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Overview

Argus is a collection of packages focused on state estimation for indoor ground vehicles.

Dependencies

Argus uses a number of other open source libraries, detailed here. Most of them are pulled in automatically by their respective wrapper packages, but a few must be manually pulled into the workspace.

Automatically Pulled

• AprilTags fiducial detection library
• ISAM smoothing library

Manually pulled

• camplex camera control library

Packages

Below are all of the packages contained in Argus. Further documentation for each one can be found on their respective pages, linked from here.

argus

Top-level metapackage that includes all other packages. Can be used to succinctly include all argus packages.

argus_msgs

Package-wide interface message and service definitions.

atags

AprilTag wrapper package for robust fiducial detection. Automatically pulls a C++ implementation of AprilTags from this repository.

broadcast

Classes for transmitting and receiving timestamped numerical data. Useful for communicating feature vectors. Note that this package may be migrated to the percepto machine learning library.

camera_array

Classes and nodes for controlling and managing large arrays of cameras. Relies on the camplex camera driver.

extrinsics_array

Interface classes to wrap the tf2 coordinate frame management system.

fiducials

Classes for managing fiducial intrinsics, as well as for generating state observations from fiducials detections.

fieldtrack

State estimation nodes and classes, with a few utility nodes scattered in for good measure.

graphopt

Wrapper class around the ISAM smoothing library. Automatically pulls a modified C++ version from this repository.

lookup

Classes and nodes for managing unique namespace lookups through the ROS parameter server.

manycal

Camera and fiducial array calibration nodes. Works in conjunction with fiducial packages.

odoflow

Simple visual odometry nodes for downward-facing cameras.

odoscan

Simple scan-matching laser odometry nodes for planar or 3D laser rangefinders.

paraset

Convenience classes for runtime-settable parameters. Implemented by most argus nodes to allow for automatic in-field parameter tuning.