ArUco Robot Localization #32

VladimirVincan · 2021-12-09T15:48:14Z

ArUco marker numbers:

11 to 50 - playing area, reserved:
-- 47 - red sample
-- 13 - blue sample
-- 36 - green sample
-- 17 - rock sample
-- 42 - table
purple team:
-- 1 to 5, given (on top of robots)
-- 51 to 70, reserved
yellow team:
-- 6 to 10, given (on top of robots)
-- 71 to 90, reserved
91+ - free

size:

samples - 5x5 cm
robots - 7x7 cm
table - 10x10 cm

NOTE:
priority is robot localization, not sample localization

TODO:

mep3_simulation/launch/simulation_launch.py

mep3_simulation/setup.py

lukicdarkoo · 2022-11-20T17:51:16Z

mep3_simulation/webots_data/worlds/eurobot_2022.wbt

+  translation -0.1 1.00976 1.05
+  rotation 0.4472158700299192 0.4472128700307911 -0.7745957748866213 1.82349
+  children [
+    JetBotRaspberryPiCamera {


Ja bih da izbacimo ovaj PROTO, dovoljeno je samo Camera uredjaj da ubacimo. Simulacija bi trebalo da bude sto "laksa"

Da li si siguran u ovo? Pokušao sam sad da ubacim samo JetBotRasberryCamera.proto u eurobot_2023.wbt, nije mogla da se ubaci kamera, samo su se Transform-i ubacili.

WARNING: JetBotRaspberryPiCamera (PROTO): Skipped node: Cannot insert Camera node in 'children' field of Transform node that doesn't have a Robot ancestor.

mep3_localization/mep3_localization/.gitignore

mep3_localization/launch/localization_launch.py

lukicdarkoo · 2022-11-20T18:00:12Z

Izgleda da je marker 22 okrenut naopacke. @VladimirVincan Mozes da provjeris sta se desava?

lukicdarkoo · 2022-11-20T18:04:48Z

Kada robot predje preko (zakloni) markera koji se nalazi na podu cvor pukne sa sljedecom porukom:

$ ros2 run mep3_localization aruco_detector 
Gtk-Message: 17:54:14.693: Failed to load module "canberra-gtk-module"
Gtk-Message: 17:54:14.693: Failed to load module "canberra-gtk-module"
Traceback (most recent call last):
  File "/memristor/ros2_ws/install/mep3_localization/lib/mep3_localization/aruco_detector", line 33, in <module>
    sys.exit(load_entry_point('mep3-localization==0.0.0', 'console_scripts', 'aruco_detector')())
  File "/memristor/ros2_ws/install/mep3_localization/lib/python3.10/site-packages/mep3_localization/aruco_detector.py", line 336, in main
    rclpy.spin(aruco_detector)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin
    executor.spin_once()
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 712, in spin_once
    raise handler.exception()
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 239, in __call__
    self._handler.send(None)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 418, in handler
    await call_coroutine(entity, arg)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 343, in _execute_subscription
    await await_or_execute(sub.callback, msg)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 107, in await_or_execute
    return callback(*args)
  File "/memristor/ros2_ws/install/mep3_localization/lib/python3.10/site-packages/mep3_localization/aruco_detector.py", line 121, in image_listener_callback
    self.find_map(transformation_matrices, ids)
  File "/memristor/ros2_ws/install/mep3_localization/lib/python3.10/site-packages/mep3_localization/aruco_detector.py", line 222, in find_map
    camera_marker20_tf = transformation_matrices[ids_flattened.index(20)]
ValueError: 20 is not in list
[ros2run]: Process exited with failure 1

lukicdarkoo

Generalno je dobro, bitno nam je da imamo map -> maker transformacije sto nam je kriticno za EKF. Samo ispravi ove detalje pa da merge :)

mep3_localization/mep3_localization/aruco_detector.py

VladimirVincan · 2022-11-21T15:04:58Z

Kada robot predje preko (zakloni) markera koji se nalazi na podu cvor pukne sa sljedecom porukom:

$ ros2 run mep3_localization aruco_detector 
Gtk-Message: 17:54:14.693: Failed to load module "canberra-gtk-module"
Gtk-Message: 17:54:14.693: Failed to load module "canberra-gtk-module"
Traceback (most recent call last):
  File "/memristor/ros2_ws/install/mep3_localization/lib/mep3_localization/aruco_detector", line 33, in <module>
    sys.exit(load_entry_point('mep3-localization==0.0.0', 'console_scripts', 'aruco_detector')())
  File "/memristor/ros2_ws/install/mep3_localization/lib/python3.10/site-packages/mep3_localization/aruco_detector.py", line 336, in main
    rclpy.spin(aruco_detector)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin
    executor.spin_once()
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 712, in spin_once
    raise handler.exception()
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 239, in __call__
    self._handler.send(None)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 418, in handler
    await call_coroutine(entity, arg)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 343, in _execute_subscription
    await await_or_execute(sub.callback, msg)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 107, in await_or_execute
    return callback(*args)
  File "/memristor/ros2_ws/install/mep3_localization/lib/python3.10/site-packages/mep3_localization/aruco_detector.py", line 121, in image_listener_callback
    self.find_map(transformation_matrices, ids)
  File "/memristor/ros2_ws/install/mep3_localization/lib/python3.10/site-packages/mep3_localization/aruco_detector.py", line 222, in find_map
    camera_marker20_tf = transformation_matrices[ids_flattened.index(20)]
ValueError: 20 is not in list
[ros2run]: Process exited with failure 1

Rešeno :)

Update description. Check_alignment() now as input has a transformation matrix. Fix static_tf_listener() - [q.w, q.x, q.y, q.z] and parent <- child order in lookup_transform().

VladimirVincan · 2022-11-22T21:43:24Z

Izgleda da je marker 22 okrenut naopacke. @VladimirVincan Mozes da provjeris sta se desava?

Nemam odgovor zašto se sad pojavio a pre humble apdejta nije. Te rotacije su očekivane da će se dešavati tako da bih ovo zanemario, marker_[22] ne utiče ni na šta unutar algoritma za lokalizaciju. Mnogo je manja verovatnoća da će se to desiti nekom markeru bližem kameri.
Takođe, ako ovaj marker ostane pogrešno orijentisan, biće mi lakše da kasnije testiram algoritam za reorijentaciju markera.

lukicdarkoo

To je to! Idemo na EKF i spustanje na SBC

VladimirVincan added 2 commits December 8, 2021 04:44

added raspicam

ba7989d

init

74d80bc

VladimirVincan added localization We need to estimate the position and orientation of the robot simulation The simulation will allow us to simulate robot dynamics, and sensors labels Dec 9, 2021

lukicdarkoo assigned VladimirVincan Dec 9, 2021

lukicdarkoo marked this pull request as draft December 9, 2021 16:07

lukicdarkoo added this to the 2022.2 milestone Jan 19, 2022

VladimirVincan added 19 commits February 20, 2022 16:46

merge main

8f7fafe

nav2 typo fix

99de1e0

Merge branch 'main' into camera

6974a59

fix nav2

02bfdaf

simulation_launch update for camera_central

b0fa5ec

video frame received

e8fc929

added obj files. centered all objects around hinges

80f9755

pose estimation

bb8e3a8

publish to tf

1268fa3

new obj files

8d878d6

finished robot

b5ecc9a

added replica connector, added robot to eurobot map

247bc3b

fix viewpoint

c975775

merge main

dd591fd

add extern controller

b401d8a

working strategy

fc75dda

fix aruco size

9e02ceb

return WaitMatchStartAction

6baf935

bounding object fix

92097ba

VladimirVincan changed the title ~~Camera~~ ArUco Robot Localization Mar 1, 2022

VladimirVincan added 3 commits March 1, 2022 23:49

fix metalness

f856dfd

fix metalness

5ab6b21

merge robot_update

ed9b5c7

VladimirVincan and others added 2 commits November 16, 2022 01:02

apply Darko's comments

da068d4

Merge branch 'main' into camera

dd9fca7

lukicdarkoo reviewed Nov 20, 2022

View reviewed changes

fix

4fc1cd2

cleanup

769f352

lukicdarkoo requested changes Nov 20, 2022

View reviewed changes

mep3_localization/mep3_localization/aruco_detector.py Outdated Show resolved Hide resolved

mep3_localization/mep3_localization/aruco_detector.py Outdated Show resolved Hide resolved

Fix error if marker_[20] is not found.

610af17

VladimirVincan added 2 commits November 21, 2022 17:08

Working on debug and use_localization options. Not finished.

644a892

Add use_localization and debug launch configurations. Fix Viewpoint.

d50a066

VladimirVincan force-pushed the camera branch from ad8e1ec to d50a066 Compare November 22, 2022 00:50

Change name 'cam' to 'camera' everywhere.

df1a24c

VladimirVincan force-pushed the camera branch from 954fdb9 to df1a24c Compare November 22, 2022 15:04

VladimirVincan added 6 commits November 22, 2022 16:15

Fix color of robots. purple->green and yellow->blue.

3b7d464

Fix check_alignment().

8717652

Update description. Check_alignment() now as input has a transformation matrix. Fix static_tf_listener() - [q.w, q.x, q.y, q.z] and parent <- child order in lookup_transform().

Add debug mode to aruco_detector.py

53fb256

Make all functions and variables private.

7c9fbb4

Change transformation_matrix to tmat.

eaf5ff5

delete flycheck

3de8d60

VladimirVincan requested review from miloshunter and lukicdarkoo November 22, 2022 21:14

Remove word listen from callback function names.

7e95339

VladimirVincan added 2 commits November 23, 2022 00:47

Delete tf_base_link_laser from simulation_launch.py

77658cf

Static__tf_listener() -> __static_tf_callback() in description

00bc2c3

lukicdarkoo approved these changes Nov 23, 2022

View reviewed changes

VladimirVincan merged commit b97bf58 into main Nov 23, 2022

VladimirVincan deleted the camera branch November 23, 2022 10:08

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ArUco Robot Localization #32

ArUco Robot Localization #32

VladimirVincan commented Dec 9, 2021 •

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ArUco Robot Localization #32

ArUco Robot Localization #32

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