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

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

  -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

  --beacon-radius INTEGER         Radius of the opponent beacon support
                                  (a cylinder of 70mm diameter to a cube of 100mm width)
                                  env var: DETECTOR_BEACON_RADIUS
                                  default: 35

  --refresh-interval FLOAT        Interval between each update of the obstacle list (in seconds)
                                  env var: DETECTOR_REFRESH_INTERVAL
                                  default: 0.2

  -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