This repository is a fork of Calvin Gregory's microUSV which is being adapted as the server to work with the Kodama robots housed in the BOTS Lab.
This repository contains source code for only the server-side component kodama_server, which is a version of microUSV's CVSensorSimulator.
This is a desktop application to simulate a Kodama robot's onboard sensors using an overhead camera system and AprilTags. It requires the OpenCV and Protobuf libraries. The host PC most also be outfitted with a webcam and connected to a wifi network, the same wifi network as any microUSV's being tested.
The application uses a json config file to which should be modified to reflect a user's setup.
| Config Field | Type | Value |
|---|---|---|
| visualize | boolean | Enables or disables the application showing a video feed with labelled tag detections. |
| cameraInfo | Camera calibration parameters (can be found using openCV) | |
| cameraInfo:cameraID | Integer | Overhead camera's index number on the host PC. This can be found by using the v4l2-ctl --list-devices command |
| camerInfo:x_res | Integer | camera's x-resolution in pixels |
| cameraInfo:y_res | Integer | camera's y-resolution in pixels |
| cameraInfo:fx | Float | camera's x focal length in mm |
| cameraInfo:fy | Float | camera's y focal length in mm |
| cameraInfo:cx | Float | camera's x center point coordinate in pixels |
| cameraInfo:cy | Float | camera's y center point coordinate in pixels |
| tagsize | Float | side length of the apriltags in mm (measure the black border) |
| target_hsv_thresh_low:h | Integer | Target detection color threshold lower bound. Hue |
| target_hsv_thresh_low:s | Integer | Target detection color threshold lower bound. Saturation |
| target_hsv_thresh_low:v | Integer | Target detection color threshold lower bound. Value |
| target_hsv_thresh_high:h | Integer | Target detection color threshold upper bound. Hue |
| target_hsv_thresh_high:s | Integer | Target detection color threshold upper bound. Saturation |
| target_hsv_thresh_high:v | Integer | Target detection color threshold upper bound. Value |
| Robots | Integer, String | List of all robots being used and their associated AprilTag ID numbers and labels |
No Longer Supported: The following fields in the json config file are no longer supported:
| Config Field | Type | Value |
|---|---|---|
| Waypoints | Float, Float | List of waypoint coordinates to send to each microUSV |
| loop_waypoints | Boolean | Flag indicating if waypoint list should be repeated after each one has been reached |
| output_csv | Boolean | Flag indicating if the application should export the pose history for each robot to a CSV file |
To launch the application, navigate to the kodama_server binary and execute the following:
$ ./kodama_server
The file config.json must be present.