MAVInsight

The mavinsight package is a ROS2 Package configured to build a model of a Vehicle for later visualization in Foxglove.

Package Structure

• MAVInsight/ - This repo.
  • mavinsight/ - Source directory for the Nodes of this repo. // TODO UPDATE
    • vehicle_tf_publisher.py - The Node that will publish transforms between frames based on the the relationships between Vehicles and Sensors.
      • Vehicle definitions are written in .yaml files found in vehicles/
      • Sensor definitions are written in .yaml files found in sensors/
      • At startup, this node will look for Vehicle definitions in the vehicles/ directory. It will either build all vehicles in that directory, or only those specified by the optional argument: build_list.
  • models/ - Directory for the classes that define the relations between different frames.
    • graph_member.py - Parent class for anything that can be published to the 3D panel of Foxglove
    • vehicle.py - File for classes that represent a vehicle for Sensors (i.e. CHIMERA A/D, any other drones, stationary cameras, etc.). Instances of this class should be constructed by vehicle_tf_publisher.py based on the configurations specified in vehicles/.
    • sensor.py - File for class that represent a sensor (i.e. rangefinders, cameras, gimbals, etc.). Instances of this class or its subclasses are constructed at runtime during the creation of a Vehicle or a parent Sensor based on the configurations specified in sensors/.
    • vehicles.py - Enum to capture supported vehicle types. Marginally useful.
    • sensor_types.py - Enum to capture supported sensor types. Marginally useful.
  • sensors/ - Directory for the config files that define an instance of a Sensor.
  • vehicles/ - Directory for the config files that define an instance of a Vehicle.

Config File Specifications

To define a new Vehicle or Sensor for vizualization, you have to write a new .yaml file in either vehicles/ or sensors/ (respectively). The general format of a configuration file should be:

property: value
list_property:
 - list_value1
 - list_value2
empyt_list_property: []