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Drone Detect

Overview

This is a package for detecting other drones in depth image and then calculating their true pose error in the world frame of the observer drone.

Usage

You can launch the node alongside the main after you assigning the right topic name

roslaunch drone_detect drone_detect.launch

or add the following code in run_in_sim.launch

  <node pkg="drone_detect" type="drone_detect" name="drone_$(arg drone_id)_drone_detect" output="screen">
      <rosparam command="load" file="$(find local_sensing_node)/params/camera.yaml" />
      <rosparam command="load" file="$(find drone_detect)/config/default.yaml"/>
      <param name="my_id"      value="$(arg drone_id)" />

      <remap from="~odometry"   to="/drone_$(arg drone_id)_$(arg odom_topic)"/>
      <remap from="~depth" to="/drone_$(arg drone_id)_pcl_render_node/depth"/>
      <remap from="~colordepth" to="/drone_$(arg drone_id)_pcl_render_node/colordepth"/>
      <remap from="~camera_pose" to="/drone_$(arg drone_id)_pcl_render_node/camera_pose"/>

      <remap from="~drone0" to="/drone_0_$(arg odom_topic)"/>
      <remap from="~drone1" to="/drone_1_$(arg odom_topic)"/>
      <remap from="~drone2" to="/drone_2_$(arg odom_topic)"/>
  </node>

Config files

camera.yaml : The camera intrinsics are stored in this file
default.yaml: Some parameters related to drone detection.

debug_flag: true
# the proportion of the pixel threshold to the total pixels projected from the drone to the depth map 
estimate/pixel_ratio: 0.1
# the radius of the pose errror sphere
estimate/max_pose_error: 0.4
# the width and height of the model of drone
estimate/drone_width: 0.5  
estimate/drone_height: 0.1

Nodes

Subscribed Topics

/depth ([sensor_msgs::Image])

The depth image from pcl_render_node.
/colordepth([sensor_msgs::Image])

The color image from pcl_render_node
/camera_pose ([geometry_msgs::PoseStamped])

The camere pose from pcl_render_node

The above three topics are synchronized when in use, the callback function is rcvDepthColorCamPoseCallback

/dronex_odom_sub_ ([nav_msgs::Odometry])

The odometry of other drones

Published Topics

/new_depth ([sensor_msgs::Image])

The new depth image after erasing the moving drones
/new_colordepth([sensor_msgs::Image])

The color image with some debug marks
/camera_pose_error ([geometry_msgs::PoseStamped])

The pose error of detected drones in world frame of the observer drone.

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