fw_swm_ros

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

Installing

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 git@github.com: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

Running

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

Important links

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

Acknowledgment

This work was supported by the European FP7 project SHERPA (FP7-600958).

Author

Written by Timo Hinzmann (hitimo@ethz.ch)