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UAV C++ libraries, mostly ROS-related, part of the "mrs_uav_core" package.

Home Page: https://github.com/ctu-mrs/mrs_uav_core

License: BSD 3-Clause "New" or "Revised" License

CMake 2.07% C++ 97.15% MATLAB 0.14% TeX 0.23% Shell 0.34% C 0.07%

ros transformation parameter-loading subscribers geometry robot-operating-system uav drone

mrs_lib's Introduction

MRS libraries

⚠️ Attention please: This README is outdated.

The MRS UAV System 1.5 is being released and this page needs updating. Please, keep in mind that the information on this page might not be valid.

Overview

This ROS package contains various useful libraries (mostly C++) for the MRS UAV system.

Online documentation: https://ctu-mrs.github.io/mrs_lib.

Notable libraries:

ParamLoader - wrapper around ROS's param loading for C++ (documentation)
Transformer - wrapper around ROS's transfomation library (documentation)
SubscribeHandler - wrapper around ROS's subscriber (documentation)
AttitudeConverter - a proxy class for converting representations of 3D orientation (documentation)
LKF - Linear Kalman Filter (documentation)
UKF - Unscented Kalman Filter (documentation)
Repredictor - algorithm for fusing variably time-delayed measurements (documentation)
Profiler - scoped profiling routine (documentation)

mrs_lib's People

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matemat13 peci1 vrbadev petvana owenliu-rdc viktorwalter

mrs_lib's Issues

Risk of deadlock in the subscribe handler

Check the diff. A deadlock might occur between

topicName() (which locks m_mtx) being called in check_timeout(), and
process_new_message() (being under m_mtx), calling m_timeout_check_timer.stop() that is blocking until it is sure no more check_timeout() will get called (aka, until 1. finishes).

Code noticing before it happens: https://github.com/ctu-mrs/mrs_lib/compare/deadlock_notice
GDB backtrace: backtrace.txt

[SubscribeHandler]: Rewrite timeout implementation.

Turns out that ending/starting ROS timers is inefficient and computationally demanding. We should reimplement this somehow while still taking into account ROS time. Maybe using the non-ROS timer implementation?

Timeout for BatchVisualization

It would be nice to implement a timeout for a cuboid/line visualization feature.
For example, it would look like this
void mrs_lib::BatchVisualizer::addCuboid ( const [mrs_lib::geometry::Cuboid](https://ctu-mrs.github.io/mrs_lib/classmrs__lib_1_1geometry_1_1Cuboid.html) & cuboid, const double r = 0.5, const double g = 0.5, const double b = 0.0, const double a = 1.0, const bool filled = true, const ros::Duration timeout = 1 )

The clearBuffer function is nice, but having an automatic option would be nice.

create an example for the Transformer, better document it

see title

BatchVisualizer: add way to visualize trajectory

[Transformer]: frame_id is not correctly filled out when calling transformSingle on a pointcloud message

see the title.

[Profiler] Update documentation, add example, update ctu-mrs.github.io

Documentation of the mrs_lib::Profiler needs finishing. Please update it and resolve the TODO assigned to @klaxalk in ctu-mrs.github.io documentation on code profiling by adding an example on usage and visualization.

Check if SubscribeHandlers's topic timeout actually works

Control mananger did not properly time out the UAV state topic from odometry. It might have been caused by the high CPU load which caused the topic to be missing in the first place. Maybe implementing the timeout check by some other mechanism than ROS timer?