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Vlx readjustment #43

Merged
merged 66 commits into from
Apr 3, 2021
Merged

Vlx readjustment #43

merged 66 commits into from
Apr 3, 2021

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PhileasL
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Purpose

This PR is odometry readjustment oriented, the goal is to refine the pose (position/orientation) given by assurancetourix, it also has the capabilitie of readjusting odometry near walls without the help of assurancetourix. The method deployed is explained in the localisation package README.

What has been done ?

  • All the work is pretty well detailed in the README mentioned above,
  • Removing get_odom_map_tf service,
  • Add odom_map_relative topic, localisation package publish the robot pose_stamped (position, orientation and stamp of the pose) relative to map on it.

Observation

All can be optimized, this isn't excluded, it's just a first functional approach on how to refine a position using distance sensors.

@PhileasL
Hello vlx_manager in webots
bd79fb3 
Vlx are now children of this vlx_manager of robot type. 
Why ? The fact that drive already uses "asterix" controller prevent 
another supervisor to get vlx data. To get around the problem, 
vlx_manager is a children of asterix and parent of all vlx that can be a 
supervisor. Vlx are still children of asterix but are now accessible 
from a ros supervisor.
@PhileasL
Getting vlx values in localisation_node
af7f2c4
@PhileasL
a bit of localisation node refactoring
8ec3faf
@PhileasL
odom callback + tf to map using kdl
722cb39
@PhileasL
localisation utils
e535ca1
@PhileasL
vlx_readjustement separate from localisation node
fba4318
@PhileasL
Adding in_rectangle and modifying quaternion_to_euler in utils.py
c97c62b
@PhileasL
That's what i call a functional PoC of position compute from vlx
174a1c5
@PhileasL
a bit more accurate model
1277a87
@PhileasL
robot pose computing from vlx now works with all orientations
7cc7197
@PhileasL
Compute vlx distance from robot position (doesn't perfeclty works)
a75243f
@PhileasL
using fixed values instead of useless coordinates
22ca662
@PhileasL
get_pose_from_vlx adjusted
c69145e
@PhileasL
accurate get_vlx__from_pose
96a9b69
@PhileasL
wip on the "top_blue" vlx algorithm
7a7c68f
@PhileasL
black vlx_adjustement
8aac2e3
@PhileasL
estimating true robot position and true vlx_distance
67645ea
@PhileasL
fixing ugly overwritting local variable
2f0ce1b
@PhileasL
showing the errors ~millimeters in simulation
a2a402a
@PhileasL
Not that simple projection function
212231b
@PhileasL
Yeah, projection function is working good enough
0e9e46f
@PhileasL
is_simulation utils + vlx in odom_callback
bddd5d2
@PhileasL
setting y_sim_offset if simulation
70dfd8b
@PhileasL
can now invert projected lat_x and angle because of some geometrical …
74d3558 
…considerations
@PhileasL
Not that simple bottom blue consideration
5bcca7b
@PhileasL
simulation offset isn't only on Y
05ad8dd
@PhileasL
Not so simple top_yellow
4458816
@PhileasL
Not that simple bottom_yellow
4c72c44
@PhileasL
vlx position on robot "yamlized" + rename area
040dffc
@PhileasL
vlx_position in asterix.in yaml
bec61f0
@PhileasL
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PhileasL commented Mar 30, 2021 •
edited
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  • Proofreading and correction of language errors

@PhileasL PhileasL added documentation Improvements or additions to documentation enhancement New feature or request labels Apr 3, 2021
@PhileasL PhileasL requested a review from 3wnbr1 April 3, 2021 12:57
@PhileasL PhileasL self-assigned this Apr 3, 2021
@PhileasL PhileasL linked an issue Apr 3, 2021 that may be closed by this pull request
Package is_simulation or is_this_reality #33
Closed
@PhileasL PhileasL merged commit bff7dc1 into master Apr 3, 2021
@PhileasL PhileasL deleted the vlx_readjustement branch April 3, 2021 13:06
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@3wnbr1 3wnbr1 3wnbr1 approved these changes

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Package is_simulation or is_this_reality
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