Geozones

Geozones node for Aerostack2.

Params:

• config_file: Polygons that define geofences are defined here. (IMPORTANT) Remember that the order in which points are given defines how the polygon is built, this means that n point will be conected to n+1 point and so on. Last point will be connected to the first point. Config file parameters:

  • id (int): geozone id
  • alert (int): generated alert
  • type (string): geofence or geocage. Geofence will generate alert on entering the area, geocage will generate alert on exiting the area.
  • data_type (string): gps or cartesian.
  • polygon (list(2DPoint)): List of 2D points that forms the polygon. Should at least be 3. Order matters.
  • z_up (float): up limit, always in cartesian.
  • z_down (float): down limit, always in cartesian.

Example config file:

{
    "geozones": [
        {
            "id": 1,
            "alert": 1,
            "type": "geofence",
            "data_type": "gps",
            "polygon": [
                [
                    52.172046,
                    4.416790
                ],
                [
                    52.172046,
                    4.415912
                ],
                [
                    52.171506,
                    4.415912
                ],
                [
                    52.171506,
                    4.416789
                ]
            ],
            "z_up": 100.0,
            "z_down": 90.0
        }
    ]
}

• Interfaces:

  Available Services:

  • /set_geozone: Set a geoestructure vía message.
  • /get_geozone: Get a list of all geoestructures available

  Published topics:

  • /alert_event: Publish the defined alert message when a geoestructure event is triggered.