Mapper

mapper

Transforms relative poses from localizer to odom frame

Stores and averages the transforms poses for continuous publishing

Publishes these averaged poses on cusub_cortex/mapper_out/namespace

Configurable via mapper/config/mapper.yaml

class Mapper

Subscribers

• topic_name, type

• cusub_perception/mapper/task_poses, Detection

Publishers

• topic_name, type

• cusub_cortex/mapper_out/<CLASS_NAME>, PoseStamped

• cusub_cortex/mapper_out/unfiltered/<CLASS_NAME>, PoseStamped

Note

<CLASS_NAME> comes from parameter server: rospy.get_param('mapper/classes')

class ExpWeightedAvg(num_poses_to_avg)

class MovingMedianAvg(num_poses_to_avg)

Use a moving median averaging technique to reject outliers

landmark

Maps and landmarks for multisub map building

class MapLandmark(name, marker_id, mesh)

Landmark object

class Map

Map builder object, provides methods to add and update landmarks.

Publishers

• topic_name, type

• cusub_cortex/mapper/map_markers, MarkerArray

prior_landmark

This script pulls priors from our config yaml and creates markers for Rviz to plot

• Starts ROS node prior_landmark_markers

class PriorLandmarker

Map builder object, provides methods to add and update landmarks.

Publishers

• topic_name, type

• cusub_cortex/mapper/prior_markers, MarkerArray

odom_faker

• Starts ROS node odom_faker

class main

Sometimes Gazebo doesn’t publish the ground truth pose (triangular_buoy) This class publishes odom msgs to mimick gazebo’s GT

Note

Just a function, no class

Publishers

• topic_name, type

• /triangular_buoy_1/pose_gt, Odometry

sim_truth_pub

• Starts ROS node sim_truth_pub

class SimTruthPub

Publishes gazebo’s truth data as Detection msgs to the mapper Configurable via the config/sim_truth.yaml

Publishers

• topic_name, type

• cusub_perception/mapper/task_poses, Detection

Subscribers

• topic_name, type

• <SIM_PUB>, Odometry

Note

<SIM_PUB> comes from parameter rospy.get_param('sim_pub/')