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GOFIRST-Robotics / Lunabotics-2023

The official NASA Robotic Mining Challenge 2023 repository for University of Minnesota Robotics.
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AprilTags Data Collection Node (ISAAC ROS) #15

Closed jmblixt3 closed 1 year ago

jmblixt3 commented 1 year ago

Implement a ROS node for detecting Apriltags (can just be taken from the internet) and publish it to a topic to be used by our SLAM algorithm for resetting our position and for simply driving towards it using PID loops on our orientation and distance to the tag.

Completed Steps: -Setup Nvidia ISAAC ROS Docker Container -Clone the Apriltag package into the container and build it -Finish the quickstart tutorial -Print out a calibration grid and some Apriltags -Calibrate my USB webcam and save the calibration file -Finish testing the Apriltag webcam demo

Isopod00 commented 1 year ago

Nvidia Jetson Orin AI-Accelerated Apriltag Detection (this is what we will use): https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_apriltag (Waiting on the new Jetson Orin to fully implement this)

jmblixt3 commented 1 year ago

To get this data combined add it to the localization node

Isopod00 commented 1 year ago

This is DONE assuming that we get the new Jetson. This package will not work on the old Jetson TX2, so we will need to find something else if we end up stuck with that. (Hopefully we can get the new Jetson though)