ROS interface for SHERPA World Model (SWM).
- Inputs data such as human detections, robot poses, raw images, digital elevation model (DEM), orthomosaic.
- Two modes: rosbag, rosstream
Create a catkin workspace (if not existing already):
mkdir -p ~/catkin_ws/src
cd catkin_ws/
catkin init
Install the dependencies:
cd src/
git clone [email protected]:ethz-asl/fw_swm_ros.git
wstool init
wstool merge fw_swm_ros/install/dependencies.rosinstall
wstool update
Compile:
catkin build swm_ros --cmake-args -DCMAKE_BUILD_TYPE=Release
From rosstream:
rosrun swm_ros swm_ros_rosstream --config_filename=.swm_zyre_config.json --alsologtostderr=true --v=100
Run the sherpa world model:
./run_sherpa_world_model.sh --no-ros
Insert human detection as rosservice call from command line:
rosservice call /fw_swm_ros/human_detection_insertion "human_location_UTM:
x: 464980
y: 5.27226e+06
z: 414.087
time_of_observation_ns: 0"
Display the resulting graph of the sherpa world model:
./show.sh
xdg-open *gv.pdf
Sherpa World Model (SWM):
https://github.com/blumenthal/ubx_robotscenegraph
Mediator:
https://github.com/maccradar/sherpa-com-mediator
Functionality in SWM:
- Add human detection: https://github.com/blumenthal/ubx_robotscenegraph/blob/master/examples/zyre/swmzyre.h#L74
- Add agent: https://github.com/blumenthal/ubx_robotscenegraph/blob/master/examples/zyre/swmzyre.h#L76
- Update pose: https://github.com/blumenthal/ubx_robotscenegraph/blob/master/examples/zyre/swmzyre.h#L78
This work was supported by the European FP7 project SHERPA (FP7-600958).
Written by Timo Hinzmann ([email protected])