EDT Framework Overview

Installation

ROS main function （edt_node_laser_realdrone.cpp）

ROS basics

subscribe 4 topics: pose, laser scan, depth from ZED, confidence from ZED

        scan_sub = nh.subscribe("/scan", 1, &EDTNODE::get_scan, this);        o_sub = nh.subscribe("/mavros/position/local", 1, &EDTNODE::get_pose, this);        depth_sub = nh.subscribe("/revised_sensor/image",1,&EDTNODE::get_depth, this);        subConf = nh.subscribe("zed/confidence/confidence_map", 1, &EDTNODE::get_confi_map, this);

publish 1 topic:

        mapTimer = nh.createTimer(ros::Duration(0.1), &EDTNODE::publishMap, this);
        pub_map = nh.advertise<edt::CostMap> ("cost_map", 1);

node param

        nh.param<bool>("/edt/simulation", simulation, false);        nh.param<int>("/edt/crop", crop, depth_rows);        nh.param<float>("/edt/clear_range", clear_range, 10);        nh.param<double>("/nndp_cpp/fly_height",FLYHEIGHT,1.0);

Code structure

while receive a depth measurement, update the probatility map (call function from stereo.cpp)

        if (got_depth)        {            su->makeStereoPt(trans,depth_ptr,confidence_ptr);        }

Update the cost Map (call function from MapUpdater.cpp)

        su->updateEDTMap(FLYHEIGHT-0.4, FLYHEIGHT+0.4, center);

Publish the distance map

        pub_map.publish (cost_map_msg);

ROS main function （edt_node_dsstereo.cpp）

Difference with edt_node_laser_realdrone.cpp

set params instead of hard coding, such as the physical size of a grid in meter, gridSize, how many grids in the map, map_x, map_y, map_z how many grids will be updated in each step, update_x, update_y, update_z fly height of UAV, FLYHEIGHT height range of the map, HEIGHT_EXPANSION whether there's a confidence map together with depth map, use_confidence the params used in map update, d_min, d_max, d_thre