as2_geozones

Geozones for AeroStack2

Links
- Rosindex

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.