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.