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vanderbiltrobotics / NASA-RMC-2018-2019

ROS Packages for NASA Robotic Mining Competition 2018-2019
MIT License
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Code to keep camera centered on Aruco board #16

Open partlygloudy opened 5 years ago

partlygloudy commented 5 years ago

Which section of robot code is this for? SLAM Description of feature We are planning to have a camera pointed towards the collection bin at all times so we can localize using the Aruco Board(s). The camera will be mounted on some sort of device that allows it to pan side-to-side. We'll need to write some sort of control code that constantly adjusts the position of the servo in the panning device so that the board(s) stay in the camera frame as we move. This will require some computer vision work, along with some kind of feedback loop.

Summary Write a ROS node that subscribes to a camera image topic as well as a topic indicating the current angle of the servo and outputs a message indicating the angle that the servo should move to (either an int or float message).

We also need to design and build the hardware for this ASAP

partlygloudy commented 5 years ago

So we decided that within the aruco_localization node, we should publish an additional topic that is just the average of the corner values returned by the function that reads the board. Then a separate node should run a simple P or PI controller that adjusts the commanded servo position to minimize the error between the center of the board and the center of the camera frame.

partlygloudy commented 5 years ago

That node should also listen to the 'marker_detected' topic and if the value is false, it should just sweep back and forth until the board is detected.

blake5634 commented 5 years ago

Sorry to be off topic here: @danwarlevy @SwapnilPande @partlygloudy @pertbanking Dear Robotics Club, I am a professor at the University of Washington and faculty adviser to our student club ARUW. I am collecting a list of contact info for Undergrad Robotics Clubs around North America. Would you be so kind as to reply to this email with a simple confirmation? If you are no longer involved, could you please connect me with current club president?

Thank you for your help!

Blake Hannaford Electrical and Computer Engineering University of Washington, Seattle WA

alexbarnett12 commented 5 years ago

Our current club president is Stephanie Schroth: stephanie.m.schroth@vanderbilt.edu.