Environmental Measurements: Storage, Simulation, Visualization and Tools

This repository contains ROS packages for storing environmental measurements using a generic message interface. Packages include simulation of sources, storage, visualization and tools. Measurement interpolation and computation of Region of Interest is also supported.

Package Description

• fkie_measurement Meta-package with the dependencies
• fkie_measurement_msgs Definition of generic measurement messages
• fkie_measurement_server Collects and storages measurement data of any number of sensors
• fkie_measurement_sensor_simulator Simulates environmental sources, such as hot-spots or air pollution.
• fkie_measurement_tools Visualization tools using point clouds and occupancy grids.

Detailed information about usage is provided on each package.

Compilation

If you want to use all included packages, you can just compile the meta-package fkie_measurement using catkin tools:

• Install APT dependencies:

sudo apt install ros-noetic-octomap-ros ros-noetic-pcl-ros ros-noetic-grid-map-core ros-noetic-grid-map-ros python3-sklearn  python3-skimage python3-scipy

• Install Python dependencies:

pip install future pykrige --user

• Get the code and compile:

cd ros/src
git clone https://github.com/fkie/fkie_environmental_measurements
cd fkie_environmental_measurements/fkie_measurement
catkin build --this

Usage

A demo using the measurement_server and the measurement_sensor_simulator can be execute using:

cd ros
source devel/setup.bash
roslaunch fkie_measurement_server measurement_server.launch

If you want to compute interpolation and ROIs (Region Of Interest), just send the corresponding request message:

rostopic pub /commands std_msgs/String "data: 'compute_interpolation'"

or

rostopic pub /commands std_msgs/String "data: 'compute_boundary_polygons'"

Publication

If you use this work for scientific purposes, please consider to reference the following article:

Automated Environmental Mapping with Behavior Trees

@incollection{rosas2022automated,
  title={Automated Environmental Mapping with Behavior Trees},
  author={Rosas, Francisco Garcia and Hoeller, Frank and Schneider, Frank E},
  booktitle={Advances in Intelligent Systems Research and Innovation},
  pages={61--85},
  year={2022},
  publisher={Springer}
}

Contributors

Francisco J. Garcia R.
francisco.garcia.rosas@fkie.fraunhofer.de

Frank Höller
frank.hoeller@fkie.fraunhofer.de

Menaka Naazare 
menaka.naazare@fkie.fraunhofer.de