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Telos4:simple_control
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compare: Telos4:cc98f9656269580e873400d5cfedb0c275769a61
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Telos4:simple_control

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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 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. 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. 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) ![Battery charging](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/charging.jpeg)
### Next steps ### 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)