From ba7989d755cf8a0ace1c506878ed08809d23287e Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Wed, 8 Dec 2021 04:44:09 +0100 Subject: [PATCH 01/86] added raspicam --- .../controllers/camera_controller/Makefile | 72 +++++++++++++++ .../build/release/camera_controller | Bin 0 -> 14560 bytes .../build/release/camera_controller.d | 6 ++ .../build/release/camera_controller.o | Bin 0 -> 4264 bytes .../camera_controller/camera_controller | Bin 0 -> 14560 bytes .../camera_controller/camera_controller.cpp | 37 ++++++++ .../protos/JetBotRaspberryPiCamera.proto | 84 ++++++++++++++++++ .../webots_data/worlds/eurobot_2022.wbt | 17 +++- 8 files changed, 213 insertions(+), 3 deletions(-) create mode 100644 mep3_simulation/webots_data/controllers/camera_controller/Makefile create mode 100755 mep3_simulation/webots_data/controllers/camera_controller/build/release/camera_controller create mode 100644 mep3_simulation/webots_data/controllers/camera_controller/build/release/camera_controller.d create mode 100644 mep3_simulation/webots_data/controllers/camera_controller/build/release/camera_controller.o create mode 100755 mep3_simulation/webots_data/controllers/camera_controller/camera_controller create mode 100644 mep3_simulation/webots_data/controllers/camera_controller/camera_controller.cpp create mode 100644 mep3_simulation/webots_data/protos/JetBotRaspberryPiCamera.proto diff --git a/mep3_simulation/webots_data/controllers/camera_controller/Makefile b/mep3_simulation/webots_data/controllers/camera_controller/Makefile new file mode 100644 index 000000000..920928c35 --- /dev/null +++ b/mep3_simulation/webots_data/controllers/camera_controller/Makefile @@ -0,0 +1,72 @@ +# Copyright 1996-2021 Cyberbotics Ltd. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +### Generic Makefile.include for Webots controllers, physics plugins, robot +### window libraries, remote control libraries and other libraries +### to be used with GNU make +### +### Platforms: Windows, macOS, Linux +### Languages: C, C++ +### +### Authors: Olivier Michel, Yvan Bourquin, Fabien Rohrer +### Edmund Ronald, Sergei Poskriakov +### +###----------------------------------------------------------------------------- +### +### This file is meant to be included from the Makefile files located in the +### Webots projects subdirectories. It is possible to set a number of variables +### to customize the build process, i.e., add source files, compilation flags, +### include paths, libraries, etc. These variables should be set in your local +### Makefile just before including this Makefile.include. This Makefile.include +### should never be modified. +### +### Here is a description of the variables you may set in your local Makefile: +### +### ---- C Sources ---- +### if your program uses several C source files: +### C_SOURCES = my_plugin.c my_clever_algo.c my_graphics.c +### +### ---- C++ Sources ---- +### if your program uses several C++ source files: +### CXX_SOURCES = my_plugin.cc my_clever_algo.cpp my_graphics.c++ +### +### ---- Compilation options ---- +### if special compilation flags are necessary: +### CFLAGS = -Wno-unused-result +### +### ---- Linked libraries ---- +### if your program needs additional libraries: +### INCLUDE = -I"/my_library_path/include" +### LIBRARIES = -L"/path/to/my/library" -lmy_library -lmy_other_library +### +### ---- Linking options ---- +### if special linking flags are needed: +### LFLAGS = -s +### +### ---- Webots included libraries ---- +### if you want to use the Webots C API in your C++ controller program: +### USE_C_API = true +### +### ---- Debug mode ---- +### if you want to display the gcc command line for compilation and link, as +### well as the rm command details used for cleaning: +### VERBOSE = 1 +### +###----------------------------------------------------------------------------- + +### Do not modify: this includes Webots global Makefile.include +null := +space := $(null) $(null) +WEBOTS_HOME_PATH=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME)))) +include $(WEBOTS_HOME_PATH)/resources/Makefile.include diff --git a/mep3_simulation/webots_data/controllers/camera_controller/build/release/camera_controller b/mep3_simulation/webots_data/controllers/camera_controller/build/release/camera_controller new file mode 100755 index 0000000000000000000000000000000000000000..9c940ad81beabbbcfbdfe473dddbabb44a3ba682 GIT binary patch literal 14560 zcmeHOZERcB89q)NYM^z@Xd!E%^&p^@5;soMk^mWYKAIaaEHuf;80FTnZxRp34)#r( zu(D;!3RtbTfQE*EA3@rWPGY0`u?cBoOH~T{V65E)DjQ>E8^fL$&CJI-2EBXUd(Ufb 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z<6Gd?+W7qWDuhi!)Y#9GK9pH+z(ChNkI$b2`2SsgSs1#1sWFf9dIUN;Cg$_!tI@00hq_K7i7}$_;n%6QYZONe;Ui)&X?m$_p*ukJpZwQ V`F7;7*@v)Q2E2$JrO_dZe**2}Hh};D literal 0 HcmV?d00001 diff --git a/mep3_simulation/webots_data/controllers/camera_controller/camera_controller.cpp b/mep3_simulation/webots_data/controllers/camera_controller/camera_controller.cpp new file mode 100644 index 000000000..30029efd3 --- /dev/null +++ b/mep3_simulation/webots_data/controllers/camera_controller/camera_controller.cpp @@ -0,0 +1,37 @@ +#include +#include +#define TIME_STEP 64 + +using namespace webots; + +int main(int argc, char **argv) { + Robot *robot = new Robot(); + int timeStep = (int)robot->getBasicTimeStep(); + + // You should insert a getDevice-like function in order to get the + // instance of a device of the robot. Something like: + // Motor *motor = robot->getMotor("motorname"); + // DistanceSensor *ds = robot->getDistanceSensor("dsname"); + // ds->enable(timeStep); + Camera *cm; + cm=robot->getCamera("RasPi0"); + cm->enable(timeStep); + + // Main loop: + // - perform simulation steps until Webots is stopping the controller + while (robot->step(timeStep) != -1) { + // Read the sensors: + // Enter here functions to read sensor data, like: + // double val = ds->getValue(); + + // Process sensor data here. + + // Enter here functions to send actuator commands, like: + // motor->setPosition(10.0); + }; + + // Enter here exit cleanup code. + + delete robot; + return 0; +} diff --git a/mep3_simulation/webots_data/protos/JetBotRaspberryPiCamera.proto b/mep3_simulation/webots_data/protos/JetBotRaspberryPiCamera.proto new file mode 100644 index 000000000..75212b79d --- /dev/null +++ b/mep3_simulation/webots_data/protos/JetBotRaspberryPiCamera.proto @@ -0,0 +1,84 @@ +#VRML_SIM R2021b utf8 +# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. +# license url: https://cyberbotics.com/webots_assets_license +# documentation url: https://www.cyberbotics.com/doc/guide/jetbot +# Raspberry Camera v2 used by JetBot robot. + +PROTO JetBotRaspberryPiCamera [ + field SFVec3f translation 0 0 0 # Is `Transform.translation`. + field SFRotation rotation 0 1 0 0 # Is `Transform.rotation`. + field SFString name "camera" # Is `Camera.name`. + field SFFloat fieldOfView 2.79253 # Is `Camera.fieldOfView`. + field SFInt32 width 1280 # Is `Camera.width`. + field SFInt32 height 720 # Is `Camera.height`. + field SFFloat near 0.01 # Is `Camera.near`. + field SFFloat far 1.0 # Is `Camera.far`. +] +{ + Transform { + translation IS translation + rotation IS rotation + children [ + DEF BOARD TexturedBoxShape { + size 0.024 0.024 0.001 + textureUrl [ "assets/samples/raspberry_pi_camera.jpg" ] + } + Transform { + translation 0.0015 0 -0.003 + children [ + Shape { + appearance DEF LIGHT_GRAY_APPEARANCE PBRAppearance { + baseColor 0.729412 0.741176 0.713725 + roughness 0.5 + metalness 0.2 + } + geometry Box { + size 0.027 0.022 0.004 + } + } + ] + } + Camera { + translation -0.0013 0 0.0005 + rotation 0.7071077811842907 -0.7071057811849097 1.872979420403323e-06 3.14159 + children [ + Transform { + translation 0 0 -0.003 + rotation 1 0 0 -1.5707953071795862 + children [ + Transform { + translation 0 0.0036 0 + children [ + Shape { + appearance DEF BLACK_APPEARANCE PBRAppearance { + baseColor 0.180392 0.203922 0.211765 + roughness 0.5 + metalness 0.2 + } + geometry Cylinder { + height 0.004 + radius 0.0043 + } + } + ] + } + Shape { + appearance USE BLACK_APPEARANCE + geometry Cylinder { + height 0.006 + radius 0.0032 + } + } + ] + } + ] + name IS name + fieldOfView IS fieldOfView + width IS width + height IS height + near IS near + far IS far + } + ] + } +} diff --git a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt index 0519f21fd..af344954c 100644 --- a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt +++ b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt @@ -3,8 +3,8 @@ WorldInfo { basicTimeStep 16 } Viewpoint { - orientation 0.20868380639246203 -0.4933479470449755 -0.8444281331741982 2.455462865957651 - position -0.970213014458458 1.0796919983826436 1.0058115311780271 + orientation -0.9497956336619633 0.18731533415830812 0.25060171560831546 4.949692854995131 + position -1.1199094959911553 -2.042797469251468 1.0712188519611927 } TexturedBackground { } @@ -673,7 +673,6 @@ Robot { density -1 mass 10 } - controller "" } ExcavationSquare { name "excSq0" @@ -721,3 +720,15 @@ ExcavationSquare { translation 0.8325 -1.022 0 frontTexture "purple1" } +Robot { + translation -0.1 1.00976 1.0098 + rotation -0.6785987087146205 -0.6785987087146205 0.28108287934646486 -2.593565307179586 + children [ + JetBotRaspberryPiCamera { + name "RasPi0" + fieldOfView 2.3 + } + ] + name "robot_cam" + controller "camera_controller" +} From 74d80bc9432a5fff79b7c2024fd3b45816ea4b4c Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Thu, 9 Dec 2021 16:29:51 +0100 Subject: [PATCH 02/86] init --- .../controllers/camera_controller/.gitignore | 2 + .../build/release/camera_controller | Bin 14560 -> 0 bytes .../build/release/camera_controller.o | Bin 4264 -> 0 bytes .../camera_controller/camera_controller | Bin 14560 -> 0 bytes .../camera_controller/camera_controller.cpp | 3 + mep3_simulation/webots_data/src/.clang-format | 168 ++++++++++++++++++ mep3_simulation/webots_data/src/.gitignore | 9 + .../webots_data/src/CMakeLists.txt | 9 + mep3_simulation/webots_data/src/aruco.cpp | 70 ++++++++ mep3_simulation/webots_data/src/compile_test | Bin 0 -> 25128 bytes .../webots_data/src/compile_test.cpp | 19 ++ .../webots_data/src/img/top_yellow.png | 3 + .../webots_data/worlds/eurobot_2022.wbt | 10 +- 13 files changed, 290 insertions(+), 3 deletions(-) create mode 100644 mep3_simulation/webots_data/controllers/camera_controller/.gitignore delete mode 100755 mep3_simulation/webots_data/controllers/camera_controller/build/release/camera_controller delete mode 100644 mep3_simulation/webots_data/controllers/camera_controller/build/release/camera_controller.o delete mode 100755 mep3_simulation/webots_data/controllers/camera_controller/camera_controller create mode 100644 mep3_simulation/webots_data/src/.clang-format create mode 100644 mep3_simulation/webots_data/src/.gitignore create mode 100644 mep3_simulation/webots_data/src/CMakeLists.txt create mode 100644 mep3_simulation/webots_data/src/aruco.cpp create mode 100755 mep3_simulation/webots_data/src/compile_test create mode 100644 mep3_simulation/webots_data/src/compile_test.cpp create mode 100644 mep3_simulation/webots_data/src/img/top_yellow.png diff --git a/mep3_simulation/webots_data/controllers/camera_controller/.gitignore b/mep3_simulation/webots_data/controllers/camera_controller/.gitignore new 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actuator commands, like: // motor->setPosition(10.0); }; + cm->saveImage("../../src/img/top_yellow.png", 100); // Enter here exit cleanup code. diff --git a/mep3_simulation/webots_data/src/.clang-format b/mep3_simulation/webots_data/src/.clang-format new file mode 100644 index 000000000..f2dd0de37 --- /dev/null +++ b/mep3_simulation/webots_data/src/.clang-format @@ -0,0 +1,168 @@ +--- +Language: Cpp +# BasedOnStyle: Google +AccessModifierOffset: -1 +AlignAfterOpenBracket: Align +AlignConsecutiveMacros: false +AlignConsecutiveAssignments: false +AlignConsecutiveDeclarations: false +AlignEscapedNewlines: Left +AlignOperands: true +AlignTrailingComments: true +AllowAllArgumentsOnNextLine: true +AllowAllConstructorInitializersOnNextLine: true +AllowAllParametersOfDeclarationOnNextLine: true +AllowShortBlocksOnASingleLine: Never +AllowShortCaseLabelsOnASingleLine: false +AllowShortFunctionsOnASingleLine: All +AllowShortLambdasOnASingleLine: All +AllowShortIfStatementsOnASingleLine: 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false +SpaceAfterLogicalNot: false +SpaceAfterTemplateKeyword: true +SpaceBeforeAssignmentOperators: true +SpaceBeforeCpp11BracedList: false +SpaceBeforeCtorInitializerColon: true +SpaceBeforeInheritanceColon: true +SpaceBeforeParens: ControlStatements +SpaceBeforeRangeBasedForLoopColon: true +SpaceInEmptyBlock: false +SpaceInEmptyParentheses: false +SpacesBeforeTrailingComments: 2 +SpacesInAngles: false +SpacesInConditionalStatement: false +SpacesInContainerLiterals: true +SpacesInCStyleCastParentheses: false +SpacesInParentheses: false +SpacesInSquareBrackets: false +SpaceBeforeSquareBrackets: false +Standard: Auto +StatementMacros: + - Q_UNUSED + - QT_REQUIRE_VERSION +TabWidth: 8 +UseCRLF: false +UseTab: Never +... + diff --git a/mep3_simulation/webots_data/src/.gitignore b/mep3_simulation/webots_data/src/.gitignore new file mode 100644 index 000000000..bbdc36513 --- /dev/null +++ b/mep3_simulation/webots_data/src/.gitignore @@ -0,0 +1,9 @@ +aruco +test +Makefile +.#* +cmake_* +CMakeFiles/* +*Cache* +img/1\\2.png +img/top_yellow1.png \ No newline at end of file diff --git a/mep3_simulation/webots_data/src/CMakeLists.txt b/mep3_simulation/webots_data/src/CMakeLists.txt new file mode 100644 index 000000000..231eb9097 --- /dev/null +++ b/mep3_simulation/webots_data/src/CMakeLists.txt @@ -0,0 +1,9 @@ +cmake_minimum_required(VERSION 2.8) +project( proj ) +find_package( OpenCV REQUIRED ) +include_directories( ${OpenCV_INCLUDE_DIRS} ) +add_executable( compile_test compile_test.cpp ) +target_link_libraries( compile_test ${OpenCV_LIBS} ) + +add_executable( aruco aruco.cpp ) +target_link_libraries( aruco ${OpenCV_LIBS} ) diff --git a/mep3_simulation/webots_data/src/aruco.cpp b/mep3_simulation/webots_data/src/aruco.cpp new file mode 100644 index 000000000..e50ba2883 --- /dev/null +++ b/mep3_simulation/webots_data/src/aruco.cpp @@ -0,0 +1,70 @@ +#include +#include +#include +#include +#include + +#define ARUCO_TAG_LENGTH_M 0.05 +#define AXIS_LENGTH_M 0.1 + +int main() { + std::string image_path = cv::samples::findFile("img/top_yellow.png"); + cv::Mat img = cv::imread(image_path, cv::IMREAD_COLOR); + if (img.empty()) { + std::cout << "Could not read the image: " << image_path << std::endl; + return 1; + } + cv::imshow("Display window", img); + + // GENERATION + // cv::Mat markerImage; + // cv::Ptr dictionary = + // cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250); + // cv::aruco::drawMarker(dictionary, 23, 200, markerImage, 1); + // cv::imwrite("marker23.png", markerImage); + + // DETECTION + std::vector markerIds; + std::vector> markerCorners, rejectedCandidates; + cv::Ptr parameters = + cv::aruco::DetectorParameters::create(); + cv::Ptr dictionary = + cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_100); + cv::aruco::detectMarkers(img, dictionary, markerCorners, markerIds, + parameters, rejectedCandidates); + + cv::Mat outputImage = img.clone(); + if (markerIds.size() > 0) + cv::aruco::drawDetectedMarkers(outputImage, markerCorners, markerIds); + + cv::imshow("output", outputImage); + + cv::Mat cameraMatrix, distCoeffs; + // To work with examples from the tutorial, you can use these camera + // parameters: + cv::Size imgSize = img.size(); + cameraMatrix = cv::Mat::eye(3, 3, CV_64FC1); + cameraMatrix.at(0, 0) = cameraMatrix.at(1, 1) = 650; + cameraMatrix.at(0, 2) = imgSize.width / 2; + cameraMatrix.at(1, 2) = imgSize.height / 2; + distCoeffs = cv::Mat(5, 1, CV_64FC1, cv::Scalar::all(0)); + + // POSE ESTIMATION + std::vector rvecs, tvecs; + cv::aruco::estimatePoseSingleMarkers(markerCorners, ARUCO_TAG_LENGTH_M, + cameraMatrix, distCoeffs, rvecs, tvecs); + + cv::Mat outputImage2 = img.clone(); + for (int i = 0; i < rvecs.size(); ++i) { + auto rvec = rvecs[i]; + auto tvec = tvecs[i]; + cv::aruco::drawAxis(outputImage, cameraMatrix, distCoeffs, rvec, tvec, + AXIS_LENGTH_M); + } + + cv::imshow("output2", outputImage); + int k = 0; + while (k != 27) k = cv::waitKey(0); // Wait for a keystroke in the window + + return 0; 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b/mep3_simulation/webots_data/src/img/top_yellow.png new file mode 100644 index 000000000..068072479 --- /dev/null +++ b/mep3_simulation/webots_data/src/img/top_yellow.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a0bcadb23857af7a7bd12b34f2d5e796ed73afcd45129b0d747b9e9eb5382f4 +size 812192 diff --git a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt index af344954c..02792e7e0 100644 --- a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt +++ b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt @@ -3,8 +3,8 @@ WorldInfo { basicTimeStep 16 } Viewpoint { - orientation -0.9497956336619633 0.18731533415830812 0.25060171560831546 4.949692854995131 - position -1.1199094959911553 -2.042797469251468 1.0712188519611927 + orientation 0.20868380639246203 -0.4933479470449755 -0.8444281331741982 2.455462865957651 + position -0.970213014458458 1.0796919983826436 1.0058115311780271 } TexturedBackground { } @@ -597,6 +597,7 @@ Sample { frontTexture "blue" } Robot { + translation -0.24 -0.34 0 children [ DEF ROBOT_BODY_BOUND Transform { translation 0 0 0.175 @@ -725,8 +726,11 @@ Robot { rotation -0.6785987087146205 -0.6785987087146205 0.28108287934646486 -2.593565307179586 children [ JetBotRaspberryPiCamera { + rotation 0 1 0 0.261799 name "RasPi0" - fieldOfView 2.3 + fieldOfView 2.15 + width 1920 + height 1080 } ] name "robot_cam" From 99de1e01f95b6591b7750e469afb1f0c00b44d3d Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Sun, 20 Feb 2022 17:06:16 +0100 Subject: [PATCH 03/86] nav2 typo fix --- .../regulated_pure_pursuit_controller.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mep3_navigation/src/regulated_pure_pursuit_controller/regulated_pure_pursuit_controller.cpp b/mep3_navigation/src/regulated_pure_pursuit_controller/regulated_pure_pursuit_controller.cpp index 4e3abd6fb..4eece8ade 100644 --- a/mep3_navigation/src/regulated_pure_pursuit_controller/regulated_pure_pursuit_controller.cpp +++ b/mep3_navigation/src/regulated_pure_pursuit_controller/regulated_pure_pursuit_controller.cpp @@ -477,7 +477,7 @@ bool RegulatedPurePursuitController::shouldRotateToGoalHeading( // Whether we should rotate robot to goal heading double carrot_dist = std::hypot(carrot_pose.pose.position.x, carrot_pose.pose.position.y); return use_rotate_to_heading_ && carrot_dist < goal_dist_tol_ && - fabs(lookahead_dist - carrot_dist) > 2.0 * costmap_->getResolution(); + fabs(lookahead_dist_ - carrot_dist) > 2.0 * costmap_->getResolution(); } From 02bfdaf77a6c5b3b6cd81d1fdb68cfa51cae065b Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Sun, 20 Feb 2022 18:26:29 +0100 Subject: [PATCH 04/86] fix nav2 --- .../regulated_pure_pursuit_controller.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mep3_navigation/src/regulated_pure_pursuit_controller/regulated_pure_pursuit_controller.cpp b/mep3_navigation/src/regulated_pure_pursuit_controller/regulated_pure_pursuit_controller.cpp index 1ce05ad62..5642ec7c7 100644 --- a/mep3_navigation/src/regulated_pure_pursuit_controller/regulated_pure_pursuit_controller.cpp +++ b/mep3_navigation/src/regulated_pure_pursuit_controller/regulated_pure_pursuit_controller.cpp @@ -477,7 +477,7 @@ bool RegulatedPurePursuitController::shouldRotateToGoalHeading( // Whether we should rotate robot to goal heading double carrot_dist = std::hypot(carrot_pose.pose.position.x, carrot_pose.pose.position.y); return use_rotate_to_heading_ && carrot_dist < goal_dist_tol_ && - fabs(lookahead_dist_ - carrot_dist) > 2.0 * costmap_->getResolution(); + fabs(lookahead_dist - carrot_dist) > 2.0 * costmap_->getResolution(); } From b0fa5ec9c94a3719c7e86c3bdbf9d6693dbbd062 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Sun, 20 Feb 2022 21:51:27 +0100 Subject: [PATCH 05/86] simulation_launch update for camera_central --- mep3_simulation/launch/simulation_launch.py | 19 ++++++++ mep3_simulation/resource/config_cam.urdf | 15 +++++++ mep3_simulation/setup.py | 43 ++++++------------- .../camera_controller/camera_controller.cpp | 2 +- .../webots_data/worlds/eurobot_2022.wbt | 4 +- 5 files changed, 51 insertions(+), 32 deletions(-) create mode 100644 mep3_simulation/resource/config_cam.urdf diff --git a/mep3_simulation/launch/simulation_launch.py b/mep3_simulation/launch/simulation_launch.py index 574080314..f2302cbb1 100644 --- a/mep3_simulation/launch/simulation_launch.py +++ b/mep3_simulation/launch/simulation_launch.py @@ -19,6 +19,9 @@ def generate_launch_description(): robot_description = pathlib.Path( os.path.join(package_dir, 'resource', 'config_big.urdf')).read_text() + cam_description = pathlib.Path( + os.path.join(package_dir, 'resource', 'config_cam.urdf')).read_text() + webots = WebotsLauncher(world=os.path.join(package_dir, 'webots_data', 'worlds', 'eurobot_2022.wbt')) @@ -33,6 +36,7 @@ def generate_launch_description(): executable='driver', output='screen', # debugging emulate_tty=True, # debugging + additional_env={'WEBOTS_ROBOT_NAME': 'test_robot'}, parameters=[ { 'robot_description': robot_description @@ -51,6 +55,20 @@ def generate_launch_description(): ], namespace='big') + # Camera driver for the Central Tracking Device + webots_cam_driver_central = Node( + package='webots_ros2_driver', + executable='driver', + output='screen', # debugging + emulate_tty=True, # debugging + additional_env={'WEBOTS_ROBOT_NAME': 'cam_central'}, + namespace='cam', + parameters=[{ + 'robot_description': cam_description + }, { + 'use_sim_time': True + }]) + # This transform is slightly different from the one in the physical robot. # That's why it is defined here. tf_base_link_laser = Node( @@ -69,6 +87,7 @@ def generate_launch_description(): # Start the Webots robot driver webots_robot_driver_big, + webots_cam_driver_central, tf_base_link_laser, # This action will kill all nodes once the Webots simulation has exited diff --git a/mep3_simulation/resource/config_cam.urdf b/mep3_simulation/resource/config_cam.urdf new file mode 100644 index 000000000..ce6e9d1c5 --- /dev/null +++ b/mep3_simulation/resource/config_cam.urdf @@ -0,0 +1,15 @@ + + + + + + true + 1 + /cam + true + cam0 + + + + + diff --git a/mep3_simulation/setup.py b/mep3_simulation/setup.py index c45febae1..76ed38f99 100644 --- a/mep3_simulation/setup.py +++ b/mep3_simulation/setup.py @@ -3,17 +3,12 @@ from setuptools import setup - package_name = 'mep3_simulation' data = { - 'launch': [ - 'simulation_launch.py' - ], - 'resource': [ - 'config_big.urdf', - 'ros2_control_big.yaml' - ] + 'launch': ['simulation_launch.py'], + 'resource': + ['config_big.urdf', 'config_cam.urdf', 'ros2_control_big.yaml'] } @@ -28,29 +23,20 @@ def files_in_directory(path, extension=None): data_files = [] - -data_files.extend([ - ('share/ament_index/resource_index/packages', - ['resource/' + package_name]), - ('share/ament_index/resource_index/packages', - ['resource/' + package_name]), - ('share/' + package_name, - ['package.xml']) -]) -data_files.append(( - 'share/' + package_name + '/launch', - [f'launch/{i}' for i in data['launch']] -)) -data_files.append(( - 'share/' + package_name + '/resource', - [f'resource/{i}' for i in data['resource']] -)) +data_files.extend([('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml'])]) +data_files.append(('share/' + package_name + '/launch', + [f'launch/{i}' for i in data['launch']])) +data_files.append(('share/' + package_name + '/resource', + [f'resource/{i}' for i in data['resource']])) for path in glob('webots_data/**/*', recursive=True): if os.path.isdir(path): files_from_path = [f for f in glob(path + '/*') if os.path.isfile(f)] data_files.append( - ('share/' + package_name + '/' + path, files_from_path) - ) + ('share/' + package_name + '/' + path, files_from_path)) setup( name=package_name, @@ -65,7 +51,6 @@ def files_in_directory(path, extension=None): license='http://www.apache.org/licenses/LICENSE-2.0', tests_require=['pytest'], entry_points={ - 'console_scripts': [ - ], + 'console_scripts': [], }, ) diff --git a/mep3_simulation/webots_data/controllers/camera_controller/camera_controller.cpp b/mep3_simulation/webots_data/controllers/camera_controller/camera_controller.cpp index 52d714ca1..a70a8c0b4 100644 --- a/mep3_simulation/webots_data/controllers/camera_controller/camera_controller.cpp +++ b/mep3_simulation/webots_data/controllers/camera_controller/camera_controller.cpp @@ -14,7 +14,7 @@ int main(int argc, char **argv) { // DistanceSensor *ds = robot->getDistanceSensor("dsname"); // ds->enable(timeStep); Camera *cm; - cm=robot->getCamera("RasPi0"); + cm=robot->getCamera("cam_central"); cm->enable(timeStep); //std::cout << "Focal length = " << cm->getFocalLength() << std::endl; diff --git a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt index 60950ec26..ddb686a19 100644 --- a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt +++ b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt @@ -665,8 +665,8 @@ Robot { height 1080 } ] - name "robot_cam" - controller "camera_controller" + name "cam_central" + controller "" } OpponentBox { name "opponent_box_big" From e8fc9292d46ff8695dab9de296f8b3e9a092eff3 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Mon, 21 Feb 2022 15:26:08 +0100 Subject: [PATCH 06/86] video frame received --- .../mep3_localization/__init__.py | 0 .../mep3_localization/robot_detection.py | 35 +++++++++++++++++++ mep3_localization/package.xml | 25 +++++++++++++ mep3_localization/resource/mep3_localization | 0 mep3_localization/setup.cfg | 4 +++ mep3_localization/setup.py | 25 +++++++++++++ mep3_localization/test/test_copyright.py | 23 ++++++++++++ mep3_localization/test/test_flake8.py | 25 +++++++++++++ mep3_localization/test/test_pep257.py | 23 ++++++++++++ 9 files changed, 160 insertions(+) create mode 100644 mep3_localization/mep3_localization/__init__.py create mode 100644 mep3_localization/mep3_localization/robot_detection.py create mode 100644 mep3_localization/package.xml create mode 100644 mep3_localization/resource/mep3_localization create mode 100644 mep3_localization/setup.cfg create mode 100644 mep3_localization/setup.py create mode 100644 mep3_localization/test/test_copyright.py create mode 100644 mep3_localization/test/test_flake8.py create mode 100644 mep3_localization/test/test_pep257.py diff --git a/mep3_localization/mep3_localization/__init__.py b/mep3_localization/mep3_localization/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/mep3_localization/mep3_localization/robot_detection.py b/mep3_localization/mep3_localization/robot_detection.py new file mode 100644 index 000000000..24ce0e58e --- /dev/null +++ b/mep3_localization/mep3_localization/robot_detection.py @@ -0,0 +1,35 @@ +#!/usr/bin/env python +import rclpy +from rclpy.node import Node +from sensor_msgs.msg import Image +import cv2 +from cv_bridge import CvBridge + + +class DetectedRobots(Node): + + def __init__(self): + super().__init__('image_subscriber') + self.subscription = self.create_subscription( + Image, '/cam/cam_central/RasPi0', self.listener_callback, 10) + self.subscription + + self.br = CvBridge() + + def listener_callback(self, data): + self.get_logger().info('Receiving video frame') + current_frame = self.br.imgmsg_to_cv2(data) + cv2.imshow("camera", current_frame) + cv2.waitKey(1) + + +def main(args=None): + rclpy.init(args=args) + detected_robots = DetectedRobots() + rclpy.spin(detected_robots) + detected_robots.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/mep3_localization/package.xml b/mep3_localization/package.xml new file mode 100644 index 000000000..e8491662e --- /dev/null +++ b/mep3_localization/package.xml @@ -0,0 +1,25 @@ + + + + mep3_localization + 0.0.0 + Localization using OpenCV + bici + Apache License 2.0 + + rclpy + image_transport + cv_bridge + sensor_msgs + std_msgs + opencv2 + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/mep3_localization/resource/mep3_localization b/mep3_localization/resource/mep3_localization new file mode 100644 index 000000000..e69de29bb diff --git a/mep3_localization/setup.cfg b/mep3_localization/setup.cfg new file mode 100644 index 000000000..327c77228 --- /dev/null +++ b/mep3_localization/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/mep3_localization +[install] +install_scripts=$base/lib/mep3_localization diff --git a/mep3_localization/setup.py b/mep3_localization/setup.py new file mode 100644 index 000000000..c2f5dfcb0 --- /dev/null +++ b/mep3_localization/setup.py @@ -0,0 +1,25 @@ +from setuptools import setup + +package_name = 'mep3_localization' + +setup( + name=package_name, + version='0.0.0', + packages=[package_name], + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='bici', + maintainer_email='vladimirvincan@gmail.com', + description='Localization using OpenCV', + license='Apache License 2.0', + tests_require=['pytest'], + entry_points={ + 'console_scripts': + ['robot_detection = mep3_localization.robot_detection:main'], + }, +) diff --git a/mep3_localization/test/test_copyright.py b/mep3_localization/test/test_copyright.py new file mode 100644 index 000000000..cc8ff03f7 --- /dev/null +++ b/mep3_localization/test/test_copyright.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/mep3_localization/test/test_flake8.py b/mep3_localization/test/test_flake8.py new file mode 100644 index 000000000..27ee1078f --- /dev/null +++ b/mep3_localization/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/mep3_localization/test/test_pep257.py b/mep3_localization/test/test_pep257.py new file mode 100644 index 000000000..b234a3840 --- /dev/null +++ b/mep3_localization/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' From 80f975502df17a2b10608c8d309204d9f31eb17f Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Wed, 23 Feb 2022 02:00:32 +0100 Subject: [PATCH 07/86] added obj files. centered all objects around hinges --- .../webots_data/protos/RobotMemristor.proto | 508 +- .../worlds/assets/meshes/hands/hand_Dz.obj | 7084 ++ .../worlds/assets/meshes/hands/hand_G.obj | 2108 + .../worlds/assets/meshes/hands/hand_mid.obj | 11792 ++ .../worlds/assets/meshes/hands/static_mid.obj | 11006 ++ .../worlds/assets/meshes/robot/Robot.obj | 91696 +++++++--------- 6 files changed, 69154 insertions(+), 55040 deletions(-) create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/hands/hand_Dz.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/hands/hand_G.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/hands/hand_mid.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/hands/static_mid.obj diff --git a/mep3_simulation/webots_data/protos/RobotMemristor.proto b/mep3_simulation/webots_data/protos/RobotMemristor.proto index 4fb391020..3089cfb08 100644 --- a/mep3_simulation/webots_data/protos/RobotMemristor.proto +++ b/mep3_simulation/webots_data/protos/RobotMemristor.proto @@ -35,6 +35,265 @@ Robot { name IS name controller IS controller children [ + DEF leva_sisaljka Connector { + translation 0.053 0.1246 0.2024 + } + DEF desna_sisaljka Connector { + translation 0.053 -0.1246 0.2024 + } + DEF left_hand_G Transform { + translation -0.0328 0.1292 0.1526 + children [ + HingeJoint { + jointParameters HingeJointParameters { + } + device [ + RotationalMotor { + name "left_hand_G" + } + ] + endPoint Solid { + children [ + Shape { + appearance PBRAppearance { + baseColor 0.8 0 0 + } + geometry Mesh { + url [ + "assets/meshes/hands/hand_G.obj" + ] + } + } + ] + boundingObject Transform { + translation 0.0015 0 0.024 + children [ + Box { + size 0.048 0.011 0.11 + } + ] + } + physics Physics { + } + } + } + ] + } + + DEF right_hand_G Transform { + translation -0.0328 -0.1292 0.1526 + children [ + HingeJoint { + jointParameters HingeJointParameters { + } + device [ + RotationalMotor { + name "right_hand_G" + } + ] + endPoint Solid { + children [ + Shape { + appearance PBRAppearance { + baseColor 0.8 0 0 + } + geometry Mesh { + url [ + "assets/meshes/hands/hand_G.obj" + ] + } + } + ] + boundingObject Transform { + translation 0.0015 0 0.024 + children [ + Box { + size 0.048 0.011 0.11 + } + ] + } + physics Physics { + } + } + } + ] + } + + + DEF middle_hand Transform { + translation -0.0868 0 0.2195 + children [ + HingeJoint { + jointParameters HingeJointParameters { + axis 0 1 0 + } + device [ + RotationalMotor { + name "middle_hand" + } + ] + endPoint Solid { + children [ + DEF pokretni_deo Shape { + appearance PBRAppearance { + baseColor 0.8 0 0 + } + geometry Mesh { + url [ + "assets/meshes/hands/hand_mid.obj" + ] + } + } + ] + name "solid(2)" + boundingObject Transform { + translation -0.0092 0 -0.07 + children [ + Box { + size 0.01 0.183 0.05 + } + ] + } + physics Physics { + } + } + } + DEF staticni_deo Shape { + appearance PBRAppearance { + baseColor 0.8 0 0 + } + geometry Mesh { + url [ + "assets/meshes/hands/static_mid.obj" + ] + } + } + ] + } + + + DEF left_hand_Dz Transform { + translation -0.0314 0.1296 0.13 + children [ + HingeJoint { + jointParameters HingeJointParameters { + } + device [ + RotationalMotor { + name "left_hand_Dz" + } + ] + endPoint Solid { + children [ + Shape { + appearance PBRAppearance { + baseColor 0.8 0 0 + } + geometry Mesh { + url [ + "assets/meshes/hands/hand_Dz.obj" + ] + } + } + ] + name "solid(2)" + boundingObject Transform { + translation 0 0 0.0745 + children [ + Box { + size 0.072 0.02 0.126 + } + ] + } + } + } + ] + } + + DEF right_hand_Dz Transform { + translation -0.0314 -0.1296 0.13 + children [ + HingeJoint { + jointParameters HingeJointParameters { + } + device [ + RotationalMotor { + name "right_hand_Dz" + } + ] + endPoint Solid { + children [ + Shape { + appearance PBRAppearance { + baseColor 0.8 0 0 + } + geometry Mesh { + url [ + "assets/meshes/hands/hand_Dz.obj" + ] + } + } + ] + name "solid(2)" + boundingObject Transform { + translation 0 0 0.0745 + children [ + Box { + size 0.072 0.02 0.126 + } + ] + } + } + } + ] + } + + + DEF kapa Transform { + translation -0.0262 0 0.4393 + children [ + Transform { + translation 0 0 0.0679 + rotation 1 0 0 4.692820414042842e-06 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.180392 0.203922 0.211765 + roughness 1 + roughnessMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_roughness.jpg" + ] + } + metalness 0 + } + geometry Box { + size 0.1 0.1 0.005 + } + } + ] + } + Shape { + appearance PBRAppearance { + baseColor 0.180392 0.203922 0.211765 + roughness 1 + roughnessMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_roughness.jpg" + ] + } + metalness 0 + } + geometry Cylinder { + height 0.135 + radius 0.04 + } + castShadows FALSE + } + ] + } + + Shape { appearance Plastic { colorOverride 0.333333 0.341176 0.32549 @@ -43,36 +302,67 @@ Robot { url ["assets/meshes/robot/Robot.obj"] } } + + + Solid { - translation %<= fields.robot_x_size.value / 2 - 0.01 >% 0 0.0075 + translation 0.08 0 0.0075 children [ DEF OMNI_SHAPE Shape { - appearance BrushedAluminium { } + appearance PBRAppearance { + baseColorMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_base_color.jpg" + ] + } + roughnessMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_roughness.jpg" + ] + } + normalMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_normal.jpg" + ] + } + } geometry Sphere { radius 0.007 subdivision 4 } } ] - contactMaterial "omni_wheel" - boundingObject USE OMNI_SHAPE - physics Physics { - } name "front_omni_wheel" - } - Solid { - translation %<= - fields.robot_x_size.value / 2 + 0.01 >% 0 0.0075 - children [ - USE OMNI_SHAPE - ] contactMaterial "omni_wheel" boundingObject USE OMNI_SHAPE physics Physics { } - name "rear_omni_wheel" } - Transform { - translation 0 %<= -fields.encoder_wheel_distance.value/2 >% %<= fields.encoder_wheel_radius.value >% + Solid { + translation -0.079 0.096 0.0075 + children [ + USE OMNI_SHAPE + ] + name "rear_omni_wheel_left" + contactMaterial "omni_wheel" + boundingObject USE OMNI_SHAPE + physics Physics { + } + } + Solid { + translation -0.079 -0.096 0.0075 + children [ + USE OMNI_SHAPE + ] + name "rear_omni_wheel_right" + contactMaterial "omni_wheel" + boundingObject USE OMNI_SHAPE + physics Physics { + } + } + + DEF levi_enkoder Transform { + translation 0 0.1435 0.0375 children [ HingeJoint { jointParameters HingeJointParameters { @@ -80,32 +370,55 @@ Robot { } device [ PositionSensor { - name "encoder_right" + name "encoder_left" } RotationalMotor { - name "right_motor" - maxTorque 100 + name "left_motor" maxVelocity 30 + maxTorque 100 } ] endPoint Solid { - name %<= '"' + fields.name.value + '_encoder_right_solid' + '"' >% - rotation 1 0 0 -1.570796 + rotation -1 0 0 1.570796 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.933333 0.933333 0.92549 + roughness 1 + roughnessMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_roughness.jpg" + ] + } + metalness 0 + normalMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_normal.jpg" + ] + } + } + geometry Cylinder { + height 0.007 + radius 0.0375 + } + } + ] + name "test_robot_encoder_left_solid(1)" contactMaterial "wheel" boundingObject DEF ENCODER_WHEEL_BO Cylinder { - height IS encoder_wheel_height - radius IS encoder_wheel_radius + height 0.007 + radius 0.0375 } physics Physics { density -1 - mass IS mass_encoder_wheel + mass 0.05 } } } ] } - Transform { - translation 0 %<= fields.encoder_wheel_distance.value/2 >% %<= fields.encoder_wheel_radius.value >% + DEF desni_enkoder Transform { + translation 0 -0.1435 0.0375 children [ HingeJoint { jointParameters HingeJointParameters { @@ -117,29 +430,156 @@ Robot { } RotationalMotor { name "left_motor" + maxVelocity 30 maxTorque 100 + } + ] + endPoint Solid { + rotation -1 0 0 1.570796 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.933333 0.933333 0.92549 + roughness 1 + roughnessMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_roughness.jpg" + ] + } + metalness 0 + normalMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_normal.jpg" + ] + } + } + geometry Cylinder { + height 0.007 + radius 0.0375 + } + } + ] + name "test_robot_encoder_left_solid(2)" + contactMaterial "wheel" + boundingObject DEF ENCODER_WHEEL_BO Cylinder { + height 0.007 + radius 0.0375 + } + physics Physics { + density -1 + mass 0.05 + } + } + } + ] + } + DEF levi_motor Transform { + translation 0 0.0715 0.036 + children [ + HingeJoint { + jointParameters HingeJointParameters { + axis 0 1 0 + } + device [ + PositionSensor { + name "left_encoder_inner" + } + RotationalMotor { + name "left_motor_inner" maxVelocity 30 + maxTorque 100 } ] endPoint Solid { - name %<= '"' + fields.name.value + '_encoder_left_solid' + '"' >% - rotation 1 0 0 -1.570796 + rotation -1 0 0 1.5707996938995745 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.180392 0.203922 0.211765 + roughness 1 + roughnessMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_roughness.jpg" + ] + } + metalness 0 + normalMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_normal.jpg" + ] + } + } + geometry Cylinder { + height 0.035 + radius 0.036 + } + } + ] + name "test_robot_motor_left_solid" contactMaterial "wheel" + boundingObject DEF ENCODER_WHEEL_BO Cylinder { + height 0.035 + radius 0.036 + } + physics Physics { + density -1 + mass 0.05 + } + } + } + ] + } + DEF desni_motor Transform { + translation 0 -0.0715 0.036 + children [ + HingeJoint { + jointParameters HingeJointParameters { + axis 0 1 0 + } + device [ + PositionSensor { + name "right_encoder_inner" + } + RotationalMotor { + name "right_motor_inner" + maxVelocity 30 + maxTorque 100 + } + ] + endPoint Solid { + rotation -1 0 0 1.5707996938995745 children [ Shape { - appearance Plastic { - colorOverride 0.333333 0.341176 0.32549 + appearance PBRAppearance { + baseColor 0.180392 0.203922 0.211765 + roughness 1 + roughnessMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_roughness.jpg" + ] + } + metalness 0 + normalMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_normal.jpg" + ] + } } geometry Cylinder { - height IS encoder_wheel_height - radius IS encoder_wheel_radius + height 0.035 + radius 0.036 } } ] - boundingObject USE ENCODER_WHEEL_BO + name "test_robot_motor_left_solid(1)" + contactMaterial "wheel" + boundingObject DEF ENCODER_WHEEL_BO Cylinder { + height 0.035 + radius 0.036 + } physics Physics { density -1 - mass IS mass_encoder_wheel + mass 0.05 } } } @@ -164,7 +604,7 @@ Robot { mass_gripper IS mass_arm_gripper } RobotisLds01 { - translation 0 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8673//8673 8680//8680 8672//8672 +f 8681//8681 8680//8680 8673//8673 +f 8680//8680 8681//8681 8674//8674 +f 8681//8681 8675//8675 8674//8674 +# 19354 faces, 0 coords texture # End of File From bb8e3a88f7d12374aaad8400bd08a52a68c4d2eb Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Fri, 25 Feb 2022 23:57:08 +0100 Subject: [PATCH 08/86] pose estimation --- .../assets/calibration_camera.yaml | 15 ++++ .../mep3_localization/robot_detection.py | 83 ++++++++++++++++++- 2 files changed, 95 insertions(+), 3 deletions(-) create mode 100644 mep3_localization/assets/calibration_camera.yaml diff --git a/mep3_localization/assets/calibration_camera.yaml b/mep3_localization/assets/calibration_camera.yaml new file mode 100644 index 000000000..96dc01029 --- /dev/null +++ b/mep3_localization/assets/calibration_camera.yaml @@ -0,0 +1,15 @@ +%YAML:1.0 +--- +K: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 7.9583655916512669e+02, 0., 6.6532633921223646e+02, 0., + 7.9991597622640393e+02, 3.9142009039738559e+02, 0., 0., 1. ] +D: !!opencv-matrix + rows: 1 + cols: 5 + dt: d + data: [ 1.0557813457472758e-01, 1.0526580754799850e+00, + 4.6737646216940517e-03, 2.9071112143870346e-03, + -6.2540648080086747e+00 ] diff --git a/mep3_localization/mep3_localization/robot_detection.py b/mep3_localization/mep3_localization/robot_detection.py index 24ce0e58e..725c93510 100644 --- a/mep3_localization/mep3_localization/robot_detection.py +++ b/mep3_localization/mep3_localization/robot_detection.py @@ -1,9 +1,15 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 import rclpy from rclpy.node import Node from sensor_msgs.msg import Image import cv2 +import numpy as np +from cv2 import aruco from cv_bridge import CvBridge +""" +This class receives video from the central RasPi Cam, +and sends TF of Aruco tags. +""" class DetectedRobots(Node): @@ -14,12 +20,83 @@ def __init__(self): Image, '/cam/cam_central/RasPi0', self.listener_callback, 10) self.subscription + # cv_file = cv2.FileStorage('calibration_camera.yaml', cv2.FILE_STORAGE) + self.br = CvBridge() + self.dict = aruco.Dictionary_get(aruco.DICT_4X4_100) + self.params = aruco.DetectorParameters_create() + # self.cameraMatrix = cv_file.getNode('K').mat() + # self.distCoeffs = cv_file.getNode('D').mat() + self.cameraMatrix = np.array([[650, 0, 1920 / 2], [0, 650, 1080 / 2], + [0, 0, 1]]) + self.distCoeffs = np.zeros((5, 1)) + # Side length of the ArUco marker in meters + self.aruco_marker_side_length = 0.07 + # cv_file.release() def listener_callback(self, data): self.get_logger().info('Receiving video frame') - current_frame = self.br.imgmsg_to_cv2(data) - cv2.imshow("camera", current_frame) + current_frame = self.br.imgmsg_to_cv2(data, "bgr8") + self.draw_aruco_pose(current_frame) + + def draw_aruco_pose(self, frame): + (corners, ids, + rejected) = aruco.detectMarkers(frame, + self.dict, + parameters=self.params, + cameraMatrix=self.cameraMatrix, + distCoeff=self.distCoeffs) + # Check that at least one ArUco marker was detected + if ids is not None: + aruco.drawDetectedMarkers(frame, corners, ids) + rvecs, tvecs, obj_points = cv2.aruco.estimatePoseSingleMarkers( + corners, self.aruco_marker_side_length, self.cameraMatrix, + self.distCoeffs) + + print("RVECS:") + print(len(rvecs)) + print(rvecs) + print("TVECS:") + print(tvecs) + for i in range(len(rvecs)): + aruco.drawAxis(frame, self.cameraMatrix, self.distCoeffs, + rvecs[i], tvecs[i], + self.aruco_marker_side_length) + cv2.imshow("camera", frame) + cv2.waitKey(1) + + def draw_aruco_border(self, frame): + (corners, ids, rejected) = aruco.detectMarkers(frame, + self.dict, + parameters=self.params) + if len(corners) > 0: + ids = ids.flatten() + for (markerCorner, markerID) in zip(corners, ids): + corners = markerCorner.reshape((4, 2)) + (topLeft, topRight, bottomRight, bottomLeft) = corners + + # convert each of the (x, y)-coordinate pairs to integers + topRight = (int(topRight[0]), int(topRight[1])) + bottomRight = (int(bottomRight[0]), int(bottomRight[1])) + bottomLeft = (int(bottomLeft[0]), int(bottomLeft[1])) + topLeft = (int(topLeft[0]), int(topLeft[1])) + + cv2.line(frame, topLeft, topRight, (0, 255, 0), 2) + cv2.line(frame, topRight, bottomRight, (0, 255, 0), 2) + cv2.line(frame, bottomRight, bottomLeft, (0, 255, 0), 2) + cv2.line(frame, bottomLeft, topLeft, (0, 255, 0), 2) + + # compute and draw the center (x, y)-coordinates of the + # ArUco marker + cX = int((topLeft[0] + bottomRight[0]) / 2.0) + cY = int((topLeft[1] + bottomRight[1]) / 2.0) + cv2.circle(frame, (cX, cY), 4, (0, 0, 255), -1) + + # draw the ArUco marker ID on the frame + cv2.putText(frame, str(markerID), + (topLeft[0], topLeft[1] - 15), + cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2) + cv2.imshow("camera", frame) cv2.waitKey(1) From 1268fa36ce77676ab2bcae1b947272a43bc514ac Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Sat, 26 Feb 2022 01:04:21 +0100 Subject: [PATCH 09/86] publish to tf --- .../mep3_localization/robot_detection.py | 41 +++++++++++++++---- mep3_localization/package.xml | 6 ++- 2 files changed, 38 insertions(+), 9 deletions(-) diff --git a/mep3_localization/mep3_localization/robot_detection.py b/mep3_localization/mep3_localization/robot_detection.py index 725c93510..044f72d94 100644 --- a/mep3_localization/mep3_localization/robot_detection.py +++ b/mep3_localization/mep3_localization/robot_detection.py @@ -6,6 +6,10 @@ import numpy as np from cv2 import aruco from cv_bridge import CvBridge +from tf2_ros import TransformBroadcaster + +import tf_transformations +from geometry_msgs.msg import TransformStamped """ This class receives video from the central RasPi Cam, and sends TF of Aruco tags. @@ -19,6 +23,7 @@ def __init__(self): self.subscription = self.create_subscription( Image, '/cam/cam_central/RasPi0', self.listener_callback, 10) self.subscription + self._tf_publisher = TransformBroadcaster(self) # cv_file = cv2.FileStorage('calibration_camera.yaml', cv2.FILE_STORAGE) @@ -39,6 +44,23 @@ def listener_callback(self, data): current_frame = self.br.imgmsg_to_cv2(data, "bgr8") self.draw_aruco_pose(current_frame) + def make_transforms(self, tvec, rvec, id): + static_transformStamped = TransformStamped() + static_transformStamped.header.stamp = self.get_clock().now().to_msg() + static_transformStamped.header.frame_id = 'world' + static_transformStamped.child_frame_id = 'robot' + str(id) + static_transformStamped.transform.translation.x = tvec[0, 0] + static_transformStamped.transform.translation.y = tvec[0, 1] + static_transformStamped.transform.translation.z = tvec[0, 2] + quat = tf_transformations.quaternion_from_euler( + rvec[0, 0], rvec[0, 1], rvec[0, 2]) + static_transformStamped.transform.rotation.x = quat[0] + static_transformStamped.transform.rotation.y = quat[1] + static_transformStamped.transform.rotation.z = quat[2] + static_transformStamped.transform.rotation.w = quat[3] + + self._tf_publisher.sendTransform(static_transformStamped) + def draw_aruco_pose(self, frame): (corners, ids, rejected) = aruco.detectMarkers(frame, @@ -53,15 +75,18 @@ def draw_aruco_pose(self, frame): corners, self.aruco_marker_side_length, self.cameraMatrix, self.distCoeffs) - print("RVECS:") - print(len(rvecs)) - print(rvecs) - print("TVECS:") - print(tvecs) + # print(ids) + # print("RVECS:") + # print(len(rvecs)) + # print(rvecs) + # print("TVECS:") + # print(tvecs) for i in range(len(rvecs)): - aruco.drawAxis(frame, self.cameraMatrix, self.distCoeffs, - rvecs[i], tvecs[i], - self.aruco_marker_side_length) + if ids[i] <= 10 or ids[i] == 42: + aruco.drawAxis(frame, self.cameraMatrix, self.distCoeffs, + rvecs[i], tvecs[i], + self.aruco_marker_side_length) + self.make_transforms(tvecs[i], rvecs[i], ids[i]) cv2.imshow("camera", frame) cv2.waitKey(1) diff --git a/mep3_localization/package.xml b/mep3_localization/package.xml index e8491662e..69865c6f8 100644 --- a/mep3_localization/package.xml +++ b/mep3_localization/package.xml @@ -12,13 +12,17 @@ cv_bridge sensor_msgs std_msgs - opencv2 + vision_opencv ament_copyright ament_flake8 ament_pep257 python3-pytest + geometry_msgs + tf_transformations + tf2_ros + ament_python From 8d878d65bb25a6f77769c4f37a4726c13fae1305 Mon Sep 17 00:00:00 2001 From: unknown Date: Mon, 28 Feb 2022 01:29:38 +0100 Subject: [PATCH 10/86] new obj files --- .../meshes/RobotMemristor2/hand_Dz_left.obj | 7092 ++ .../meshes/RobotMemristor2/hand_Dz_right.obj | 7092 ++ .../meshes/RobotMemristor2/hand_G_left.obj | 812 + .../meshes/RobotMemristor2/hand_G_right.obj | 812 + .../meshes/RobotMemristor2/hand_L_mid.obj | 4040 + .../assets/meshes/RobotMemristor2/kapa.obj | 1608 + .../meshes/RobotMemristor2/pogon_zatezaci.obj | 3392 + .../meshes/RobotMemristor2/robot_bosch.obj | 19664 ++++ .../meshes/RobotMemristor2/robot_crveno.obj | 8460 ++ .../meshes/RobotMemristor2/robot_motori.obj | 75548 ++++++++++++++++ .../RobotMemristor2/robot_motori_drzaci.obj | 21124 +++++ .../meshes/RobotMemristor2/robot_osnovno.obj | 33664 +++++++ .../RobotMemristor2/robot_vakuum_pumpe.obj | 8368 ++ .../meshes/RobotMemristor2/sisaljke_baza.obj | 5664 ++ .../RobotMemristor2/sisaljke_kolena.obj | 15216 ++++ .../RobotMemristor2/sisaljke_osnovno.obj | 23184 +++++ .../RobotMemristor2/zamenjivac_dodatno.obj | 4308 + .../RobotMemristor2/zamenjivac_osnovno.obj | 2892 + 18 files changed, 242940 insertions(+) create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/hand_Dz_left.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/hand_Dz_right.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/hand_G_left.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/hand_G_right.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/hand_L_mid.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/kapa.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/pogon_zatezaci.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/robot_bosch.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/robot_crveno.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/robot_motori.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/robot_motori_drzaci.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/robot_osnovno.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/robot_vakuum_pumpe.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/sisaljke_baza.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/sisaljke_kolena.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/sisaljke_osnovno.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/zamenjivac_dodatno.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/zamenjivac_osnovno.obj diff --git a/mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/hand_Dz_left.obj b/mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/hand_Dz_left.obj new file mode 100644 index 000000000..29eff5abb --- /dev/null +++ b/mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/hand_Dz_left.obj @@ -0,0 +1,7092 @@ +#### +# +# OBJ File Generated by Meshlab +# +#### +# Object hand_Dz_left.obj +# +# Vertices: 1760 +# Faces: 3556 +# +#### +vn 0.704348 0.703614 0.093925 +v -0.006500 -0.126093 0.191729 +vn 0.704333 0.705030 -0.082752 +v -0.006500 -0.126053 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2001 From: unknown Date: Tue, 1 Mar 2022 18:08:26 +0100 Subject: [PATCH 11/86] finished robot --- mep3_simulation/webots_data/protos/.gitignore | 1 + .../webots_data/protos/ArucoTag.proto | 47 + mep3_simulation/webots_data/protos/Hand.proto | 120 + .../webots_data/protos/OmniWheel.proto | 66 + .../webots_data/protos/Pogon.proto | 241 + .../protos/RobotArmMemristor2.proto | 261 + .../webots_data/protos/RobotMemristor2.proto | 256 + .../worlds/assets/meshes/.gitignore | 5 + .../assets/meshes/RobotArmMemristor2/base.obj | 2808 ++ .../meshes/RobotArmMemristor2/base_motor.obj | 14328 ++++++ .../meshes/RobotArmMemristor2/connector.obj | 11600 +++++ .../meshes/RobotArmMemristor2/gripper.obj | 1576 + .../RobotArmMemristor2/gripper_dodatno.obj | 11820 +++++ .../meshes/RobotArmMemristor2/mid_lower.obj | 5412 +++ .../RobotArmMemristor2/mid_lower_motor.obj | 9620 ++++ .../RobotArmMemristor2/mid_lower_white.obj | 22324 +++++++++ .../meshes/RobotArmMemristor2/mid_upper.obj | 8064 ++++ .../RobotArmMemristor2/mid_upper_grey.obj | 676 + .../RobotArmMemristor2/mid_upper_motor.obj | 14328 ++++++ .../RobotArmMemristor2/mid_upper_screws.obj | 30812 ++++++++++++ .../meshes/RobotMemristor2/hand_Dz_left.obj | 9304 ++-- .../meshes/RobotMemristor2/hand_Dz_right.obj | 60 +- .../meshes/RobotMemristor2/mushroom.obj | 8992 ++++ .../assets/meshes/RobotMemristor2/switch.obj | 680 + .../worlds/assets/meshes/hands/hand_Dz.obj | 7084 --- .../worlds/assets/meshes/hands/hand_G.obj | 2108 - .../worlds/assets/meshes/hands/hand_mid.obj | 11792 ----- .../worlds/assets/meshes/hands/static_mid.obj | 11006 ----- .../worlds/assets/meshes/robot/Robot.obj | 36736 -------------- .../robot_arm_memristor/robot_arm_base.obj | 9800 ---- .../robot_arm_memristor/robot_arm_gripper.obj | 9988 ---- .../robot_arm_memristor/robot_arm_mid1.obj | 29794 ------------ .../robot_arm_memristor/robot_arm_mid2.obj | 15782 ------ .../assets/meshes/robot_arm_rcva/arm_base.obj | 29772 ------------ .../meshes/robot_arm_rcva/arm_gripper.obj | 23980 ---------- .../assets/meshes/robot_arm_rcva/arm_mid.obj | 39632 ---------------- .../webots_data/worlds/test_robot.wbt | 12 +- 37 files changed, 146822 insertions(+), 234065 deletions(-) create mode 100644 mep3_simulation/webots_data/protos/ArucoTag.proto create mode 100644 mep3_simulation/webots_data/protos/Hand.proto create mode 100644 mep3_simulation/webots_data/protos/OmniWheel.proto create mode 100644 mep3_simulation/webots_data/protos/Pogon.proto create mode 100644 mep3_simulation/webots_data/protos/RobotArmMemristor2.proto create mode 100644 mep3_simulation/webots_data/protos/RobotMemristor2.proto create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotArmMemristor2/base.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotArmMemristor2/base_motor.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotArmMemristor2/connector.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotArmMemristor2/gripper.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotArmMemristor2/gripper_dodatno.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotArmMemristor2/mid_lower.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotArmMemristor2/mid_lower_motor.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotArmMemristor2/mid_lower_white.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotArmMemristor2/mid_upper.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotArmMemristor2/mid_upper_grey.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotArmMemristor2/mid_upper_motor.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotArmMemristor2/mid_upper_screws.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/mushroom.obj create mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/RobotMemristor2/switch.obj delete mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/hands/hand_Dz.obj delete mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/hands/hand_G.obj delete mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/hands/hand_mid.obj delete mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/hands/static_mid.obj delete mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/robot/Robot.obj delete mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/robot_arm_memristor/robot_arm_base.obj delete mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/robot_arm_memristor/robot_arm_gripper.obj delete mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/robot_arm_memristor/robot_arm_mid1.obj delete mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/robot_arm_memristor/robot_arm_mid2.obj delete mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/robot_arm_rcva/arm_base.obj delete mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/robot_arm_rcva/arm_gripper.obj delete mode 100644 mep3_simulation/webots_data/worlds/assets/meshes/robot_arm_rcva/arm_mid.obj diff --git a/mep3_simulation/webots_data/protos/.gitignore b/mep3_simulation/webots_data/protos/.gitignore index 40ee46758..66374a45b 100644 --- a/mep3_simulation/webots_data/protos/.gitignore +++ b/mep3_simulation/webots_data/protos/.gitignore @@ -1,3 +1,4 @@ *.cache .clang-format *.mtl +*.bak \ No newline at end of file diff --git a/mep3_simulation/webots_data/protos/ArucoTag.proto b/mep3_simulation/webots_data/protos/ArucoTag.proto new file mode 100644 index 000000000..f683969ec --- /dev/null +++ b/mep3_simulation/webots_data/protos/ArucoTag.proto @@ -0,0 +1,47 @@ +#VRML_SIM R2022a utf8 +# template language: javascript + +PROTO ArucoTag [ + field SFInt32 arucoNumber 1 +] +{ + %< + let url = '"assets/aruco/4x4_1000-' + fields.arucoNumber.value.toString() + '.png"'; + >% + Transform { + translation -0.025 0 0.500 + children [ + Transform { + translation 0 0 0.01002 + children [ + Shape { + appearance PBRAppearance { + baseColorMap ImageTexture { + url [ %<= url >%] + } + roughness 1 + metalness 0 + } + geometry Box { + size 0.07 0.07 0.0002 + } + } + ] + } + Transform { + translation 0 0 0.01001 + children [ + Shape { + appearance PBRAppearance { + roughness 1 + metalness 0 + } + geometry Box { + size 0.09 0.09 0.0001 + } + } + ] + } + ] + } +} \ No newline at end of file diff --git a/mep3_simulation/webots_data/protos/Hand.proto b/mep3_simulation/webots_data/protos/Hand.proto new file mode 100644 index 000000000..a7b3adee5 --- /dev/null +++ b/mep3_simulation/webots_data/protos/Hand.proto @@ -0,0 +1,120 @@ +#VRML_SIM R2022a utf8 +# template language: javascript + +PROTO Hand [ + field SFString {"left", "right", "mid"} position "left" + field SFString {"Dz", "G", "L"} shape "Dz" + hiddenField SFVec3f anchor_Dz_left -0.03030 0.1295 0.1172 + hiddenField SFVec3f anchor_Dz_right -0.03030 -0.1295 0.1172 + hiddenField SFVec3f anchor_G_left -0.02095 0.1295 0.1397 + hiddenField SFVec3f anchor_G_right -0.02095 -0.1295 0.1397 + hiddenField SFVec3f anchor_L_mid -0.07655 0.0248 0.20104 + hiddenField SFVec3f x_axis 1 0 0 + hiddenField SFVec3f y_axis 0 1 0 + hiddenField SFFloat hand_mass 0.05 +] +{ + %< + var anchor; + var axis; + if (fields.shape.value == "Dz") { + if (fields.position.value == "left") { + anchor = fields.anchor_Dz_left.value; + axis = fields.x_axis.value; + } + else { + anchor = fields.anchor_Dz_right.value; + axis = fields.x_axis.value; + } + } + else if (fields.shape.value == "G") { + if (fields.position.value == "left") { + anchor = fields.anchor_G_left.value; + axis = fields.x_axis.value; + } + else { + anchor = fields.anchor_G_right.value; + axis = fields.x_axis.value; + } + } + else { + anchor = fields.anchor_L_mid.value; + axis = fields.y_axis.value; + } + >% +Transform { + children [ + HingeJoint { + jointParameters HingeJointParameters { + axis %<= axis.x >% %<= axis.y >% %<= axis.z >% + anchor %<= anchor.x >% %<= anchor.y >% %<= anchor.z >% + } + device [ + RotationalMotor { + name %<= '"hand_' + fields.position.value + "_" + fields.shape.value + '"' >% + } + ] + endPoint Solid { + name %<= '"hand_' + fields.position.value + "_" + fields.shape.value + '"' >% + children [ + Shape { + appearance PBRAppearance { + baseColor 0.4 0.4 0.4 + metalness 0 + roughness 1 + } + geometry Mesh { + url [%<= '"assets/meshes/RobotMemristor2/hand_' + fields.shape.value +'_' + fields.position.value + '.obj"' >%] + } + } + %< if (fields.shape.value == "L") { >% + Connector { + translation -0.09 0 0.10604 + rotation 0 0 1 3.14159 + name "hand_L_connector" + type "active" + numberOfRotations 0 + } + %< } >% + ] + boundingObject Transform { + %< if (fields.shape.value == "Dz") { >% + %< if (fields.position.value == "left") { >% + translation %<= fields.anchor_Dz_left.value.x >% %<= fields.anchor_Dz_left.value.y >% %<= fields.anchor_Dz_left.value.z+0.046 >% + %< } else { >% + translation %<= fields.anchor_Dz_left.value.x >% %<= fields.anchor_Dz_right.value.y >% %<= fields.anchor_Dz_left.value.z+0.046 >% + %< } >% + children [ + Box { + size 0.048 0.011 0.11 + } + ] + %< } else if (fields.shape.value == "G") { >% + %< if (fields.position.value == "left") { >% + translation %<= fields.anchor_G_left.value.x-0.01 >% %<= fields.anchor_G_left.value.y >% %<= fields.anchor_G_left.value.z+0.052 >% + %< } else { >% + translation %<= fields.anchor_G_left.value.x-0.01 >% %<= fields.anchor_G_right.value.y >% %<= fields.anchor_G_left.value.z+0.052 >% + %< } >% + children [ + Box { + size 0.072 0.02 0.126 + } + ] + %< } else { >% + translation %<= fields.anchor_L_mid.value.x-0.008 >% 0 %<= fields.anchor_L_mid.value.z-0.052 >% + children [ + Box { + size 0.013 0.073 0.09 + } + ] + %< } >% + } + physics Physics { + density -1 + mass IS hand_mass + } + } + } + ] +} +} \ No newline at end of file diff --git a/mep3_simulation/webots_data/protos/OmniWheel.proto b/mep3_simulation/webots_data/protos/OmniWheel.proto new file mode 100644 index 000000000..85c3b9314 --- /dev/null +++ b/mep3_simulation/webots_data/protos/OmniWheel.proto @@ -0,0 +1,66 @@ +#VRML_SIM R2022a utf8 +# template language: javascript + +PROTO OmniWheel [ +] +{ +Group { + children [ + Solid { + translation 0.08 0 0.0075 + children [ + DEF OMNI_SHAPE Shape { + appearance PBRAppearance { + baseColorMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_base_color.jpg" + ] + } + roughnessMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_roughness.jpg" + ] + } + normalMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_normal.jpg" + ] + } + } + geometry Sphere { + radius 0.007 + subdivision 4 + } + } + ] + name "front_omni_wheel" + contactMaterial "omni_wheel" + boundingObject USE OMNI_SHAPE + physics Physics { + } + } + Solid { + translation -0.079 0.096 0.0075 + children [ + USE OMNI_SHAPE + ] + name "rear_omni_wheel_left" + contactMaterial "omni_wheel" + boundingObject USE OMNI_SHAPE + physics Physics { + } + } + Solid { + translation -0.079 -0.096 0.0075 + children [ + USE OMNI_SHAPE + ] + name "rear_omni_wheel_right" + contactMaterial "omni_wheel" + boundingObject USE OMNI_SHAPE + physics Physics { + } + } + ] +} +} \ No newline at end of file diff --git a/mep3_simulation/webots_data/protos/Pogon.proto b/mep3_simulation/webots_data/protos/Pogon.proto new file mode 100644 index 000000000..7052c89fc --- /dev/null +++ b/mep3_simulation/webots_data/protos/Pogon.proto @@ -0,0 +1,241 @@ +#VRML_SIM R2022a utf8 +# template language: javascript + +PROTO Pogon [ + hiddenField SFFloat motor_wheel_radius 0.036 + hiddenField SFFloat motor_wheel_height 0.035 + hiddenField SFFloat motor_wheel_distance 0.143 + hiddenField SFFloat encoder_wheel_radius 0.0375 + hiddenField SFFloat encoder_wheel_height 0.007 + hiddenField SFFloat encoder_wheel_distance 0.287 +] +{ +Group { + children [ + DEF levi_enkoder Transform { + translation 0 %<=fields.encoder_wheel_distance.value/2>% 0.0375 + children [ + HingeJoint { + jointParameters HingeJointParameters { + axis 0 1 0 + } + device [ + PositionSensor { + name "encoder_left" + } + RotationalMotor { + name "left_motor" + maxVelocity 30 + maxTorque 100 + } + ] + endPoint Solid { + rotation -1 0 0 1.570796 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.933333 0.933333 0.92549 + roughness 1 + roughnessMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_roughness.jpg" + ] + } + metalness 0 + normalMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_normal.jpg" + ] + } + } + geometry Cylinder { + height IS encoder_wheel_height + radius IS encoder_wheel_radius + } + } + ] + name "test_robot_encoder_left_solid(1)" + contactMaterial "wheel" + boundingObject DEF ENCODER_WHEEL_BO Cylinder { + height IS encoder_wheel_height + radius IS encoder_wheel_radius + } + physics Physics { + density -1 + mass 0.05 + } + } + } + ] + } + DEF desni_enkoder Transform { + translation 0 %<=-fields.encoder_wheel_distance.value/2>% 0.0375 + children [ + HingeJoint { + jointParameters HingeJointParameters { + axis 0 1 0 + } + device [ + PositionSensor { + name "encoder_left" + } + RotationalMotor { + name "left_motor" + maxVelocity 30 + maxTorque 100 + } + ] + endPoint Solid { + rotation -1 0 0 1.570796 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.933333 0.933333 0.92549 + roughness 1 + roughnessMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_roughness.jpg" + ] + } + metalness 0 + normalMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_normal.jpg" + ] + } + } + geometry Cylinder { + height IS encoder_wheel_height + radius IS encoder_wheel_radius + } + } + ] + name "test_robot_encoder_left_solid(2)" + contactMaterial "wheel" + boundingObject DEF ENCODER_WHEEL_BO Cylinder { + height IS encoder_wheel_height + radius IS encoder_wheel_radius + } + physics Physics { + density -1 + mass 0.05 + } + } + } + ] + } + DEF levi_motor Transform { + translation 0 %<=fields.motor_wheel_distance.value/2>% 0.036 + children [ + HingeJoint { + jointParameters HingeJointParameters { + axis 0 1 0 + } + device [ + PositionSensor { + name "left_encoder_inner" + } + RotationalMotor { + name "left_motor_inner" + maxVelocity 30 + maxTorque 100 + } + ] + endPoint Solid { + rotation -1 0 0 1.5707996938995745 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.180392 0.203922 0.211765 + roughness 1 + roughnessMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_roughness.jpg" + ] + } + metalness 0 + normalMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_normal.jpg" + ] + } + } + geometry Cylinder { + height IS motor_wheel_height + radius IS motor_wheel_radius + } + } + ] + name "test_robot_motor_left_solid" + contactMaterial "wheel" + boundingObject DEF ENCODER_WHEEL_BO Cylinder { + height IS motor_wheel_height + radius IS motor_wheel_radius + } + physics Physics { + density -1 + mass 0.05 + } + } + } + ] + } + DEF desni_motor Transform { + translation 0 %<=-fields.motor_wheel_distance.value/2>% 0.036 + children [ + HingeJoint { + jointParameters HingeJointParameters { + axis 0 1 0 + } + device [ + PositionSensor { + name "right_encoder_inner" + } + RotationalMotor { + name "right_motor_inner" + maxVelocity 30 + maxTorque 100 + } + ] + endPoint Solid { + rotation -1 0 0 1.5707996938995745 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.180392 0.203922 0.211765 + roughness 1 + roughnessMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_roughness.jpg" + ] + } + metalness 0 + normalMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_normal.jpg" + ] + } + } + geometry Cylinder { + height IS motor_wheel_height + radius IS motor_wheel_radius + } + } + ] + name "test_robot_motor_left_solid(1)" + contactMaterial "wheel" + boundingObject DEF ENCODER_WHEEL_BO Cylinder { + height IS motor_wheel_height + radius IS motor_wheel_radius + } + physics Physics { + density -1 + mass 0.05 + } + } + } + ] + } + ] +} +} \ No newline at end of file diff --git a/mep3_simulation/webots_data/protos/RobotArmMemristor2.proto b/mep3_simulation/webots_data/protos/RobotArmMemristor2.proto new file mode 100644 index 000000000..4e562563a --- /dev/null +++ b/mep3_simulation/webots_data/protos/RobotArmMemristor2.proto @@ -0,0 +1,261 @@ +#VRML_SIM R2022a utf8 +# template language: javascript + +PROTO RobotArmMemristor2 [ + field SFString name "robot_arm" + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 1 0 0 + field SFString {"simple", "complex"} complexity "simple" + field SFFloat mass_base 0.1 + field SFVec3f com_base 0.07500 0.10820 0.03039 + field SFVec3f anchor_base 0.075 0.09075 0.0517 + field SFFloat mass_mid_l 0.05041 + field SFVec3f com_mid_l 0.07532 0.09079 0.08283 + field SFVec3f anchor_mid_l 0.0986 0.09075 0.096 + field SFFloat mass_mid_u 0.3 + field SFVec3f com_mid_ul 0.07560 0.09075 0.12018 + field SFVec3f com_mid_uu 0.07439 0.07595 0.16839 + field SFVec3f anchor_mid_u 0.098 0.06965 0.17931 + field SFFloat mass_gripper 0.1 + field SFVec3f com_gripper_l 0.07460 0.06965 0.20877 + field SFVec3f com_gripper_u 0.07469 0.06950 0.23639 + field SFVec3f anchor_gripper 0.07469 0.0695 0.24731 +] +{ +Solid { + translation IS translation + rotation IS rotation + name IS name + boundingObject Transform { + translation IS com_base + children [ + Box { + size 0.05 0.07 0.045 + } + ] + } + physics Physics { + density -1 + mass IS mass_base + } + children [ + Shape { + appearance DEF ROBOT_ARM_APPEARANCE PBRAppearance { + baseColor 1 0 0 + roughness 1 + metalness 0 + } + geometry Mesh { + url ["assets/meshes/RobotArmMemristor2/base.obj"] + } + } + HingeJoint { + jointParameters HingeJointParameters { + anchor IS anchor_base + axis 0 0 1 + } + device [ + RotationalMotor { + name %<= '"' + fields.name.value + '_motor_base' + '"' >% + maxTorque 100 + } + PositionSensor { + name %<= '"' + fields.name.value + '_sensor_base' + '"' >% + } + ] + endPoint Solid { + boundingObject Transform { + translation IS com_mid_l + children [ + Box { + size 0.05 0.036 0.061 + } + ] + } + physics Physics { + density -1 + mass IS mass_mid_l + } + children [ + Shape { + appearance USE ROBOT_ARM_APPEARANCE + geometry Mesh { + url ["assets/meshes/RobotArmMemristor2/mid_lower.obj"] + } + } + Transform { + translation 0 0 0 + children [ + HingeJoint { + jointParameters HingeJointParameters { + axis 1 0 0 + anchor IS anchor_mid_l + } + device [ + RotationalMotor { + name %<= '"' + fields.name.value + '_motor_mid' + '"' >% + maxTorque 100 + } + PositionSensor { + name %<= '"' + fields.name.value + '_sensor_mid' + '"' >% + } + ] + endPoint Solid { + boundingObject Group { + children [ + Transform { + translation IS com_mid_uu + rotation 1 0 0 0.523599 + children [ + Box { + size 0.042 0.037 0.062 + } + ] + } + Transform { + translation IS com_mid_ul + children [ + Box { + size 0.046 0.03 0.081 + } + ] + } + ] + } + physics Physics { + density -1 + mass IS mass_mid_u + } + children [ + Shape { + appearance USE ROBOT_ARM_APPEARANCE + geometry Mesh { + url [ + "assets/meshes/RobotArmMemristor2/mid_upper.obj" + ] + } + } + Transform { + translation 0 0 0 + children [ + HingeJoint { + jointParameters HingeJointParameters { + axis 1 0 0 + anchor IS anchor_mid_u + } + device [ + RotationalMotor { + name %<= '"' + fields.name.value + '_motor_gripper' + '"' >% + maxTorque 100 + } + PositionSensor { + name %<= '"' + fields.name.value + '_sensor_gripper' + '"' >% + } + ] + endPoint Solid { + boundingObject Transform { + translation IS com_gripper_l + children [ + Box { + size 0.048 0.025 0.08 + } + ] + } + physics Physics { + density -1 + mass IS mass_gripper + } + children [ + Shape { + appearance PBRAppearance { + baseColor 1 1 1 + metalness 0 + roughness 1 + } + geometry Mesh { + url ["assets/meshes/RobotArmMemristor2/connector.obj"] + } + } + Shape { + appearance USE ROBOT_ARM_APPEARANCE + geometry Mesh { + url ["assets/meshes/RobotArmMemristor2/gripper.obj"] + } + } + Connector { + name %<= '"' + fields.name.value + '_connector' + '"' >% + translation IS anchor_gripper + rotation 0 1 0 -1.5708 + type "active" + numberOfRotations 0 + } + %< if (fields.complexity.value == "complex") { >% + Shape { + appearance Plastic { + colorOverride 0 0 0 + } + geometry Mesh { + url ["assets/meshes/RobotArmMemristor2/gripper_dodatno.obj"] + } + } + %< } >% + ] + } + } + ] + } + %< if (fields.complexity.value == "complex") { >% + Shape { + appearance CorrodedMetal {} + geometry Mesh { + url ["assets/meshes/RobotArmMemristor2/mid_upper_motor.obj"] + } + } + Shape { + appearance Plastic { + colorOverride 0.5 0.5 0.5 + } + geometry Mesh { + url ["assets/meshes/RobotArmMemristor2/mid_upper_grey.obj"] + } + } + Shape { + appearance BrushedAluminium {} + geometry Mesh { + url ["assets/meshes/RobotArmMemristor2/mid_upper_screws.obj"] + } + } + %< } >% + ] + } + } + ] + } + %< if (fields.complexity.value == "complex") { >% + Shape { + appearance CorrodedMetal {} + geometry Mesh { + url ["assets/meshes/RobotArmMemristor2/mid_lower_motor.obj"] + } + } + Shape { + appearance BrushedAluminium {} + geometry Mesh { + url ["assets/meshes/RobotArmMemristor2/mid_lower_white.obj"] + } + } + %< } >% + ] + } + } + %< if (fields.complexity.value == "complex") { >% + Shape { + appearance CorrodedMetal {} + geometry Mesh { + url ["assets/meshes/RobotArmMemristor2/base_motor.obj"] + } + } + %< } >% + ] +} +} diff --git a/mep3_simulation/webots_data/protos/RobotMemristor2.proto b/mep3_simulation/webots_data/protos/RobotMemristor2.proto new file mode 100644 index 000000000..d50d24d3a --- /dev/null +++ b/mep3_simulation/webots_data/protos/RobotMemristor2.proto @@ -0,0 +1,256 @@ +#VRML_SIM R2022a utf8 +# template language: javascript + +PROTO RobotMemristor2 [ + field SFString name "robot_memristor" + field SFVec3f translation 0.5 0 0 + field SFRotation rotation 0 1 0 0 + field SFString controller "void" + field SFInt32 arucoNumber 1 + field SFString {"simple", "complex"} complexity "simple" + hiddenField SFFloat mass_robot 2 + hiddenField SFFloat mass_motor_wheel 0.05 + hiddenField SFFloat mass_encoder_wheel 0.05 + hiddenField SFFloat mass_arm_base 0.2 + hiddenField SFFloat mass_arm_mid1 0.15 + hiddenField SFFloat mass_arm_mid2 0.3 + hiddenField SFFloat mass_arm_gripper 0.1 + hiddenField SFFloat body_offset 0.0105 + hiddenField SFFloat arm_x 0.075 + hiddenField SFFloat arm_y 0.132 + hiddenField SFFloat arm_z 0.063 + hiddenField SFFloat robot_x_size 0.2 + hiddenField SFFloat robot_x_inner_size 0.134 + hiddenField SFFloat robot_x_edge_size 0.02 + hiddenField SFFloat robot_y_edge_size 0.065 + hiddenField SFFloat robot_y_size 0.3 + hiddenField SFFloat robot_z_size 0.335 + hiddenField SFFloat robot_height 0.013 + hiddenField SFFloat robot_plate_width 0.005 +] +{ +Robot { + translation IS translation + rotation IS rotation + name IS name + controller IS controller + children [ + Transform { + translation 0 0 %<= fields.body_offset.value >% + children [ + Shape { + appearance Plastic { + colorOverride 0.6 0.6 0.6 + } + geometry Mesh { + url ["assets/meshes/RobotMemristor2/robot_osnovno.obj"] + } + } + Shape { + appearance Plastic { + colorOverride 1 0 0 + } + geometry Mesh { + url ["assets/meshes/RobotMemristor2/robot_crveno.obj"] + } + } + Shape { + appearance Plastic { + colorOverride 0 0 0 + } + geometry Mesh { + url ["assets/meshes/RobotMemristor2/kapa.obj"] + } + } + Shape { + appearance Plastic { + colorOverride 1 1 1 + } + geometry Mesh { + url ["assets/meshes/RobotMemristor2/sisaljke_osnovno.obj"] + } + } + DEF leva_sisaljka Connector { + translation 0.05425 0.12433 0.1897 + name "robot_left_connector" + type "active" + numberOfRotations 0 + } + DEF desna_sisaljka Connector { + translation 0.05425 -0.12433 0.1897 + name "robot_right_connector" + type "active" + numberOfRotations 0 + } + RobotisLds01 { + translation -0.0262 -0.0008 0.345 + rotation 0 0 1 -1.5708 + } + Hand {} + Hand {position "right"} + Hand {shape "G"} + Hand {shape "G" position "right"} + Hand {shape "L" position "mid"} + RobotArmMemristor2 { + name "robot_arm_left" + complexity IS complexity + } + RobotArmMemristor2 { + name "robot_arm_right" + translation 0.15 0 0 + rotation 0 0 1 3.14159 + complexity IS complexity + } + %< if (fields.complexity.value == "complex") { >% + Shape { + appearance Plastic { + colorOverride 0 0 0 + } + geometry Mesh { + url ["assets/meshes/RobotMemristor2/pogon_zatezaci.obj"] + } + } + Shape { + appearance BrushedAluminium {} + geometry Mesh { + url ["assets/meshes/RobotMemristor2/robot_bosch.obj"] + } + } + Shape { + appearance CorrodedMetal {} + geometry Mesh { + url ["assets/meshes/RobotMemristor2/robot_motori.obj"] + } + } + Shape { + appearance Plastic { + colorOverride 0 0 0.5 + } + geometry Mesh { + url ["assets/meshes/RobotMemristor2/robot_motori_drzaci.obj"] + } + } + Shape { + appearance Plastic { + colorOverride 0.5 0.5 0.5 + } + geometry Mesh { + url ["assets/meshes/RobotMemristor2/robot_vakuum_pumpe.obj"] + } + } + Shape { + appearance Plastic { + colorOverride 0 0 0 + metalness 1 + } + geometry Mesh { + url ["assets/meshes/RobotMemristor2/sisaljke_kolena.obj"] + } + } + Shape { + appearance Plastic { + colorOverride 0 1 0 + } + geometry Mesh { + url ["assets/meshes/RobotMemristor2/sisaljke_baza.obj"] + } + } + Shape { + appearance Plastic { + colorOverride 0.7 0.7 0.7 + } + geometry Mesh { + url ["assets/meshes/RobotMemristor2/zamenjivac_dodatno.obj"] + } + } + Transform { + translation 0.001 -0.125 0.348 + children [ + Shape { + appearance Plastic { + colorOverride 1 0 0 + } + geometry Mesh { + url ["assets/meshes/RobotMemristor2/mushroom.obj"] + } + } + ] + } + Transform { + translation -0.0125 0.116 0.331 + children [ + Shape { + appearance Plastic { + colorOverride 0 1 0 + } + geometry Mesh { + url ["assets/meshes/RobotMemristor2/switch.obj"] + } + } + ] + } + Transform { + translation 0.0075 0.116 0.331 + children [ + Shape { + appearance Plastic { + colorOverride 0 1 0 + } + geometry Mesh { + url ["assets/meshes/RobotMemristor2/switch.obj"] + } + } + ] + } + %< } >% + ] + } + Pogon {} + OmniWheel {} + ArucoTag { + arucoNumber IS arucoNumber + } + ] + boundingObject Group { + children [ + Transform { + translation %<= -(fields.robot_x_size.value - 2*fields.arm_x.value + fields.robot_x_edge_size.value)/2 >% 0 %<= fields.robot_z_size.value/2 + fields.robot_height.value + fields.robot_plate_width.value/4 >% + children [ + Box { + size %<= fields.robot_x_inner_size.value - fields.robot_x_edge_size.value >% %<= fields.robot_y_size.value >% %<= fields.robot_z_size.value - fields.robot_plate_width.value/2 >% + } + ] + } + Transform { + translation 0.004 0 %<= fields.robot_height.value >% + children [ + Box { + size %<= fields.robot_x_size.value - 0.008>% %<= fields.robot_y_size.value >% %<= fields.robot_plate_width.value >% + } + ] + } + Transform { + translation %<= -(fields.robot_x_size.value - 2*fields.arm_x.value - fields.robot_x_inner_size.value + fields.robot_x_edge_size.value)/2 >% %<= (fields.robot_y_size.value - fields.robot_y_edge_size.value)/2 >% %<= fields.robot_z_size.value/2 + fields.robot_height.value + fields.robot_plate_width.value/4 >% + children [ + Box { + size %<= fields.robot_x_edge_size.value >% %<= fields.robot_y_edge_size.value >% %<= fields.robot_z_size.value - fields.robot_plate_width.value/2 >% + } + ] + } + Transform { + translation %<= -(fields.robot_x_size.value - 2*fields.arm_x.value - fields.robot_x_inner_size.value + fields.robot_x_edge_size.value)/2 >% %<= -(fields.robot_y_size.value - fields.robot_y_edge_size.value)/2 >% %<= fields.robot_z_size.value/2 + fields.robot_height.value + fields.robot_plate_width.value/4 >% + children [ + Box { + size %<= fields.robot_x_edge_size.value >% %<= fields.robot_y_edge_size.value >% %<= fields.robot_z_size.value - fields.robot_plate_width.value/2 >% + } + ] + } + + ] + } + physics Physics { + density -1 + mass IS mass_robot + } +} +} \ No newline at end of file diff --git a/mep3_simulation/webots_data/worlds/assets/meshes/.gitignore b/mep3_simulation/webots_data/worlds/assets/meshes/.gitignore index 8b10cf102..3e358c052 100644 --- a/mep3_simulation/webots_data/worlds/assets/meshes/.gitignore +++ b/mep3_simulation/webots_data/worlds/assets/meshes/.gitignore @@ -1,2 +1,7 @@ *orig/ *unaligned/ +*.bak +hands/* +robot/* +robot_arm_memristor/* +robot_arm_rcva/* \ 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1043//1043 -# 20000 faces, 0 coords texture - -# End of File diff --git a/mep3_simulation/webots_data/worlds/test_robot.wbt b/mep3_simulation/webots_data/worlds/test_robot.wbt index 42271c5e7..3abfa3a4e 100644 --- a/mep3_simulation/webots_data/worlds/test_robot.wbt +++ b/mep3_simulation/webots_data/worlds/test_robot.wbt @@ -12,8 +12,8 @@ WorldInfo { ] } Viewpoint { - orientation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.0944 - position 0.02287174027922135 -0.004454311506055412 6.592902286936241 + orientation 0.03830340989080311 -0.8445370934760652 0.5341254033780239 5.804010646691805 + position -0.7151631610142143 0.17232601194227204 0.7038780051551651 } TexturedBackground { } @@ -36,11 +36,13 @@ Floor { metalness 0 } } -RobotMemristor { -} Sample { name "sample_purple_playing_area_red" - translation 0.17 0.13 0.0075022 + translation 0.2 0.13 0.00750226 rotation 0.7071067811862364 0.7071067811862364 9.381857096790023e-07 3.14159 frontTexture "red" } +RobotMemristor2 { + rotation 0 0 1 2.3561953071795863 + complexity "complex" +} From 247bc3bcef1620ce9ccb951921b8e14c09c76004 Mon Sep 17 00:00:00 2001 From: unknown Date: Tue, 1 Mar 2022 18:13:36 +0100 Subject: [PATCH 12/86] added replica connector, added robot to eurobot map --- mep3_simulation/webots_data/protos/Hand.proto | 9 ++++++++- mep3_simulation/webots_data/worlds/eurobot_2022.wbt | 13 ++++++------- 2 files changed, 14 insertions(+), 8 deletions(-) diff --git a/mep3_simulation/webots_data/protos/Hand.proto b/mep3_simulation/webots_data/protos/Hand.proto index a7b3adee5..e1beda029 100644 --- a/mep3_simulation/webots_data/protos/Hand.proto +++ b/mep3_simulation/webots_data/protos/Hand.proto @@ -71,7 +71,14 @@ Transform { Connector { translation -0.09 0 0.10604 rotation 0 0 1 3.14159 - name "hand_L_connector" + name "hand_L_statuette_connector" + type "active" + numberOfRotations 0 + } + Connector { + translation -0.077 0 0.10604 + rotation 0 0 1 0 + name "hand_L_replica_connector" type "active" numberOfRotations 0 } diff --git a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt index 1ba870c44..824383aa4 100644 --- a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt +++ b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt @@ -12,8 +12,8 @@ WorldInfo { ] } Viewpoint { - position 0 0 10 - orientation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.0944 + orientation -0.20819550134557824 0.485116724007756 0.8493034777436425 0.9357947103746743 + position 0.5126820588222539 -0.6392513847726864 0.7876961913408052 } TexturedBackground { } @@ -604,11 +604,6 @@ Sample { rotation 0.8246198587813874 0.4760949184673239 0.30550894768068065 -2.1681953071795865 frontTexture "blue" } -RobotMemristor { - translation 1.21 0.17 0 - rotation 0 0 1 3.14159 - controller "" -} ExcavationSquare { name "excSq0" translation -0.8325 -1.022 0 @@ -666,3 +661,7 @@ OpponentBox { rotation 0 0 -1 -5.307179586466759e-06 arucoNumber 2 } +RobotMemristor2 { + translation 1.21 0.17 0 + rotation 0 0 1 3.14159 +} From c9757750315ff077ed91482869edbaa46f40beaa Mon Sep 17 00:00:00 2001 From: unknown Date: Tue, 1 Mar 2022 18:15:11 +0100 Subject: [PATCH 13/86] fix viewpoint --- .../webots_data/worlds/eurobot_2022.wbt | 4 +- .../webots_data/worlds/eurobot_2022.wbt.bak | 667 ++++++++++++++++++ 2 files changed, 669 insertions(+), 2 deletions(-) create mode 100644 mep3_simulation/webots_data/worlds/eurobot_2022.wbt.bak diff --git a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt index 824383aa4..fd4b4fc86 100644 --- a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt +++ b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt @@ -12,8 +12,8 @@ WorldInfo { ] } Viewpoint { - orientation -0.20819550134557824 0.485116724007756 0.8493034777436425 0.9357947103746743 - position 0.5126820588222539 -0.6392513847726864 0.7876961913408052 + orientation -0.33 0.33 1 1.67 + position 0 -4.2 3.5 } TexturedBackground { } diff --git a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt.bak b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt.bak new file mode 100644 index 000000000..824383aa4 --- /dev/null +++ b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt.bak @@ -0,0 +1,667 @@ +#VRML_SIM R2022a utf8 +WorldInfo { + basicTimeStep 10 + contactProperties [ + ContactProperties { + material1 "floor" + material2 "wheel" + coulombFriction [ + 3 + ] + } + ] +} +Viewpoint { + orientation -0.20819550134557824 0.485116724007756 0.8493034777436425 0.9357947103746743 + position 0.5126820588222539 -0.6392513847726864 0.7876961913408052 +} +TexturedBackground { +} +TexturedBackgroundLight { +} +Floor { + name "table" + contactMaterial "floor" + size 3 2 + tileSize 4.096 2.048 + appearance PBRAppearance { + baseColorMap ImageTexture { + url [ + "assets/table.png" + ] + repeatS FALSE + repeatT FALSE + } + roughness 1 + metalness 0 + } +} +Solid { + children [ + DEF purple_statuette_support_shape Group { + children [ + Shape { + appearance DEF APPEARANCE_PURPLE PBRAppearance { + baseColor 0.360784 0.282353 0.541176 + roughness 1 + metalness 0 + name "purple" + } + geometry IndexedFaceSet { + coord Coordinate { + point [ + 1.5 -0.49 0.07 + 1.5 -0.49 0.048 + 1.5 -0.69082 0.07 + 1.5 -0.69082 0.048 + 0.99 -1 0.07 + 0.99 -1 0.048 + 1.19082 -1 0.07 + 1.19082 -1 0.048 + ] + } + normal Normal { + vector [ + 0 0 1 + 0 0 1 + 0 0 -1 + 0 0 -1 + 1 0 0 + 1 0 0 + -0.70711 0.70711 0 + -0.70711 0.70711 0 + 0 -1 0 + 0 -1 0 + 0.70711 -0.70711 0 + 0.70711 -0.70711 0 + ] + } + normalPerVertex FALSE + coordIndex [ + 0, 4, 2, -1, 2, 4, 6, -1, 1, 3, 5, -1, 3, 7, 5, -1, 0, 2, 1, -1, 1, 2, 3, -1, 0, 1, 4, -1, 1, 5, 4, -1, 4, 5, 6, -1, 5, 7, 6, -1, 2, 6, 3, -1, 3, 6, 7, -1 + ] + } + isPickable FALSE + } + Transform { + translation 1.28743 -0.78743 0.081 + rotation 0 0 1 0.7853996938995746 + children [ + Shape { + appearance USE APPEARANCE_PURPLE + geometry Box { + size 0.12 0.12 0.022 + } + } + ] + } + Transform { + translation 1.33763 -0.83763 0.081 + rotation 0 0 1 0.7853996938995746 + children [ + Shape { + appearance USE APPEARANCE_PURPLE + geometry Box { + size 0.481249 0.022 0.022 + } + } + ] + } + ] + } + ] + name "purple statuette support" + boundingObject USE purple_statuette_support_shape + locked TRUE +} +Solid { + children [ + DEF yellow_statuette_support_shape Group { + children [ + Shape { + appearance DEF APPEARANCE_YELLOW PBRAppearance { + baseColor 0.972549 0.694118 0.0666667 + roughness 1 + metalness 0 + name "yellow" + } + geometry IndexedFaceSet { + coord Coordinate { + point [ + -1.5 -0.49 0.07 + -1.5 -0.49 0.048 + -1.5 -0.69082 0.07 + -1.5 -0.69082 0.048 + -0.99 -1 0.07 + -0.99 -1 0.048 + -1.19082 -1 0.07 + -1.19082 -1 0.048 + ] + } + normal Normal { + vector [ + 0 0 1 + 0 0 1 + 0 0 -1 + 0 0 -1 + 1 0 0 + 1 0 0 + -0.70711 0.70711 0 + -0.70711 0.70711 0 + 0 -1 0 + 0 -1 0 + 0.70711 -0.70711 0 + 0.70711 -0.70711 0 + ] + } + normalPerVertex FALSE + coordIndex [ + 0, 2, 4, -1, 2, 6, 4, -1, 1, 5, 3, -1, 3, 5, 7, -1, 0, 1, 2, -1, 1, 3, 2, -1, 0, 4, 1, -1, 1, 4, 5, -1, 4, 6, 5, -1, 5, 6, 7, -1, 2, 3, 6, -1, 3, 7, 6, -1 + ] + } + isPickable FALSE + } + Transform { + translation -1.28743 -0.78743 0.081 + rotation 0 0 1 0.7853996938995746 + children [ + Shape { + appearance USE APPEARANCE_YELLOW + geometry Box { + size 0.12 0.12 0.022 + } + } + ] + } + Transform { + translation -1.33763 -0.83763 0.081 + rotation 0 0 1 -0.7854 + children [ + Shape { + appearance USE APPEARANCE_YELLOW + geometry Box { + size 0.481249 0.022 0.022 + } + } + ] + } + ] + } + ] + name "yellow statuette support" + boundingObject USE yellow_statuette_support_shape + locked TRUE +} +Solid { + translation 0 1.011 0.035 + rotation 1 0 0 1.5708 + children [ + DEF WALL_W Shape { + appearance DEF WALL_APPEARANCE PBRAppearance { + baseColor 0.631 0.612 0.537 + roughness 1 + metalness 0 + } + geometry Box { + size 3 0.07 0.022 + } + isPickable FALSE + } + ] + name "wall_top" + boundingObject USE WALL_W + locked TRUE +} +Solid { + translation 0 -1.011 0.035 + rotation 1 0 0 1.5708 + children [ + USE WALL_W + ] + name "wall_bottom" + boundingObject USE WALL_W + locked TRUE +} +Solid { + translation -1.511 0 0.035 + rotation 1 0 0 1.5708 + children [ + DEF WALL_H Shape { + appearance USE WALL_APPEARANCE + geometry Box { + size 0.022 0.07 2.044 + } + isPickable FALSE + } + ] + name "wall_left" + boundingObject USE WALL_H + locked TRUE +} +Solid { + translation 1.511 0 0.035 + rotation 1 0 0 1.5708 + children [ + USE WALL_H + ] + name "wall_right" + boundingObject USE WALL_H + locked TRUE +} +Sample { + name "sample_purple_excavation_site_red" + translation 0.442219 -0.454349 0.0075 + rotation 0 0 1 -0.785395307179586 + frontTexture "red" +} +Sample { + name "sample_purple_excavation_site_green" + translation 0.531922 -0.303676 0.0075 + rotation 0 0 1 1.309 + frontTexture "green" +} +Sample { + name "sample_purple_excavation_site_blue" + translation 0.61144 -0.45196 0.0075 + rotation 0 0 1 -2.6179953071795863 + frontTexture "blue" +} +Sample { + name "sample_yellow_excavation_site_red" + translation -0.446015 -0.290911 0.0075 + rotation 0 0 1 -0.261795307179586 + frontTexture "red" +} +Sample { + name "sample_yellow_excavation_site_green" + translation -0.608832 -0.343505 0.0075 + rotation 0 0 1 -1.3089953071795861 + frontTexture "green" +} +Sample { + name "sample_yellow_excavation_site_blue" + translation -0.498243 -0.466137 0.0075 + rotation 0 0 1 -2.094395307179586 + frontTexture "blue" +} +Sample { + name "sample_purple_playing_area_red" + translation 0.6 0.2 0.00750369 + rotation 0.7071067811862364 0.7071067811862364 9.381857096790023e-07 3.14159 + frontTexture "red" +} +Sample { + name "sample_purple_playing_area_green" + translation 0.67 0.325 0.00750385 + rotation 0.7071067811862364 0.7071067811862364 9.381857096790023e-07 3.14159 + frontTexture "green" +} +Sample { + name "sample_purple_playing_area_blue" + translation 0.6 0.45 0.00750346 + rotation 0.7071067811862364 0.7071067811862364 9.381857096790023e-07 3.14159 + frontTexture "blue" +} +Sample { + name "sample_yellow_playing_area_red" + translation -0.6 0.2 0.00749988 + rotation 0.7071067811862364 0.7071067811862364 9.381857096790023e-07 3.14159 + frontTexture "red" +} +Sample { + name "sample_yellow_playing_area_green" + translation -0.67 0.325 0.00749957 + rotation 0.7071067811862364 0.7071067811862364 9.381857096790023e-07 3.14159 + frontTexture "green" +} +Sample { + name "sample_yellow_playing_area_blue" + translation -0.6 0.45 0.00749969 + rotation 0.7071067811862364 0.7071067811862364 9.381857096790023e-07 3.14159 + frontTexture "blue" +} +Solid { + translation 0 1.233 0 + children [ + Transform { + translation 0 0 0.5 + children [ + Shape { + appearance USE WALL_APPEARANCE + geometry Box { + size 0.2 0.022 1 + } + } + Transform { + translation 0 -0.11 -0.011 + children [ + Shape { + appearance USE WALL_APPEARANCE + geometry Box { + size 0.022 0.2 0.978 + } + } + ] + } + Group { + children [ + Transform { + translation -0.1 -0.0585 0.489 + children [ + Shape { + appearance USE APPEARANCE_YELLOW + geometry DEF CENTRAL_TRACKING_TOP_BOX_HALF Box { + size 0.2 0.095 0.022 + } + } + ] + } + Transform { + translation -0.0475 -0.111 0.489 + children [ + Shape { + appearance USE APPEARANCE_YELLOW + geometry DEF CENTRAL_TRACKING_BOX_SLIT Box { + size 0.095 0.01 0.022 + } + } + ] + } + Transform { + translation -0.1 -0.1635 0.489 + children [ + Shape { + appearance USE APPEARANCE_YELLOW + geometry USE CENTRAL_TRACKING_TOP_BOX_HALF + } + ] + } + ] + } + Group { + children [ + Transform { + translation 0.1 -0.0585 0.489 + children [ + Shape { + appearance USE APPEARANCE_PURPLE + geometry USE CENTRAL_TRACKING_TOP_BOX_HALF + } + ] + } + Transform { + translation 0.0475 -0.111 0.489 + children [ + Shape { + appearance USE APPEARANCE_PURPLE + geometry USE CENTRAL_TRACKING_BOX_SLIT + } + ] + } + Transform { + translation 0.1 -0.1635 0.489 + children [ + Shape { + appearance USE APPEARANCE_PURPLE + geometry USE CENTRAL_TRACKING_TOP_BOX_HALF + } + ] + } + ] + } + ] + } + ] + name "central_tracking_device_platform" + boundingObject Transform { + translation 0 -0.111 0.989 + children [ + Box { + size 0.4 0.2 0.022 + } + ] + } + locked TRUE +} +DispenserVertical { + name "vertical_dispenser_left" + translation -0.15 1 0 + teamColor USE WALL_APPEARANCE +} +DispenserVertical { + name "vertical_dispenser_right" + translation 0.15 1 0 + teamColor USE WALL_APPEARANCE +} +DispenserVertical { + name "vertical_dispenser_yellow" + translation -1.5 -0.25 0 + rotation 0 0 1 1.5708 + teamColor USE APPEARANCE_YELLOW +} +DispenserVertical { + name "vertical_dispenser_purple" + translation 1.5 -0.25 0 + rotation 0 0 1 -1.5708 + teamColor USE APPEARANCE_PURPLE +} +Solid { + translation -1.522 0.7 0 + children [ + DEF dispenser_outer Transform { + translation -0.1075 -0.075 0.048 + scale 0.001 0.001 0.001 + children [ + Shape { + appearance USE WALL_APPEARANCE + geometry IndexedFaceSet { + coord DEF o6 Coordinate { + point [ + 1e-15 37.5 22, 1e-15 112.5 22, 1e-15 37.5 0, 1e-15 112.5 0, 1e-15 37.5 22, 1e-15 112.5 22, 64.949997 -2e-15 22, 107.9 0 22, 107.9 150 22, 64.949997 150 22, 64.949997 150 0, 64.949997 150 22, 1e-15 112.5 22, 1e-15 112.5 0, 1e-15 37.5 0, 1e-15 112.5 0, 64.949997 -2e-15 0, 107.9 0 0, 107.9 150 0, 64.949997 150 0, 64.949997 -2e-15 0, 64.949997 -2e-15 22, 1e-15 37.5 22, 1e-15 37.5 0, 64.949997 150 0, 107.9 150 0, 64.949997 150 22, 107.9 150 22, 107.9 0 0, 107.9 0 22, 107.9 150 0, 107.9 150 22, 64.949997 -2e-15 0, 107.9 0 0, 64.949997 -2e-15 22, 107.9 0 22, 1e-15 37.5 22, 1e-15 112.5 22, 1e-15 112.5 0, 1e-15 37.5 0, 64.949997 150 22, 107.9 150 22, 107.9 0 22, 64.949997 -2e-15 22, 64.949997 150 0, 107.9 150 0, 107.9 0 0, 64.949997 -2e-15 0 + ] + } + coordIndex [ + 2, 0, 3, -1, 3, 0, 1, -1, 9, 5, 4, -1, 9, 4, 6, -1, 9, 6, 7, -1, 8, 9, 7, -1, 10, 12, 11, -1, 10, 13, 12, -1, 15, 19, 14, -1, 14, 19, 16, -1, 16, 19, 17, -1, 19, 18, 17, -1, 23, 20, 21, -1, 23, 21, 22, -1, 27, 25, 24, -1, 27, 24, 26, -1, 28, 30, 31, -1, 29, 28, 31, -1, 33, 35, 32, -1, 32, 35, 34, -1 + ] + } + } + ] + } + ] + name "dispenser_yellow_outer" + boundingObject Transform { + translation -0.053952 0 0.059 + children [ + Box { + size 0.107902 0.15 0.022 + } + ] + } + locked TRUE +} +Solid { + translation 1.522 0.7 0 + rotation 0 0 1 3.141592653589793 + children [ + USE dispenser_outer + ] + name "dispenser_purple_outer" + boundingObject Transform { + translation -0.053952 0 0.059 + children [ + Box { + size 0.107902 0.15 0.022 + } + ] + } + locked TRUE +} +Sample { + name "sample_green_PURPLE_horizontal_dispenser" + translation 1.56495 0.7 0.0775 + rotation 0.965925849201117 0.2588189595935754 1.2410098062554258e-09 3.14159 + frontTexture "green" +} +Sample { + name "sample_red_PURPLE_horizontal_dispenser" + translation 1.1884 -0.8794 0.0775 + rotation 0.3826841051424448 -0.9238792538357933 1.773180487181278e-06 3.14159 + frontTexture "red" +} +Sample { + name "sample_blue_PURPLE_horizontal_dispenser" + translation 1.3794 -0.6884 0.0775 + rotation -0.9238792538356376 -0.38268410514238027 1.865750512614575e-06 3.14159 + frontTexture "blue" +} +Sample { + name "sample_green_YELLOW_horizontal_dispenser" + translation -1.56495 0.7 0.0775 + rotation -0.25881895959340473 -0.96592584920048 1.1484198207096768e-06 3.14159 + frontTexture "green" +} +Sample { + name "sample_red_YELLOW_horizontal_dispenser" + translation -1.1884 -0.8794 0.0775 + rotation -0.9238797538367262 0.3826828980360002 1.1655496894449454e-06 -3.1415853071795863 + frontTexture "red" +} +Sample { + name "sample_blue_YELLOW_horizontal_dispenser" + translation -1.3794 -0.6884 0.0775 + rotation -0.38268289803593086 -0.9238797538365588 1.3117796504824447e-06 3.14159 + frontTexture "blue" +} +Sample { + name "sample_red_YELLOW_vertical_dispenser" + translation -1.48816 -0.25 0.0621705 + rotation -0.25532206437512617 -0.9528732402508189 0.1638390413092342 2.04399 + frontTexture "red" +} +Sample { + name "sample_green_YELLOW_vertical_dispenser" + translation -1.47166 -0.25 0.0621705 + rotation -0.25532206437512617 -0.9528732402508189 0.1638390413092342 2.04399 + frontTexture "green" +} +Sample { + name "sample_blue_YELLOW_vertical_dispenser" + translation -1.45516 -0.25 0.0621705 + rotation -0.25532206437512617 -0.9528732402508189 0.1638390413092342 2.04399 + frontTexture "blue" +} +Sample { + name "sample_red_PURPLE_vertical_dispenser" + translation 1.48816 -0.25 0.0621705 + rotation 0.8210037674901239 -0.21998793769898486 0.5268378507984881 -2.861115307179586 + frontTexture "red" +} +Sample { + name "sample_green_PURPLE_vertical_dispenser" + translation 1.47166 -0.25 0.0621705 + rotation 0.8210037674901239 -0.21998793769898486 0.5268378507984881 -2.861115307179586 + frontTexture "green" +} +Sample { + name "sample_blue_PURPLE_vertical_dispenser" + translation 1.45516 -0.25 0.0621705 + rotation 0.8210037674901239 -0.21998793769898486 0.5268378507984881 -2.861115307179586 + frontTexture "blue" +} +Sample { + name "sample_red_RIGHT_vertical_dispenser" + translation 0.15 0.988161 0.0621705 + rotation 0.8246198587813874 0.4760949184673239 0.30550894768068065 -2.1681953071795865 + frontTexture "red" +} +Sample { + name "sample_green_RIGHT_vertical_dispenser" + translation 0.15 0.97166 0.0621705 + rotation 0.8246198587813874 0.4760949184673239 0.30550894768068065 -2.1681953071795865 + frontTexture "green" +} +Sample { + name "sample_blue_RIGHT_vertical_dispenser" + translation 0.15 0.955155 0.0621705 + rotation 0.8246198587813874 0.4760949184673239 0.30550894768068065 -2.1681953071795865 + frontTexture "blue" +} +Sample { + name "sample_red_LEFT_vertical_dispenser" + translation -0.15 0.988161 0.0621705 + rotation 0.8246198587813874 0.4760949184673239 0.30550894768068065 -2.1681953071795865 + frontTexture "red" +} +Sample { + name "sample_green_LEFT_vertical_dispenser" + translation -0.15 0.97166 0.0621705 + rotation 0.8246198587813874 0.4760949184673239 0.30550894768068065 -2.1681953071795865 + frontTexture "green" +} +Sample { + name "sample_blue_LEFT_vertical_dispenser" + translation -0.15 0.955155 0.0621705 + rotation 0.8246198587813874 0.4760949184673239 0.30550894768068065 -2.1681953071795865 + frontTexture "blue" +} +ExcavationSquare { + name "excSq0" + translation -0.8325 -1.022 0 +} +ExcavationSquare { + name "excSq1" + translation -0.6475 -1.022 0 +} +ExcavationSquare { + name "excSq2" + translation -0.4625 -1.022 0 + frontTexture "red" +} +ExcavationSquare { + name "excSq3" + translation -0.2775 -1.022 0 + frontTexture "purple1" +} +ExcavationSquare { + name "excSq4" + translation -0.0925 -1.022 0 +} +ExcavationSquare { + name "excSq5" + translation 0.0925 -1.022 0 +} +ExcavationSquare { + name "excSq6" + translation 0.2775 -1.022 0 + frontTexture "purple1" +} +ExcavationSquare { + name "excSq7" + translation 0.4625 -1.022 0 + frontTexture "red" +} +ExcavationSquare { + name "excSq8" + translation 0.6475 -1.022 0 + frontTexture "purple1" +} +ExcavationSquare { + name "excSq9" + translation 0.8325 -1.022 0 + frontTexture "purple1" +} +OpponentBox { + name "opponent_box_big" + translation -1.26 0.167802 0 + rotation 0 0 1 1.01503e-06 +} +OpponentBox { + name "opponent_box_small" + translation -1.26 0.46 0 + rotation 0 0 -1 -5.307179586466759e-06 + arucoNumber 2 +} +RobotMemristor2 { + translation 1.21 0.17 0 + rotation 0 0 1 3.14159 +} From b401d8ac4cf60e75e15b9d6c4cfe4a38329b5485 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Tue, 1 Mar 2022 18:43:17 +0100 Subject: [PATCH 14/86] add extern controller --- mep3_simulation/webots_data/protos/Pogon.proto | 10 +++++----- mep3_simulation/webots_data/worlds/eurobot_2022.wbt | 1 + 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/mep3_simulation/webots_data/protos/Pogon.proto b/mep3_simulation/webots_data/protos/Pogon.proto index 7052c89fc..14fe1151c 100644 --- a/mep3_simulation/webots_data/protos/Pogon.proto +++ b/mep3_simulation/webots_data/protos/Pogon.proto @@ -54,7 +54,7 @@ Group { } } ] - name "test_robot_encoder_left_solid(1)" + name "test_robot_encoder_left_solid" contactMaterial "wheel" boundingObject DEF ENCODER_WHEEL_BO Cylinder { height IS encoder_wheel_height @@ -77,10 +77,10 @@ Group { } device [ PositionSensor { - name "encoder_left" + name "encoder_right" } RotationalMotor { - name "left_motor" + name "right_motor" maxVelocity 30 maxTorque 100 } @@ -110,7 +110,7 @@ Group { } } ] - name "test_robot_encoder_left_solid(2)" + name "test_robot_encoder_right_solid" contactMaterial "wheel" boundingObject DEF ENCODER_WHEEL_BO Cylinder { height IS encoder_wheel_height @@ -222,7 +222,7 @@ Group { } } ] - name "test_robot_motor_left_solid(1)" + name "test_robot_motor_right_solid" contactMaterial "wheel" boundingObject DEF ENCODER_WHEEL_BO Cylinder { height IS motor_wheel_height diff --git a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt index c4852cb48..962a3bbf2 100644 --- a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt +++ b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt @@ -556,4 +556,5 @@ OpponentBox { RobotMemristor2 { translation 1.21 0.17 0 rotation 0 0 1 3.14159 + controller "" } From fc75dda08672b093b679072a79522389e03c4dc3 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Tue, 1 Mar 2022 23:06:59 +0100 Subject: [PATCH 15/86] working strategy --- .../assets/strategies/first_strategy.xml | 42 ++++--- .../controllers/test_robot/test_robot.cpp | 8 +- .../webots_data/protos/OmniWheel.proto | 7 +- .../webots_data/protos/Pogon.proto | 18 +-- .../webots_data/protos/RobotMemristor2.proto | 99 ++++++----------- .../webots_data/protos/Wheel.proto | 104 ++++++++++++++++++ .../webots_data/worlds/test_robot.wbt | 11 +- 7 files changed, 180 insertions(+), 109 deletions(-) create mode 100644 mep3_simulation/webots_data/protos/Wheel.proto diff --git a/mep3_behavior_tree/assets/strategies/first_strategy.xml b/mep3_behavior_tree/assets/strategies/first_strategy.xml index 01d438c9b..7b8d48bfe 100644 --- a/mep3_behavior_tree/assets/strategies/first_strategy.xml +++ b/mep3_behavior_tree/assets/strategies/first_strategy.xml @@ -2,25 +2,23 @@ - - - + - - - + + + - - + + - - - - + + + + @@ -28,20 +26,20 @@ - - - + + + - - - + + + - - + + - - + + diff --git a/mep3_simulation/webots_data/controllers/test_robot/test_robot.cpp b/mep3_simulation/webots_data/controllers/test_robot/test_robot.cpp index c88c47edd..286d4c463 100644 --- a/mep3_simulation/webots_data/controllers/test_robot/test_robot.cpp +++ b/mep3_simulation/webots_data/controllers/test_robot/test_robot.cpp @@ -57,8 +57,8 @@ int main(int argc, char **argv) { while (robot->step(timeStep) != -1) { switch (state){ case translate: - lwm->setPosition(-10); - rwm->setPosition(-10); + lwm->setPosition(-20); + rwm->setPosition(-20); //std::cout << leps->getValue() << std::endl; //std::cout << reps->getValue() << std::endl; if (leps->getValue() < -9.9) @@ -70,8 +70,8 @@ int main(int argc, char **argv) { state = translate_back; break; case translate_back: - lwm->setPosition(10); - rwm->setPosition(10); + lwm->setPosition(20); + rwm->setPosition(20); // std::cout << leps->getValue() << std::endl; // std::cout << reps->getValue() << std::endl; if (leps->getValue() >= 0) diff --git a/mep3_simulation/webots_data/protos/OmniWheel.proto b/mep3_simulation/webots_data/protos/OmniWheel.proto index 85c3b9314..e7c64cc21 100644 --- a/mep3_simulation/webots_data/protos/OmniWheel.proto +++ b/mep3_simulation/webots_data/protos/OmniWheel.proto @@ -2,12 +2,13 @@ # template language: javascript PROTO OmniWheel [ + hiddenField SFFloat wheel_height 0.0075 ] { Group { children [ Solid { - translation 0.08 0 0.0075 + translation 0.08 0 %<=fields.wheel_height.value>% children [ DEF OMNI_SHAPE Shape { appearance PBRAppearance { @@ -40,7 +41,7 @@ Group { } } Solid { - translation -0.079 0.096 0.0075 + translation -0.079 0.096 %<=fields.wheel_height.value>% children [ USE OMNI_SHAPE ] @@ -51,7 +52,7 @@ Group { } } Solid { - translation -0.079 -0.096 0.0075 + translation -0.079 -0.096 %<=fields.wheel_height.value>% children [ USE OMNI_SHAPE ] diff --git a/mep3_simulation/webots_data/protos/Pogon.proto b/mep3_simulation/webots_data/protos/Pogon.proto index 14fe1151c..91a911d51 100644 --- a/mep3_simulation/webots_data/protos/Pogon.proto +++ b/mep3_simulation/webots_data/protos/Pogon.proto @@ -5,15 +5,17 @@ PROTO Pogon [ hiddenField SFFloat motor_wheel_radius 0.036 hiddenField SFFloat motor_wheel_height 0.035 hiddenField SFFloat motor_wheel_distance 0.143 + hiddenField SFFloat motor_wheel_mass 0.05 hiddenField SFFloat encoder_wheel_radius 0.0375 hiddenField SFFloat encoder_wheel_height 0.007 hiddenField SFFloat encoder_wheel_distance 0.287 + hiddenField SFFloat encoder_wheel_mass 0.05 ] { Group { children [ DEF levi_enkoder Transform { - translation 0 %<=fields.encoder_wheel_distance.value/2>% 0.0375 + translation 0 %<=fields.encoder_wheel_distance.value/2>% %<= fields.encoder_wheel_radius.value >% children [ HingeJoint { jointParameters HingeJointParameters { @@ -62,14 +64,14 @@ Group { } physics Physics { density -1 - mass 0.05 + mass IS encoder_wheel_mass } } } ] } DEF desni_enkoder Transform { - translation 0 %<=-fields.encoder_wheel_distance.value/2>% 0.0375 + translation 0 %<=-fields.encoder_wheel_distance.value/2>% %<= fields.encoder_wheel_radius.value >% children [ HingeJoint { jointParameters HingeJointParameters { @@ -118,14 +120,14 @@ Group { } physics Physics { density -1 - mass 0.05 + mass IS encoder_wheel_mass } } } ] } DEF levi_motor Transform { - translation 0 %<=fields.motor_wheel_distance.value/2>% 0.036 + translation 0 %<=fields.motor_wheel_distance.value/2>% %<= fields.motor_wheel_radius.value >% children [ HingeJoint { jointParameters HingeJointParameters { @@ -174,14 +176,14 @@ Group { } physics Physics { density -1 - mass 0.05 + mass IS motor_wheel_mass } } } ] } DEF desni_motor Transform { - translation 0 %<=-fields.motor_wheel_distance.value/2>% 0.036 + translation 0 %<=-fields.motor_wheel_distance.value/2>% %<= fields.motor_wheel_radius.value >% children [ HingeJoint { jointParameters HingeJointParameters { @@ -230,7 +232,7 @@ Group { } physics Physics { density -1 - mass 0.05 + mass IS motor_wheel_mass } } } diff --git a/mep3_simulation/webots_data/protos/RobotMemristor2.proto b/mep3_simulation/webots_data/protos/RobotMemristor2.proto index d50d24d3a..84955e1d8 100644 --- a/mep3_simulation/webots_data/protos/RobotMemristor2.proto +++ b/mep3_simulation/webots_data/protos/RobotMemristor2.proto @@ -20,11 +20,11 @@ PROTO RobotMemristor2 [ hiddenField SFFloat arm_y 0.132 hiddenField SFFloat arm_z 0.063 hiddenField SFFloat robot_x_size 0.2 - hiddenField SFFloat robot_x_inner_size 0.134 - hiddenField SFFloat robot_x_edge_size 0.02 + hiddenField SFFloat robot_x_inner_size 0.132 + hiddenField SFFloat robot_x_edge_size 0.034 hiddenField SFFloat robot_y_edge_size 0.065 hiddenField SFFloat robot_y_size 0.3 - hiddenField SFFloat robot_z_size 0.335 + hiddenField SFFloat robot_z_size 0.337 hiddenField SFFloat robot_height 0.013 hiddenField SFFloat robot_plate_width 0.005 ] @@ -92,87 +92,57 @@ Robot { Hand {shape "G" position "right"} Hand {shape "L" position "mid"} RobotArmMemristor2 { - name "robot_arm_left" + name "arm_left" complexity IS complexity } RobotArmMemristor2 { - name "robot_arm_right" + name "arm_right" translation 0.15 0 0 rotation 0 0 1 3.14159 complexity IS complexity } %< if (fields.complexity.value == "complex") { >% Shape { - appearance Plastic { - colorOverride 0 0 0 - } - geometry Mesh { - url ["assets/meshes/RobotMemristor2/pogon_zatezaci.obj"] - } + appearance Plastic {colorOverride 0 0 0} + geometry Mesh {url ["assets/meshes/RobotMemristor2/pogon_zatezaci.obj"]} } Shape { appearance BrushedAluminium {} - geometry Mesh { - url ["assets/meshes/RobotMemristor2/robot_bosch.obj"] - } + geometry Mesh {url ["assets/meshes/RobotMemristor2/robot_bosch.obj"]} } Shape { appearance CorrodedMetal {} - geometry Mesh { - url ["assets/meshes/RobotMemristor2/robot_motori.obj"] - } + geometry Mesh {url ["assets/meshes/RobotMemristor2/robot_motori.obj"]} } Shape { - appearance Plastic { - colorOverride 0 0 0.5 - } - geometry Mesh { - url ["assets/meshes/RobotMemristor2/robot_motori_drzaci.obj"] - } + appearance Plastic {colorOverride 0 0 0.5} + geometry Mesh {url ["assets/meshes/RobotMemristor2/robot_motori_drzaci.obj"]} } Shape { - appearance Plastic { - colorOverride 0.5 0.5 0.5 - } - geometry Mesh { - url ["assets/meshes/RobotMemristor2/robot_vakuum_pumpe.obj"] - } + appearance Plastic {colorOverride 0.5 0.5 0.5} + geometry Mesh {url ["assets/meshes/RobotMemristor2/robot_vakuum_pumpe.obj"]} } Shape { appearance Plastic { colorOverride 0 0 0 metalness 1 } - geometry Mesh { - url ["assets/meshes/RobotMemristor2/sisaljke_kolena.obj"] - } + geometry Mesh {url ["assets/meshes/RobotMemristor2/sisaljke_kolena.obj"]} } Shape { - appearance Plastic { - colorOverride 0 1 0 - } - geometry Mesh { - url ["assets/meshes/RobotMemristor2/sisaljke_baza.obj"] - } + appearance Plastic {colorOverride 0 1 0} + geometry Mesh {url ["assets/meshes/RobotMemristor2/sisaljke_baza.obj"]} } Shape { - appearance Plastic { - colorOverride 0.7 0.7 0.7 - } - geometry Mesh { - url ["assets/meshes/RobotMemristor2/zamenjivac_dodatno.obj"] - } + appearance Plastic {colorOverride 0.7 0.7 0.7} + geometry Mesh {url ["assets/meshes/RobotMemristor2/zamenjivac_dodatno.obj"]} } Transform { translation 0.001 -0.125 0.348 children [ Shape { - appearance Plastic { - colorOverride 1 0 0 - } - geometry Mesh { - url ["assets/meshes/RobotMemristor2/mushroom.obj"] - } + appearance Plastic {colorOverride 1 0 0} + geometry Mesh {url ["assets/meshes/RobotMemristor2/mushroom.obj"]} } ] } @@ -180,12 +150,8 @@ Robot { translation -0.0125 0.116 0.331 children [ Shape { - appearance Plastic { - colorOverride 0 1 0 - } - geometry Mesh { - url ["assets/meshes/RobotMemristor2/switch.obj"] - } + appearance Plastic {colorOverride 0 1 0} + geometry Mesh {url ["assets/meshes/RobotMemristor2/switch.obj"]} } ] } @@ -193,19 +159,18 @@ Robot { translation 0.0075 0.116 0.331 children [ Shape { - appearance Plastic { - colorOverride 0 1 0 - } - geometry Mesh { - url ["assets/meshes/RobotMemristor2/switch.obj"] - } + appearance Plastic {colorOverride 0 1 0} + geometry Mesh {url ["assets/meshes/RobotMemristor2/switch.obj"]} } ] } %< } >% ] } - Pogon {} + Wheel {} + Wheel {position "right"} + Wheel {type "motor" } + Wheel {type "motor" position "right"} OmniWheel {} ArucoTag { arucoNumber IS arucoNumber @@ -214,10 +179,10 @@ Robot { boundingObject Group { children [ Transform { - translation %<= -(fields.robot_x_size.value - 2*fields.arm_x.value + fields.robot_x_edge_size.value)/2 >% 0 %<= fields.robot_z_size.value/2 + fields.robot_height.value + fields.robot_plate_width.value/4 >% + translation %<= -(fields.robot_x_size.value - fields.robot_x_edge_size.value)/2 +0.008>% 0 %<= fields.robot_z_size.value/2 + fields.robot_height.value + fields.robot_plate_width.value/4 >% children [ Box { - size %<= fields.robot_x_inner_size.value - fields.robot_x_edge_size.value >% %<= fields.robot_y_size.value >% %<= fields.robot_z_size.value - fields.robot_plate_width.value/2 >% + size %<= fields.robot_x_edge_size.value >% %<= fields.robot_y_size.value >% %<= fields.robot_z_size.value - fields.robot_plate_width.value/2 >% } ] } @@ -230,10 +195,10 @@ Robot { ] } Transform { - translation %<= -(fields.robot_x_size.value - 2*fields.arm_x.value - fields.robot_x_inner_size.value + fields.robot_x_edge_size.value)/2 >% %<= (fields.robot_y_size.value - fields.robot_y_edge_size.value)/2 >% %<= fields.robot_z_size.value/2 + fields.robot_height.value + fields.robot_plate_width.value/4 >% + translation %<= -(fields.robot_x_size.value - fields.robot_x_inner_size.value)/2 + 0.008 >% %<= (fields.robot_y_size.value - fields.robot_y_edge_size.value)/2 >% %<= fields.robot_z_size.value/2 + fields.robot_height.value + fields.robot_plate_width.value/4 >% children [ Box { - size %<= fields.robot_x_edge_size.value >% %<= fields.robot_y_edge_size.value >% %<= fields.robot_z_size.value - fields.robot_plate_width.value/2 >% + size %<= fields.robot_x_inner_size.value >% %<= fields.robot_y_edge_size.value >% %<= fields.robot_z_size.value - fields.robot_plate_width.value/2 >% } ] } diff --git a/mep3_simulation/webots_data/protos/Wheel.proto b/mep3_simulation/webots_data/protos/Wheel.proto new file mode 100644 index 000000000..96f6006ef --- /dev/null +++ b/mep3_simulation/webots_data/protos/Wheel.proto @@ -0,0 +1,104 @@ +#VRML_SIM R2022a utf8 +# template language: javascript + +PROTO Wheel [ + field SFString {"encoder", "motor"} type "encoder" + field SFString {"left", "right"} position "left" + hiddenField SFRotation rotation -1 0 0 1.570796 + hiddenField SFFloat max_torque 100 + hiddenField SFFloat max_velocity 30 + hiddenField SFFloat motor_wheel_radius 0.036 + hiddenField SFFloat motor_wheel_height 0.035 + hiddenField SFFloat motor_wheel_distance 0.143 + hiddenField SFFloat motor_wheel_mass 0.05 + hiddenField SFFloat encoder_wheel_radius 0.0375 + hiddenField SFFloat encoder_wheel_height 0.007 + hiddenField SFFloat encoder_wheel_distance 0.287 + hiddenField SFFloat encoder_wheel_mass 0.05 + hiddenField SFVec3f y_axis 0 1 0 + hiddenField SFColor encoder_color 0.933333 0.933333 0.92549 + hiddenField SFColor motor_color 0.180392 0.203922 0.211765 +] +{ + %< + var wheel_radius; + var wheel_height; + var wheel_distance; + var wheel_mass; + var RMname; + var PSname; + var name; + var color; + if (fields.type.value == "encoder") { + wheel_radius = fields.encoder_wheel_radius.value; + wheel_distance = fields.encoder_wheel_distance.value; + wheel_height = fields.encoder_wheel_height.value; + wheel_mass = fields.encoder_wheel_mass.value; + RMname = "_motor"; + PSname = "encoder_"; + color = fields.encoder_color.value; + } + else { + wheel_radius = fields.motor_wheel_radius.value; + wheel_distance = fields.motor_wheel_distance.value; + wheel_height = fields.motor_wheel_height.value; + wheel_mass = fields.motor_wheel_mass.value; + RMname = "_motor_inner"; + PSname = "encoder_inner_"; + color = fields.motor_color.value; + } + if (fields.position.value == "right") { + wheel_distance = -wheel_distance; + } + RMname = '"' + fields.position.value + RMname + '"'; + PSname = '"' + PSname + fields.position.value + '"'; + name = '"name_' + fields.type.value + '_' + fields.position.value + '"'; + >% + +Transform { + translation 0 %<=wheel_distance/2>% %<=wheel_radius>% + children [ + HingeJoint { + jointParameters HingeJointParameters {axis IS y_axis} + device [ + %< if (fields.type.value == "encoder") { >% + PositionSensor {name %<= PSname >%} + RotationalMotor { + name %<= RMname >% + maxVelocity IS max_velocity + maxTorque IS max_torque + } + %< } >% + ] + endPoint Solid { + rotation IS rotation + children [ + Shape { + appearance PBRAppearance { + baseColor %<=color.r>% %<=color.g>% %<=color.b>% + roughness 1 + roughnessMap ImageTexture {url ["https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_roughness.jpg"]} + metalness 0 + normalMap ImageTexture {url ["https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_normal.jpg"]} + } + geometry Cylinder { + height %<= wheel_height >% + radius %<= wheel_radius >% + } + } + ] + name %<= name >% + contactMaterial "wheel" + boundingObject Cylinder { + height %<= wheel_height >% + radius %<= wheel_radius >% + } + physics Physics { + density -1 + mass %<= wheel_mass >% + } + } + } + ] + } +} \ No newline at end of file diff --git a/mep3_simulation/webots_data/worlds/test_robot.wbt b/mep3_simulation/webots_data/worlds/test_robot.wbt index 3abfa3a4e..dbe257eb3 100644 --- a/mep3_simulation/webots_data/worlds/test_robot.wbt +++ b/mep3_simulation/webots_data/worlds/test_robot.wbt @@ -12,8 +12,8 @@ WorldInfo { ] } Viewpoint { - orientation 0.03830340989080311 -0.8445370934760652 0.5341254033780239 5.804010646691805 - position -0.7151631610142143 0.17232601194227204 0.7038780051551651 + orientation -0.3937050156912503 -0.11140936440085694 0.9124605822408712 3.4760028290807505 + position 0.7956641609680842 0.2905934507793585 0.9776416058836312 } TexturedBackground { } @@ -38,11 +38,12 @@ Floor { } Sample { name "sample_purple_playing_area_red" - translation 0.2 0.13 0.00750226 + translation 0.2 0.09 0.0075023 rotation 0.7071067811862364 0.7071067811862364 9.381857096790023e-07 3.14159 frontTexture "red" } RobotMemristor2 { - rotation 0 0 1 2.3561953071795863 - complexity "complex" + translation 0 0 0 + rotation 0 0 1 0 + controller "test_robot" } From 9e02ceb263f29101977e2c31917ca05c5c7a94c7 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Tue, 1 Mar 2022 23:15:33 +0100 Subject: [PATCH 16/86] fix aruco size --- mep3_simulation/webots_data/protos/OpponentBox.proto | 10 +++++----- mep3_simulation/webots_data/worlds/eurobot_2022.wbt | 1 + 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/mep3_simulation/webots_data/protos/OpponentBox.proto b/mep3_simulation/webots_data/protos/OpponentBox.proto index 55c425170..83d0ca32d 100644 --- a/mep3_simulation/webots_data/protos/OpponentBox.proto +++ b/mep3_simulation/webots_data/protos/OpponentBox.proto @@ -32,7 +32,7 @@ PROTO OpponentBox [ supervisor TRUE children [ Transform { - translation 0 0 0.4 + translation 0 0 0.5 children [ Transform { translation 0 0 0.01002 @@ -46,7 +46,7 @@ PROTO OpponentBox [ metalness 0 } geometry Box { - size 0.05 0.05 0.0002 + size 0.07 0.07 0.0002 } } ] @@ -60,7 +60,7 @@ PROTO OpponentBox [ metalness 0 } geometry Box { - size 0.07 0.07 0.0001 + size 0.09 0.09 0.0001 } } ] @@ -78,7 +78,7 @@ PROTO OpponentBox [ ] } Transform { - translation 0 0 0.375 + translation 0 0 0.425 children [ Shape { appearance PBRAppearance { @@ -87,7 +87,7 @@ PROTO OpponentBox [ metalness 0 } geometry Cylinder { - height 0.05 + height 0.15 radius 0.03 } } diff --git a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt index 962a3bbf2..d9e92c4e5 100644 --- a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt +++ b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt @@ -557,4 +557,5 @@ RobotMemristor2 { translation 1.21 0.17 0 rotation 0 0 1 3.14159 controller "" + arucoNumber 6 } From 6baf935f1be6699e762ae746bdcdfd4f0392ae33 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Tue, 1 Mar 2022 23:16:57 +0100 Subject: [PATCH 17/86] return WaitMatchStartAction --- mep3_behavior_tree/assets/strategies/first_strategy.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/mep3_behavior_tree/assets/strategies/first_strategy.xml b/mep3_behavior_tree/assets/strategies/first_strategy.xml index 7b8d48bfe..456ae8f7f 100644 --- a/mep3_behavior_tree/assets/strategies/first_strategy.xml +++ b/mep3_behavior_tree/assets/strategies/first_strategy.xml @@ -2,6 +2,8 @@ + + From 92097ba031cef8e9c9a13ed5022e741ae94b21b7 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Tue, 1 Mar 2022 23:37:41 +0100 Subject: [PATCH 18/86] bounding object fix --- .../webots_data/protos/RobotMemristor2.proto | 27 ++++++++++++------- 1 file changed, 17 insertions(+), 10 deletions(-) diff --git a/mep3_simulation/webots_data/protos/RobotMemristor2.proto b/mep3_simulation/webots_data/protos/RobotMemristor2.proto index 84955e1d8..056a9605d 100644 --- a/mep3_simulation/webots_data/protos/RobotMemristor2.proto +++ b/mep3_simulation/webots_data/protos/RobotMemristor2.proto @@ -22,7 +22,7 @@ PROTO RobotMemristor2 [ hiddenField SFFloat robot_x_size 0.2 hiddenField SFFloat robot_x_inner_size 0.132 hiddenField SFFloat robot_x_edge_size 0.034 - hiddenField SFFloat robot_y_edge_size 0.065 + hiddenField SFFloat robot_y_edge_size 0.095 hiddenField SFFloat robot_y_size 0.3 hiddenField SFFloat robot_z_size 0.337 hiddenField SFFloat robot_height 0.013 @@ -179,13 +179,21 @@ Robot { boundingObject Group { children [ Transform { - translation %<= -(fields.robot_x_size.value - fields.robot_x_edge_size.value)/2 +0.008>% 0 %<= fields.robot_z_size.value/2 + fields.robot_height.value + fields.robot_plate_width.value/4 >% + translation %<= -(fields.robot_x_size.value - fields.robot_x_inner_size.value)/2 +0.008>% 0 %<= fields.robot_z_size.value/8 + fields.robot_height.value + fields.robot_plate_width.value/4 >% children [ Box { - size %<= fields.robot_x_edge_size.value >% %<= fields.robot_y_size.value >% %<= fields.robot_z_size.value - fields.robot_plate_width.value/2 >% + size %<= fields.robot_x_inner_size.value >% %<= fields.robot_y_size.value >% %<= fields.robot_z_size.value/4 - fields.robot_plate_width.value/2 >% } ] } + Transform { + translation %<= -(fields.robot_x_size.value - fields.robot_x_inner_size.value)/2 +0.008>% 0 %<= fields.robot_z_size.value*7/8-0.013 + fields.robot_height.value + fields.robot_plate_width.value/4 >% + children [ + Box { + size %<= fields.robot_x_inner_size.value >% %<= fields.robot_y_size.value >% %<= fields.robot_z_size.value/4 - fields.robot_plate_width.value/2 + 0.026 >% + } + ] + } Transform { translation 0.004 0 %<= fields.robot_height.value >% children [ @@ -202,15 +210,14 @@ Robot { } ] } - Transform { - translation %<= -(fields.robot_x_size.value - 2*fields.arm_x.value - fields.robot_x_inner_size.value + fields.robot_x_edge_size.value)/2 >% %<= -(fields.robot_y_size.value - fields.robot_y_edge_size.value)/2 >% %<= fields.robot_z_size.value/2 + fields.robot_height.value + fields.robot_plate_width.value/4 >% + Transform { + translation %<= -(fields.robot_x_size.value - fields.robot_x_inner_size.value)/2 + 0.008 >% %<= -(fields.robot_y_size.value - fields.robot_y_edge_size.value)/2 >% %<= fields.robot_z_size.value/2 + fields.robot_height.value + fields.robot_plate_width.value/4 >% children [ Box { - size %<= fields.robot_x_edge_size.value >% %<= fields.robot_y_edge_size.value >% %<= fields.robot_z_size.value - fields.robot_plate_width.value/2 >% - } - ] - } - + size %<= fields.robot_x_inner_size.value >% %<= fields.robot_y_edge_size.value >% %<= fields.robot_z_size.value - fields.robot_plate_width.value/2 >% + } + ] + } ] } physics Physics { From f856dfd97ccf49dd3baee9755eb3e97f8a2a79d0 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Tue, 1 Mar 2022 23:49:28 +0100 Subject: [PATCH 19/86] fix metalness --- mep3_simulation/webots_data/protos/RobotMemristor2.proto | 1 - 1 file changed, 1 deletion(-) diff --git a/mep3_simulation/webots_data/protos/RobotMemristor2.proto b/mep3_simulation/webots_data/protos/RobotMemristor2.proto index 056a9605d..881dfeedb 100644 --- a/mep3_simulation/webots_data/protos/RobotMemristor2.proto +++ b/mep3_simulation/webots_data/protos/RobotMemristor2.proto @@ -125,7 +125,6 @@ Robot { Shape { appearance Plastic { colorOverride 0 0 0 - metalness 1 } geometry Mesh {url ["assets/meshes/RobotMemristor2/sisaljke_kolena.obj"]} } From 5ab6b21540eb4e4ba2ebf32ae9c1161f5bcd9043 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Tue, 1 Mar 2022 23:49:45 +0100 Subject: [PATCH 20/86] fix metalness --- mep3_simulation/webots_data/protos/RobotMemristor2.proto | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/mep3_simulation/webots_data/protos/RobotMemristor2.proto b/mep3_simulation/webots_data/protos/RobotMemristor2.proto index 881dfeedb..9a96a06d5 100644 --- a/mep3_simulation/webots_data/protos/RobotMemristor2.proto +++ b/mep3_simulation/webots_data/protos/RobotMemristor2.proto @@ -123,9 +123,7 @@ Robot { geometry Mesh {url ["assets/meshes/RobotMemristor2/robot_vakuum_pumpe.obj"]} } Shape { - appearance Plastic { - colorOverride 0 0 0 - } + appearance Plastic {colorOverride 0 0 0} geometry Mesh {url ["assets/meshes/RobotMemristor2/sisaljke_kolena.obj"]} } Shape { From 069379d740daf26b35d2b349ced5fad796c260cf Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Wed, 2 Mar 2022 00:11:35 +0100 Subject: [PATCH 21/86] merge robot_update --- mep3_simulation/launch/.#simulation_launch.py | 1 - mep3_simulation/launch/simulation_launch.py | 6 ------ mep3_simulation/webots_data/worlds/eurobot_2022.wbt | 4 +--- 3 files changed, 1 insertion(+), 10 deletions(-) delete mode 120000 mep3_simulation/launch/.#simulation_launch.py diff --git a/mep3_simulation/launch/.#simulation_launch.py b/mep3_simulation/launch/.#simulation_launch.py deleted file mode 120000 index 104dae054..000000000 --- a/mep3_simulation/launch/.#simulation_launch.py +++ /dev/null @@ -1 +0,0 @@ -bici@bici-ubuntu-faks.5337:1646158631 \ No newline at end of file diff --git a/mep3_simulation/launch/simulation_launch.py b/mep3_simulation/launch/simulation_launch.py index c5fa08df0..f2302cbb1 100644 --- a/mep3_simulation/launch/simulation_launch.py +++ b/mep3_simulation/launch/simulation_launch.py @@ -55,7 +55,6 @@ def generate_launch_description(): ], namespace='big') -<<<<<<< HEAD # Camera driver for the Central Tracking Device webots_cam_driver_central = Node( package='webots_ros2_driver', @@ -81,8 +80,6 @@ def generate_launch_description(): remappings=[('/tf_static', 'tf_static')], ) -======= ->>>>>>> robot_update # Standard ROS 2 launch description return launch.LaunchDescription([ # Start the Webots node @@ -90,11 +87,8 @@ def generate_launch_description(): # Start the Webots robot driver webots_robot_driver_big, -<<<<<<< HEAD webots_cam_driver_central, tf_base_link_laser, -======= ->>>>>>> robot_update # This action will kill all nodes once the Webots simulation has exited launch.actions. diff --git a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt index 679c8ea0c..2143290d2 100644 --- a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt +++ b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt @@ -507,7 +507,6 @@ ExcavationSquare { translation 0.8325 -1.022 0 frontTexture "purple1" } -<<<<<<< HEAD Robot { translation -0.1 1.00976 1.0098 rotation 0.35740905218976715 0.3574070521894751 -0.8628551259962719 1.71778 @@ -522,7 +521,7 @@ Robot { ] name "cam_central" controller "" -======= +} GalleryPanel { teamColor "purple" } @@ -562,7 +561,6 @@ ExhibitionHall { teamColor "purple" } ExhibitionHall { ->>>>>>> robot_update } OpponentBox { name "opponent_box_big" From 5aef871ff17fe56ddd0dcf5d96057e12b8fd9f55 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Wed, 2 Mar 2022 01:23:30 +0100 Subject: [PATCH 22/86] change cam position. change aruco dimensions in .py file --- .../mep3_localization/robot_detection.py | 14 +++++++++----- .../webots_data/worlds/eurobot_2022.wbt | 13 ++++--------- 2 files changed, 13 insertions(+), 14 deletions(-) diff --git a/mep3_localization/mep3_localization/robot_detection.py b/mep3_localization/mep3_localization/robot_detection.py index 044f72d94..6ab79683d 100644 --- a/mep3_localization/mep3_localization/robot_detection.py +++ b/mep3_localization/mep3_localization/robot_detection.py @@ -36,7 +36,8 @@ def __init__(self): [0, 0, 1]]) self.distCoeffs = np.zeros((5, 1)) # Side length of the ArUco marker in meters - self.aruco_marker_side_length = 0.07 + self.aruco_robot_length = 0.07 + self.aruco_map_length = 0.1 # cv_file.release() def listener_callback(self, data): @@ -72,7 +73,7 @@ def draw_aruco_pose(self, frame): if ids is not None: aruco.drawDetectedMarkers(frame, corners, ids) rvecs, tvecs, obj_points = cv2.aruco.estimatePoseSingleMarkers( - corners, self.aruco_marker_side_length, self.cameraMatrix, + corners, self.aruco_robot_length, self.cameraMatrix, self.distCoeffs) # print(ids) @@ -82,10 +83,13 @@ def draw_aruco_pose(self, frame): # print("TVECS:") # print(tvecs) for i in range(len(rvecs)): - if ids[i] <= 10 or ids[i] == 42: + if ids[i] <= 10: aruco.drawAxis(frame, self.cameraMatrix, self.distCoeffs, - rvecs[i], tvecs[i], - self.aruco_marker_side_length) + rvecs[i], tvecs[i], self.aruco_robot_length) + self.make_transforms(tvecs[i], rvecs[i], ids[i]) + elif ids[i] == 42: + aruco.drawAxis(frame, self.cameraMatrix, self.distCoeffs, + rvecs[i], tvecs[i], self.aruco_map_length) self.make_transforms(tvecs[i], rvecs[i], ids[i]) cv2.imshow("camera", frame) cv2.waitKey(1) diff --git a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt index 2143290d2..70ccfbfe9 100644 --- a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt +++ b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt @@ -12,13 +12,8 @@ WorldInfo { ] } Viewpoint { -<<<<<<< HEAD - orientation -0.5773441990055656 0.5773378201199056 0.5773687879802799 2.094348539890881 - position 0 0 10 -======= - orientation -0.33 0.33 1 1.67 - position 0 -4.2 3.5 ->>>>>>> robot_update + orientation -0.3629699479470133 -0.24718066507971723 0.8984177957376462 4.240412543508374 + position 0.16282194570169384 1.8153996826531584 1.8476277764671876 } TexturedBackground { } @@ -508,8 +503,8 @@ ExcavationSquare { frontTexture "purple1" } Robot { - translation -0.1 1.00976 1.0098 - rotation 0.35740905218976715 0.3574070521894751 -0.8628551259962719 1.71778 + translation -0.1 1.00976 1.05 + rotation 0.3574090521897671 0.35740705218947505 -0.8628551259962718 1.71778 children [ JetBotRaspberryPiCamera { rotation 0 1 0 0.261799 From 4b79933ae8c790f9e10165626990851d3a9b9c6f Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Wed, 2 Mar 2022 16:17:47 +0100 Subject: [PATCH 23/86] orientation is correct --- .../mep3_localization/robot_detection.py | 27 ++++++++++--------- 1 file changed, 15 insertions(+), 12 deletions(-) diff --git a/mep3_localization/mep3_localization/robot_detection.py b/mep3_localization/mep3_localization/robot_detection.py index 6ab79683d..7a20fd536 100644 --- a/mep3_localization/mep3_localization/robot_detection.py +++ b/mep3_localization/mep3_localization/robot_detection.py @@ -7,6 +7,7 @@ from cv2 import aruco from cv_bridge import CvBridge from tf2_ros import TransformBroadcaster +from scipy.spatial.transform import Rotation as R import tf_transformations from geometry_msgs.msg import TransformStamped @@ -32,8 +33,8 @@ def __init__(self): self.params = aruco.DetectorParameters_create() # self.cameraMatrix = cv_file.getNode('K').mat() # self.distCoeffs = cv_file.getNode('D').mat() - self.cameraMatrix = np.array([[650, 0, 1920 / 2], [0, 650, 1080 / 2], - [0, 0, 1]]) + self.cameraMatrix = np.array([[570.34, 0, 1920 / 2], + [0, 570.34, 1080 / 2], [0, 0, 1]]) self.distCoeffs = np.zeros((5, 1)) # Side length of the ArUco marker in meters self.aruco_robot_length = 0.07 @@ -53,8 +54,12 @@ def make_transforms(self, tvec, rvec, id): static_transformStamped.transform.translation.x = tvec[0, 0] static_transformStamped.transform.translation.y = tvec[0, 1] static_transformStamped.transform.translation.z = tvec[0, 2] - quat = tf_transformations.quaternion_from_euler( - rvec[0, 0], rvec[0, 1], rvec[0, 2]) + + # https://answers.opencv.org/question/161369/retrieve-yaw-pitch-roll-from-rvec/ + # https://stackoverflow.com/questions/12933284/rodrigues-into-eulerangles-and-vice-versa + rmat = cv2.Rodrigues(rvec)[0] + r = R.from_matrix(rmat) + quat = r.as_quat() static_transformStamped.transform.rotation.x = quat[0] static_transformStamped.transform.rotation.y = quat[1] static_transformStamped.transform.rotation.z = quat[2] @@ -75,13 +80,10 @@ def draw_aruco_pose(self, frame): rvecs, tvecs, obj_points = cv2.aruco.estimatePoseSingleMarkers( corners, self.aruco_robot_length, self.cameraMatrix, self.distCoeffs) + rvecs_map, tvecs_map, obj_points_map = cv2.aruco.estimatePoseSingleMarkers( + corners, self.aruco_map_length, self.cameraMatrix, + self.distCoeffs) - # print(ids) - # print("RVECS:") - # print(len(rvecs)) - # print(rvecs) - # print("TVECS:") - # print(tvecs) for i in range(len(rvecs)): if ids[i] <= 10: aruco.drawAxis(frame, self.cameraMatrix, self.distCoeffs, @@ -89,8 +91,9 @@ def draw_aruco_pose(self, frame): self.make_transforms(tvecs[i], rvecs[i], ids[i]) elif ids[i] == 42: aruco.drawAxis(frame, self.cameraMatrix, self.distCoeffs, - rvecs[i], tvecs[i], self.aruco_map_length) - self.make_transforms(tvecs[i], rvecs[i], ids[i]) + rvecs_map[i], tvecs_map[i], + self.aruco_map_length) + self.make_transforms(tvecs_map[i], rvecs_map[i], ids[i]) cv2.imshow("camera", frame) cv2.waitKey(1) From 453ee3767c93b1d8478ebdcf04f79cf7ed363f6a Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Wed, 2 Mar 2022 18:52:01 +0100 Subject: [PATCH 24/86] end of day commit --- .../mep3_localization/robot_detection.py | 4 ++- .../webots_data/worlds/eurobot_2022.wbt | 35 +++++++++---------- 2 files changed, 20 insertions(+), 19 deletions(-) diff --git a/mep3_localization/mep3_localization/robot_detection.py b/mep3_localization/mep3_localization/robot_detection.py index 7a20fd536..ba1d94da8 100644 --- a/mep3_localization/mep3_localization/robot_detection.py +++ b/mep3_localization/mep3_localization/robot_detection.py @@ -8,6 +8,7 @@ from cv_bridge import CvBridge from tf2_ros import TransformBroadcaster from scipy.spatial.transform import Rotation as R +import math import tf_transformations from geometry_msgs.msg import TransformStamped @@ -42,7 +43,7 @@ def __init__(self): # cv_file.release() def listener_callback(self, data): - self.get_logger().info('Receiving video frame') + # self.get_logger().info('Receiving video frame') current_frame = self.br.imgmsg_to_cv2(data, "bgr8") self.draw_aruco_pose(current_frame) @@ -57,6 +58,7 @@ def make_transforms(self, tvec, rvec, id): # https://answers.opencv.org/question/161369/retrieve-yaw-pitch-roll-from-rvec/ # https://stackoverflow.com/questions/12933284/rodrigues-into-eulerangles-and-vice-versa + # https://github.com/opencv/opencv/issues/8813 rmat = cv2.Rodrigues(rvec)[0] r = R.from_matrix(rmat) quat = r.as_quat() diff --git a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt index 70ccfbfe9..fa502cc40 100644 --- a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt +++ b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt @@ -12,8 +12,8 @@ WorldInfo { ] } Viewpoint { - orientation -0.3629699479470133 -0.24718066507971723 0.8984177957376462 4.240412543508374 - position 0.16282194570169384 1.8153996826531584 1.8476277764671876 + orientation -0.29903693558752337 0.29903684786278223 0.9061754105992473 1.6700029912992047 + position 2.7755575615628914e-17 -4.200000000000001 3.5 } TexturedBackground { } @@ -502,21 +502,6 @@ ExcavationSquare { translation 0.8325 -1.022 0 frontTexture "purple1" } -Robot { - translation -0.1 1.00976 1.05 - rotation 0.3574090521897671 0.35740705218947505 -0.8628551259962718 1.71778 - children [ - JetBotRaspberryPiCamera { - rotation 0 1 0 0.261799 - name "RasPi0" - fieldOfView 2.15 - width 1920 - height 1080 - } - ] - name "cam_central" - controller "" -} GalleryPanel { teamColor "purple" } @@ -568,9 +553,23 @@ OpponentBox { rotation 0 0 -1 -5.307179586466759e-06 arucoNumber 2 } +Robot { + translation -0.1 1.00976 1.05 + rotation 0.4472158700299192 0.4472128700307911 -0.7745957748866213 1.82349 + children [ + JetBotRaspberryPiCamera { + rotation 0 1 0 0 + name "RasPi0" + fieldOfView 2.15 + width 1920 + height 1080 + } + ] + name "cam_central" + controller "" +} RobotMemristor2 { translation 1.21 0.17 0 rotation 0 0 1 3.14159 - controller "" arucoNumber 6 } From 1459786098f67cde0c416011f95ec3e04dc29a7e Mon Sep 17 00:00:00 2001 From: VladimirVincan Date: Thu, 3 Mar 2022 13:16:59 +0100 Subject: [PATCH 25/86] Apply PR suggestion MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Darko Lukić --- mep3_localization/mep3_localization/robot_detection.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mep3_localization/mep3_localization/robot_detection.py b/mep3_localization/mep3_localization/robot_detection.py index ba1d94da8..ba3bdc321 100644 --- a/mep3_localization/mep3_localization/robot_detection.py +++ b/mep3_localization/mep3_localization/robot_detection.py @@ -50,8 +50,8 @@ def listener_callback(self, data): def make_transforms(self, tvec, rvec, id): static_transformStamped = TransformStamped() static_transformStamped.header.stamp = self.get_clock().now().to_msg() - static_transformStamped.header.frame_id = 'world' - static_transformStamped.child_frame_id = 'robot' + str(id) + static_transform_stamped.header.frame_id = 'map' + static_transform_stamped.child_frame_id = f'marker_{id}' static_transformStamped.transform.translation.x = tvec[0, 0] static_transformStamped.transform.translation.y = tvec[0, 1] static_transformStamped.transform.translation.z = tvec[0, 2] From 8863ba5a86bbd7a541745250ada0e0614da81c7c Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Thu, 3 Mar 2022 13:33:45 +0100 Subject: [PATCH 26/86] Apply PR suggestion --- .../mep3_localization/robot_detection.py | 20 +++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/mep3_localization/mep3_localization/robot_detection.py b/mep3_localization/mep3_localization/robot_detection.py index ba3bdc321..9d8fe26ce 100644 --- a/mep3_localization/mep3_localization/robot_detection.py +++ b/mep3_localization/mep3_localization/robot_detection.py @@ -48,13 +48,13 @@ def listener_callback(self, data): self.draw_aruco_pose(current_frame) def make_transforms(self, tvec, rvec, id): - static_transformStamped = TransformStamped() - static_transformStamped.header.stamp = self.get_clock().now().to_msg() + static_transform_stamped = TransformStamped() + static_transform_stamped.header.stamp = self.get_clock().now().to_msg() static_transform_stamped.header.frame_id = 'map' static_transform_stamped.child_frame_id = f'marker_{id}' - static_transformStamped.transform.translation.x = tvec[0, 0] - static_transformStamped.transform.translation.y = tvec[0, 1] - static_transformStamped.transform.translation.z = tvec[0, 2] + static_transform_stamped.transform.translation.x = tvec[0, 0] + static_transform_stamped.transform.translation.y = tvec[0, 1] + static_transform_stamped.transform.translation.z = tvec[0, 2] # https://answers.opencv.org/question/161369/retrieve-yaw-pitch-roll-from-rvec/ # https://stackoverflow.com/questions/12933284/rodrigues-into-eulerangles-and-vice-versa @@ -62,12 +62,12 @@ def make_transforms(self, tvec, rvec, id): rmat = cv2.Rodrigues(rvec)[0] r = R.from_matrix(rmat) quat = r.as_quat() - static_transformStamped.transform.rotation.x = quat[0] - static_transformStamped.transform.rotation.y = quat[1] - static_transformStamped.transform.rotation.z = quat[2] - static_transformStamped.transform.rotation.w = quat[3] + static_transform_stamped.transform.rotation.x = quat[0] + static_transform_stamped.transform.rotation.y = quat[1] + static_transform_stamped.transform.rotation.z = quat[2] + static_transform_stamped.transform.rotation.w = quat[3] - self._tf_publisher.sendTransform(static_transformStamped) + self._tf_publisher.sendTransform(static_transform_stamped) def draw_aruco_pose(self, frame): (corners, ids, From 5bc4cdb7f75bebf40c3f0624f4e2c10fcc6aeb60 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Thu, 3 Mar 2022 13:40:03 +0100 Subject: [PATCH 27/86] linter fix --- .../mep3_localization/robot_detection.py | 21 ++++++++----------- 1 file changed, 9 insertions(+), 12 deletions(-) diff --git a/mep3_localization/mep3_localization/robot_detection.py b/mep3_localization/mep3_localization/robot_detection.py index 9d8fe26ce..e92c1fa30 100644 --- a/mep3_localization/mep3_localization/robot_detection.py +++ b/mep3_localization/mep3_localization/robot_detection.py @@ -1,17 +1,14 @@ #!/usr/bin/env python3 -import rclpy -from rclpy.node import Node -from sensor_msgs.msg import Image import cv2 -import numpy as np from cv2 import aruco from cv_bridge import CvBridge -from tf2_ros import TransformBroadcaster -from scipy.spatial.transform import Rotation as R -import math - -import tf_transformations from geometry_msgs.msg import TransformStamped +import numpy as np +import rclpy +from rclpy.node import Node +from scipy.spatial.transform import Rotation as R +from sensor_msgs.msg import Image +from tf2_ros import TransformBroadcaster """ This class receives video from the central RasPi Cam, and sends TF of Aruco tags. @@ -44,7 +41,7 @@ def __init__(self): def listener_callback(self, data): # self.get_logger().info('Receiving video frame') - current_frame = self.br.imgmsg_to_cv2(data, "bgr8") + current_frame = self.br.imgmsg_to_cv2(data, 'bgr8') self.draw_aruco_pose(current_frame) def make_transforms(self, tvec, rvec, id): @@ -96,7 +93,7 @@ def draw_aruco_pose(self, frame): rvecs_map[i], tvecs_map[i], self.aruco_map_length) self.make_transforms(tvecs_map[i], rvecs_map[i], ids[i]) - cv2.imshow("camera", frame) + cv2.imshow('camera', frame) cv2.waitKey(1) def draw_aruco_border(self, frame): @@ -130,7 +127,7 @@ def draw_aruco_border(self, frame): cv2.putText(frame, str(markerID), (topLeft[0], topLeft[1] - 15), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2) - cv2.imshow("camera", frame) + cv2.imshow('camera', frame) cv2.waitKey(1) From 78f6cbde44c798fdd0ddd7cefa65dc635d2c2fb8 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Thu, 3 Mar 2022 13:55:47 +0100 Subject: [PATCH 28/86] linter fix --- mep3_localization/mep3_localization/robot_detection.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mep3_localization/mep3_localization/robot_detection.py b/mep3_localization/mep3_localization/robot_detection.py index e92c1fa30..1fb4a7bcb 100644 --- a/mep3_localization/mep3_localization/robot_detection.py +++ b/mep3_localization/mep3_localization/robot_detection.py @@ -44,11 +44,11 @@ def listener_callback(self, data): current_frame = self.br.imgmsg_to_cv2(data, 'bgr8') self.draw_aruco_pose(current_frame) - def make_transforms(self, tvec, rvec, id): + def make_transforms(self, tvec, rvec, aruco_id): static_transform_stamped = TransformStamped() static_transform_stamped.header.stamp = self.get_clock().now().to_msg() static_transform_stamped.header.frame_id = 'map' - static_transform_stamped.child_frame_id = f'marker_{id}' + static_transform_stamped.child_frame_id = f'marker_{aruco_id}' static_transform_stamped.transform.translation.x = tvec[0, 0] static_transform_stamped.transform.translation.y = tvec[0, 1] static_transform_stamped.transform.translation.z = tvec[0, 2] From 0ba87fe35c9b0bcf0dd399620af35f0c5951b207 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Thu, 3 Mar 2022 14:21:05 +0100 Subject: [PATCH 29/86] linter copyright fix --- .../mep3_localization/robot_detection.py | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/mep3_localization/mep3_localization/robot_detection.py b/mep3_localization/mep3_localization/robot_detection.py index 1fb4a7bcb..0d754d6c4 100644 --- a/mep3_localization/mep3_localization/robot_detection.py +++ b/mep3_localization/mep3_localization/robot_detection.py @@ -1,4 +1,19 @@ #!/usr/bin/env python3 + +# Copyright 2021 Memristor Robotics +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + import cv2 from cv2 import aruco from cv_bridge import CvBridge From 5b400df2844a920f3ca442a0d27ae7099bfde368 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Thu, 3 Mar 2022 15:15:17 +0100 Subject: [PATCH 30/86] remove .bak --- mep3_simulation/webots_data/worlds/.gitignore | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/mep3_simulation/webots_data/worlds/.gitignore b/mep3_simulation/webots_data/worlds/.gitignore index 24ad47a73..8081d1038 100644 --- a/mep3_simulation/webots_data/worlds/.gitignore +++ b/mep3_simulation/webots_data/worlds/.gitignore @@ -1,2 +1,3 @@ .**.wbproj -CAD/ +CAD/* +.bak From d13a3196a09e3e08a2ebb488280d5bf9f98df2ea Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Sun, 6 Mar 2022 03:34:39 +0100 Subject: [PATCH 31/86] solved z axis flipping --- .../mep3_localization/robot_detection.py | 151 +++++++++--------- .../mep3_localization/static_broadcaster.py | 59 +++++++ mep3_localization/setup.py | 6 +- 3 files changed, 136 insertions(+), 80 deletions(-) create mode 100644 mep3_localization/mep3_localization/static_broadcaster.py diff --git a/mep3_localization/mep3_localization/robot_detection.py b/mep3_localization/mep3_localization/robot_detection.py index 0d754d6c4..043070637 100644 --- a/mep3_localization/mep3_localization/robot_detection.py +++ b/mep3_localization/mep3_localization/robot_detection.py @@ -39,109 +39,104 @@ def __init__(self): self.subscription self._tf_publisher = TransformBroadcaster(self) - # cv_file = cv2.FileStorage('calibration_camera.yaml', cv2.FILE_STORAGE) - self.br = CvBridge() self.dict = aruco.Dictionary_get(aruco.DICT_4X4_100) self.params = aruco.DetectorParameters_create() - # self.cameraMatrix = cv_file.getNode('K').mat() - # self.distCoeffs = cv_file.getNode('D').mat() self.cameraMatrix = np.array([[570.34, 0, 1920 / 2], [0, 570.34, 1080 / 2], [0, 0, 1]]) self.distCoeffs = np.zeros((5, 1)) # Side length of the ArUco marker in meters self.aruco_robot_length = 0.07 - self.aruco_map_length = 0.1 - # cv_file.release() + self.aruco_42_length = 0.1 + self.camera_translation = [-0.141, 1.417, 1.184] + self.camera_rotation = R.from_quat([-0.005, 0.962, -0.272, 0.008]) def listener_callback(self, data): # self.get_logger().info('Receiving video frame') current_frame = self.br.imgmsg_to_cv2(data, 'bgr8') - self.draw_aruco_pose(current_frame) - - def make_transforms(self, tvec, rvec, aruco_id): - static_transform_stamped = TransformStamped() - static_transform_stamped.header.stamp = self.get_clock().now().to_msg() - static_transform_stamped.header.frame_id = 'map' - static_transform_stamped.child_frame_id = f'marker_{aruco_id}' - static_transform_stamped.transform.translation.x = tvec[0, 0] - static_transform_stamped.transform.translation.y = tvec[0, 1] - static_transform_stamped.transform.translation.z = tvec[0, 2] - - # https://answers.opencv.org/question/161369/retrieve-yaw-pitch-roll-from-rvec/ - # https://stackoverflow.com/questions/12933284/rodrigues-into-eulerangles-and-vice-versa - # https://github.com/opencv/opencv/issues/8813 - rmat = cv2.Rodrigues(rvec)[0] - r = R.from_matrix(rmat) - quat = r.as_quat() - static_transform_stamped.transform.rotation.x = quat[0] - static_transform_stamped.transform.rotation.y = quat[1] - static_transform_stamped.transform.rotation.z = quat[2] - static_transform_stamped.transform.rotation.w = quat[3] - - self._tf_publisher.sendTransform(static_transform_stamped) - - def draw_aruco_pose(self, frame): + rvecs, tvecs, ids = self.get_aruco_pose(current_frame) + self.send_pose_tf2(rvecs, tvecs, ids) + + def send_pose_tf2(self, rvecs, tvecs, ids): + if ids is not None: + for i in range(len(rvecs)): + if ids[i] < 10 or ids[i] == 42: + translation = tvecs[i, 0] + # https://answers.opencv.org/question/161369/retrieve-yaw-pitch-roll-from-rvec/ + # https://stackoverflow.com/questions/12933284/rodrigues-into-eulerangles-and-vice-versa + # https://github.com/opencv/opencv/issues/8813 + rmat = cv2.Rodrigues(rvecs[i])[0] + r = R.from_matrix(rmat) + rotation = r.as_quat() + + if ids[i] == 42: + if self.check_alignment( + r, [0, 1, 0]) and self.check_alignment( + r, [0, 0, 1]): + self.make_transforms('camera', f'marker_{ids[i]}', + translation, rotation) + else: + if self.check_alignment(r, [0, 0, 1]): + self.make_transforms('camera', f'marker_{ids[i]}', + translation, rotation) + + def check_alignment(self, r, axis): + # It would probably be better to say >1/sqrt(2) instead of >0: + dot_product = np.dot(r.apply(axis), + self.camera_rotation.inv().apply(axis)) + # print(dot_product) + if dot_product > 0.707: + return True + return False + + def make_transforms(self, frame_id, child_frame_id, translation, rotation): + static_transformStamped = TransformStamped() + static_transformStamped.header.stamp = self.get_clock().now().to_msg() + static_transformStamped.header.frame_id = frame_id + static_transformStamped.child_frame_id = child_frame_id + static_transformStamped.transform.translation.x = translation[0] + static_transformStamped.transform.translation.y = translation[1] + static_transformStamped.transform.translation.z = translation[2] + static_transformStamped.transform.rotation.x = rotation[0] + static_transformStamped.transform.rotation.y = rotation[1] + static_transformStamped.transform.rotation.z = rotation[2] + static_transformStamped.transform.rotation.w = rotation[3] + self._tf_publisher.sendTransform(static_transformStamped) + + def get_aruco_pose(self, frame): (corners, ids, rejected) = aruco.detectMarkers(frame, self.dict, parameters=self.params, cameraMatrix=self.cameraMatrix, distCoeff=self.distCoeffs) - # Check that at least one ArUco marker was detected + tvecs = rvecs = None if ids is not None: - aruco.drawDetectedMarkers(frame, corners, ids) rvecs, tvecs, obj_points = cv2.aruco.estimatePoseSingleMarkers( corners, self.aruco_robot_length, self.cameraMatrix, self.distCoeffs) - rvecs_map, tvecs_map, obj_points_map = cv2.aruco.estimatePoseSingleMarkers( - corners, self.aruco_map_length, self.cameraMatrix, + rvecs_42, tvecs_42, obj_points_42 = cv2.aruco.estimatePoseSingleMarkers( + corners, self.aruco_42_length, self.cameraMatrix, self.distCoeffs) for i in range(len(rvecs)): - if ids[i] <= 10: - aruco.drawAxis(frame, self.cameraMatrix, self.distCoeffs, - rvecs[i], tvecs[i], self.aruco_robot_length) - self.make_transforms(tvecs[i], rvecs[i], ids[i]) - elif ids[i] == 42: - aruco.drawAxis(frame, self.cameraMatrix, self.distCoeffs, - rvecs_map[i], tvecs_map[i], - self.aruco_map_length) - self.make_transforms(tvecs_map[i], rvecs_map[i], ids[i]) - cv2.imshow('camera', frame) - cv2.waitKey(1) - - def draw_aruco_border(self, frame): - (corners, ids, rejected) = aruco.detectMarkers(frame, - self.dict, - parameters=self.params) - if len(corners) > 0: - ids = ids.flatten() - for (markerCorner, markerID) in zip(corners, ids): - corners = markerCorner.reshape((4, 2)) - (topLeft, topRight, bottomRight, bottomLeft) = corners - - # convert each of the (x, y)-coordinate pairs to integers - topRight = (int(topRight[0]), int(topRight[1])) - bottomRight = (int(bottomRight[0]), int(bottomRight[1])) - bottomLeft = (int(bottomLeft[0]), int(bottomLeft[1])) - topLeft = (int(topLeft[0]), int(topLeft[1])) - - cv2.line(frame, topLeft, topRight, (0, 255, 0), 2) - cv2.line(frame, topRight, bottomRight, (0, 255, 0), 2) - cv2.line(frame, bottomRight, bottomLeft, (0, 255, 0), 2) - cv2.line(frame, bottomLeft, topLeft, (0, 255, 0), 2) - - # compute and draw the center (x, y)-coordinates of the - # ArUco marker - cX = int((topLeft[0] + bottomRight[0]) / 2.0) - cY = int((topLeft[1] + bottomRight[1]) / 2.0) - cv2.circle(frame, (cX, cY), 4, (0, 0, 255), -1) - - # draw the ArUco marker ID on the frame - cv2.putText(frame, str(markerID), - (topLeft[0], topLeft[1] - 15), - cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2) + if ids[i] == 42: + tvecs[i] = tvecs_42[i] + rvecs[i] = rvecs_42[i] + + self.show_aruco_pose(frame, corners, rvecs, tvecs, ids) + + return rvecs, tvecs, ids + + def show_aruco_pose(self, frame, corners, rvecs, tvecs, ids): + aruco.drawDetectedMarkers(frame, corners, ids) + for i in range(len(rvecs)): + if ids[i] <= 10: + aruco.drawAxis(frame, self.cameraMatrix, self.distCoeffs, + rvecs[i], tvecs[i], self.aruco_robot_length) + elif ids[i] == 42: + aruco.drawAxis(frame, self.cameraMatrix, self.distCoeffs, + rvecs[i], tvecs[i], self.aruco_42_length) cv2.imshow('camera', frame) cv2.waitKey(1) diff --git a/mep3_localization/mep3_localization/static_broadcaster.py b/mep3_localization/mep3_localization/static_broadcaster.py new file mode 100644 index 000000000..04357f2d7 --- /dev/null +++ b/mep3_localization/mep3_localization/static_broadcaster.py @@ -0,0 +1,59 @@ +from geometry_msgs.msg import TransformStamped + +import rclpy +from rclpy.node import Node +from scipy.spatial.transform import Rotation as R +from tf2_ros.static_transform_broadcaster import StaticTransformBroadcaster +import tf_transformations + + +class StaticFramePublisher(Node): + """ + Broadcast transforms that never change. + + This node publishes transforms: + - from map origin to the `marker_[42]` tag + - and from map origin to the camera. + The transforms are only published once at startup, and are constant for all + time. + """ + + def __init__(self): + super().__init__('static_turtle_tf2_broadcaster') + + self._tf_publisher = StaticTransformBroadcaster(self) + + # Publish static transforms once at startup + self.make_transforms('marker_[42]', 'map', [0.0, 0.205, 0.0], + [0.0, 0.0, 0.0, 1.0]) + self.make_transforms('map', 'camera_static', [-0.141, 1.212, 1.184], + [-0.005, 0.962, -0.272, 0.008]) + + def make_transforms(self, frame_id, child_frame_id, translation, rotation): + static_transformStamped = TransformStamped() + static_transformStamped.header.stamp = self.get_clock().now().to_msg() + static_transformStamped.header.frame_id = frame_id + static_transformStamped.child_frame_id = child_frame_id + static_transformStamped.transform.translation.x = translation[0] + static_transformStamped.transform.translation.y = translation[1] + static_transformStamped.transform.translation.z = translation[2] + static_transformStamped.transform.rotation.x = rotation[0] + static_transformStamped.transform.rotation.y = rotation[1] + static_transformStamped.transform.rotation.z = rotation[2] + static_transformStamped.transform.rotation.w = rotation[3] + self._tf_publisher.sendTransform(static_transformStamped) + + def make_inverse_transforms(self, frame_id, child_frame_id, translation, + rotation): + translation = [-i for i in translation] + r = R.from_quat(rotation) + rotation = r.inv().as_quat() + self.make_transforms(child_frame_id, frame_id, translation, rotation) + + +def main(args=None): + rclpy.init(args=args) + node = StaticFramePublisher() + rclpy.spin(node) + node.destroy_node() + rclpy.shutdown() diff --git a/mep3_localization/setup.py b/mep3_localization/setup.py index c2f5dfcb0..b7e3aa6d9 100644 --- a/mep3_localization/setup.py +++ b/mep3_localization/setup.py @@ -19,7 +19,9 @@ license='Apache License 2.0', tests_require=['pytest'], entry_points={ - 'console_scripts': - ['robot_detection = mep3_localization.robot_detection:main'], + 'console_scripts': [ + 'robot_detection = mep3_localization.robot_detection:main', + 'static_broadcast = mep3_localization.static_broadcaster:main' + ], }, ) From c091af658d180e41ac8f7a264e786f1f2bb71070 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Sun, 6 Mar 2022 12:35:02 +0100 Subject: [PATCH 32/86] camera info listener --- .../mep3_localization/robot_detection.py | 26 +++++++++++++------ 1 file changed, 18 insertions(+), 8 deletions(-) diff --git a/mep3_localization/mep3_localization/robot_detection.py b/mep3_localization/mep3_localization/robot_detection.py index 043070637..3efe5aed5 100644 --- a/mep3_localization/mep3_localization/robot_detection.py +++ b/mep3_localization/mep3_localization/robot_detection.py @@ -22,7 +22,7 @@ import rclpy from rclpy.node import Node from scipy.spatial.transform import Rotation as R -from sensor_msgs.msg import Image +from sensor_msgs.msg import Image, CameraInfo from tf2_ros import TransformBroadcaster """ This class receives video from the central RasPi Cam, @@ -34,28 +34,38 @@ class DetectedRobots(Node): def __init__(self): super().__init__('image_subscriber') - self.subscription = self.create_subscription( - Image, '/cam/cam_central/RasPi0', self.listener_callback, 10) - self.subscription + self.image_subscription = self.create_subscription( + Image, '/cam/cam_central/RasPi0', self.image_listener_callback, 10) + self.image_subscription + self.camera_info_subscription = self.create_subscription( + CameraInfo, '/cam/cam_central/RasPi0/camera_info', self.camera_info_listener_callback, 10) + self.camera_info_subscription self._tf_publisher = TransformBroadcaster(self) self.br = CvBridge() self.dict = aruco.Dictionary_get(aruco.DICT_4X4_100) self.params = aruco.DetectorParameters_create() - self.cameraMatrix = np.array([[570.34, 0, 1920 / 2], - [0, 570.34, 1080 / 2], [0, 0, 1]]) - self.distCoeffs = np.zeros((5, 1)) # Side length of the ArUco marker in meters self.aruco_robot_length = 0.07 self.aruco_42_length = 0.1 self.camera_translation = [-0.141, 1.417, 1.184] self.camera_rotation = R.from_quat([-0.005, 0.962, -0.272, 0.008]) - def listener_callback(self, data): + def image_listener_callback(self, data): # self.get_logger().info('Receiving video frame') current_frame = self.br.imgmsg_to_cv2(data, 'bgr8') rvecs, tvecs, ids = self.get_aruco_pose(current_frame) self.send_pose_tf2(rvecs, tvecs, ids) + + def camera_info_listener_callback(self, data): + self.get_logger().info('Receiving camera info frame') + #self.cameraMatrix = np.array([[570.34, 0, 1920 / 2], + # [0, 570.34, 1080 / 2], [0, 0, 1]]) + #self.distCoeffs = np.zeros((5, 1)) + self.cameraMatrix = np.array([[data.k[0], data.k[1], data.k[2]], [data.k[3], data.k[4], data.k[5]], [data.k[6], data.k[7], data.k[8]]]) + self.distCoeffs = np.array([[i] for i in data.d]) + print(self.cameraMatrix) + print(self.distCoeffs) def send_pose_tf2(self, rvecs, tvecs, ids): if ids is not None: From 320e9d5ffe7ef890c71755af6ffe3f154a3d8623 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Sun, 6 Mar 2022 13:30:44 +0100 Subject: [PATCH 33/86] camera info listener --- .../mep3_localization/robot_detection.py | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/mep3_localization/mep3_localization/robot_detection.py b/mep3_localization/mep3_localization/robot_detection.py index 3efe5aed5..f8a079e99 100644 --- a/mep3_localization/mep3_localization/robot_detection.py +++ b/mep3_localization/mep3_localization/robot_detection.py @@ -25,7 +25,8 @@ from sensor_msgs.msg import Image, CameraInfo from tf2_ros import TransformBroadcaster """ -This class receives video from the central RasPi Cam, +This class receives video and camera parameters from the central RasPi Cam, +receives the static transform from map to camera in order to detect wrong orientations and sends TF of Aruco tags. """ @@ -58,10 +59,10 @@ def image_listener_callback(self, data): self.send_pose_tf2(rvecs, tvecs, ids) def camera_info_listener_callback(self, data): - self.get_logger().info('Receiving camera info frame') - #self.cameraMatrix = np.array([[570.34, 0, 1920 / 2], - # [0, 570.34, 1080 / 2], [0, 0, 1]]) - #self.distCoeffs = np.zeros((5, 1)) + # self.get_logger().info('Receiving camera info frame') + # self.cameraMatrix = np.array([[570.34, 0, 1920 / 2], + # [0, 570.34, 1080 / 2], [0, 0, 1]]) + # self.distCoeffs = np.zeros((5, 1)) self.cameraMatrix = np.array([[data.k[0], data.k[1], data.k[2]], [data.k[3], data.k[4], data.k[5]], [data.k[6], data.k[7], data.k[8]]]) self.distCoeffs = np.array([[i] for i in data.d]) print(self.cameraMatrix) From f165b467c38bb64bf8001d3eed3d512e5ab7dfd5 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Sun, 6 Mar 2022 15:09:57 +0100 Subject: [PATCH 34/86] autopep8 --- .../mep3_localization/robot_detection.py | 13 +++++++------ .../mep3_localization/static_broadcaster.py | 17 ++++++++++++++++- 2 files changed, 23 insertions(+), 7 deletions(-) diff --git a/mep3_localization/mep3_localization/robot_detection.py b/mep3_localization/mep3_localization/robot_detection.py index f8a079e99..ad3512b5f 100644 --- a/mep3_localization/mep3_localization/robot_detection.py +++ b/mep3_localization/mep3_localization/robot_detection.py @@ -22,7 +22,7 @@ import rclpy from rclpy.node import Node from scipy.spatial.transform import Rotation as R -from sensor_msgs.msg import Image, CameraInfo +from sensor_msgs.msg import CameraInfo, Image from tf2_ros import TransformBroadcaster """ This class receives video and camera parameters from the central RasPi Cam, @@ -39,7 +39,8 @@ def __init__(self): Image, '/cam/cam_central/RasPi0', self.image_listener_callback, 10) self.image_subscription self.camera_info_subscription = self.create_subscription( - CameraInfo, '/cam/cam_central/RasPi0/camera_info', self.camera_info_listener_callback, 10) + CameraInfo, '/cam/cam_central/RasPi0/camera_info', + self.camera_info_listener_callback, 10) self.camera_info_subscription self._tf_publisher = TransformBroadcaster(self) @@ -57,16 +58,16 @@ def image_listener_callback(self, data): current_frame = self.br.imgmsg_to_cv2(data, 'bgr8') rvecs, tvecs, ids = self.get_aruco_pose(current_frame) self.send_pose_tf2(rvecs, tvecs, ids) - + def camera_info_listener_callback(self, data): # self.get_logger().info('Receiving camera info frame') # self.cameraMatrix = np.array([[570.34, 0, 1920 / 2], # [0, 570.34, 1080 / 2], [0, 0, 1]]) # self.distCoeffs = np.zeros((5, 1)) - self.cameraMatrix = np.array([[data.k[0], data.k[1], data.k[2]], [data.k[3], data.k[4], data.k[5]], [data.k[6], data.k[7], data.k[8]]]) + self.cameraMatrix = np.array([[data.k[0], data.k[1], data.k[2]], + [data.k[3], data.k[4], data.k[5]], + [data.k[6], data.k[7], data.k[8]]]) self.distCoeffs = np.array([[i] for i in data.d]) - print(self.cameraMatrix) - print(self.distCoeffs) def send_pose_tf2(self, rvecs, tvecs, ids): if ids is not None: diff --git a/mep3_localization/mep3_localization/static_broadcaster.py b/mep3_localization/mep3_localization/static_broadcaster.py index 04357f2d7..9912f2e36 100644 --- a/mep3_localization/mep3_localization/static_broadcaster.py +++ b/mep3_localization/mep3_localization/static_broadcaster.py @@ -1,10 +1,25 @@ +#!/usr/bin/env python3 + +# Copyright 2021 Memristor Robotics +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + from geometry_msgs.msg import TransformStamped import rclpy from rclpy.node import Node from scipy.spatial.transform import Rotation as R from tf2_ros.static_transform_broadcaster import StaticTransformBroadcaster -import tf_transformations class StaticFramePublisher(Node): From e37809b12771172e32ff427f107bacde527cdf75 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Sun, 6 Mar 2022 15:24:37 +0100 Subject: [PATCH 35/86] autopep8 --- .../mep3_localization/robot_detection.py | 31 +++++++++++++++---- .../mep3_localization/static_broadcaster.py | 15 +++++---- 2 files changed, 32 insertions(+), 14 deletions(-) diff --git a/mep3_localization/mep3_localization/robot_detection.py b/mep3_localization/mep3_localization/robot_detection.py index ad3512b5f..129ba6d62 100644 --- a/mep3_localization/mep3_localization/robot_detection.py +++ b/mep3_localization/mep3_localization/robot_detection.py @@ -24,14 +24,14 @@ from scipy.spatial.transform import Rotation as R from sensor_msgs.msg import CameraInfo, Image from tf2_ros import TransformBroadcaster -""" -This class receives video and camera parameters from the central RasPi Cam, -receives the static transform from map to camera in order to detect wrong orientations -and sends TF of Aruco tags. -""" class DetectedRobots(Node): + """ + This class receives video and camera parameters from the central RasPi Cam, + receives the static transform from map to camera in order to detect wrong orientations + and sends TF of Aruco tags. + """ def __init__(self): super().__init__('image_subscriber') @@ -93,7 +93,26 @@ def send_pose_tf2(self, rvecs, tvecs, ids): translation, rotation) def check_alignment(self, r, axis): - # It would probably be better to say >1/sqrt(2) instead of >0: + """ + Arrow convention: parent <- child. + + We know beforehand the following transformations: + camera <- map, + map <- marker_[42]. + We also know rotation(map) == rotation(marker_[42]). + + If we apply the camera <- map transformation on the [0, 0, 1] vector, + then the z-axes of the transformation and the marker_[42] should be + collinear. Since all markers have collinear z-axes (facing up from the + table), the same applies for all other markers. + + Additionally, we know that the x- and y-axes of marker_[42] should be + collinear with x- and y- axes of the camera <- map transformation. + + The dot product is used to check if vectors are collinear. If the dot + product is larger than a threshold, we assume they are collinear. + The threshold is currently set at 1/sqrt(2). + """ dot_product = np.dot(r.apply(axis), self.camera_rotation.inv().apply(axis)) # print(dot_product) diff --git a/mep3_localization/mep3_localization/static_broadcaster.py b/mep3_localization/mep3_localization/static_broadcaster.py index 9912f2e36..70ca1c479 100644 --- a/mep3_localization/mep3_localization/static_broadcaster.py +++ b/mep3_localization/mep3_localization/static_broadcaster.py @@ -15,7 +15,6 @@ # limitations under the License. from geometry_msgs.msg import TransformStamped - import rclpy from rclpy.node import Node from scipy.spatial.transform import Rotation as R @@ -24,14 +23,14 @@ class StaticFramePublisher(Node): """ - Broadcast transforms that never change. + Broadcast transforms that never change. - This node publishes transforms: - - from map origin to the `marker_[42]` tag - - and from map origin to the camera. - The transforms are only published once at startup, and are constant for all - time. - """ + This node publishes transforms: + - from map origin to the `marker_[42]` tag + - and from map origin to the camera. + The transforms are only published once at startup, and are constant for all + time. + """ def __init__(self): super().__init__('static_turtle_tf2_broadcaster') From afc3e842d4f10f7c62caa9898b156e3399a71fb6 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Sun, 6 Mar 2022 18:09:13 +0100 Subject: [PATCH 36/86] trying to fix static_tf_listener --- .../mep3_localization/robot_detection.py | 39 +++++++++++++++---- 1 file changed, 32 insertions(+), 7 deletions(-) diff --git a/mep3_localization/mep3_localization/robot_detection.py b/mep3_localization/mep3_localization/robot_detection.py index 129ba6d62..049df00f0 100644 --- a/mep3_localization/mep3_localization/robot_detection.py +++ b/mep3_localization/mep3_localization/robot_detection.py @@ -24,13 +24,17 @@ from scipy.spatial.transform import Rotation as R from sensor_msgs.msg import CameraInfo, Image from tf2_ros import TransformBroadcaster +from tf2_ros.buffer import Buffer +from tf2_ros.transform_listener import TransformListener class DetectedRobots(Node): """ + Detects robots from the central tracking device. + This class receives video and camera parameters from the central RasPi Cam, - receives the static transform from map to camera in order to detect wrong orientations - and sends TF of Aruco tags. + receives the static transform from map to camera in order to detect wrong + orientations and sends TF of Aruco tags. """ def __init__(self): @@ -43,22 +47,43 @@ def __init__(self): self.camera_info_listener_callback, 10) self.camera_info_subscription self._tf_publisher = TransformBroadcaster(self) + # self.static_tf_listener('map', 'marker_[42]') # doesn't work?? + self.camera_translation = [-0.141, 1.417, 1.184] + self.camera_rotation = R.from_quat([-0.005, 0.962, -0.272, 0.008]) - self.br = CvBridge() self.dict = aruco.Dictionary_get(aruco.DICT_4X4_100) self.params = aruco.DetectorParameters_create() # Side length of the ArUco marker in meters self.aruco_robot_length = 0.07 self.aruco_42_length = 0.1 - self.camera_translation = [-0.141, 1.417, 1.184] - self.camera_rotation = R.from_quat([-0.005, 0.962, -0.272, 0.008]) def image_listener_callback(self, data): # self.get_logger().info('Receiving video frame') - current_frame = self.br.imgmsg_to_cv2(data, 'bgr8') + br = CvBridge() + current_frame = br.imgmsg_to_cv2(data, 'bgr8') rvecs, tvecs, ids = self.get_aruco_pose(current_frame) self.send_pose_tf2(rvecs, tvecs, ids) + def static_tf_listener(self, parent, child): + # self.camera_translation = [-0.141, 1.417, 1.184] + # self.camera_rotation = R.from_quat([-0.005, 0.962, -0.272, 0.008]) + self.tf_buffer = Buffer() + self.tf_listener = TransformListener(self.tf_buffer, self) + print('waiting') + trans = self.tf_buffer.lookup_transform(child, parent, + rclpy.time.Time()) + # timeout=rclpy.time.Duration(seconds=10.0)) + print(trans) + + self.camera_translation = [ + trans.transform.translation.x, trans.transform.translation.y, + trans.transform.translation.z + ] + self.camera_rotation = [ + trans.transform.rotation.x, trans.transform.rotation.y, + trans.transform.rotation.z, trans.transform.rotation.w + ] + def camera_info_listener_callback(self, data): # self.get_logger().info('Receiving camera info frame') # self.cameraMatrix = np.array([[570.34, 0, 1920 / 2], @@ -107,7 +132,7 @@ def check_alignment(self, r, axis): table), the same applies for all other markers. Additionally, we know that the x- and y-axes of marker_[42] should be - collinear with x- and y- axes of the camera <- map transformation. + collinear with x- and y-axes of the camera <- map transformation. The dot product is used to check if vectors are collinear. If the dot product is larger than a threshold, we assume they are collinear. From a5bbabe0dea473a7cc5af799d7c5b280441a2eee Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Wed, 16 Mar 2022 00:23:37 +0100 Subject: [PATCH 37/86] works. added launch files --- .../launch/localization_launch.py | 20 ++++++++++++++++++ .../mep3_localization/robot_detection.py | 21 ++++++++++--------- .../mep3_localization/static_broadcaster.py | 4 ++-- mep3_localization/setup.py | 10 ++++----- mep3_simulation/launch/simulation_launch.py | 13 ++++++++++++ 5 files changed, 51 insertions(+), 17 deletions(-) create mode 100644 mep3_localization/launch/localization_launch.py diff --git a/mep3_localization/launch/localization_launch.py b/mep3_localization/launch/localization_launch.py new file mode 100644 index 000000000..06075e1ee --- /dev/null +++ b/mep3_localization/launch/localization_launch.py @@ -0,0 +1,20 @@ +from launch import LaunchDescription +from launch_ros.actions import Node +import numpy as np + + +def generate_launch_description(): + return LaunchDescription([ + Node(package='tf2_ros', + executable='static_transform_publisher', + arguments=[ + '-0.141', '1.212', '1.184', '-0.005', '0.962,', '-0.272', + '0.008', 'map', 'camera_static' + ]), + Node(package='tf2_ros', + executable='static_transform_publisher', + arguments=[ + '0', '0.205', '0', '0', '0', '0', '1', 'marker_[42]', 'map' + ]), + Node(package='mep3_localization', executable='robot_detection'), + ]) diff --git a/mep3_localization/mep3_localization/robot_detection.py b/mep3_localization/mep3_localization/robot_detection.py index 049df00f0..aa22b43fc 100644 --- a/mep3_localization/mep3_localization/robot_detection.py +++ b/mep3_localization/mep3_localization/robot_detection.py @@ -47,9 +47,7 @@ def __init__(self): self.camera_info_listener_callback, 10) self.camera_info_subscription self._tf_publisher = TransformBroadcaster(self) - # self.static_tf_listener('map', 'marker_[42]') # doesn't work?? - self.camera_translation = [-0.141, 1.417, 1.184] - self.camera_rotation = R.from_quat([-0.005, 0.962, -0.272, 0.008]) + self.static_tf_listener('map', 'camera_static') self.dict = aruco.Dictionary_get(aruco.DICT_4X4_100) self.params = aruco.DetectorParameters_create() @@ -69,20 +67,23 @@ def static_tf_listener(self, parent, child): # self.camera_rotation = R.from_quat([-0.005, 0.962, -0.272, 0.008]) self.tf_buffer = Buffer() self.tf_listener = TransformListener(self.tf_buffer, self) - print('waiting') - trans = self.tf_buffer.lookup_transform(child, parent, - rclpy.time.Time()) - # timeout=rclpy.time.Duration(seconds=10.0)) - print(trans) + trans = None + while not trans: + try: + trans = self.tf_buffer.lookup_transform( + child, parent, rclpy.time.Time()) + except: + pass + rclpy.spin_once(self, timeout_sec=0.1) self.camera_translation = [ trans.transform.translation.x, trans.transform.translation.y, trans.transform.translation.z ] - self.camera_rotation = [ + self.camera_rotation = R.from_quat([ trans.transform.rotation.x, trans.transform.rotation.y, trans.transform.rotation.z, trans.transform.rotation.w - ] + ]) def camera_info_listener_callback(self, data): # self.get_logger().info('Receiving camera info frame') diff --git a/mep3_localization/mep3_localization/static_broadcaster.py b/mep3_localization/mep3_localization/static_broadcaster.py index 70ca1c479..ebf5f93b2 100644 --- a/mep3_localization/mep3_localization/static_broadcaster.py +++ b/mep3_localization/mep3_localization/static_broadcaster.py @@ -38,10 +38,10 @@ def __init__(self): self._tf_publisher = StaticTransformBroadcaster(self) # Publish static transforms once at startup - self.make_transforms('marker_[42]', 'map', [0.0, 0.205, 0.0], - [0.0, 0.0, 0.0, 1.0]) self.make_transforms('map', 'camera_static', [-0.141, 1.212, 1.184], [-0.005, 0.962, -0.272, 0.008]) + self.make_transforms('marker_[42]', 'map', [0.0, 0.205, 0.0], + [0.0, 0.0, 0.0, 1.0]) def make_transforms(self, frame_id, child_frame_id, translation, rotation): static_transformStamped = TransformStamped() diff --git a/mep3_localization/setup.py b/mep3_localization/setup.py index b7e3aa6d9..24e3fc71f 100644 --- a/mep3_localization/setup.py +++ b/mep3_localization/setup.py @@ -6,11 +6,11 @@ name=package_name, version='0.0.0', packages=[package_name], - data_files=[ - ('share/ament_index/resource_index/packages', - ['resource/' + package_name]), - ('share/' + package_name, ['package.xml']), - ], + data_files=[('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ('share/' + package_name + '/launch', + ['launch/localization_launch.py'])], install_requires=['setuptools'], zip_safe=True, maintainer='bici', diff --git a/mep3_simulation/launch/simulation_launch.py b/mep3_simulation/launch/simulation_launch.py index f2302cbb1..49852f6f7 100644 --- a/mep3_simulation/launch/simulation_launch.py +++ b/mep3_simulation/launch/simulation_launch.py @@ -3,6 +3,8 @@ from ament_index_python.packages import get_package_share_directory import launch +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node from webots_ros2_driver.webots_launcher import WebotsLauncher @@ -80,8 +82,19 @@ def generate_launch_description(): remappings=[('/tf_static', 'tf_static')], ) + # Mep3 localization + localization = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(get_package_share_directory('mep3_localization'), + 'launch', 'localization_launch.py'))) + # Standard ROS 2 launch description return launch.LaunchDescription([ + # Start the Localization node before Webots, + # because the camera parameter listener has to be active + # before Webots broadcasts camera parameters + localization, + # Start the Webots node webots, From 4934c9bcd24dcd393d99e1c7ddc0b2b7d25c2a50 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Wed, 16 Mar 2022 00:35:44 +0100 Subject: [PATCH 38/86] remove static broadcaster --- .../mep3_localization/.gitignore | 1 + .../mep3_localization/static_broadcaster.py | 73 ------------------- 2 files changed, 1 insertion(+), 73 deletions(-) create mode 100644 mep3_localization/mep3_localization/.gitignore delete mode 100644 mep3_localization/mep3_localization/static_broadcaster.py diff --git a/mep3_localization/mep3_localization/.gitignore b/mep3_localization/mep3_localization/.gitignore new file mode 100644 index 000000000..2976795a3 --- /dev/null +++ b/mep3_localization/mep3_localization/.gitignore @@ -0,0 +1 @@ +static_broadcaster.py diff --git a/mep3_localization/mep3_localization/static_broadcaster.py b/mep3_localization/mep3_localization/static_broadcaster.py deleted file mode 100644 index ebf5f93b2..000000000 --- a/mep3_localization/mep3_localization/static_broadcaster.py +++ /dev/null @@ -1,73 +0,0 @@ -#!/usr/bin/env python3 - -# Copyright 2021 Memristor Robotics -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from geometry_msgs.msg import TransformStamped -import rclpy -from rclpy.node import Node -from scipy.spatial.transform import Rotation as R -from tf2_ros.static_transform_broadcaster import StaticTransformBroadcaster - - -class StaticFramePublisher(Node): - """ - Broadcast transforms that never change. - - This node publishes transforms: - - from map origin to the `marker_[42]` tag - - and from map origin to the camera. - The transforms are only published once at startup, and are constant for all - time. - """ - - def __init__(self): - super().__init__('static_turtle_tf2_broadcaster') - - self._tf_publisher = StaticTransformBroadcaster(self) - - # Publish static transforms once at startup - self.make_transforms('map', 'camera_static', [-0.141, 1.212, 1.184], - [-0.005, 0.962, -0.272, 0.008]) - self.make_transforms('marker_[42]', 'map', [0.0, 0.205, 0.0], - [0.0, 0.0, 0.0, 1.0]) - - def make_transforms(self, frame_id, child_frame_id, translation, rotation): - static_transformStamped = TransformStamped() - static_transformStamped.header.stamp = self.get_clock().now().to_msg() - static_transformStamped.header.frame_id = frame_id - static_transformStamped.child_frame_id = child_frame_id - static_transformStamped.transform.translation.x = translation[0] - static_transformStamped.transform.translation.y = translation[1] - static_transformStamped.transform.translation.z = translation[2] - static_transformStamped.transform.rotation.x = rotation[0] - static_transformStamped.transform.rotation.y = rotation[1] - static_transformStamped.transform.rotation.z = rotation[2] - static_transformStamped.transform.rotation.w = rotation[3] - self._tf_publisher.sendTransform(static_transformStamped) - - def make_inverse_transforms(self, frame_id, child_frame_id, translation, - rotation): - translation = [-i for i in translation] - r = R.from_quat(rotation) - rotation = r.inv().as_quat() - self.make_transforms(child_frame_id, frame_id, translation, rotation) - - -def main(args=None): - rclpy.init(args=args) - node = StaticFramePublisher() - rclpy.spin(node) - node.destroy_node() - rclpy.shutdown() From 8433a642025e90515a8ec9cdf104fc884735e673 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Wed, 16 Mar 2022 00:42:07 +0100 Subject: [PATCH 39/86] linter fix --- mep3_localization/launch/localization_launch.py | 17 ++++++++++++++++- .../mep3_localization/robot_detection.py | 3 ++- 2 files changed, 18 insertions(+), 2 deletions(-) diff --git a/mep3_localization/launch/localization_launch.py b/mep3_localization/launch/localization_launch.py index 06075e1ee..51f180e83 100644 --- a/mep3_localization/launch/localization_launch.py +++ b/mep3_localization/launch/localization_launch.py @@ -1,6 +1,21 @@ +#!/usr/bin/env python3 + +# Copyright 2021 Memristor Robotics +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + from launch import LaunchDescription from launch_ros.actions import Node -import numpy as np def generate_launch_description(): diff --git a/mep3_localization/mep3_localization/robot_detection.py b/mep3_localization/mep3_localization/robot_detection.py index aa22b43fc..9cc536f7f 100644 --- a/mep3_localization/mep3_localization/robot_detection.py +++ b/mep3_localization/mep3_localization/robot_detection.py @@ -72,7 +72,8 @@ def static_tf_listener(self, parent, child): try: trans = self.tf_buffer.lookup_transform( child, parent, rclpy.time.Time()) - except: + except Exception: # noqa: E501 + # logging.exception("StaticTfListener"): pass rclpy.spin_once(self, timeout_sec=0.1) From 9039b8647dd11c33199f12b81775478265688540 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Wed, 16 Mar 2022 00:49:55 +0100 Subject: [PATCH 40/86] remove calibration matrix yaml --- mep3_localization/assets/calibration_camera.yaml | 15 --------------- 1 file changed, 15 deletions(-) delete mode 100644 mep3_localization/assets/calibration_camera.yaml diff --git a/mep3_localization/assets/calibration_camera.yaml b/mep3_localization/assets/calibration_camera.yaml deleted file mode 100644 index 96dc01029..000000000 --- a/mep3_localization/assets/calibration_camera.yaml +++ /dev/null @@ -1,15 +0,0 @@ -%YAML:1.0 ---- -K: !!opencv-matrix - rows: 3 - cols: 3 - dt: d - data: [ 7.9583655916512669e+02, 0., 6.6532633921223646e+02, 0., - 7.9991597622640393e+02, 3.9142009039738559e+02, 0., 0., 1. ] -D: !!opencv-matrix - rows: 1 - cols: 5 - dt: d - data: [ 1.0557813457472758e-01, 1.0526580754799850e+00, - 4.6737646216940517e-03, 2.9071112143870346e-03, - -6.2540648080086747e+00 ] From f7f99f29defeebbe78ef9acee6ce1ab494332fed Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Wed, 16 Mar 2022 00:53:06 +0100 Subject: [PATCH 41/86] remove build in cam controller --- .../camera_controller/build/release/camera_controller.d | 6 ------ 1 file changed, 6 deletions(-) delete mode 100644 mep3_simulation/webots_data/controllers/camera_controller/build/release/camera_controller.d diff --git a/mep3_simulation/webots_data/controllers/camera_controller/build/release/camera_controller.d b/mep3_simulation/webots_data/controllers/camera_controller/build/release/camera_controller.d deleted file mode 100644 index e78d03a92..000000000 --- a/mep3_simulation/webots_data/controllers/camera_controller/build/release/camera_controller.d +++ /dev/null @@ -1,6 +0,0 @@ -build/release/camera_controller.o: camera_controller.cpp \ - /usr/local/webots/include/controller/cpp/webots/Robot.hpp \ - /usr/local/webots/include/controller/cpp/webots/Camera.hpp \ - /usr/local/webots/include/controller/cpp/webots/Device.hpp \ - /usr/local/webots/include/controller/cpp/webots/../../c/webots/types.h \ - /usr/local/webots/include/controller/cpp/webots/../../c/webots/camera_recognition_object.h From 281d16a429affd08285920132b97d70b40d8ace0 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Wed, 16 Mar 2022 00:54:14 +0100 Subject: [PATCH 42/86] remove bak file --- .../webots_data/worlds/eurobot_2022.wbt.bak | 667 ------------------ 1 file changed, 667 deletions(-) delete mode 100644 mep3_simulation/webots_data/worlds/eurobot_2022.wbt.bak diff --git a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt.bak b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt.bak deleted file mode 100644 index 824383aa4..000000000 --- a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt.bak +++ /dev/null @@ -1,667 +0,0 @@ -#VRML_SIM R2022a utf8 -WorldInfo { - basicTimeStep 10 - contactProperties [ - ContactProperties { - material1 "floor" - material2 "wheel" - coulombFriction [ - 3 - ] - } - ] -} -Viewpoint { - orientation -0.20819550134557824 0.485116724007756 0.8493034777436425 0.9357947103746743 - position 0.5126820588222539 -0.6392513847726864 0.7876961913408052 -} -TexturedBackground { -} -TexturedBackgroundLight { -} -Floor { - name "table" - contactMaterial "floor" - size 3 2 - tileSize 4.096 2.048 - appearance PBRAppearance { - baseColorMap ImageTexture { - url [ - "assets/table.png" - ] - repeatS FALSE - repeatT FALSE - } - roughness 1 - metalness 0 - } -} -Solid { - children [ - DEF purple_statuette_support_shape Group { - children [ - Shape { - appearance DEF APPEARANCE_PURPLE PBRAppearance { - baseColor 0.360784 0.282353 0.541176 - roughness 1 - metalness 0 - name "purple" - } - geometry IndexedFaceSet { - coord Coordinate { - point [ - 1.5 -0.49 0.07 - 1.5 -0.49 0.048 - 1.5 -0.69082 0.07 - 1.5 -0.69082 0.048 - 0.99 -1 0.07 - 0.99 -1 0.048 - 1.19082 -1 0.07 - 1.19082 -1 0.048 - ] - } - normal Normal { - vector [ - 0 0 1 - 0 0 1 - 0 0 -1 - 0 0 -1 - 1 0 0 - 1 0 0 - -0.70711 0.70711 0 - -0.70711 0.70711 0 - 0 -1 0 - 0 -1 0 - 0.70711 -0.70711 0 - 0.70711 -0.70711 0 - ] - } - normalPerVertex FALSE - coordIndex [ - 0, 4, 2, -1, 2, 4, 6, -1, 1, 3, 5, -1, 3, 7, 5, -1, 0, 2, 1, -1, 1, 2, 3, -1, 0, 1, 4, -1, 1, 5, 4, -1, 4, 5, 6, -1, 5, 7, 6, -1, 2, 6, 3, -1, 3, 6, 7, -1 - ] - } - isPickable FALSE - } - Transform { - translation 1.28743 -0.78743 0.081 - rotation 0 0 1 0.7853996938995746 - children [ - Shape { - appearance USE APPEARANCE_PURPLE - geometry Box { - size 0.12 0.12 0.022 - } - } - ] - } - Transform { - translation 1.33763 -0.83763 0.081 - rotation 0 0 1 0.7853996938995746 - children [ - Shape { - appearance USE APPEARANCE_PURPLE - geometry Box { - size 0.481249 0.022 0.022 - } - } - ] - } - ] - } - ] - name "purple statuette support" - boundingObject USE purple_statuette_support_shape - locked TRUE -} -Solid { - children [ - DEF yellow_statuette_support_shape Group { - children [ - Shape { - appearance DEF APPEARANCE_YELLOW PBRAppearance { - baseColor 0.972549 0.694118 0.0666667 - roughness 1 - metalness 0 - name "yellow" - } - geometry IndexedFaceSet { - coord Coordinate { - point [ - -1.5 -0.49 0.07 - -1.5 -0.49 0.048 - -1.5 -0.69082 0.07 - -1.5 -0.69082 0.048 - -0.99 -1 0.07 - -0.99 -1 0.048 - -1.19082 -1 0.07 - -1.19082 -1 0.048 - ] - } - normal Normal { - vector [ - 0 0 1 - 0 0 1 - 0 0 -1 - 0 0 -1 - 1 0 0 - 1 0 0 - -0.70711 0.70711 0 - -0.70711 0.70711 0 - 0 -1 0 - 0 -1 0 - 0.70711 -0.70711 0 - 0.70711 -0.70711 0 - ] - } - normalPerVertex FALSE - coordIndex [ - 0, 2, 4, -1, 2, 6, 4, -1, 1, 5, 3, -1, 3, 5, 7, -1, 0, 1, 2, -1, 1, 3, 2, -1, 0, 4, 1, -1, 1, 4, 5, -1, 4, 6, 5, -1, 5, 6, 7, -1, 2, 3, 6, -1, 3, 7, 6, -1 - ] - } - isPickable FALSE - } - Transform { - translation -1.28743 -0.78743 0.081 - rotation 0 0 1 0.7853996938995746 - children [ - Shape { - appearance USE APPEARANCE_YELLOW - geometry Box { - size 0.12 0.12 0.022 - } - } - ] - } - Transform { - translation -1.33763 -0.83763 0.081 - rotation 0 0 1 -0.7854 - children [ - Shape { - appearance USE APPEARANCE_YELLOW - geometry Box { - size 0.481249 0.022 0.022 - } - } - ] - } - ] - } - ] - name "yellow statuette support" - boundingObject USE yellow_statuette_support_shape - locked TRUE -} -Solid { - translation 0 1.011 0.035 - rotation 1 0 0 1.5708 - children [ - DEF WALL_W Shape { - appearance DEF WALL_APPEARANCE PBRAppearance { - baseColor 0.631 0.612 0.537 - roughness 1 - metalness 0 - } - geometry Box { - size 3 0.07 0.022 - } - isPickable FALSE - } - ] - name "wall_top" - boundingObject USE WALL_W - locked TRUE -} -Solid { - translation 0 -1.011 0.035 - rotation 1 0 0 1.5708 - children [ - USE WALL_W - ] - name "wall_bottom" - boundingObject USE WALL_W - locked TRUE -} -Solid { - translation -1.511 0 0.035 - rotation 1 0 0 1.5708 - children [ - DEF WALL_H Shape { - appearance USE WALL_APPEARANCE - geometry Box { - size 0.022 0.07 2.044 - } - isPickable FALSE - } - ] - name "wall_left" - boundingObject USE WALL_H - locked TRUE -} -Solid { - translation 1.511 0 0.035 - rotation 1 0 0 1.5708 - children [ - USE WALL_H - ] - name "wall_right" - boundingObject USE WALL_H - locked TRUE -} -Sample { - name "sample_purple_excavation_site_red" - translation 0.442219 -0.454349 0.0075 - rotation 0 0 1 -0.785395307179586 - frontTexture "red" -} -Sample { - name "sample_purple_excavation_site_green" - translation 0.531922 -0.303676 0.0075 - rotation 0 0 1 1.309 - frontTexture "green" -} -Sample { - name "sample_purple_excavation_site_blue" - translation 0.61144 -0.45196 0.0075 - rotation 0 0 1 -2.6179953071795863 - frontTexture "blue" -} -Sample { - name "sample_yellow_excavation_site_red" - translation -0.446015 -0.290911 0.0075 - rotation 0 0 1 -0.261795307179586 - frontTexture "red" -} -Sample { - name "sample_yellow_excavation_site_green" - translation -0.608832 -0.343505 0.0075 - rotation 0 0 1 -1.3089953071795861 - frontTexture "green" -} -Sample { - name "sample_yellow_excavation_site_blue" - translation -0.498243 -0.466137 0.0075 - rotation 0 0 1 -2.094395307179586 - frontTexture "blue" -} -Sample { - name "sample_purple_playing_area_red" - translation 0.6 0.2 0.00750369 - rotation 0.7071067811862364 0.7071067811862364 9.381857096790023e-07 3.14159 - frontTexture "red" -} -Sample { - name "sample_purple_playing_area_green" - translation 0.67 0.325 0.00750385 - rotation 0.7071067811862364 0.7071067811862364 9.381857096790023e-07 3.14159 - frontTexture "green" -} -Sample { - name "sample_purple_playing_area_blue" - translation 0.6 0.45 0.00750346 - rotation 0.7071067811862364 0.7071067811862364 9.381857096790023e-07 3.14159 - frontTexture "blue" -} -Sample { - name "sample_yellow_playing_area_red" - translation -0.6 0.2 0.00749988 - rotation 0.7071067811862364 0.7071067811862364 9.381857096790023e-07 3.14159 - frontTexture "red" -} -Sample { - name "sample_yellow_playing_area_green" - translation -0.67 0.325 0.00749957 - rotation 0.7071067811862364 0.7071067811862364 9.381857096790023e-07 3.14159 - frontTexture "green" -} -Sample { - name "sample_yellow_playing_area_blue" - translation -0.6 0.45 0.00749969 - rotation 0.7071067811862364 0.7071067811862364 9.381857096790023e-07 3.14159 - frontTexture "blue" -} -Solid { - translation 0 1.233 0 - children [ - Transform { - translation 0 0 0.5 - children [ - Shape { - appearance USE WALL_APPEARANCE - geometry Box { - size 0.2 0.022 1 - } - } - Transform { - translation 0 -0.11 -0.011 - children [ - Shape { - appearance USE WALL_APPEARANCE - geometry Box { - size 0.022 0.2 0.978 - } - } - ] - } - Group { - children [ - Transform { - translation -0.1 -0.0585 0.489 - children [ - Shape { - appearance USE APPEARANCE_YELLOW - geometry DEF CENTRAL_TRACKING_TOP_BOX_HALF Box { - size 0.2 0.095 0.022 - } - } - ] - } - Transform { - translation -0.0475 -0.111 0.489 - children [ - Shape { - appearance USE APPEARANCE_YELLOW - geometry DEF CENTRAL_TRACKING_BOX_SLIT Box { - size 0.095 0.01 0.022 - } - } - ] - } - Transform { - translation -0.1 -0.1635 0.489 - children [ - Shape { - appearance USE APPEARANCE_YELLOW - geometry USE CENTRAL_TRACKING_TOP_BOX_HALF - } - ] - } - ] - } - Group { - children [ - Transform { - translation 0.1 -0.0585 0.489 - children [ - Shape { - appearance USE APPEARANCE_PURPLE - geometry USE CENTRAL_TRACKING_TOP_BOX_HALF - } - ] - } - Transform { - translation 0.0475 -0.111 0.489 - children [ - Shape { - appearance USE APPEARANCE_PURPLE - geometry USE CENTRAL_TRACKING_BOX_SLIT - } - ] - } - Transform { - translation 0.1 -0.1635 0.489 - children [ - Shape { - appearance USE APPEARANCE_PURPLE - geometry USE CENTRAL_TRACKING_TOP_BOX_HALF - } - ] - } - ] - } - ] - } - ] - name "central_tracking_device_platform" - boundingObject Transform { - translation 0 -0.111 0.989 - children [ - Box { - size 0.4 0.2 0.022 - } - ] - } - locked TRUE -} -DispenserVertical { - name "vertical_dispenser_left" - translation -0.15 1 0 - teamColor USE WALL_APPEARANCE -} -DispenserVertical { - name "vertical_dispenser_right" - translation 0.15 1 0 - teamColor USE WALL_APPEARANCE -} -DispenserVertical { - name "vertical_dispenser_yellow" - translation -1.5 -0.25 0 - rotation 0 0 1 1.5708 - teamColor USE APPEARANCE_YELLOW -} -DispenserVertical { - name "vertical_dispenser_purple" - translation 1.5 -0.25 0 - rotation 0 0 1 -1.5708 - teamColor USE APPEARANCE_PURPLE -} -Solid { - translation -1.522 0.7 0 - children [ - DEF dispenser_outer Transform { - translation -0.1075 -0.075 0.048 - scale 0.001 0.001 0.001 - children [ - Shape { - appearance USE WALL_APPEARANCE - geometry IndexedFaceSet { - coord DEF o6 Coordinate { - point [ - 1e-15 37.5 22, 1e-15 112.5 22, 1e-15 37.5 0, 1e-15 112.5 0, 1e-15 37.5 22, 1e-15 112.5 22, 64.949997 -2e-15 22, 107.9 0 22, 107.9 150 22, 64.949997 150 22, 64.949997 150 0, 64.949997 150 22, 1e-15 112.5 22, 1e-15 112.5 0, 1e-15 37.5 0, 1e-15 112.5 0, 64.949997 -2e-15 0, 107.9 0 0, 107.9 150 0, 64.949997 150 0, 64.949997 -2e-15 0, 64.949997 -2e-15 22, 1e-15 37.5 22, 1e-15 37.5 0, 64.949997 150 0, 107.9 150 0, 64.949997 150 22, 107.9 150 22, 107.9 0 0, 107.9 0 22, 107.9 150 0, 107.9 150 22, 64.949997 -2e-15 0, 107.9 0 0, 64.949997 -2e-15 22, 107.9 0 22, 1e-15 37.5 22, 1e-15 112.5 22, 1e-15 112.5 0, 1e-15 37.5 0, 64.949997 150 22, 107.9 150 22, 107.9 0 22, 64.949997 -2e-15 22, 64.949997 150 0, 107.9 150 0, 107.9 0 0, 64.949997 -2e-15 0 - ] - } - coordIndex [ - 2, 0, 3, -1, 3, 0, 1, -1, 9, 5, 4, -1, 9, 4, 6, -1, 9, 6, 7, -1, 8, 9, 7, -1, 10, 12, 11, -1, 10, 13, 12, -1, 15, 19, 14, -1, 14, 19, 16, -1, 16, 19, 17, -1, 19, 18, 17, -1, 23, 20, 21, -1, 23, 21, 22, -1, 27, 25, 24, -1, 27, 24, 26, -1, 28, 30, 31, -1, 29, 28, 31, -1, 33, 35, 32, -1, 32, 35, 34, -1 - ] - } - } - ] - } - ] - name "dispenser_yellow_outer" - boundingObject Transform { - translation -0.053952 0 0.059 - children [ - Box { - size 0.107902 0.15 0.022 - } - ] - } - locked TRUE -} -Solid { - translation 1.522 0.7 0 - rotation 0 0 1 3.141592653589793 - children [ - USE dispenser_outer - ] - name "dispenser_purple_outer" - boundingObject Transform { - translation -0.053952 0 0.059 - children [ - Box { - size 0.107902 0.15 0.022 - } - ] - } - locked TRUE -} -Sample { - name "sample_green_PURPLE_horizontal_dispenser" - translation 1.56495 0.7 0.0775 - rotation 0.965925849201117 0.2588189595935754 1.2410098062554258e-09 3.14159 - frontTexture "green" -} -Sample { - name "sample_red_PURPLE_horizontal_dispenser" - translation 1.1884 -0.8794 0.0775 - rotation 0.3826841051424448 -0.9238792538357933 1.773180487181278e-06 3.14159 - frontTexture "red" -} -Sample { - name "sample_blue_PURPLE_horizontal_dispenser" - translation 1.3794 -0.6884 0.0775 - rotation -0.9238792538356376 -0.38268410514238027 1.865750512614575e-06 3.14159 - frontTexture "blue" -} -Sample { - name "sample_green_YELLOW_horizontal_dispenser" - translation -1.56495 0.7 0.0775 - rotation -0.25881895959340473 -0.96592584920048 1.1484198207096768e-06 3.14159 - frontTexture "green" -} -Sample { - name "sample_red_YELLOW_horizontal_dispenser" - translation -1.1884 -0.8794 0.0775 - rotation -0.9238797538367262 0.3826828980360002 1.1655496894449454e-06 -3.1415853071795863 - frontTexture "red" -} -Sample { - name "sample_blue_YELLOW_horizontal_dispenser" - translation -1.3794 -0.6884 0.0775 - rotation -0.38268289803593086 -0.9238797538365588 1.3117796504824447e-06 3.14159 - frontTexture "blue" -} -Sample { - name "sample_red_YELLOW_vertical_dispenser" - translation -1.48816 -0.25 0.0621705 - rotation -0.25532206437512617 -0.9528732402508189 0.1638390413092342 2.04399 - frontTexture "red" -} -Sample { - name "sample_green_YELLOW_vertical_dispenser" - translation -1.47166 -0.25 0.0621705 - rotation -0.25532206437512617 -0.9528732402508189 0.1638390413092342 2.04399 - frontTexture "green" -} -Sample { - name "sample_blue_YELLOW_vertical_dispenser" - translation -1.45516 -0.25 0.0621705 - rotation -0.25532206437512617 -0.9528732402508189 0.1638390413092342 2.04399 - frontTexture "blue" -} -Sample { - name "sample_red_PURPLE_vertical_dispenser" - translation 1.48816 -0.25 0.0621705 - rotation 0.8210037674901239 -0.21998793769898486 0.5268378507984881 -2.861115307179586 - frontTexture "red" -} -Sample { - name "sample_green_PURPLE_vertical_dispenser" - translation 1.47166 -0.25 0.0621705 - rotation 0.8210037674901239 -0.21998793769898486 0.5268378507984881 -2.861115307179586 - frontTexture "green" -} -Sample { - name "sample_blue_PURPLE_vertical_dispenser" - translation 1.45516 -0.25 0.0621705 - rotation 0.8210037674901239 -0.21998793769898486 0.5268378507984881 -2.861115307179586 - frontTexture "blue" -} -Sample { - name "sample_red_RIGHT_vertical_dispenser" - translation 0.15 0.988161 0.0621705 - rotation 0.8246198587813874 0.4760949184673239 0.30550894768068065 -2.1681953071795865 - frontTexture "red" -} -Sample { - name "sample_green_RIGHT_vertical_dispenser" - translation 0.15 0.97166 0.0621705 - rotation 0.8246198587813874 0.4760949184673239 0.30550894768068065 -2.1681953071795865 - frontTexture "green" -} -Sample { - name "sample_blue_RIGHT_vertical_dispenser" - translation 0.15 0.955155 0.0621705 - rotation 0.8246198587813874 0.4760949184673239 0.30550894768068065 -2.1681953071795865 - frontTexture "blue" -} -Sample { - name "sample_red_LEFT_vertical_dispenser" - translation -0.15 0.988161 0.0621705 - rotation 0.8246198587813874 0.4760949184673239 0.30550894768068065 -2.1681953071795865 - frontTexture "red" -} -Sample { - name "sample_green_LEFT_vertical_dispenser" - translation -0.15 0.97166 0.0621705 - rotation 0.8246198587813874 0.4760949184673239 0.30550894768068065 -2.1681953071795865 - frontTexture "green" -} -Sample { - name "sample_blue_LEFT_vertical_dispenser" - translation -0.15 0.955155 0.0621705 - rotation 0.8246198587813874 0.4760949184673239 0.30550894768068065 -2.1681953071795865 - frontTexture "blue" -} -ExcavationSquare { - name "excSq0" - translation -0.8325 -1.022 0 -} -ExcavationSquare { - name "excSq1" - translation -0.6475 -1.022 0 -} -ExcavationSquare { - name "excSq2" - translation -0.4625 -1.022 0 - frontTexture "red" -} -ExcavationSquare { - name "excSq3" - translation -0.2775 -1.022 0 - frontTexture "purple1" -} -ExcavationSquare { - name "excSq4" - translation -0.0925 -1.022 0 -} -ExcavationSquare { - name "excSq5" - translation 0.0925 -1.022 0 -} -ExcavationSquare { - name "excSq6" - translation 0.2775 -1.022 0 - frontTexture "purple1" -} -ExcavationSquare { - name "excSq7" - translation 0.4625 -1.022 0 - frontTexture "red" -} -ExcavationSquare { - name "excSq8" - translation 0.6475 -1.022 0 - frontTexture "purple1" -} -ExcavationSquare { - name "excSq9" - translation 0.8325 -1.022 0 - frontTexture "purple1" -} -OpponentBox { - name "opponent_box_big" - translation -1.26 0.167802 0 - rotation 0 0 1 1.01503e-06 -} -OpponentBox { - name "opponent_box_small" - translation -1.26 0.46 0 - rotation 0 0 -1 -5.307179586466759e-06 - arucoNumber 2 -} -RobotMemristor2 { - translation 1.21 0.17 0 - rotation 0 0 1 3.14159 -} From 57c679189152edb48eaf61ed96ce0263f110783c Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Wed, 16 Mar 2022 00:56:13 +0100 Subject: [PATCH 43/86] revert world file --- mep3_simulation/webots_data/worlds/eurobot_2022.wbt | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt index 4644f3687..da0ac8ddf 100644 --- a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt +++ b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt @@ -12,8 +12,8 @@ WorldInfo { ] } Viewpoint { - orientation -0.29903693558752337 0.29903684786278223 0.9061754105992473 1.6700029912992047 - position 2.7755575615628914e-17 -4.200000000000001 3.5 + orientation -0.33 0.33 1 1.67 + position 0 -4.2 3.5 } TexturedBackground { } @@ -571,5 +571,6 @@ Robot { RobotMemristor2 { translation 1.21 0.17 0 rotation 0 0 1 3.14159 + controller "" arucoNumber 6 } From e72382a8e9aaa9819bbe3bbf4aea19ba8c7fc2cc Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Wed, 16 Mar 2022 00:58:20 +0100 Subject: [PATCH 44/86] remove Pogon.proto --- .../webots_data/protos/Pogon.proto | 243 ------------------ 1 file changed, 243 deletions(-) delete mode 100644 mep3_simulation/webots_data/protos/Pogon.proto diff --git a/mep3_simulation/webots_data/protos/Pogon.proto b/mep3_simulation/webots_data/protos/Pogon.proto deleted file mode 100644 index 91a911d51..000000000 --- a/mep3_simulation/webots_data/protos/Pogon.proto +++ /dev/null @@ -1,243 +0,0 @@ -#VRML_SIM R2022a utf8 -# template language: javascript - -PROTO Pogon [ - hiddenField SFFloat motor_wheel_radius 0.036 - hiddenField SFFloat motor_wheel_height 0.035 - hiddenField SFFloat motor_wheel_distance 0.143 - hiddenField SFFloat motor_wheel_mass 0.05 - hiddenField SFFloat encoder_wheel_radius 0.0375 - hiddenField SFFloat encoder_wheel_height 0.007 - hiddenField SFFloat encoder_wheel_distance 0.287 - hiddenField SFFloat encoder_wheel_mass 0.05 -] -{ -Group { - children [ - DEF levi_enkoder Transform { - translation 0 %<=fields.encoder_wheel_distance.value/2>% %<= fields.encoder_wheel_radius.value >% - children [ - HingeJoint { - jointParameters HingeJointParameters { - axis 0 1 0 - } - device [ - PositionSensor { - name "encoder_left" - } - RotationalMotor { - name "left_motor" - maxVelocity 30 - maxTorque 100 - } - ] - endPoint Solid { - rotation -1 0 0 1.570796 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.933333 0.933333 0.92549 - roughness 1 - roughnessMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_roughness.jpg" - ] - } - metalness 0 - normalMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_normal.jpg" - ] - } - } - geometry Cylinder { - height IS encoder_wheel_height - radius IS encoder_wheel_radius - } - } - ] - name "test_robot_encoder_left_solid" - contactMaterial "wheel" - boundingObject DEF ENCODER_WHEEL_BO Cylinder { - height IS encoder_wheel_height - radius IS encoder_wheel_radius - } - physics Physics { - density -1 - mass IS encoder_wheel_mass - } - } - } - ] - } - DEF desni_enkoder Transform { - translation 0 %<=-fields.encoder_wheel_distance.value/2>% %<= fields.encoder_wheel_radius.value >% - children [ - HingeJoint { - jointParameters HingeJointParameters { - axis 0 1 0 - } - device [ - PositionSensor { - name "encoder_right" - } - RotationalMotor { - name "right_motor" - maxVelocity 30 - maxTorque 100 - } - ] - endPoint Solid { - rotation -1 0 0 1.570796 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.933333 0.933333 0.92549 - roughness 1 - roughnessMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_roughness.jpg" - ] - } - metalness 0 - normalMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_normal.jpg" - ] - } - } - geometry Cylinder { - height IS encoder_wheel_height - radius IS encoder_wheel_radius - } - } - ] - name "test_robot_encoder_right_solid" - contactMaterial "wheel" - boundingObject DEF ENCODER_WHEEL_BO Cylinder { - height IS encoder_wheel_height - radius IS encoder_wheel_radius - } - physics Physics { - density -1 - mass IS encoder_wheel_mass - } - } - } - ] - } - DEF levi_motor Transform { - translation 0 %<=fields.motor_wheel_distance.value/2>% %<= fields.motor_wheel_radius.value >% - children [ - HingeJoint { - jointParameters HingeJointParameters { - axis 0 1 0 - } - device [ - PositionSensor { - name "left_encoder_inner" - } - RotationalMotor { - name "left_motor_inner" - maxVelocity 30 - maxTorque 100 - } - ] - endPoint Solid { - rotation -1 0 0 1.5707996938995745 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.180392 0.203922 0.211765 - roughness 1 - roughnessMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_roughness.jpg" - ] - } - metalness 0 - normalMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_normal.jpg" - ] - } - } - geometry Cylinder { - height IS motor_wheel_height - radius IS motor_wheel_radius - } - } - ] - name "test_robot_motor_left_solid" - contactMaterial "wheel" - boundingObject DEF ENCODER_WHEEL_BO Cylinder { - height IS motor_wheel_height - radius IS motor_wheel_radius - } - physics Physics { - density -1 - mass IS motor_wheel_mass - } - } - } - ] - } - DEF desni_motor Transform { - translation 0 %<=-fields.motor_wheel_distance.value/2>% %<= fields.motor_wheel_radius.value >% - children [ - HingeJoint { - jointParameters HingeJointParameters { - axis 0 1 0 - } - device [ - PositionSensor { - name "right_encoder_inner" - } - RotationalMotor { - name "right_motor_inner" - maxVelocity 30 - maxTorque 100 - } - ] - endPoint Solid { - rotation -1 0 0 1.5707996938995745 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.180392 0.203922 0.211765 - roughness 1 - roughnessMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_roughness.jpg" - ] - } - metalness 0 - normalMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_normal.jpg" - ] - } - } - geometry Cylinder { - height IS motor_wheel_height - radius IS motor_wheel_radius - } - } - ] - name "test_robot_motor_right_solid" - contactMaterial "wheel" - boundingObject DEF ENCODER_WHEEL_BO Cylinder { - height IS motor_wheel_height - radius IS motor_wheel_radius - } - physics Physics { - density -1 - mass IS motor_wheel_mass - } - } - } - ] - } - ] -} -} \ No newline at end of file From e7074de7b9b5331ecb454920ed246f5540716766 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Wed, 16 Mar 2022 01:00:12 +0100 Subject: [PATCH 45/86] remove RobotMemristor.proto --- .../webots_data/protos/RobotMemristor.proto | 635 ------------------ 1 file changed, 635 deletions(-) delete mode 100644 mep3_simulation/webots_data/protos/RobotMemristor.proto diff --git a/mep3_simulation/webots_data/protos/RobotMemristor.proto b/mep3_simulation/webots_data/protos/RobotMemristor.proto deleted file mode 100644 index 3089cfb08..000000000 --- a/mep3_simulation/webots_data/protos/RobotMemristor.proto +++ /dev/null @@ -1,635 +0,0 @@ -#VRML_SIM R2022a utf8 -# template language: javascript - -PROTO RobotMemristor [ - field SFString name "test_robot" - field SFVec3f translation 0 0 0 - field SFRotation rotation 0 1 0 0 - field SFString controller "test_robot" - field SFFloat mass_robot 2 - field SFFloat mass_motor_wheel 0.05 - field SFFloat mass_encoder_wheel 0.05 - field SFFloat mass_arm_base 0.2 - field SFFloat mass_arm_mid1 0.15 - field SFFloat mass_arm_mid2 0.3 - field SFFloat mass_arm_gripper 0.1 - hiddenField SFFloat motor_wheel_radius 0.036 - hiddenField SFFloat motor_wheel_height 0.035 - hiddenField SFFloat motor_wheel_distance 0.143 - hiddenField SFFloat encoder_wheel_radius 0.0375 - hiddenField SFFloat encoder_wheel_height 0.007 - hiddenField SFFloat encoder_wheel_distance 0.287 - hiddenField SFFloat arm_x 0.075 - hiddenField SFFloat arm_y 0.132 - hiddenField SFFloat arm_z 0.063 - hiddenField SFFloat robot_x_size 0.2 - hiddenField SFFloat robot_y_size 0.3 - hiddenField SFFloat robot_z_size 0.335 - hiddenField SFFloat robot_height 0.013 - hiddenField SFFloat robot_plate_width 0.005 -] -{ -Robot { - translation IS translation - rotation IS rotation - name IS name - controller IS controller - children [ - DEF leva_sisaljka Connector { - translation 0.053 0.1246 0.2024 - } - DEF desna_sisaljka Connector { - translation 0.053 -0.1246 0.2024 - } - DEF left_hand_G Transform { - translation -0.0328 0.1292 0.1526 - children [ - HingeJoint { - jointParameters HingeJointParameters { - } - device [ - RotationalMotor { - name "left_hand_G" - } - ] - endPoint Solid { - children [ - Shape { - appearance PBRAppearance { - baseColor 0.8 0 0 - } - geometry Mesh { - url [ - "assets/meshes/hands/hand_G.obj" - ] - } - } - ] - boundingObject Transform { - translation 0.0015 0 0.024 - children [ - Box { - size 0.048 0.011 0.11 - } - ] - } - physics Physics { - } - } - } - ] - } - - DEF right_hand_G Transform { - translation -0.0328 -0.1292 0.1526 - children [ - HingeJoint { - jointParameters HingeJointParameters { - } - device [ - RotationalMotor { - name "right_hand_G" - } - ] - endPoint Solid { - children [ - Shape { - appearance PBRAppearance { - baseColor 0.8 0 0 - } - geometry Mesh { - url [ - "assets/meshes/hands/hand_G.obj" - ] - } - } - ] - boundingObject Transform { - translation 0.0015 0 0.024 - children [ - Box { - size 0.048 0.011 0.11 - } - ] - } - physics Physics { - } - } - } - ] - } - - - DEF middle_hand Transform { - translation -0.0868 0 0.2195 - children [ - HingeJoint { - jointParameters HingeJointParameters { - axis 0 1 0 - } - device [ - RotationalMotor { - name "middle_hand" - } - ] - endPoint Solid { - children [ - DEF pokretni_deo Shape { - appearance PBRAppearance { - baseColor 0.8 0 0 - } - geometry Mesh { - url [ - "assets/meshes/hands/hand_mid.obj" - ] - } - } - ] - name "solid(2)" - boundingObject Transform { - translation -0.0092 0 -0.07 - children [ - Box { - size 0.01 0.183 0.05 - } - ] - } - physics Physics { - } - } - } - DEF staticni_deo Shape { - appearance PBRAppearance { - baseColor 0.8 0 0 - } - geometry Mesh { - url [ - "assets/meshes/hands/static_mid.obj" - ] - } - } - ] - } - - - DEF left_hand_Dz Transform { - translation -0.0314 0.1296 0.13 - children [ - HingeJoint { - jointParameters HingeJointParameters { - } - device [ - RotationalMotor { - name "left_hand_Dz" - } - ] - endPoint Solid { - children [ - Shape { - appearance PBRAppearance { - baseColor 0.8 0 0 - } - geometry Mesh { - url [ - "assets/meshes/hands/hand_Dz.obj" - ] - } - } - ] - name "solid(2)" - boundingObject Transform { - translation 0 0 0.0745 - children [ - Box { - size 0.072 0.02 0.126 - } - ] - } - } - } - ] - } - - DEF right_hand_Dz Transform { - translation -0.0314 -0.1296 0.13 - children [ - HingeJoint { - jointParameters HingeJointParameters { - } - device [ - RotationalMotor { - name "right_hand_Dz" - } - ] - endPoint Solid { - children [ - Shape { - appearance PBRAppearance { - baseColor 0.8 0 0 - } - geometry Mesh { - url [ - "assets/meshes/hands/hand_Dz.obj" - ] - } - } - ] - name "solid(2)" - boundingObject Transform { - translation 0 0 0.0745 - children [ - Box { - size 0.072 0.02 0.126 - } - ] - } - } - } - ] - } - - - DEF kapa Transform { - translation -0.0262 0 0.4393 - children [ - Transform { - translation 0 0 0.0679 - rotation 1 0 0 4.692820414042842e-06 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.180392 0.203922 0.211765 - roughness 1 - roughnessMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_roughness.jpg" - ] - } - metalness 0 - } - geometry Box { - size 0.1 0.1 0.005 - } - } - ] - } - Shape { - appearance PBRAppearance { - baseColor 0.180392 0.203922 0.211765 - roughness 1 - roughnessMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_roughness.jpg" - ] - } - metalness 0 - } - geometry Cylinder { - height 0.135 - radius 0.04 - } - castShadows FALSE - } - ] - } - - - Shape { - appearance Plastic { - colorOverride 0.333333 0.341176 0.32549 - } - geometry Mesh { - url ["assets/meshes/robot/Robot.obj"] - } - } - - - - Solid { - translation 0.08 0 0.0075 - children [ - DEF OMNI_SHAPE Shape { - appearance PBRAppearance { - baseColorMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_base_color.jpg" - ] - } - roughnessMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_roughness.jpg" - ] - } - normalMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_normal.jpg" - ] - } - } - geometry Sphere { - radius 0.007 - subdivision 4 - } - } - ] - name "front_omni_wheel" - contactMaterial "omni_wheel" - boundingObject USE OMNI_SHAPE - physics Physics { - } - } - Solid { - translation -0.079 0.096 0.0075 - children [ - USE OMNI_SHAPE - ] - name "rear_omni_wheel_left" - contactMaterial "omni_wheel" - boundingObject USE OMNI_SHAPE - physics Physics { - } - } - Solid { - translation -0.079 -0.096 0.0075 - children [ - USE OMNI_SHAPE - ] - name "rear_omni_wheel_right" - contactMaterial "omni_wheel" - boundingObject USE OMNI_SHAPE - physics Physics { - } - } - - DEF levi_enkoder Transform { - translation 0 0.1435 0.0375 - children [ - HingeJoint { - jointParameters HingeJointParameters { - axis 0 1 0 - } - device [ - PositionSensor { - name "encoder_left" - } - RotationalMotor { - name "left_motor" - maxVelocity 30 - maxTorque 100 - } - ] - endPoint Solid { - rotation -1 0 0 1.570796 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.933333 0.933333 0.92549 - roughness 1 - roughnessMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_roughness.jpg" - ] - } - metalness 0 - normalMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_normal.jpg" - ] - } - } - geometry Cylinder { - height 0.007 - radius 0.0375 - } - } - ] - name "test_robot_encoder_left_solid(1)" - contactMaterial "wheel" - boundingObject DEF ENCODER_WHEEL_BO Cylinder { - height 0.007 - radius 0.0375 - } - physics Physics { - density -1 - mass 0.05 - } - } - } - ] - } - DEF desni_enkoder Transform { - translation 0 -0.1435 0.0375 - children [ - HingeJoint { - jointParameters HingeJointParameters { - axis 0 1 0 - } - device [ - PositionSensor { - name "encoder_left" - } - RotationalMotor { - name "left_motor" - maxVelocity 30 - maxTorque 100 - } - ] - endPoint Solid { - rotation -1 0 0 1.570796 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.933333 0.933333 0.92549 - roughness 1 - roughnessMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_roughness.jpg" - ] - } - metalness 0 - normalMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_normal.jpg" - ] - } - } - geometry Cylinder { - height 0.007 - radius 0.0375 - } - } - ] - name "test_robot_encoder_left_solid(2)" - contactMaterial "wheel" - boundingObject DEF ENCODER_WHEEL_BO Cylinder { - height 0.007 - radius 0.0375 - } - physics Physics { - density -1 - mass 0.05 - } - } - } - ] - } - DEF levi_motor Transform { - translation 0 0.0715 0.036 - children [ - HingeJoint { - jointParameters HingeJointParameters { - axis 0 1 0 - } - device [ - PositionSensor { - name "left_encoder_inner" - } - RotationalMotor { - name "left_motor_inner" - maxVelocity 30 - maxTorque 100 - } - ] - endPoint Solid { - rotation -1 0 0 1.5707996938995745 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.180392 0.203922 0.211765 - roughness 1 - roughnessMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_roughness.jpg" - ] - } - metalness 0 - normalMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_normal.jpg" - ] - } - } - geometry Cylinder { - height 0.035 - radius 0.036 - } - } - ] - name "test_robot_motor_left_solid" - contactMaterial "wheel" - boundingObject DEF ENCODER_WHEEL_BO Cylinder { - height 0.035 - radius 0.036 - } - physics Physics { - density -1 - mass 0.05 - } - } - } - ] - } - DEF desni_motor Transform { - translation 0 -0.0715 0.036 - children [ - HingeJoint { - jointParameters HingeJointParameters { - axis 0 1 0 - } - device [ - PositionSensor { - name "right_encoder_inner" - } - RotationalMotor { - name "right_motor_inner" - maxVelocity 30 - maxTorque 100 - } - ] - endPoint Solid { - rotation -1 0 0 1.5707996938995745 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.180392 0.203922 0.211765 - roughness 1 - roughnessMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_roughness.jpg" - ] - } - metalness 0 - normalMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/plastic/plastic_rough_normal.jpg" - ] - } - } - geometry Cylinder { - height 0.035 - radius 0.036 - } - } - ] - name "test_robot_motor_left_solid(1)" - contactMaterial "wheel" - boundingObject DEF ENCODER_WHEEL_BO Cylinder { - height 0.035 - radius 0.036 - } - physics Physics { - density -1 - mass 0.05 - } - } - } - ] - } - RobotArmMemristor { - name "arm_right" - translation %<= fields.arm_x.value >% %<= -fields.arm_y.value >% %<= fields.arm_z.value >% - rotation 0 0 1 1.5708 - mass_base IS mass_arm_base - mass_mid1 IS mass_arm_mid1 - mass_mid2 IS mass_arm_mid2 - mass_gripper IS mass_arm_gripper - } - RobotArmMemristor { - name "arm_left" - translation %<= fields.arm_x.value >% %<= fields.arm_y.value >% %<= fields.arm_z.value >% - rotation 0 0 1 -1.5708 - mass_base IS mass_arm_base - mass_mid1 IS mass_arm_mid1 - mass_mid2 IS mass_arm_mid2 - mass_gripper IS mass_arm_gripper - } - RobotisLds01 { - translation -0.0262 -0.0008 0.355 - } - ] - boundingObject Group { - children [ - Transform { - translation %<= -(fields.robot_x_size.value - 2*fields.arm_x.value)/2 >% 0 %<= fields.robot_z_size.value/8 + fields.robot_height.value + fields.robot_plate_width.value/4 >% - children [ - Box { - size %<= 2*fields.arm_x.value >% %<= fields.robot_y_size.value >% %<= fields.robot_z_size.value/4 - fields.robot_plate_width.value/2 >% - } - ] - } - Transform { - translation 0 0 %<= fields.robot_height.value >% - children [ - Box { - size %<= fields.robot_x_size.value >% %<= fields.robot_y_size.value >% %<= fields.robot_plate_width.value >% - } - ] - } - ] - } - physics Physics { - density -1 - mass IS mass_robot - } -} -} From c178a3100d98e17cc99b873d2a96f5654a44e695 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Wed, 16 Mar 2022 01:01:25 +0100 Subject: [PATCH 46/86] remove empty files --- mep3_localization/resource/mep3_localization | 0 1 file changed, 0 insertions(+), 0 deletions(-) delete mode 100644 mep3_localization/resource/mep3_localization diff --git a/mep3_localization/resource/mep3_localization b/mep3_localization/resource/mep3_localization deleted file mode 100644 index e69de29bb..000000000 From e521948afd0e533974c60053e5ee4efc73ca5313 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Wed, 16 Mar 2022 01:06:26 +0100 Subject: [PATCH 47/86] revert empty file --- mep3_localization/resource/mep3_localization | 0 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 mep3_localization/resource/mep3_localization diff --git a/mep3_localization/resource/mep3_localization b/mep3_localization/resource/mep3_localization new file mode 100644 index 000000000..e69de29bb From df9d6fc2c0e0aaa7f4ff804df5c9505a9f4f1119 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Wed, 16 Mar 2022 18:47:33 +0100 Subject: [PATCH 48/86] change webots robot env name --- mep3_simulation/launch/simulation_launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mep3_simulation/launch/simulation_launch.py b/mep3_simulation/launch/simulation_launch.py index 49852f6f7..2b9f6896e 100644 --- a/mep3_simulation/launch/simulation_launch.py +++ b/mep3_simulation/launch/simulation_launch.py @@ -38,7 +38,7 @@ def generate_launch_description(): executable='driver', output='screen', # debugging emulate_tty=True, # debugging - additional_env={'WEBOTS_ROBOT_NAME': 'test_robot'}, + additional_env={'WEBOTS_ROBOT_NAME': 'robot_memristor'}, parameters=[ { 'robot_description': robot_description From dfb78dee2cc98fe97699eba33cff645570445381 Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Thu, 17 Mar 2022 02:40:27 +0100 Subject: [PATCH 49/86] deleted camera controller --- .../webots_data/controllers/.gitignore | 1 + .../controllers/camera_controller/.gitignore | 2 - .../controllers/camera_controller/Makefile | 72 ------------------ .../camera_controller/camera_controller | Bin 14560 -> 0 bytes .../camera_controller/camera_controller.cpp | 40 ---------- 5 files changed, 1 insertion(+), 114 deletions(-) delete mode 100644 mep3_simulation/webots_data/controllers/camera_controller/.gitignore delete mode 100644 mep3_simulation/webots_data/controllers/camera_controller/Makefile delete mode 100755 mep3_simulation/webots_data/controllers/camera_controller/camera_controller delete mode 100644 mep3_simulation/webots_data/controllers/camera_controller/camera_controller.cpp diff --git a/mep3_simulation/webots_data/controllers/.gitignore b/mep3_simulation/webots_data/controllers/.gitignore index d4d3dd8d0..23279bdf8 100644 --- a/mep3_simulation/webots_data/controllers/.gitignore +++ b/mep3_simulation/webots_data/controllers/.gitignore @@ -1,2 +1,3 @@ test_robot_arm_memristor build/* +camera_controller/ diff --git a/mep3_simulation/webots_data/controllers/camera_controller/.gitignore b/mep3_simulation/webots_data/controllers/camera_controller/.gitignore deleted file mode 100644 index 278f6c883..000000000 --- a/mep3_simulation/webots_data/controllers/camera_controller/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -build/ -camera_controller diff --git a/mep3_simulation/webots_data/controllers/camera_controller/Makefile b/mep3_simulation/webots_data/controllers/camera_controller/Makefile deleted file mode 100644 index 920928c35..000000000 --- a/mep3_simulation/webots_data/controllers/camera_controller/Makefile +++ /dev/null @@ -1,72 +0,0 @@ -# Copyright 1996-2021 Cyberbotics Ltd. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -### Generic Makefile.include for Webots controllers, physics plugins, robot -### window libraries, remote control libraries and other libraries -### to be used with GNU make -### -### Platforms: Windows, macOS, Linux -### Languages: C, C++ -### -### Authors: Olivier Michel, Yvan Bourquin, Fabien Rohrer -### Edmund Ronald, Sergei Poskriakov -### -###----------------------------------------------------------------------------- -### -### This file is meant to be included from the Makefile files located in the -### Webots projects subdirectories. It is possible to set a number of variables -### to customize the build process, i.e., add source files, compilation flags, -### include paths, libraries, etc. These variables should be set in your local -### Makefile just before including this Makefile.include. This Makefile.include -### should never be modified. -### -### Here is a description of the variables you may set in your local Makefile: -### -### ---- C Sources ---- -### if your program uses several C source files: -### C_SOURCES = my_plugin.c my_clever_algo.c my_graphics.c -### -### ---- C++ Sources ---- -### if your program uses several C++ source files: -### CXX_SOURCES = my_plugin.cc my_clever_algo.cpp my_graphics.c++ -### -### ---- Compilation options ---- -### if special compilation flags are necessary: -### CFLAGS = -Wno-unused-result -### -### ---- Linked libraries ---- -### if your program needs additional libraries: -### INCLUDE = -I"/my_library_path/include" -### LIBRARIES = -L"/path/to/my/library" -lmy_library -lmy_other_library -### -### ---- Linking options ---- -### if special linking flags are needed: -### LFLAGS = -s -### -### ---- Webots included libraries ---- -### if you want to use the Webots C API in your C++ controller program: -### USE_C_API = true -### -### ---- Debug mode ---- -### if you want to display the gcc command line for compilation and link, as -### well as the rm command details used for cleaning: -### VERBOSE = 1 -### -###----------------------------------------------------------------------------- - -### Do not modify: this includes Webots global Makefile.include -null := -space := $(null) $(null) -WEBOTS_HOME_PATH=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME)))) -include $(WEBOTS_HOME_PATH)/resources/Makefile.include diff --git a/mep3_simulation/webots_data/controllers/camera_controller/camera_controller b/mep3_simulation/webots_data/controllers/camera_controller/camera_controller deleted file mode 100755 index 799ceaae08e65ac72c36008ac8ef5427b8207125..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 14560 zcmeHOYj7LY6~3~qM0u@6Nm4ffvSb`^NUTWC%MQ3$evlPWQYW^-qzP+Tl5Guo7-<#T z3~j?WN!dE4fwsU5%-~KRLp#$ZokAx=U(O^z`eG6&9a;u(TOJax7(u8DB&%O8TYWL<#E&dxyY&J$z%0A1G8^2VSH1LWp4=(^Tuv)eN z{$9Z@XS0AW(`0&mgAP!u(+edt(ZS`VfT&l2g$v+ix|k7?hlr?Gh`Q$MHH6Hm^QdRX zBIm7W$AJJ5QoYfis8us&!DD=Ugl0W7>8#fEob@x&!N=|7NP1`v^{TjD71tvad4Gfy zPmBp(wcMT+MW{m(wZDv6^*Xtp6`Of`LhJ*n?KLHIG5xi2y-rax!>qVV7c)ZYZ#(Gm zDdH{uHPAHg;QbYvhe;k!LY!};HPJ}-hIMPAq3UQPo*t|otldz(VVx_LaMft_=oj{Z zYijeh4hCk%QAX2=<%OKb`WNr7Es6YWPWh#knXlb`V%{yYgq0Iy1N+1_NT|~9>GNjbV>)tU|l!$_ctZtN-`0RhLftu&y_(=sjL!KWLGB*Zc8o0Go~IWqTwRZd1bj&@Y58rG$d3 zR$&_007{`~>z)`Y|L0@#)W}=qU?L7NNCy>P>lPUAo_4vdR&G;j+&zipKp+{CBQP5Q zB>|BM^y>Z8MiMC*!WUlWi$|1ZJsjun7%q$R{D~O0XdrJg^3L(lZhk@2_x1Ugo(z0d6?W0ABe<5@{VvS z9SdV+kVg`iSMWAD*ms-U6Np4%EWyEm3|$OH6c!7|g8f5W))T?O-GS>8_4&Gt1tM{_ zxv5EB>vFTreqUo#XD5``xoSKNirz+_>~XC%6(a-1JJeHirZ>>THnmG{9dyp+x5Hyj(3M|d6DUl@rjz&plb zsK-9Oe((Ko`zT`~=hI6fbMQ{HitE$!2|X8#@w`#NpFc>xmp>PZ7I_zM?`Xi@r=Kr~ zKXtt>$9ov&R-zY7a)E?^6DIj3CV9prH{YiwO>*v{rZr`fa~Czavq3kCbHyJSH9;3| zkMoLkM13YXgxR2elbnZAs~a@Q@jg$q*Cf}TM|s8FCb{`J=a5ORuQgraL6e;325ZJl za+qL)9yQ758dAoNnB=g)3_5C(!$LA>+$1kIq>P<3$#K0EsThG`1pfCU@P7FfA4$V+ zJERf&AJ;G@?H^Z4@~5QX6OQAW^ZE7HfH;?5u?nDk8N>E{Sd+{CIiJrT(s)dix$J3! z#{`+n9y54MjJfQO3?36=F8fV`$3&RR-fQrf0CU;93?36-E_=JdW5Ua20|t+YE|=YI z@R;CoS+BukV#{Sc29F6pm%Y;9F~Q}smkOGWlohztQ@ytcK98hB|4aem9hH6N0zhSR7p+1<3yJ+{}PCXzSDSj!!*( ztEB!#8h&-MwcS5zUks6wMi)E+1CvJU`@m*?QEnAu9~=VqO3k2s2}0eJvIw^RGf;%3&Fs5xB*9gqDNb| zq>tmh-w(WPH|QGuqkeV(D!D(% zd)s~L?>i**Y@4Kh4C~7|V|_V156kx*gwA{`-}bAOmA>Im$_HAdk!zt~ zOK&XyNejDswtu9u5=4GA=xBVZ>}rP7>zJP2T`&huoLq28U*uc&zp9*ms}csO^OE|C zq`vNXHuEhQg`}2B>eH~;D4ynX-_5-FF>DsSo3|c-aNY;mDf1)-Am~=ap};S^vcJ3rZ*|}hnXEw%lpt$&-5THQZWL>2oxhwj6g90 z#RwE5P>jI;eFSX$y|wv^%%)A|ZxdoX9gT|dgd*;NH}4^~Bamv1xS7kf2L7dz!8MUs z?;0i1FAs&I(ZqnOKi&&bvn?&X7Qf-*Pw|sy;6(x8(aC)NDDr@(03UrXpFaXWQKkU# zU3k^|`TR-1KEOe!@B9EBk^!sE=JOLEe-N;WzkH>4xwboYFx#Nhwsih%$02Bgay&DT z$>sC##)7ft+1l&KN+_;_%MHFvqFiv^AXMB~K5xLWmtDVP(=}@=m!lZ<(eEi}rzxTk z2;~Y~lOUe}ByvLme`KJ~r%-r<;5=B;EL0pQZ5G7gvdx0K(>Eb|Ig2kc(KJv^&f z=qh<-uHbGGs=R{OC{#3R{dngw{KbuAo9^ez>3)Q+;aLal2g^oF?}3=&_;4&ZJ}+R| z82kZ3c@%u;ggL4~fh0I@790$H+z0Xo7*);0M$XUE)mQ~b^BEl!@n%fo=REkZSSuem4--ER#n`909Va)8 zpKy^Jykqj)!S(5^3iS`aQ#7J>@V!JEA2ioQ@JUPKJGml!A<}sA6Mi~rd=;<%JLk)| z-TyYw`E09Qw^NriaBSt+#j&5`UXF)2j&VG~ah&5RjuRXwIWqGhDXSCz2JdK?*$58P zZ4#?Gy3=tbE!Mf(0(KFRZuYNcXE9~d{1E}>;9^P zO0)i*T%S-hD?{0;zZqm7!rmqSDZdd`aec~fR{ys{J;spqDgP1D`y})cV@LXwhi(BG zx=i|%PYEf1LKBUw@ehC$a}()PJ|cv39~zPW)Q&I?wV3OOr+i0vgzKaK=qLHl#q0}E zz?hQ0k$))r%nd>)lgOtw+DgUEB-ovc=_ks+&Ap4B+6-TRG-YtopII0wFy|Paj~|KC8RS^uc0 zw0;4hj=cdg0WJzNJzp9B9|)C9MEw)utJiY4NS~g+ z#A;oM+K~z33G+~aYoGM#If4Fvm&gN)`xlAyXdOKSG8_}>)AN_K23x~Bbsdbqq;DW7 zoAp@(Z|c^O_Bk0KJ>msWMj7>A(V*8 -#include -#define TIME_STEP 64 - -using namespace webots; - -int main(int argc, char **argv) { - Robot *robot = new Robot(); - int timeStep = (int)robot->getBasicTimeStep(); - - // You should insert a getDevice-like function in order to get the - // instance of a device of the robot. Something like: - // Motor *motor = robot->getMotor("motorname"); - // DistanceSensor *ds = robot->getDistanceSensor("dsname"); - // ds->enable(timeStep); - Camera *cm; - cm=robot->getCamera("cam_central"); - cm->enable(timeStep); - //std::cout << "Focal length = " << cm->getFocalLength() << std::endl; - - // Main loop: - // - perform simulation steps until Webots is stopping the controller - while (robot->step(timeStep) != -1) { - // Read the sensors: - // Enter here functions to read sensor data, like: - // double val = ds->getValue(); - - - // Process sensor data here. - - // Enter here functions to send actuator commands, like: - // motor->setPosition(10.0); - }; - cm->saveImage("../../src/img/top_yellow.png", 100); - - // Enter here exit cleanup code. - - delete robot; - return 0; -} From 7cba2d5d1accc9f01a9c40936dda8472c59664cb Mon Sep 17 00:00:00 2001 From: Vladimir Vincan Date: Sun, 20 Mar 2022 15:18:15 +0100 Subject: [PATCH 50/86] make static cvbridge --- mep3_localization/mep3_localization/robot_detection.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mep3_localization/mep3_localization/robot_detection.py b/mep3_localization/mep3_localization/robot_detection.py index 9cc536f7f..6915211cd 100644 --- a/mep3_localization/mep3_localization/robot_detection.py +++ b/mep3_localization/mep3_localization/robot_detection.py @@ -48,6 +48,7 @@ def __init__(self): self.camera_info_subscription self._tf_publisher = TransformBroadcaster(self) self.static_tf_listener('map', 'camera_static') + self.br = CvBridge() self.dict = aruco.Dictionary_get(aruco.DICT_4X4_100) self.params = aruco.DetectorParameters_create() @@ -57,8 +58,7 @@ def __init__(self): def image_listener_callback(self, data): # self.get_logger().info('Receiving video frame') - br = CvBridge() - current_frame = br.imgmsg_to_cv2(data, 'bgr8') + current_frame = self.br.imgmsg_to_cv2(data, 'bgr8') rvecs, tvecs, ids = self.get_aruco_pose(current_frame) self.send_pose_tf2(rvecs, tvecs, ids) From a98d623aa1e519cbba5b77e3f85bb1c90629d567 Mon Sep 17 00:00:00 2001 From: Marija Date: Thu, 30 Jun 2022 01:30:31 +0200 Subject: [PATCH 51/86] Bug fix - delete the duplicate function --- .../mep3_behavior_tree/team_color_strategy_mirror.hpp | 8 -------- 1 file changed, 8 deletions(-) diff --git a/mep3_behavior_tree/include/mep3_behavior_tree/team_color_strategy_mirror.hpp b/mep3_behavior_tree/include/mep3_behavior_tree/team_color_strategy_mirror.hpp index a33fcddbd..3110e2471 100644 --- a/mep3_behavior_tree/include/mep3_behavior_tree/team_color_strategy_mirror.hpp +++ b/mep3_behavior_tree/include/mep3_behavior_tree/team_color_strategy_mirror.hpp @@ -195,14 +195,6 @@ class StrategyMirror { } } - static std::string strip_server_name(const std::string& full_name) { - std::string stripped_name = full_name; - auto separator = full_name.find_last_of("/"); - if (separator != std::string::npos && separator < stripped_name.length() - 1) { - stripped_name 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