Mirador driver

Mirader ROS driver for bridging ROS robot metadata with Mirador HMI

mirador_driver

This package is a driver that aim to link Mirador, (Mirador Human-Machine Interface) with ROS. It makes a bridge between ROS topics and JavaScript executing on the HMI web page. The data collected are then displayed on the interface and users can communicate with their robot simply and remotely through a web navigator. Web server is a nodejs server, it rely on socket.io communications to link web pages and share data synchronously.

Install

Clone this repository:

git clone https://github.com/julesberhault/mirador_driver.git

Prerequisite

First, you need ROS environment distro if not already installed.

Install dependencies:

sudo apt update
sudo apt-get install -y ros-noetic-geographic-msgs ros-move-base-msgs
sudo apt-get install -y libgeographic-dev geographiclib-tools

Compiling

Compile package:

catkin build mirador_driver

Running

Run node with rosrun:

rosrun mirador_driver mirador_driver

Parameters

Name	Default value	Description
is_orientation_ned	false	Compass convention (NED / ENU): 0 for North with NED and 0 for East with ENU. Basically ROS compass value is ENU.
is_zero_altitude	false	Use for ground vehicle.
utm_zone	"31n"	Specify UTM zone of robot usage. 31n for Paris per example.
utm_frame_id	"utm"
odom_frame_id	"odom"
base_link_frame_id	"base_link"
ping_topic	"/ping"	Ping or delay topic name used to estimate quality of signal
state_of_charge_topic	"/state_of_charge"	State of battery charge topic name
navsatfix_topic	"/fix"
use_odometry	false	Specify if you prefer imu or odometry compass for yaw information.
imu_topic	"/imu"
odometry_topic	"/odometry"
flight_status_topic	"/flight_status"
camera_elevation_topic	"/camera_elevation"
camera_zoom_topic:	"/camera_zoom"
e_stop_topic	"/e_stop"
stream_method	0	0 for URL video stream method, 1 for WebRTC method
stream_address	[]	Specify stream URL address in case of stream method 0. Parameter stream_method must be 0

Subscribers

Mirador HMI side (Mirador standardized, then computed with JavaScript with roslibjs)

Name	Message type	Desciption
/mirador/mission	mirador_driver/Mission
/mirador/launch	mirador_driver/Launch
/mirador/abort	mirador_driver/Abort
/mirador/report	mirador_driver/Report

mirador_driver node side

Default value	Message type	Desciption
/ping	std_msgs/Float64	Ping or delay time in ms used to estimate quality of the signal
/state_of_charge	std_msgs/Float32	State of the battery charge of the robot, value must be between 0.0 and 100.0
/fix	sensor_msgs/NavSatFix	GPS or GNSS data, latitude, longitude. Use parameter zero_altitude setted to false to keep altitude value
/imu	sensor_msgs/Imu	IMU data used to get orientation. ENU cnvention is used by default. Use parameter is_orientation_ned to use NED convention
/odometry	nav_msgs/Odometry	Odometry data used to get orientation if parameter use_odometry is setted to true
/flight_status	std_msgs/Float32	LANDED = 0, TAKING_OFF = 1, FLYING = 2, LANDING = 3
/camera_elevation	std_msgs/Float32	Value of camera orientation applied, horizontal direction is 0, vertical down direction is -90°
/camera_zoom	std_msgs/Int8	Value of camera zoom applied, default value is 1
/e_stop	std_msgs/Bool	Emergency stop indicator. Setted to true mean that emergency stop is currently applied

Publishers

Mirador HMI side (Mirador standardized, then computed with JavaScript with roslibjs)

Default value	Message type	Desciption
/mirador/status	mirador_msgs/Status

rosping

This package is used to get ping (delay in ms) with the robot

You can easily check the package from this link.

Installation

Clone the repository:

git clone https://github.com/julesberhault/rosping.git

Compiling

Compile this package:

rosping rosping

Running

Run node with rosrun:

rosrun rosping rosping <HOSTNAME>

with HOSTNAME the IP address or hostname you wish to ping

Parameters

Name	Default value	Description
rate	10	Frequency for publishing message. 10 is for pûblishing every 10s (0.1 Hz)