Code

Vlx readjustment#43

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Merged

PhileasL merged 66 commits intomasterrobotique-ecam/cdfr:masterfrom vlx_readjustementrobotique-ecam/cdfr:vlx_readjustementCopy head branch name to clipboardApr 3, 2021

+1,038-187

Commits

Commits on Mar 13, 2021

• Hello vlx_manager in webots

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  PhileasL

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Commits on Mar 14, 2021

• Getting vlx values in localisation_node

  PhileasL

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Commits on Mar 16, 2021

• a bit of localisation node refactoring

  PhileasL

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• odom callback + tf to map using kdl

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• localisation utils

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• vlx_readjustement separate from localisation node

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Commits on Mar 18, 2021

• Adding in_rectangle and modifying quaternion_to_euler in utils.py

  PhileasL

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• That's what i call a functional PoC of position compute from vlx

  PhileasL

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Commits on Mar 20, 2021

• a bit more accurate model

  PhileasL

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• robot pose computing from vlx now works with all orientations

  PhileasL

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• Compute vlx distance from robot position (doesn't perfeclty works)

  PhileasL

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Commits on Mar 21, 2021

• using fixed values instead of useless coordinates

  PhileasL

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• get_pose_from_vlx adjusted

  PhileasL

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• accurate get_vlx__from_pose

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• wip on the "top_blue" vlx algorithm

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• black vlx_adjustement

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• estimating true robot position and true vlx_distance

  PhileasL

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• fixing ugly overwritting local variable

  PhileasL

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• showing the errors ~millimeters in simulation

  PhileasL

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• Not that simple projection function

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• Yeah, projection function is working good enough

  PhileasL

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Commits on Mar 23, 2021

• is_simulation utils + vlx in odom_callback

  PhileasL

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• setting y_sim_offset if simulation

  PhileasL

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• can now invert projected lat_x and angle because of some geometrical considerations

  PhileasL

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• Not that simple bottom blue consideration

  PhileasL

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• simulation offset isn't only on Y

  PhileasL

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• Not so simple top_yellow

  PhileasL

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• Not that simple bottom_yellow

  PhileasL

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• vlx position on robot "yamlized" + rename area

  PhileasL

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• vlx_position in asterix.in yaml

  PhileasL

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• Math done, begining of the reformatting of vlx_readjustement

  PhileasL

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• Hello compute_data function

  PhileasL

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Commits on Mar 24, 2021

• setting conditions to allow the recalibration

  PhileasL

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• storing poses + fix language

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• conditions for readjustement

  PhileasL

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Commits on Mar 25, 2021

• new strategy, removing pose old one, working on vlx stamped

  PhileasL

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• Hello threading, you might be usefull

  PhileasL

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• Start, stop and function of the vlx data obtention thread

  PhileasL

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• Refactoring try_to_readjust_with_vlx function

  PhileasL

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• refactoring marker callback + black

  PhileasL

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Commits on Mar 26, 2021

• Localisation thread preventing concurrency problems+clean desctructor

  PhileasL

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Commits on Mar 27, 2021

• near wall routine start and stop

  PhileasL

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• near_wall_routine function

  PhileasL

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• localisation_node now supporting full vlx_recalibration near walls

  PhileasL

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• odom_map_relative topic: map relative pose_stamped of the robot

  PhileasL

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• full debugging logs

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Commits on Mar 28, 2021

• add readme with some explanations

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• test over formulas

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• another try on parsing equations

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• Hopefully good enough equation visualization

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• Final version of equations

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Commits on Mar 29, 2021

• Table of cases

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• Can refine position with vision near walls but not send raw vision pose

  PhileasL

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• odom_map_relative subscription instead of odom and tf

  PhileasL

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• removing get_odom_map_tf service

  PhileasL

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• renamming vlx_readjustment file

  PhileasL

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• add vlx folder containing all vlx relative things

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• add commentaries + clean dependencies

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• A bunch of comments over vlx_readjustment

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Commits on Mar 30, 2021

• Removing debug logs

  PhileasL

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• Merge branch 'master' into vlx_readjustement

  PhileasL

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• Merge branch 'master' into vlx_readjustement

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Commits on Mar 31, 2021

• Hotfix teb_obstacles subscriber

  PhileasL

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• Proofreading, first time 1k commits !

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Commits on Apr 3, 2021

• black localisation package

  PhileasL

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• updating obelix.in.yml

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