Fixing Follow Crop Navigation #103
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rodja
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Jul 15, 2024
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LukasBaecker
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Jul 17, 2024
* always use gray background color for simulated usb cam * improve readability * improve camera augmentation to display tool and relevant weeds * fix plant filter which compared local and global coordinates * also visualize "weeds to handle" from implement * formatting * remove obsolete "advancing" hack * ensure we are not multi-punching the same position * more debug rendering * make weeds to handle visualization optional * always use gray background color for simulated usb cam * improve readability * improve camera augmentation to display tool and relevant weeds * fix plant filter which compared local and global coordinates * also visualize "weeds to handle" from implement * formatting * remove obsolete "advancing" hack * ensure we are not multi-punching the same position * more debug rendering * make weeds to handle visualization optional * reorder camera_card init * add type annotations * use deque for last punches * remove debug logging * fix crop prediction * do not use project_to_image on real robots because the camera is not correctly transformed yet * add a test for a real life scenario where the robot will not move * fix non moving robot * add max_crop_distance setting * request backup on screw settings change * add more test cases where weeding screw does not advance anymore * improved readability * fix weeding screw approach * fix test weed position * fix copy paste error * fix cultivated_crop test * add check for next_weed_id in weeds_to_handle * Move _keep_crops_safe to _has_plants_to_handle * add check for negative stretch distance * adapt other navigations to changes * move crop_safety_distance to weeding_implement * fix weeding edge case * wip: adapt tornado to changes * drive backwards in test because its more efficient * provide more debug infos in camera card * move clearing of simulation and plant provider to navigation * cleanup * forgot member variable * simulation after clearing * get rid of "observe" and "parallel" * dont remove simulated_objects in test to fix #9bfbc97 * make test more robust * move last_punches and next_punch_y_position to weeding_implement * wip: adapt tornado * fix skipping weeds close to already punched locations * fixed output formatting * more weed separation to better target close standing plants individually * fix last punches exclusion test * fix tornado weed removal in simulation * formatting * wording * move punch dialog into weeding implements to simplify architecture * cleanup Co-authored-by: Pascal Schade <165774906+pascalzauberzeug@users.noreply.github.com> * cleanup Co-authored-by: Pascal Schade <165774906+pascalzauberzeug@users.noreply.github.com> * remove unused camera_card * rename and move max parameter * add default drive distance as constant * cleanup * first proof of sub-centimeter straight line driving * use wheels.pose in simulation so we can simulate slippage with rosys pull request zauberzeug/rosys#146 * cleanup * stay as good as possible on the once defined straight line this was inspired by the works in #96 and makes that pull request obsolete * picked relevant code from #103 * ordered tests * better termination for straight line nav, rosys.sleep to fix flakyness and method split to prepare universal use * better variable naming * add test to ensure we can follow crops with slippage * fix yaw computation and use "drive to yaw" when following crops * fix tests --------- Co-authored-by: Pascal Schade <pascal@zauberzeug.com> Co-authored-by: Pascal Schade <165774906+pascalzauberzeug@users.noreply.github.com> Co-authored-by: Lukas Baecker <baecker.lukas@outlook.de>
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Should we close this PR @LukasBaecker? |
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@LukasBaecker @rodja I think we can drop the changes, but should keep the tests! |
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Due to multiple problems that arose using the follow crop navigation, it needs to be refactored.
ToDo: