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CU-Robosub / cusub

The CUSub repository
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Triangle Buoy SM #105

Closed flamma7 closed 5 years ago

flamma7 commented 5 years ago

Closes #86 Closes #45

Logic of the task:

  1. Go to the nearest point 'approach_dist' away from the buoy from the sub
  2. Begin to orbit around the pose of the buoy 'approach_dist' away using action server "orbit_bouy"
  3. Once 'number_solo_frames' of the "slay_class" have been received by the orbit_bouy server, success will be indicated to task code and PID control will be restored back to the waypoint navigator.
  4. The sub records the pose it is at (preslay_pose) and sends a request to the waypoint navigator 'slay_dist' behind the buoy. The sub uses "move_mode='backwards'" in the request so that the arm doesn't get stuck in the buoy
  5. The sub begins monitoring the imu and once a value on "imu_axis" is gt/lt "jump_thresh" a bump is indicated in task code. This causes the sub to abort the last request to waypoint nav and send the "preslay_pose" we recorded from step 4

New rospkg: perception_control. Meant to be the interface for visual servoing and optical flow, nodeleted with darknet and the occam driver.

Steps to run: roslaunch cusub_sim_bringup divewell_single_task.launch roslaunch cusub_sim_bringup leviathan_description.launch roslaunch cusub_common_bringup leviathan_sim.launch roslaunch perception_control orbit.launch __ns:=leviathan roslaunch mapper mapper.launch truth_data:=true ns:=leviathan roslaunch state_machine state_machine.launch ns:=leviathan using_darknet:=false config_filename:=mission_config_sim.yaml

flamma7 commented 5 years ago

Need to add aspect ratio yaw calculation