https://github.com/michdo93/robotcar_sensorfusion_examples

https://github.com/michdo93/robotcar_sensorfusion_examples

Last synced: 21 days ago
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• Host: GitHub
• URL: https://github.com/michdo93/robotcar_sensorfusion_examples
• Owner: Michdo93
• Created: 2020-07-25T10:45:11.000Z (almost 6 years ago)
• Default Branch: master
• Last Pushed: 2021-06-18T15:01:28.000Z (about 5 years ago)
• Last Synced: 2025-03-04T00:45:30.772Z (over 1 year ago)
• Language: Python
• Size: 345 KB
• Stars: 0
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
# robotcar_sensorfusion_examples

Gives an example how you can use sensor fusion with the [RobotCar](https://github.com/Michdo93/robotcar). It uses the Kalman-Filter implementation of [SimpleKalmanFilter](https://github.com/Michdo93/SimpleKalmanFilter-Python). At first you have to make sure that the roscore is running and the [robotcar-pkg](https://github.com/Michdo93/robotcar-pkg) is publishing the sensor informations.

The String variable `robot_host` uses the hostname of one RobotCar. As example it could be `robotcar`.

This package could be used as blue print for some ADAS which uses multiple sensor informations. To receive multiple sensor informations in one subscriber callback method you have to use the TimeSynchronizer or ApproximateTimeSynchronizes from [message_filters](http://wiki.ros.org/message_filters).

## FrontDistanceSubscriber Node

![FrontDistanceSubscriber](https://raw.githubusercontent.com/Michdo93/robotcar_sensorfusion_examples/master/frontDistance.JPG)

It subscribes the sensor informations from the front sensors. Following adresses are used:

|                 Topic Address                |      Message Type   |

|--------------------------------------------- | --------------------|

|robot_host + /infrared/front/distance         | [sensor_msgs/Range](http://docs.ros.org/en/api/sensor_msgs/html/msg/Range.html)  |

|robot_host + /time_of_flight/front/distance   | [sensor_msgs/Range](http://docs.ros.org/en/api/sensor_msgs/html/msg/Range.html)  |

|robot_host + /ultrasonic/front/distance       | [sensor_msgs/Range](http://docs.ros.org/en/api/sensor_msgs/html/msg/Range.html)  |

## LeftDistanceSubscriber Node

![LeftDistanceSubscriber](https://raw.githubusercontent.com/Michdo93/robotcar_sensorfusion_examples/master/leftDistance.JPG)

It subscribes the sensor informations from the left sensors. Following adresses are used:

|                 Topic Address                |      Message Type   |

|--------------------------------------------- | --------------------|

|robot_host + /ultrasonic/front/left/distance  | [sensor_msgs/Range](http://docs.ros.org/en/api/sensor_msgs/html/msg/Range.html)  |

|robot_host + /ultrasonic/rear/left/distance   | [sensor_msgs/Range](http://docs.ros.org/en/api/sensor_msgs/html/msg/Range.html)  |

## RightDistanceSubscriber Node

![RightDistanceSubscriber](https://raw.githubusercontent.com/Michdo93/robotcar_sensorfusion_examples/master/rightDistance.JPG)

It subscribes the sensor informations from the right sensors. Following adresses are used:

|                 Topic Address                |      Message Type   |

|--------------------------------------------- | --------------------|

|robot_host + /ultrasonic/front/right/distance | [sensor_msgs/Range](http://docs.ros.org/en/api/sensor_msgs/html/msg/Range.html)  |

|robot_host + /ultrasonic/rear/right/distance  | [sensor_msgs/Range](http://docs.ros.org/en/api/sensor_msgs/html/msg/Range.html)  |

## RearDistanceSubscriber Node

![RearDistanceSubscriber](https://raw.githubusercontent.com/Michdo93/robotcar_sensorfusion_examples/master/rearDistance.JPG)

It subscribes the sensor informations from the rear sensors. Following adresses are used:

|                 Topic Address                |      Message Type   |

|--------------------------------------------- | --------------------|

|robot_host + /infrared/rear/distance          | [sensor_msgs/Range](http://docs.ros.org/en/api/sensor_msgs/html/msg/Range.html)  |

|robot_host + /time_of_flight/rear/distance    | [sensor_msgs/Range](http://docs.ros.org/en/api/sensor_msgs/html/msg/Range.html)  |

|robot_host + /ultrasonic/rear/distance        | [sensor_msgs/Range](http://docs.ros.org/en/api/sensor_msgs/html/msg/Range.html)  |