Integration with the localization system

HeroSwarm-Localization-Tracker

Run the python code BasicLocOdo.py for single robot tag detection. Use the other https://github.com/herolab-uga/heroswarm_v1/blob/master/scripts/localizedControl.py code on HeroSwarm_V1 in HeroLab organization on the robot end to receive data. Note that the robot is the server to which the localization system connects. So, the robot code in the above link should run first followed by the localization BasicLocOdo.py code in this repo. Ensure they both bind to the same IP and port number.

If no server/ robot code is initiated, the tag detection should still run and the position and odo augmentation should be visible. It is recommended to run all the localization code in a high speed Computer. The camera resolution may be changed according to the detection speed and tag size requirements.

Update on recent merge 6/29/2021

A working code for multi-robot localization. It has the following features

1. The system uses a reference coordinate system - (Right-handed). There should be reference tags placed on the space to be tracked)
2. The robot PWM frequencies have been adjusted to have 50-speed adjustment points on either direction of rotation for the servo motors. The robots move at a slower speed while turning.
3. The robots compute their angle of rotation wrt the endpoint using cross and dot product division with an arctan2 on it.
4. Multiple robots can connect and disconnect at any point while the server is running.