as2_geozones
Geozones for AeroStack2
README
Geozones
Geozones node for Aerostack2.
Params:
config_file: Polygons that define geofences are defined here. (IMPORTANT) Remember that the order in which points are given defines how the polygon is built, this means that n point will be conected to n+1 point and so on. Last point will be connected to the first point. Config file parameters:
id (int): geozone id
alert (int): generated alert
type (string): geofence or geocage. Geofence will generate alert on entering the area, geocage will generate alert on exiting the area.
data_type (string): gps or cartesian.
polygon (list(2DPoint)): List of 2D points that forms the polygon. Should at least be 3. Order matters.
z_up (float): up limit, always in cartesian.
z_down (float): down limit, always in cartesian.
Example config file (.yaml):
geozones: - id: 1 alert: 1 type: geofence data_type: gps polygon: - [52.172046, 4.416790] - [52.172046, 4.415912] - [52.171506, 4.415912] - [52.171506, 4.416789] z_up: 100.0 z_down: 90.0 - id: 2 alert: 2 type: geocage data_type: cartesian polygon: - [3.0, 0.0] - [-3.0, 0.0] - [-3.0, 3.0] - [3.0, 3.0] z_up: 10.0 z_down: 0.0
debug_rviz: Wheter to publish an array of Polygons for rviz2 visualization or not.
Interfaces:
Available Services:
/set_geozone
: Set a geoestructure vía message./get_geozone
: Get a list of all geoestructures available
Published topics:
/alert_event
: Publish the defined alert message when a geoestructure event is triggered.