Codelisting Codereview

Code listing & code review
Marco Maissan
0949830
Rotterdam University of Applied Sciences

Festo BV
supervised by:
G. Maas
W. Volders
June 26, 2021

1 Code listing
This project mainly consisted of the following tasks:
• Conducting research for hardware;
• Designing and mounting hardware on the Robotino;
• Designing and building software architectures using launch files;
• Compiling pre-made open source packages;
• Writing and tuning package configuration files.
Writing code by hand had a significantly lower priority compared to other tasks. There are
two packages that have been made by hand, of which only one has been used in the end.
Other than that, mostly open source packages are used. This code listing contains only the
files that have been written and/or modified manually. They are described in the following
tables.
1
Files on Robotino on-board computer Description
src/robotino mapper/cfg/costmap common params.yaml Parameters that are being
used in both the local and
global costmap.
src/robotino mapper/cfg/global costmap params.yaml Parameters for the global
costmap.
src/robotino mapper/cfg/global planner params.yaml Parameters for the global
planner.
src/robotino mapper/cfg/local costmap params.yaml Parameters for local costmap.
src/robotino mapper/cfg/rtabmap config.yaml RTAB-MAP configuration
file. This contains the pa-
rameters for the RTAB-MAP
ROS configuration (e.g. sub-
scribing to topics), as well
as the internal RTAB-MAP
functionality parameters (e.g.
computation performance
parameters).
src/robotino mapper/cfg/teb local planner params.yaml Parameters for the Timed
Elastic Band (TEB) local
planner.
src/robotino mapper/launch/mapper.launch Launch file that starts map-
ping/localization.
src/robotino node/include/RobotinoNode.h Header file for CPP Robotino
node.
src/robotino node/src/Robotino.cpp Code that manages IR sensor
readings and omnidirectional
drive handling
src/robotino node/src/RobotinoNode.cpp Code that starts manages the
ROS topic subscriptions and
publishers. Makes use of
Robotino.cpp file.
2
Files on Nvidia Jetson Xavier NX Description
(deprecated)
Header file for Range Filter.
src/range filter/include/RangeFilter.h
(deprecated)
Custom node that was used
src/range filter/src/RangeFilter.cpp
to clear obstacles from the
Costmap. It publishes a cir-
cular point cloud around the
Robotino, which is used was
used for the raytracing clear-
ing function. This is dis-
missed in favor of the spa-
tio temporal voxel layer.
(deprecated)
File that starts up the
src/range filter/src/RangeFilterNode.cpp
RangeFilter.cpp executable
and makes all ROS connec-
tions.
src/robotino preprocessor/launch/include/zed config.yaml Configuration file for ZED 2
stereo camera.
src/robotino preprocessor/launch/preprocessor.launch File that launches the stereo
camera, RVIZ and Voxel Fil-
ters.
src/robotino preprocessor/rviz/robotino.rviz The GUI configuration for
RVIZ.
src/robotino preprocessor/urdf/robotino.urdf.xacro The URDF file that is used
to build a TF tree model of
the Robotino and its addi-
tional hardware.
Files for web interface Description

index.html The HTML for the Robotino control page.
rosconnector.js The JavaScript file that handles all WebSocket connections
and ROS interfacing functionality.
styles.css Few styling adjustments.
3
2 Code review
The code given in the code listing has been reviewed by Florèn van Olden and Oscar Fokker.
Both are engineers at Festo and both have hands-on experience with Robot Operating System
(ROS). The code review is executed by making a pull request to a code review branch, then
merging it back into the master branch after fixing the comments. Its structure is graphically
represented in figure 2. The code has been checked for style errors, optimizations and
unclarities.
Figure 2: Code review structure
3 Code review Robotino

The next pages include the code review of the code that runs on the Robotino.
4
6/17/2021 This is the official code review by Oscar Fokker and Floren van Olden (!3) · Merge requests · Marco Maissan / robotino-robotino · GitLab
Open Created 5 hours ago by Marco Maissan
This is the official code review by Oscar Fokker and

Floren van Olden
This merge request is used for code review purposes and will be merged back into the development branch
afterwards.
Approval is optional
Squash commits
14 commits and 1 merge commit will be added to code_review.
Marco Maissan @marcomaissan requested review from @Ozzynator 5 hours ago
Marco Maissan @marcomaissan assigned to @marcomaissan 5 hours ago
Oscar Fokker @Ozzynator started a thread on the diff 5 hours ago
41 + observation_persistence: 0.0 #default 0, use all measurements

taken during now-value, 0=latest
42 + clear_after_reading: true #default false, clear the buffer

after the layer gets readings from it
43 + filter: "voxel" #default passthrough, apply

"voxel", "passthrough", or no filter to sensor data, recommended to
have at one filter on
44 + voxel_min_points: 0 #default 0, minimum points per

voxel for voxel filter
45 + zed_clear:
46 + data_type: PointCloud2
47 + topic: obstacles
48 + marking: false
49 + clearing: true
50 + min_z: 0.1 #default 0, meters
51 + max_z: 7.0 #default 10, meters
52 + vertical_fov_angle: 1.2 #default 0.7, radians
53 + horizontal_fov_angle: 1.91 #default 1.04, radians
54 + decay_acceleration: 1.0 #default 0, 1/s^2. If laser

scanner MUST be 0
55 + model_type: 0 #default 0 (depth camera). Use 1

for 3D Lidar
56 +
Oscar Fokker @Ozzynator · 5 hours ago Maintainer
why the blank space
Reply…
src/robotino_mapper/cfg/costmap_common_params.yaml
72 + myRequest.perform();
73 +
74 + //split the string
75 + std::string output = os.str();
76 + std::vector<std::string> results;
https://gitlab.com/marcomaissan/robotino-robotino/-/merge_requests/3 1/5
76 + std::vector<std::string> results;
77 + boost::split(results, output, [](char c){return c == '\n';});
78 +
79 + //convert string array to float array with sensor values
80 + float point_data[9];
81 + for(int i = 1; i < 10; i++){
82 + point_data[i-1] = std::stof(results[i]);
83 + }
84 +
85 + // Set dimensions of point cloud with nine IR sensors
86 + cloud_msg.height = 1;
87 + cloud_msg.width = 9;
missing spacing
Reply…
src/robotino_node/src/RobotinoNode.cpp

Last updated
by
Floren van Olden
4 hours ago
104 + sensor_msgs::PointCloud2Iterator<uint8_t>
iterator_b(cloud_msg, "b");
105 + //Fill the PointCloud2
106 + //Fill iterator data. Coordinate is defined as [x=cos(i*PI/9)*

(range_measurement+robotino_radius), y=sin(...)*(...)]
107 + //If the value is maximum, change it to NaN so it will not be

detected as obstacle
108 + //Color is white.
109 + for(size_t i=0; i<9; ++i, ++iterator_x, ++iterator_y,

++iterator_r, ++iterator_g, ++iterator_b) {
110 + *iterator_r = 255;
111 + *iterator_g = 255;
112 + *iterator_b = 255;
113 + if(point_data[i] <= 0.4f){
114 + *iterator_z = 0;
115 + *iterator_x = cos(i * STEP_SIZE) * (point_data[i] +

ROBOTINO_RADIUS);
116 + *iterator_y = sin(i * STEP_SIZE) * (point_data[i] +

ROBOTINO_RADIUS);
117 + }else{
118 + *iterator_x = *iterator_y = *iterator_z =

std::numeric_limits<float>::quiet_NaN();
119 + }
spacing for the followin lines seems of
Floren van Olden @florenvanolden · 4 hours ago Maintainer
Kijk eens naar het codemaid project voor dit soort basis lelijkheden.
Reply…
src/robotino_node/src/RobotinoNode.cpp
Marco Maissan @marcomaissan requested review from @florenvanolden and removed

review request for @Ozzynator 4 hours ago
Floren van Olden @florenvanolden started a thread on the diff 4 hours ago
16 16
17 17 <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap"

output="screen" args="$(arg rtabmap_args)">
18 18 
Mis de toelichting, waarom je welke modules laad en wat de dependancies zijn.
Reply…
src/robotino_mapper/launch/mapper.launch
1 + TebLocalPlannerROS:
2 + # Trajectory
3 + teb_autosize: True
4 + dt_ref: 0.6
5 + dt_hysteresis: 0.1
6 + max_samples: 100
7 + global_plan_overwrite_orientation: True
8 + allow_init_with_backwards_motion: False
9 + max_global_plan_lookahead_dist: 5.0
10 + global_plan_viapoint_sep: -1
11 + global_plan_prune_distance: 1
12 + exact_arc_length: False
13 + feasibility_check_no_poses: 5
14 + publish_feedback: False
15 +
16 + # Robot
Kun je deze parameters straffeloos aanpassen zonder dat dit effect heeft op andere modules?
Of vind ik de acceleratie en velocity parameters ook nog ergens anders, zo ja graag in
comment
Reply…
src/robotino_mapper/cfg/teb_local_planner_params.yaml
9 + max_global_plan_lookahead_dist: 5.0
10 + global_plan_viapoint_sep: -1
11 + global_plan_prune_distance: 1
12 + exact_arc_length: False
13 + feasibility_check_no_poses: 5
14 + publish_feedback: False
15 +
16 + # Robot
17 + max_vel_x: 0.35
18 + max_vel_x_backwards: 0.1
19 + max_vel_y: 0.05
20 + max_vel_theta: 0.15
21 + acc_lim_x: 0.05
22 + acc_lim_y: 0.05
23 + acc_lim_theta: 0.05
24 + min_turning_radius: 0.0
9 unresolved threads
Waarom niet opgegeven? Of kan hij echt om zijn as draaien?
src/robotino_mapper/cfg/teb_local_planner_params.yaml
Reply…
src/robotino_mapper/cfg/rtabmap_config.yaml
8 + subscribe_user_data: false
9 + subscribe_odom_info: false
10 + database_path: "$(find robotino_mapper)/db/database_rtabmap.db"
11 + map_frame_id: "map"
12 + odom_frame_id: "odom" # odometry from odom msg to

have covariance - Remapped by launch file
13 + frame_id: "base_link"
14 + odom_tf_angular_variance: 0.001 # If TF is used to get odometry,

this is the default angular variance
15 + odom_tf_linear_variance: 0.001 # If TF is used to get odometry,

this is the default linear variance
16 + tf_delay: 0.10
17 + publish_tf: true # Set to false if fusing

different poses (map->odom) with UKF
18 + odom_sensor_sync: true
19 + wait_for_transform: false
20 + #wait_for_transform_duration: 0.1
21 + queue_size: 10
22 + scan_normal_k: 0
23 + rgb_topic: "/zed_wrapper/rgb/image_rect_color"
Welke wrapper gebruik je daadwerkelijk voor je SLAM?
Reply…
src/robotino_mapper/cfg/costmap_common_params.yaml
42 + clear_after_reading: true #default false, clear the buffer
after the layer gets readings from it
43 + filter: "voxel" #default passthrough, apply

"voxel", "passthrough", or no filter to sensor data, recommended to
have at one filter on
44 + voxel_min_points: 0 #default 0, minimum points per

voxel for voxel filter
45 + zed_clear:
46 + data_type: PointCloud2
47 + topic: obstacles
48 + marking: false
49 + clearing: true
50 + min_z: 0.1 #default 0, meters
51 + max_z: 7.0 #default 10, meters
52 + vertical_fov_angle: 1.2 #default 0.7, radians
53 + horizontal_fov_angle: 1.91 #default 1.04, radians
54 + decay_acceleration: 1.0 #default 0, 1/s^2. If laser

scanner MUST be 0
55 + model_type: 0 #default 0 (depth camera). Use 1

for 3D Lidar
56 +
57 + ir_mark:
Wat is het verschil tussen je IR clear en mark?
Reply…
src/robotino_node/include/RobotinoNode.h
1 + #ifndef ROBOTINONODE_H_
2 + #define ROBOTINONODE_H
3 +
4 + class RobotinoNode{
4 + class RobotinoNode{
5 + public:
6 + sensor_msgs::PointCloud2 getIRSensorData();
7 + void drive(const geometry_msgs::Twist::ConstPtr& msg);
8 +
9 + private:
10 + const float STEP_SIZE = 0.69813170079f;
Waar komt deze waarde vandaan, is het bewust gekozen en waarom dan deze stapgrote?
Reply…
4 Code review Nvidia Jetson Xavier NX
The next pages include the code review of the code that runs on the Nvidia Jetson Xavier
NX.
10
6/17/2021 Code review by Floren and Oscar (!1) · Merge requests · Marco Maissan / robotino-jetson · GitLab
Open Created 4 hours ago by Marco Maissan
Code review by Floren and Oscar
Approval is optional
Squash commits
24 commits and 1 merge commit will be added to code_review.
Marco Maissan @marcomaissan requested review from @florenvanolden 4 hours ago
Marco Maissan @marcomaissan assigned to @marcomaissan 4 hours ago
2 unresolved threads
src/robotino_preprocessor/launch/preprocessor.launch
9 + <arg name="pos_y" default="0.0"/>
10 + <arg name="pos_z" default="0.34"/>
11 + <arg name="rot_x" default="0.0"/>
12 + <arg name="rot_y" default="0.0"/>
13 + <arg name="rot_z" default="0.0"/>
14 + 
15 + <node name="zed_wrapper" pkg="zed_wrapper" type="zed_wrapper_node"

output="screen" required="true">
16 + <rosparam file="$(find
robotino_preprocessor)/launch/include/zed_config.yaml"
command="load"/>
17 + </node>
18 + 
19 + <node pkg="nodelet" type="nodelet" name="obstacle_manager"

args="manager" output="screen"/>
20 + <node pkg="nodelet" type="nodelet" name="voxel_grid_1" args="load

pcl/VoxelGrid obstacle_manager" output="screen">
21 + <remap from="~input" to="/zed_wrapper/point_cloud/cloud_registered"/>

22 + <remap from="~output" to="/voxel_1"/>
23 + <rosparam subst_value="true">
24 + filter_field_name: x
probeer codemaid eens voor je opmaak, logischer om hier wat tabjes toe te voegen.
Reply…
src/robotino_preprocessor/launch/include/zed_config.yaml
21 + serial_number: 0
22 + resolution: 2 #
'0': HD2K, '1': HD1080, '2': HD720, '3': VGA
23 + grab_frame_rate: 15 #
Frequency of frame grabbing for internal SDK operations
24 + gpu_id: -1
25 + base_frame: 'base_link' #
must be equal to the frame_id used in the URDF file
26 + verbose: false #
Enable info message by the ZED SDK
27 + svo_compression: 2 #
`0`: LOSSLESS, `1`: AVCHD, `2`: HEVC
https://gitlab.com/marcomaissan/robotino-jetson/-/merge_requests/1 1/2
6/17/2021 Code review by Floren and Oscar (!1) · Merge requests · Marco Maissan / robotino-jetson · GitLab
28 + self_calib: true #
enable/disable self calibration at starting
29 + camera_flip: false
30 +
31 + video:
32 + img_downsample_factor: 1.0 #
Resample factor for images [0.01,1.0] The SDK works with native image
sizes, but publishes rescaled image.
33 + extrinsic_in_camera_frame: true # if
`false` extrinsic parameter in `camera_info` will use ROS native
frame (X FORWARD, Z UP) instead of the camera frame (Z FORWARD, Y
DOWN) [`true` use old behavior as for version < v3.1]
34 +
35 + depth:
36 + quality: 1 #
'0': NONE, '1': PERFORMANCE, '2': QUALITY, '3': ULTRA
heb je hiermee geexperimenteerd?
Reply…
https://gitlab.com/marcomaissan/robotino-jetson/-/merge_requests/1 2/2

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Code listing & code review

Rotterdam University of Applied Sciences

June 26, 2021

• Conducting research for hardware;

• Designing and mounting hardware on the Robotino;

• Designing and building software architectures using launch files;

• Compiling pre-made open source packages;

• Writing and tuning package configuration files.

Files for web interface Description

Figure 2: Code review structure

3 Code review Robotino

Open Created 5 hours ago by Marco Maissan

This is the official code review by Oscar Fokker and

14 commits and 1 merge commit will be added to code_review.

Marco Maissan @marcomaissan requested review from @Ozzynator 5 hours ago

Marco Maissan @marcomaissan assigned to @marcomaissan 5 hours ago

Oscar Fokker @Ozzynator started a thread on the diff 5 hours ago

41 + observation_persistence: 0.0 #default 0, use all measurements

42 + clear_after_reading: true #default false, clear the buffer

43 + filter: "voxel" #default passthrough, apply

44 + voxel_min_points: 0 #default 0, minimum points per

50 + min_z: 0.1 #default 0, meters

51 + max_z: 7.0 #default 10, meters

52 + vertical_fov_angle: 1.2 #default 0.7, radians

53 + horizontal_fov_angle: 1.91 #default 1.04, radians

54 + decay_acceleration: 1.0 #default 0, 1/s^2. If laser

55 + model_type: 0 #default 0 (depth camera). Use 1

Oscar Fokker @Ozzynator · 5 hours ago Maintainer

why the blank space

Oscar Fokker @Ozzynator started a thread on the diff 5 hours ago

74 + //split the string

75 + std::string output = os.str();

77 + boost::split(results, output, [](char c){return c == '\n';});

79 + //convert string array to float array with sensor values

81 + for(int i = 1; i < 10; i++){

85 + // Set dimensions of point cloud with nine IR sensors

Oscar Fokker @Ozzynator · 5 hours ago Maintainer

Oscar Fokker @Ozzynator started a thread on the diff 5 hours ago

105 + //Fill the PointCloud2

106 + //Fill iterator data. Coordinate is defined as [x=cos(i*PI/9)*

107 + //If the value is maximum, change it to NaN so it will not be

108 + //Color is white.

109 + for(size_t i=0; i<9; ++i, ++iterator_x, ++iterator_y,

110 + *iterator_r = 255;

111 + *iterator_g = 255;

112 + *iterator_b = 255;

113 + if(point_data[i] <= 0.4f){

115 + *iterator_x = cos(i * STEP_SIZE) * (point_data[i] +

116 + *iterator_y = sin(i * STEP_SIZE) * (point_data[i] +

118 + *iterator_x = *iterator_y = *iterator_z =

Oscar Fokker @Ozzynator · 5 hours ago Maintainer

spacing for the followin lines seems of

Floren van Olden @florenvanolden · 4 hours ago Maintainer

Marco Maissan @marcomaissan requested review from @florenvanolden and removed

17 17 <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap"

18 18

Floren van Olden @florenvanolden · 4 hours ago Maintainer

Mis de toelichting, waarom je welke modules laad en wat de dependancies zijn.

Floren van Olden @florenvanolden · 4 hours ago Maintainer

Floren van Olden @florenvanolden · 4 hours ago Maintainer

10 + database_path: "$(find robotino_mapper)/db/database_rtabmap.db"

12 + odom_frame_id: "odom" # odometry from odom msg to

106 + //Fill iterator data. Coordinate is defined as [x=cos(iPI/9)

115 + iterator_x = cos(i STEP_SIZE) * (point_data[i] +

116 + iterator_y = sin(i STEP_SIZE) * (point_data[i] +

118 + iterator_x = iterator_y = *iterator_z =