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sbroboticsteam / robocup-rescue-23

Code for Stony Brook Robotics Team's entry in RoboCup Rescue 2023
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Investigate Sending LiDAR Data over ZeroMQ #20

Open adit-anand opened 1 year ago

adit-anand commented 1 year ago

Start investigating how to send LiDAR data from the Jetson to the controller computer. File formats will also be a big point of emphasis (I think it's .geotiff, but the rulebook has the exact requirements.)

adit-anand commented 1 year ago

@notALiee I added Giovanni to this issue. Please touch base with him sometime tomorrow about the task at hand!

adit-anand commented 1 year ago

Also, pages 9-12 of the Mapping Section for the RoboCup Rescue rulebook detail more about the GeoTIFF file format (it may be helpful for understanding the file structure).

GTeref commented 1 year ago

Already posted these on Discord, but I found these links that may be relevant; first one is a study that involved transferring LiDAR data through ZMQ, and the second and third links deal with file transfers over ZMQ in general, which may be applicable in transmitting GeoTIFF files. https://ieeexplore.ieee.org/document/9967271 https://stackoverflow.com/questions/21125217/zmq-pub-send-file https://zguide.zeromq.org/docs/chapter7/

adit-anand commented 1 year ago

This looks promising! I'd say the next step would be to try to replicate what they're showing in your own Python script (except with some random GeoTIFF file) as proof of concept! You can work outside of the RCR repository for now, but we can eventually include have the script files be pushed to the repository.