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rune_solver package from fyt2024_vision repo

armor_detector armor_solver rm_auto_aim rm_bringup rm_camera_driver rm_serial_driver rm_interfaces rm_robot_description rm_rune rune_detector rune_solver rm_utils

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Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/csu-fyt-vision/fyt2024_vision.git
VCS Type git
VCS Version main
Last Updated 2024-08-27
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO: Package description

Additional Links

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Maintainers

  • uu

Authors

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rm_rune/rune_solver/README.md

rune_solver

FYT视觉24赛季能量机关解算和预测ROS2包。

fyt::rune::RuneSolverNode

  1. 计算能量机关的三维坐标
  2. 对坐标进行卡尔曼滤波消除抖动
  3. 拟合角度变化曲线，预测$\Delta t$后的坐标
  4. 解算出云台的角度发送给电控

发布话题

  • cmd_gimbal (rm_interfaces/msg/GimbalCmd) - 最终发送到下位机的角度信息
  • predict_target (geometry_msgs/msg/PointStamped) - 预测的靶心坐标
  • observed_angle (rm_interfaces/msg/DebugRuneAngle) - 当前识别到的能量机关角度
  • predict_angle (rm_interfaces/msg/DebugRuneAngle) - 预测的能量机关角度
  • markers (visualization_markers/msg/MarkerArray) - 用于Debug的可视化Marker，包括当前识别到的靶心坐标可视化、R标坐标可视化和预测的靶心坐标可视化

订阅话题

  • rune_target (rm_interfaces/msg/RuneTarget) - 识别到的待击打能量机关五个关键点

参数

  • debug (bool, default: true) - 是否开启debug模式.
  • predict_time (double, default: “0.0”) - 预测时间补偿，最终预测时间为$\Delta t = t(子弹飞行) + t(传输延迟) + predict_time$.
  • compensator_type (string, default: resistance) - 弹道补偿模型
  • auto_type_determined (bool, default: true) - 设为true后会自动判断大符还是小符，设为false则用串口设定的模式判断
  • ekf.q (double[]) - 卡尔曼滤波的状态转移噪声
  • ekf.r (double[]) - 卡尔曼滤波的观测噪声
CHANGELOG
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