Update Tag Detector #21
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alisonryckman
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Mar 24, 2025
alisonryckman
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Mar 28, 2025
* JOHN: from the jetson * start moving brushed * can stuff * make util folder and port over motors group * switch pub sub and add timer callbacks * in progress motors update to ros2 * fix include * bye bye arm translator * start drive_hw_bridge * drive bridge changes * add drive_hw_bridge timer callback * fix can_bridge interface creation * can interface launch file * arm can configuration stuff and launch file edits * arm_hw_bridge moves motor! * style * clang format to pass ci * style * add arm configs, fix unit conversions, add debug logging * Update ci.yml to update manif submodule * use https for manif submodule instead of ssh * move messaging to its own library for future changes. finer grain linking. * checkout from integration 9c2c269 - ros params instead of config - de switch case bug fix - de velocity scale bug fix - moteus can frame PositionMode::Format bug fix - motues limit switch aux info configurable * move arm params to esw.yaml and add launch files * use parameter_utils lib for brushless * in progress brushed param migration * separate arm params file * rename arm_params.yaml to arm.yaml * drive hw bridge params fixed * Update Tag Detector (#21) * style checks * style * one encoder per 3bm to use hardware timers * rename 3bdcmc project to 3bm * rename 3bm dir * move messaging to its own library for future changes. finer grain linking. * joint a n1 moteus config * joint a correct direction * set drive controls back the original way lol * added auton backend * deleted out of date water bottle import * deleted the waterbottlesearch and rocks in simyaml * fixed waterbottlesearch stuff and an assertion issue * added segmentation again * fixed sim creator * fixed toggling between using and not using costmap in param * ci fix * fixed issue with approach * Merge * finished segmentation implementation into search spiral trajectory * deleted chlorophyll * update 3bm-dev * finished segmentation implementation into search spiral trajectory with param max_segment_length * builds hbridge.cpp * fixed test controls and shutdown toggle * fix includes * changed science_hw_bridge to use different message types, also modified science_test_bridge to make testing easier * remove old motor library * auton NOT working * fixed param issue and style fix * partial fixed camera div, separated heater auto shutdown into its own component * sending to nav but not working * added debug_service * fixed nav disable bug * auto shutdown works on its own, need to work on heater enable * fix build and style * auton works in sim * clean up code * trying to untrack sqlite * generic enable bool service * removed bag files * fix CAN messaging symlink on 3bm dev * auton testing 1/28 * simple pwm test * made it async * updated tag detector to have main.cpp * sa arduino project init * remove servo test firmware * todos for Thursday * updated cmake * removed cmake bloat * changes * added more nav params * added more missing params * fixed async hopefully, need to test * format * changed satellite signal publishing to publish to topic instead of screen * fixed auton done state * pump controls * add can test bridge for 3bm * auger and actuators backend implemented and confirmed working * fix absolute encoders * dual direction pin hbridge macro * more in depth test bridge debugging * fixed SA mode select * serapated components, not completed * fixed basic map odom * pump and hexhub frontend added, backend not confirmed working * renamed test bridge file and added joints c and de_0 * reverse drive control directions * switched services over to EnableBool, backend confirmed working * add == operator for units * fix zero throttle with dual direction pins * fix i2c infinite loop on bad bus and add pin reset/set functions * change default can ids and add filtering * fix can ids * working on udev rules * changed percep launch; tested both tag detectors * everything is tested * CI * HexHub * pending changes * added ublox rover gps driver * dump encoder data to file * fixed parameter names * pump bumpers working, waiting for hexhub implementation and services * removed redundancy * untested absolute encoder changes. should improve accuracy by fixing elapsed timer * last year bdcmc code fixed up * fix encoder syntax * move hardware_tim.hpp to lib * remove unnecessary elapsed timers * revert abs encoder wrap angle * update new can ids in esw.yaml * add cam config * clang format * remove test bridges from cmakelists * jetson network and can setup * update ros and ubuntu distro in ansible playbooks * fix jetson can ansible playbook * give eth1 different network config name * fix SA CAN ids * updated arm moteus configs * changed orientation in gps linearization * cleaned rover gps driver * changed can node names * put back thrustmaster + drive direction change * change arrow direction of rover in util.ts * fix gps_linearization * removed bags * working auton -magnetomoeter * add led exec * finished auton led * small changes * successful arm testing (publishing to arm_throttle_cmd) * started heading filter * heading filter wip * motei use aux1 A and C for limit switches. todo: make configurable * reconfigure joint a and c * style * rezero joint b * add usb camera * add ability to inverse brushless throttle * Added in the randomizeSensorData * merged HexHub with random sensor data * heading filter updates * fixed basicrovermap not loading, working on hexhub pump implementation * formatted odom readings * fixed the setinterval for random sensor data * heading filter mostly done * heading filter builds * hexhub pump selection working with arbitrary mappings, fixed styling * publishing to can topic works * publishes commands to pdlb * up joint_c and remove drive direction flip * mag is noisy but I think the filter works * some changes to rtk heading * restored rover gps driver * uncompose gst * flipped to match nav * style * add auton led to launch * cleaned heading filter, works now on hardware * WIP * joint b velocity p * removed bagged data * undo * fix streaming ids in teleop * rollback * added subscribers for joint, arm, and drive states * motor configuration as ros params * remove unused limit switch config message bits * costmap and zed launch changes from auton filming * add launch files * config * change ip to jetson in camera streaming * Using IPC properly * Updated Launch File * Style * added return to home page when clicking on dashboard name * add science cams * add cam udev rules * bdcmc encoder and timer fixed * start sa bridge * working sa hw bridge * fix ros params... i dont want to talk about this one * JOINT C FIXED IT ONLY TOOK 2 YEARS (╯°o°）╯︵ ┻━┻ * added fk to gui * increase joint c velocity limit * change boomcam config * change allen key to cam * fixing cuda compilation * fixing cuda compilation * fixing cuda compilation * fixing cuda compilation * fixing cuda compilation * cuda stuff * fixing cuda compilation * Revert "Merge branch 'integration' into JRA/tag-detector" This reverts commit 2228dca, reversing changes made to 3dd3368. --------- Co-authored-by: Pearl Lin <pearllin@umich.edu> Co-authored-by: TJ Neuenfeldt <tjneuenfeldt@gmail.com> Co-authored-by: owenpark <owenmmp@gmail.com> Co-authored-by: Ali Ryckman <alison.ryckman@gmail.com> Co-authored-by: Jonah Kelman <jonahkel@umich.edu> Co-authored-by: ejhong <ejhong@umich.edu> Co-authored-by: kristerdprisant <kristerd@umich.edu> Co-authored-by: Alvin <alvinjg@umich.edu> Co-authored-by: Eric D'Urso <edurso@edurso.com> Co-authored-by: im-a-robo <nmdas05x@gmail.com> Co-authored-by: Owen Park <owenpark@umich.edu> Co-authored-by: kevinjin <kevinjin0420@gmail.com> Co-authored-by: nbaskins <nbaskins@umich.edu> Co-authored-by: Neven Johnson <neven@umich.edu> Co-authored-by: MRover Perception <umroverperception@gmail.com> Co-authored-by: mrover <john> Co-authored-by: vittorio-centore <vittoriocentore06@gmail.com> Co-authored-by: Akshath Narmat <avnarmat@gmail.com> Co-authored-by: jaskifstad <juliansk@umich.edu> * brushed and brushless parameters working and tested on arm * cmakelists from main * unnecessary print * small fixes * include esw ros params in vscode debug * gripper radians to meters conversion * resolve private library linking issues with tensorrt * fix pathlib paths in launch files * style --------- Co-authored-by: mrover <john> Co-authored-by: Owen Park <owenmmp@gmail.com> Co-authored-by: Owen Park <owenpark@umich.edu> Co-authored-by: John <134429827+jbrhm@users.noreply.github.com> Co-authored-by: Pearl Lin <pearllin@umich.edu> Co-authored-by: TJ Neuenfeldt <tjneuenfeldt@gmail.com> Co-authored-by: Jonah Kelman <jonahkel@umich.edu> Co-authored-by: ejhong <ejhong@umich.edu> Co-authored-by: kristerdprisant <kristerd@umich.edu> Co-authored-by: Alvin <alvinjg@umich.edu> Co-authored-by: Eric D'Urso <edurso@edurso.com> Co-authored-by: im-a-robo <nmdas05x@gmail.com> Co-authored-by: kevinjin <kevinjin0420@gmail.com> Co-authored-by: nbaskins <nbaskins@umich.edu> Co-authored-by: Neven Johnson <neven@umich.edu> Co-authored-by: MRover Perception <umroverperception@gmail.com> Co-authored-by: vittorio-centore <vittoriocentore06@gmail.com> Co-authored-by: Akshath Narmat <avnarmat@gmail.com> Co-authored-by: jaskifstad <juliansk@umich.edu>
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Summary
Closes #15
What features did you add, bugs did you fix, etc?
Got the Tag Detector to work on the ZED and long range USB camera
Did you add documentation to the wiki?
No the tag detector docs already exist on the wiki
How was this code tested?
I tested on the ZED and usb camera at the same time and in the simulator
Did you test this in sim?
Yes
Did you test this on the rover?
Yes
Did you add unit tests?
No