erl_2018_madrid_navigation

ERL - Navigation config and topological map

Backwards guiding:

---

• When using a state machine, setup a sm state to perform a dynamic reconfiguration as exemplified:

import mcr_states.common.basic_states as gbs

Add a new state to the state machine:

# sets the desired navigation configuration: navigating_only_front/navigating_only_backwards/navigation_front_and_back
smach.StateMachine.add('UPDATE_NAVIGATION_CONFIG', gbs.set_named_config('navigating_only_backwards'),
    transitions={'success':'NEXT_STATE_WITH_SUCESS',
    'failure':'NEXT_STATE_WITH_FAILURE',
    'timeout':'NEXT_STATE_WITH_TIMEOUT'})

Forbidden Zones:

---

Create a yaml file (suggestion: save it in mbot_world_model) with:

forbidden_zones: {kimble: [], postman: [entrance_hall, hallway, bedroom, living_room, dining_room, kitchen, bathroom], deliman: [bathroom], plumber: [bedroom]}

With a python file you can get the dictionary using the following:

self.permissions_file = rospy.get_param('~people_and_zones_permissions_file')
# Load raw data
with open(self.permissions_file) as fh:
    self.meta = yaml.load(fh)

# get all forbidden zones per person from .yaml file
# dict of type {'person_name': [ zone1, zone2 ...]}
self.forbidden_zones = self.meta['forbidden_zones'] if 'forbidden_zones' in self.meta else {}

To check if a person is in a forbidden zone:

zone = msg.data
if zone in self.forbidden_zones.get(self.last_seen_person):
   rospy.loginfo("You are not allowed in %s, please exit that room", zone)
   # Replace the rospy.loginfo() by espeak

Instructions to Build the Zones Map:

1. Copy the map image and yaml files to the same folder

2. Name the files map_colored.pgm and map_colored.yaml, respectively

3. map_colored.yaml: Change the first line to:

image: map_colored.pgm

4. map_colored.yaml: Add the following line:

zones: {entrance_hall: color_id_1, hallway: color_id_2 , bedroom: color_id_3 , living_room: color_id_4 , dining_room: color_id_5 , kitchen: color_id_6 , bathroom: color_id_7}

5. Use GIMP to edit the map_colored.pgm file and color (grey scale) the different zones:
   • Save the color id of each zone in map_colored.yaml, in the zones line
   • All color_id_n should be replaced with the color number of that specific zone
   • Select a color id (marked in red rectangle) and paint the zone with that color, then, save that number (eg: 50) in map_colored.yaml next to the corresponding zone (e.g:corridor: 50)
   • Advice:
     • To generate a grey scale color, choose a number (0<n<255) and set the color as shown in the red rectangle.
     • It helps to draw the outline of the zone with the chosen color and, then, paint the zone.
     • For an example go to mbot_world_model/maps/isr-lab/

TBM 4 - Visit My Home

Instructions to the Navigation component of TBM4 are available in Using a Point Cloud in Navigation