Detector

The Detector tool is running on the Raspberry Pi embedded in the robot.

It communicates on the /detector namespace of the SocketIO server running on the central beacon over Wifi.

It builds dynamic obstacles used by Monitor/Dashboards for display and by mcu-firmware to compute avoidance path.

Detector can operate in monitoring or emulation mode.

Monitoring Mode

Read data from lidar connected on a serial port of the Raspberry Pi. This is the default mode when a Lidar is connected, since the YDLidar SDK automatically detects the serial port to use.

Emulation Mode

Ask the Monitor to emulate the Lidar which sends its data through the SocketIO server. The emulation mode is enabled if no Lidar is detected at startup. In case of a false detection, use the --emulation option.

Data Flow

Run Detector

$ cogip-detector

Parameters

Detector default parameters can be modified using command line options or environment variables:

$ cogip-detector --help
Usage: cogip-detector [OPTIONS]

Options:
  -i, --robot-id INTEGER RANGE    Robot ID.
                                  env var: ROBOT_ID, DETECTOR_ID
                                  default: 1; x>=1

  --server-url TEXT               Socket.IO Server URL
                                  env var: COGIP_SOCKETIO_SERVER_URL
                                  default: None

  -p, --lidar-port PATH           Serial port connected to the Lidar
                                  env var: DETECTOR_LIDAR_PORT
                                  default: None (autodetect)

  --min-distance INTEGER          Minimum distance to detect an obstacle
                                  env var: DETECTOR_MIN_DISTANCE
                                  default: 150

  --max-distance INTEGER          Maximum distance to detect an obstacle
                                  env var: DETECTOR_MAX_DISTANCE
                                  default: 2500

  --min-intensity INTEGER         Minimum intensity to detect an obstacle
                                  env var: DETECTOR_MIN_INTENSITY
                                  default: 0; x>=1; x<=255

  --refresh-interval FLOAT        Interval between each update of the obstacle list (in seconds)
                                  env var: DETECTOR_REFRESH_INTERVAL
                                  default: 0.1; x>=-1.0; x<=2.0

  --sensor-delay INTEGER          Delay to compensate the delay between sensor data fetch and obstacle positions computation.
                                  Unit is the index of pose current to get in the past
                                  env var: DETECTOR_SENSOR_DELAY
                                  default: 0; x>=0; x<=100

  --cluster-min-samples INTEGER RANGE
                                  Minimum number of samples to form a cluster
                                  env var: DETECTOR_CLUSTER_MIN_SAMPLES
                                  default: 4; 1<=x<=20

  --cluster-eps FLOAT RANGE       Maximum distance between two samples to form a cluster (mm)
                                  env var: DETECTOR_CLUSTER_EPS
                                  default: 40.0; 1.0<=x<=100.0

  -g, --gui                       Launch the GUI.
                                  env var: DETECTOR_GUI

  -w, --web                       Launch the web server.
                                  env var: DETECTOR_WEB

  -r, --reload                    Reload app on source file changes.
                                  env var: COGIP_RELOAD, DETECTOR_RELOAD

  -d, --debug                     Turn on debug messages.
                                  env var: COGIP_DEBUG, DETECTOR_DEBUG