radar_cable_follower

ROS2 package for the radar_cable_follower

For publication information, see:
https://diii-sdu.github.io/radar_cable_follower/

For hardware setup, see:
https://github.com/nhma20/radar_cable_follower_HW

launch radar_cable_follower SIM_radar_power_follower.launch.py

ROS2 Parameters

Point Cloud Processing Parameters

Maximum number of concatenated pointclouds (if not using downsampling): ros2 param set /radar_pcl_filter_node concat_size 200

Leaf size of voxel grid (if using downsampling): ros2 param set /radar_pcl_filter_node leaf_size 0.75

Rate at which pointcloud is reduced (fixed or downsampling). 10/downsample_rate Hz, higer value is lower frequency, 1 is fastest. ros2 param set /radar_pcl_filter_node downsample_rate 5

Height above ground below which all points are ignored (meters) (float): ros2 param set /radar_pcl_filter_node ground_threshold 1.5

Points closer to the drone than this threshold are ignored (meters) (float): ros2 param set /radar_pcl_filter_node drone_threshold 0.5

"Radius" of square around drone in which points are considered (meters) (float): ros2 param set /radar_pcl_filter_node cluster_crop_radius 20.0

Rate at which pointcloud is cropped. 10/crop_rate Hz, higer value is lower frequency, 1 is fastest. ros2 param set /radar_pcl_filter_node crop_rate 5

Parallelism constraint when doing 3D line fit (degrees) (float): ros2 param set /radar_pcl_filter_node line_model_parallel_angle_threshold 10.0

Maximum distance when looking for inliers during 3D line fit (meters) (float): ros2 param set /radar_pcl_filter_node line_model_distance_threshold 1.5

Minimum number of inliers required for a line model (float): ros2 param set /radar_pcl_filter_node line_model_inlier_threshold 10.0

Whether to use voxel grid downsampling or remove oldest points after concat_size is reached (string): ros2 param set /radar_pcl_filter_node voxel_or_time_concat "voxel"

Whether to use highest point or line fit model following (string): ros2 param set /radar_pcl_filter_node line_or_point_follow "point"

Whether sensor points upwards or downwards (string: upwards/downwards): ros2 param set /radar_pcl_filter_node sensor_upwards_or_downwards "downwards"

Rate at which pointcloud is processed (concat, reduce, analyze). Higer value is lower frequency, 1 is fastest. (int): ros2 param set /radar_pcl_filter_node _add_crop_downsample_rate 10

Ratio with which current powerlines are updated with new measurement (float): ros2 param set /radar_pcl_filter_node tracking_update_ratio 0.01

Distance below which a match is considered during tracking (float): ros2 param set /radar_pcl_filter_node tracking_update_euclid_dist 1.5

Maximum elevation angle of radar sensor. If a measurement is outside this angle it will be ignored (float): ros2 param set /radar_pcl_filter_node radar_elevation_fov 40.0

Maximum azimuth angle of radar sensor. If a measurement is outside this angle it will be ignored (float): ros2 param set /radar_pcl_filter_node radar_azimuth_fov 120.0

Command to clear global point cloud (bool): ros2 param set /radar_pcl_filter_node reset_global_point_cloud false

Flight Parameters

"Proportional gain" in target yaw fractional controller (float): ros2 param set /offboard_control yaw_frac 0.25

"Proportional gain" in target position fractional controller (float): ros2 param set /offboard_control pos_frac 0.5

Distance to powerline during following (meters) (float): ros2 param set /offboard_control powerline_following_distance 10.0

Speed of drone during powerline following. Negative is reverse direction (m/s) (float): ros2 param set /offboard_control powerline_following_speed 1.0

ID of detected powerline to follow (int): ros2 param set /offboard_control powerline_following_ID -1

Take off to height if set before entering offboard mode. If below 1, will instead align with powerlines in offboard mode (float): ros2 param set /offboard_control take_off_to_height 0.0