay.

• SearchPoint.py: Struct for UAV hovering points, including xyz position & yaw & max hovering time.

• TimeBuffer.py: Buffering std_msgs/Float32 messages for a certain time delay.

• Utils.py: Commonly used colors.

Nodes

• PodComm.py: Communication with pod.

• PodInput.py: Simple script to manually control pod angles.

• PodSearch.py: Main script. Pod searching in inspection task.

• Transformer.py: (decaprecated)