collision_detect

Getting Started

cd PATH_TO_CATKIN_WS/src
git clone https://github.com/trns1997/collision_detect.git
cd ..
catkin_make 

Make sure to source the catkin_ws. Check if the collision_detect package is properly setup by trying:

roscd collision_detect/

Running the Nodes

Terminal 1

roslaunch collision_detect collision_detect.launch

Terminal 2

rosbag play PATH_TO_CATKIN_WS/src/collision_detect/bag project.bag

use -r flag to speed up the play speed if you please.

Terminal 3

rostopic echo /DistStatus

View the following video to see the steps and the result. But heres the gif version if you are lazy to click the vid:

Under the Hood

Nodes and Topics

rosrun rqt_graph rqt_graph

Ros Service Structure

srv/GetDist.srv

float32 carEnu_x
float32 carEnu_y
float32 carEnu_z
float32 obsEnu_x
float32 obsEnu_y
float32 obsEnu_z
---
float32 dist  

The service takes 3D Enu coordinates of the Car and the Obstacle and as response outputs the Distance between the 2 objects.

Ros Message Structure

msg/collisionInfo.msg

float32 dist
string flag

The custom messasge comprises of the Distance between the Car and Obstacle, And a Status Flag that categorizes the distance between the 2 objects as either Safe or Unsafe or Crash.

Dynamic Reconfigure Gui

This gui allows you to change the **Min Safety Distace** and the **Max Crash Distance** between the Car and Obstacles.

Tf Tree

rosrun rqt_tf_tree rqt_tf_tree

Team Members

• Thomas Narayana Swamy - 10709057
• Felippe Francesconi - 10527268
• Rudolfo Félix - 10732154