Write a series of components using the ROS CBSE framework

Reference no: EM132339147

Assignment Project -

Intent: To analyse a set of specifications, design, test, document and practically evaluate code to perform analysis of sensor data and simple actions based on data on a simulated robotic platform.

Assignment Background - Rationale: In a Mechatronics System, sensors produce data at varying rates. Decisions need to be made based on correctly associated data in near real-time. Threading and synchronisation are ways to ensure the system performs as intended, with guarantees on the responsiveness of the system to incoming data changes, processing constraints and system behaviour. Functions that exploit the data require unit testing to ensure they behave correctly. Documentation of your own code allows other developers to utilise it as intended and anticipate outcomes, in the same fashion you use a number of APIs (ROS/OpenCV).

Task: Write a series of components using the ROS CBSE framework that will process data originating from a range of sensors on a simulated robot. Employ appropriate multi-threading and data structures to enable time synchronisation and subsequently interrogation of data which allow simple actions of a robotic platform. Supply appropriate auto-generated documentation utilising inline source mark-up. Exploit unit testing framework with test cases evaluating code.

Students can select from two projects

1) Exploration of Frontiers

2) Rapidly Exploring Random Trees

3) Path Following

Project 1: Frontier Based Exploration

The starting configuration is the current position of the robot; the goal position is to be determined and requested via a Service call.

Create a ROS node that:

Subscribes to the OgMap and the Robot Position on /odom and /map_image/full topics.

The inner working of component is such that it performs following every 10 seconds.

Determines the frontier cells of the OgMap and stores them in a STL container

Determines a Goal Pose from the frontiers as:

Closest location to the current robot position (shortest distance) within free space neighbouring a frontier cell.
Angle (heading - yaw) such that that the goal pose has a heading towards unknown space

Determines all the frontier cells that are visible from that goal pose (use the goal pose computed and current map)

Publish an image on /map_image/fbe topic that shows: (1) input OgMap, (2) Frontiers (blue), (3) Goal Pose (green) and (4) Frontier Cells that will be seen from Goal Pose (red)

Transforms coordinates between coordinate systems of:

local (ogmap - pixel / map centre )
global (robot position)

Request the Goal Pose in global coordinates via the service call /request_goal

Have ability to receive requests for the path on /path topic using the PoseArray message and thereafter publish an image of current OgMap on /map_image/fbe topic

Unit test

Local to Global and Global to Local Transform
Goal pose computation on two sample OgMap images
Frontier cells that will be covered from that Goal pose on two sample OgMap images

(For D/HD)

When storing the Frontiers cells in STL container, group them based on connectivity (frontier cells that are 8-connected are deemed to be connected).

Note - This project has to do on Ubuntu 16.04, that is a version of Linux, and ROS kinetic.

Attachment:- Ubuntu Project Assignment Files.rar

Reference no: EM132339147

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Reviews

len2339147

7/15/2019 12:27:38 AM

This project has to do on Ubuntu 16.04, that is a version of Linux, and ROS kinetic. I can provide some more help files. Bonus Mark (additional 15% of marks) - In order to improve the frontier selection, pose selection should incorporate some optimality, such that the Goal Pose selected would cover the largest amount of frontier cells from a single viewpoint. Determine this optimal viewpoint. NO additional guidance will be provided for Bonus Mark questions.

len2339147

7/15/2019 12:27:30 AM

Assessment Criteria Specifics - Access specifiers used appropriately. Inheritance – use of base class as appropriate, common data stored and generic functionality implemented solely in base class (no duplication). Classes that should not be available for instantiation are aptly protected. Data stored in STL containers for use, allowing rapid sorting and searching. Use of synchronisation objects to enable efficient multithreading and safe data sharing between threads. Performs functionality with requirements described in P/C and D/HD for each project.

len2339147

7/15/2019 12:27:23 AM

Unit test of code supplied to validate output for a given input set of parameters. Documentation is produced via Doxygen. All source files contain useful comments to understand methods, members and inner workings (ie border case handling of fusion, extrapolation). Appropriate use class declarations, definitions, default values and naming convention allowing for reuse. No implicit coupling between classes that disables reuse. All components interface in ways allowing use of in others contexts and expansion (ie visualisations out provided, can be called and executed from stub components supplied to students). No implicit “hard coded” values, they need to be configurable from the line when components are executed. No assumptions of commencing component (positions of vehicle or map appearance).

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