SLAM for sentry

[Bill-Haoyu-Lin]

Localization and mapping for Sentry to move around

[Bill-Haoyu-Lin]

Reading Course Material for this. Papers and setup on jetson nano

[Bill-Haoyu-Lin]

• using ROS melodic to run slam on it based on IMU information from C board.

• Put together Path following/path planning with localization. passing only speed in vector form to C board based on the function below. https://github.com/Bill-Haoyu-Lin/CV_Interface/blob/main/CvCmdApi.py

  def CvCmd_Heartbeat(self, gimbal_coordinate_x, gimbal_coordinate_y, chassis_speed_x, chassis_speed_y):
      # CV positive directions: +x is to the right, +y is upwards
      # Remote controller positive directions: +x is upwards, +y is to the left
      gimbal_coordinate_x, gimbal_coordinate_y = gimbal_coordinate_y, gimbal_coordinate_x
      chassis_speed_x, chassis_speed_y = chassis_speed_y, chassis_speed_x
      chassis_speed_y = -chassis_speed_x
  
      # Tx
      if self.AutoAimSwitch or self.AutoMoveSwitch:
          self.txCvCmdMsg[self.DATA_PAYLOAD_INDEX:self.DATA_PAYLOAD_INDEX+12] = b''.join([gimbal_coordinate_x.to_bytes(2, 'little'), gimbal_coordinate_y.to_bytes(2, 'little'), struct.pack('<f', chassis_speed_x), struct.pack('<f', chassis_speed_y)])
          self.ser.write(self.txCvCmdMsg)
  
      # Rx
      self.CvCmd_RxHeartbeat()
      return (self.AutoAimSwitch, self.AutoMoveSwitch, self.EnemySwitch)

[Bill-Haoyu-Lin]

will use imu for main control for path following and camera for secondary control