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MidnightRaider06MidnightRaider06
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Feature/aruco bt (#65)
* Added Aruco Marker 0 model * Fixed model.config * Added normal camera to URDF * Add Bounding Box (BB) msg for Aruco detection * Fixed import path for BB msg * Added BB to CMakeLists so the interface is generated * Fixed ArUco marker image, previous one wasn't 4x4 50 * Fixed aruco_node OpenCV version issues, added support for sim parameter * Changed BB to Detection 2D * Added ROS gz bridge for camera * Slightly increase forward speed when aruco isn't detecte * In progress: Added cpp aruco node that publishes aruco pose in map frame, working on BT stuff * Fixed aruco pose estimation * Made aruco goal pose same orientation as rover currently * Changed info messages to warning * Added archimedean spiral path coverage * Cleaned up BT, fixed spiral generation to start at actual rover position, fixed stale aruco pose issue * Changed default nav mode back to GNSS * Get rid of old camera * Fixed sime time vs real time issue, made spiral path start align with current rover orientation * Changed sim parameter to use_sim_time * Added GNSS navigation to aruco branch * Oops forgot to switch default to GNSS * Added sim transform for rgb camera * Moved aruco launch to navigation launch * Removed unnecessary aruco sdfs
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‎src/description/models/marker0/materials/textures/Marker0.png‎

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‎src/description/models/marker0/meshes/Marker0.dae‎

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version https://git-lfs.github.com/spec/v1
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oid sha256:12d843202591af4ace325c6d3c998c72d31ad3e37f4eb9b5300964c2748e4e8e
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size 5637

‎src/description/models/marker0/model.config‎

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<?xml version="1.0"?>
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<model>
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<name>Marker0</name>
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<version>1.0</version>
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<sdf version="1.6">model.sdf</sdf>
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<author>
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<name>Mikael Arguedas</name>
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<email>mikael.arguedas@gmail.com</email>
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</author>
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<description>
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ArUco Marker 0 (4x4), generated with code from https://github.com/AD-lite24/aruco_in_gazebo.
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Modified by Abhinav Kota (abhinav.kota06@gmail.com)
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</description>
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</model>

‎src/description/models/marker0/model.sdf‎

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<?xml version="1.0" ?>
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<sdf version="1.6">
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<model name="Marker0">
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<static>true</static>
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<link name="link">
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://marker0/meshes/Marker0.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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</model>
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</sdf>

‎src/description/urdf/zed_macro_sim.urdf.xacro‎

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<parent link="${name}_left_camera_frame"/>
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<child link="${name}_left_camera_frame_optical"/>
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</joint>
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<link name="athena/base_footprint/${name}_rgb_sensor"/>
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<joint name="${name}_rgb_sensor_joint" type="fixed">
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<origin xyz="0 0 0" rpy="-${M_PI/2} 0.0 -${M_PI/2}"/>
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<parent link="${name}_left_camera_frame"/>
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<child link="athena/base_footprint/${name}_rgb_sensor"/>
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</joint>
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<link name="${name}_right_camera_frame" />
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<joint name="${name}_right_camera_joint" type="fixed">

‎src/simulation/launch/bridge.launch.py‎

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output='screen',
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arguments=[
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'/zed/zed_node/left/image_rect_color@sensor_msgs/msg/Image@gz.msgs.Image',
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'/zed/zed_node/left/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo'
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],
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),
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Node(
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package='ros_gz_bridge',
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executable='parameter_bridge',

‎src/simulation/launch/bringup.launch.py‎

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ld.add_action(bridge)
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ld.add_action(control)
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ld.add_action(ground_truth_tf)
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return ld

‎src/subsystems/navigation/aruco_bt/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(aruco_bt)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(cv_bridge REQUIRED)
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find_package(OpenCV REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(tf2_geometry_msgs REQUIRED)
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# Add executable
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add_executable(aruco_node src/aruco_node.cpp)
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# Include directories
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target_include_directories(aruco_node PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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# Link dependencies
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ament_target_dependencies(aruco_node
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rclcpp
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sensor_msgs
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geometry_msgs
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cv_bridge
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OpenCV
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tf2_ros
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tf2_geometry_msgs)
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target_compile_features(aruco_node PUBLIC c_std_99 cxx_std_17)
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# Install targets
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install(TARGETS aruco_node
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DESTINATION lib/${PROJECT_NAME})
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install(DIRECTORY launch/
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DESTINATION share/${PROJECT_NAME}/launch)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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set(ament_cmake_copyright_FOUND TRUE)
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()

‎src/subsystems/navigation/aruco_bt/launch/aruco.launch.py‎

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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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ARGUMENTS = [
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DeclareLaunchArgument(
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'marker_size',
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default_value='0.2',
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description='Size of ArUco marker in meters'
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),
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]
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def generate_launch_description():
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aruco_node = Node(
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package='aruco_bt',
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executable='aruco_node',
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name='aruco_node',
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parameters=[
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{'use_sim_time': LaunchConfiguration('use_sim_time')},
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{'marker_size': LaunchConfiguration('marker_size')}
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],
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output='screen'
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)
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ld = LaunchDescription(ARGUMENTS)
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ld.add_action(aruco_node)
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return ld

‎src/subsystems/navigation/aruco_bt/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>aruco_bt</name>
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<version>0.0.0</version>
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<description>C++ package for aruco detection and pose estimation</description>
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<maintainer email="abhinav.kota06@gmail.com">abhinavkota06</maintainer>
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<license>TODO: License declaration</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>rclcpp</depend>
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<depend>sensor_msgs</depend>
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<depend>geometry_msgs</depend>
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<depend>cv_bridge</depend>
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<depend>OpenCV</depend>
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<depend>tf2_ros</depend>
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<depend>tf2_geometry_msgs</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

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