parking_patrol

This package functionality is to detect free spots on the parking site. Provides API for retrieving coordinates of detected free parking places.

Building from Source

Dependencies

External dependencies:

• geometry_msgs
• nav_msgs
• sensor_msgs
• std_srvs

Building

To build from source, clone the latest version from the repository into your workspace and compile the package using:

cd workspace/src
git clone https://github.com/pawelir/parking_patrol.git
cd ../
rosdep update
rosdep install -i --from-paths src -y
colcon build --symlink-install

Note: ROS should be sourced before: source /opt/ros/<your-distro>/setup.bash

Usage

Launch the core functionality with:

ros2 launch parking_patrol parking_patrol.launch.py

Config files

• parking_patrol.yaml - config file allowing the node parameters settings

Launch files

• parking_patrol.launch.py - main launch file launching the whole functionality

Nodes

parking_patrol_node

High level node providing API for restarting detection process and retrieving the data after scanning.

Service servers

• ~/restart_patrol std_srvs/Trigger - Trigger cleaning detection buffer

  ros2 service call /parking_patrol_node/restart_patrol std_srvs/srv/Trigger "{}"

• ~/finish_patrol parking_patrol_msgs/FreeSpots - Get detected parking spots

  ros2 service call /parking_patrol_node/finish_patrol parking_patrol_msgs/srv/FreeSpots "{}"

Parameters

Name	Type	Default value	Description
lidar_angular_resolution	float	1.0	LIDAR angular resolution - depends on your simulation settings or hardware specification
spot_depth	float	0.7	Spot characteristics - spot depth [m]
spot_width	float	0.4	Spot characteristics - spot width [m]

spot_finder_node

Node responsible only for detecting free spots in the neighborhood.

Subscribed Topics

• /odom nav_msgs/msg/Odometry
• /scan sensor_msgs/msg/LaserScan
• /imu sensor_msgs/msg/Imu