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The cob_footprint_observer observes the setup of the Care-O-Bot (including arm and tray) and inflates the footprint to contain the arm and the tray. It allows for reading the adjusted footprint using either the GetFootprint service or the published adjusted_footprint topic.

Note: The cob_footprint_observer only works with rectangular footprints.

Hardware Requirements

To use this package you need either need a real or a simulated Care-O-Bot (see cob_bringup and cob_bringup_sim respectively).

ROS API

The cob_footprint_observer package provides a configurable node for checking and adjusting the footprint based on the current setup.

cob_footprint_observer

The cob_footprint_observer node uses a tf::TransformListener to check the transformations for desired frames and adjusts the footprint accordingly. It publishes the adjusted footprint as a topic and sets the footprint using a service.

Published Topics

adjusted_footprint (geometry_msgs/PolygonStamped)

• Publishes the adjusted footprint of the robot.

Services

/get_footprint (cob_footprint_observer/GetFootprint)

• Responds with the adjusted footprint.

Parameters

~footprint_source (string, default: "/local_costmap_node/costmap")

• Specifies which node to search for the initial footprint, e.g. /local_costmap_node/costmap.

~frames_to_check (string, default: "")

• Frames which should be checked for footprint adjustment (separated by spaces), e.g. /base_link /sdh_tip_link /arm_4_link.

~robot_base_frame (string, default: "/base_link")

• Specifies the robot base frame, e.g. /base_link.

Usage/Examples

This package is not intended to be used directly, but with the corresponding launch and yaml files. For starting the footprint observer with the collision_velocity_filter use

roslaunch cob_bringup base_collision_observer.launch

For including the footprint observer in your overall launch file use

<!-- start footprint observer node -->
<node pkg="cob_footprint_observer" type="footprint_observer" name="footprint_observer" output="screen">
  <!-- load parameter file -->
  <rosparam file="$(find cob_hardware_config)/$(env ROBOT)/config/footprint_observer_params.yaml" command="load" />
</node>

A sample parameter file could look like this

# node from which initial footprint is read
footprint_source: /local_costmap_node/costmap

# 
robot_base_frame: /base_link
# frames to check for footprint adjustment
frames_to_check: /sdh_tip_link /arm_6_link /arm_4_link