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Telos4:simple_control
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compare: Telos4:cc98f9656269580e873400d5cfedb0c275769a61
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Telos4:master
Telos4:simple_control

2 Commits
2987da4373 ... cc98f96562

Author SHA1 Message Date
Simon Pirkelmann
cc98f96562 minor fix in docu 2019-08-12 16:50:19 +02:00
Simon Pirkelmann
4830c2e252 removed fiducial transformation script duplicate 2019-08-12 16:48:59 +02:00
2 changed files with 2 additions and 40 deletions
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4
docs/3_ROBOT_SETUP.md
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@ -113,7 +113,7 @@ $ sudo pip install pygame
```
The program is located in the `remote_control/`. Run it using
```
$ python keyboard_controller.py '192.168.1.101'
$ python keyboard_controller.py 192.168.1.101
```
When running the program you should see an output in the WebREPL that a connection was established.
You can use the arrow keys for sending commands to the microcontroller which it then passes on to the motors.
@ -137,4 +137,4 @@ In order to charge the battery of the robot just plug a micro USB cable into the
![Battery charging](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/charging.jpeg)
### Next steps
The next step is to setup the position detection using ROS. For this see the [4_ROS_SETUP.md](https://imaginaerraum.de/git/Telos4/RoboRally/src/branch/master/docs/4_ROS_SETUP.md)
The next step is to setup the position detection using ROS. For this see the [4_ROS_SETUP.md](https://imaginaerraum.de/git/Telos4/RoboRally/src/branch/master/docs/4_ROS_SETUP.md)

38
remote_control/fiducial_to_2d_pos_angle.py
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@ -1,38 +0,0 @@
import sys
import rospy
from marker_pos_angle.msg import id_pos_angle
from fiducial_msgs.msg import FiducialTransformArray
from tf.transformations import euler_from_quaternion
pub = rospy.Publisher('marker_id_pos_angle', id_pos_angle, queue_size=10)
'''
This callback function listens to fiducial messages that describe the translation and rotation of markers w.r.t. to the
camera and transforms them to a position in the 2d plane and the angle of the robot in the plane
'''
def callback(data):
for d in data.transforms:
id = d.fiducial_id
q = d.transform.rotation
t = d.transform.translation
euler = euler_from_quaternion([q.x, q.y, q.z, q.w])
m = id_pos_angle()
m.id = id
m.x = t.x
m.y = -t.y
m.angle = -euler[2]
pub.publish(m)
def main(args):
rospy.init_node('euler_quaternion_node', anonymous=True)
quaternion_sub = rospy.Subscriber("/fiducial_transforms", FiducialTransformArray, callback)
rospy.spin()
if __name__ == '__main__':
main(sys.argv)