triton_gate

Description

This package contains the nodes needed for performing gate detection and localization to be used on the gate task in competition

Usage

Right now, you can launch the teleoperated simulation and see the gate detector working in RViz as such

ros2 launch triton_bringup teleop_sim_bringup_launch.py

In RViz, you can see a row of images frame to the right, which has both raw camera views, the segmentation output, and gate bounding box output.

Nodes

• gate_detector : A component node (triton_gate::GateDetector) which aims to detect the gate by drawing a tightly-fitting bounding box around it. ### Subscribed Topics
  • /triton/drivers/front_camera/image_raw (sensor_msgs/msg/Image.msg) : Input image

  ### Published Topics

  • detector/gate_center (std_msgs/msg/Float32MultiArray.msg) : Normalized position of the center of the gate. The first element is the x-coordinate of the center divided by the width of the image. The second element is the y-coordinate divided by the height of the image. The center of the gate is determined by the moments of the gate contour.
  • detector/gate_pose (triton_interfaces/msg/ObjectOffset) : Pose of Gate relative to AUV.
  • detector/gate_pose_only (geometry_msgs/PoseStamped) : Pose of Gate. For debug.
  • detector/debug/detection (sensor_msgs/msg/Image.msg) : Detection debug output image.
  • detector/debug/segment (sensor_msgs/msg/Image.msg) : Segmentation debug output image.

Contributors

• Logan Fillo (logan.fillo@gmail.com)
• Jared Chan (jaredchan42@gmail.com)