03/14-15 : PoM/Prism Discussion (details)¶

Participants :
Simon, Ellon, Quentin, Pierre

Goal of the meeting : Discuss the PoM/Prism Details.

Note :
After the first meeting, Prism design appeared more complicated than previously thought. Quentin and Pierre met afterward to think about a potential solution.
Pose and transform are used interchangeably in the following and are always accompanied with a parent frame id, a child frame id and an uncertainty matrix.

1. Summary of the objectives and constraints (without design details)¶

1. Nodes producing raw data

• Joints : produce poses between joint base and joint head.
• Sensors : produce sensor data (point clouds, etc...) .

2. Nodes receiving processed data

• Localization DFPCs, receives stamped data : raw sensor data stamped with a time stamp and a pose(RobotBase->Sensor)
• MightlyLocalizer (part of POM) receives time stamp : time stamp at sensor data acquisition date.

3. Constraints

• Centralized time : POM is the master of time. Every time stamp has to come from POM.
• Publish/Subscribe only : No direct services between nodes allowed.
• Sensors only know their frame id and are not managing transform propagation between sensor frame and robot frame. These are managed elsewhere (prism).