Utilities

Some scripts and files that could be useful during the development

Scripts

• firmware_CC8: CC8 firmware. Convert a twist message into velocities for the wheels and angles for the steering wheel. Some similar implementations here and here
• firmware_velocity_LEO: firmware of our LEO rover (a.k.a. EVE)
• firmware_velocity: convert the linear and angular velocity to velocities of the wheels. Used for ERA.
• camera_setup: node used to start a usb camera and publish compressed iamge and camera info to ROS. to be launched from launch file (see my_camera_setup.py)
• capture_camera; simply subscribe to an image topic and save images when a button is pressed. Used to capture many images for calibration
• energy_report_manager: read measurements from energy sensor and jetson library, plot them and send in topic. A draft implementation, to be used for pretty energy reports.
• firmware_drilling: a draft implementation to be used to move and operate the drill, it should work but it was never tested
• check_odom_error: compute the error ( in 2D) between the real position of the robot (from Gazebo) and the estimated one.
• convert_gt: convert the global ground truth position from Gazebo to position with respect to starting position. it receives from topic /ground_truth and republish the pose with respect to the starting position in the topic /ground_truth_local.
• plot_path : plot the path of the robot, getting data from multiple Odometry sources. It accepts nav_msgs/Odometry topics. It uses diferent parameters (see related launch file for an example):
  • odom_topics: list of topics to subscribe to
  • colours: list of colors to use when plotting
  • saving_path: where to save the plot
• get_compressed_images: C++ node that subscribe to a pair of images from the zed camera and republish a compressed version, not useful, to remove.

not ros

• calibrate_camera.py: froma folder with images of a checkerboard (see pdf in the folder), calibrate the camera, output the camera parameters and save them to file in correct format. they will be used by the launch files.
• find_number_to_press: used for the maintenance task. write the numbers of the panel and it output a combination of numbers that give the desired sum.
• take_pictures: useful script that save images from a camera for calibration. this script does not interact with ROS, images from the camera are raw.

Launch files

• my_camera_setup: setup a USB camera with ROS. remember to use the correct parameters, USB port and yaml file for the camera info.
• camera_setup: same as above but it uses an already existing library that warps the image. So a custom implementation was written. Not use unless for testing purposes
• localization_comparison.launch: get ground truth and different odometry sources,measure the error and plot the path
• Other launch files are not important, they are only tests

file.sh

• launch_env.sh starts:
  • gazebo
  • rviz
• launch_nav.sh starts:
  • Rtabmap
  • ArTag detection
  • ArTag pose estimation
  • Pose filtering
  • Error between real and estimated pose

Other

• configurations: some config for Rviz