inFuse

h1. 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.

 

 

h2. 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).