DO SOME Duck-you-mend-thing

Overview

Pipeline Scenario

pipeline_map_publisher.py

Responsible for publishing the map, as markers.

pipeline_point_cloud_detector.py

Pipeline detector based on mbes. Very basic, uses Hough circles to determine the center of the pipe

pipeline_gt_dr_publisher.py

Generates DR odometry. This should be phased out once there is a working ROS 2 DR.

TODOs

• (FIX) prevent z values from going above the waters surface

Algae Farm Scenario

algae_map_publisher.py: Responsible for publishing the map, as markers. The current map uses a list of names that

correspond to the frames of algae farm elements, Buoys and ropes, of the Unity sim environment

TODOs

• (FIX) Markers are being reused and modified for the different MarkerArrays, 'copying' them is not properly decoupling
• (FEATURE) define buoys by lat/lon coords

algae_sss_detector.py

Image processing based method for detecting ropes and buoys from sss returns. Subscription topics:

• SSS, as defined by SIDESCAN_TOPIC in sam_msgs
• Depth, as defined by DEPTH_TOPIC in dead_reckoning_msgs
• Line depth, as defined by MAP_LINE_DEPTH_TOPIC in sam_graph_slam_msgs

Utilities

• util_sss_saver_node.py: Utility for saving the sss returns

• util_image_saver_node.py: (In progress) Utility for saving camera imagery. This needs to be ported to ROS 2 and adapted to the new environment (Nothing in particular).

Packages

detectors

(This content should be moved to its onw package at some point)

helpers

• general_helpers: geometry and basic file saving stuff
• gtsam_helpers: mostly functions to construct gtsam objects
• gtsam_ros_helpers: conversions between ros and gtsam objects
• pointcloud2_conversions: this might be depreciated, CHECK!
• ros_helpers: mostly functions for handling ROS time messages and objects

slam_packages