MRS reflective marker simulation

Reflective marker simulation to be used together with mrs_reflective_marker_detection. Adds reflectivity values to the incoming LiDAR pointclouds based on UAV ground-truth position. Requires the TF tree of all UAVs to be connected.

Usage

roslaunch mrs_reflective_marker_simulation reflective_marker_simulation.launch

Subscribed topics

topic	description	type
/UAV_NAME/pcl_filter_detection/points_processed	incoming LiDAR pointcloud	sensor_msgs/PointCloud2

Published topics

topic	description	type
/UAV_NAME/mrs_reflective_marker_simulation/points_out	LiDAR pointcloud	sensor_msgs/PointCloud2
/UAV_NAME/mrs_reflective_marker_simulation/marker	RViz markers (debug)	visualization_msgs/MarkerArray

Configuration

Edit config/reflective_marker_simulation.yaml and config/gt_transform_publisher.yaml.

GTTransformPublisher

Broadcasts TFs based on incoming ground-truth odometry messages. Useful for providing GT transformations for connecting the TF trees of all UAVs.

Usage

roslaunch mrs_reflective_marker_simulation gt_transform_publisher.launch

Example simulation session

An example simulation session for the MRS UAV system is provided in the tmux/three_drones folder. The session runs the marker simulation, GTTransformPublisher, tf_connector, and the reflective marker detection.

External dependencies

ROS1, PCL, ouster_ros, mrs_msgs, mrs_lib