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use reprojection error for multitag pose estimation #88

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use reprojection error for multitag pose estimation #88

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35bc108
use reprojection error for multitag pose estimation
StefanIlic1 Sep 26, 2024
b0b40f3
Merge branch 'main' into reprojection-err-for-vision-accuracy
gcschmit Nov 8, 2024
b3ef71c
disregard vision in default pose estimator
StefanIlic1 Nov 11, 2024
904a28e
attempt periodic pose logging changes
StefanIlic1 Nov 11, 2024
e53e748
delete updateCustomWithTime method
gcschmit Nov 11, 2024
e9be7e3
Ignore all vision updates to the odometry
gcschmit Nov 11, 2024
45ba998
Update pose estimator before logging.
gcschmit Nov 11, 2024
faf17fb
Add paths and autos to tune odometry.
gcschmit Nov 15, 2024
18e2488
create json file for mock field
StefanIlic1 Nov 21, 2024
675554f
update field length and width
StefanIlic1 Nov 21, 2024
08e68e2
fix positioning of tags 5 and 6
StefanIlic1 Nov 21, 2024
2e51d00
flip for origin
StefanIlic1 Nov 21, 2024
bbdcfca
Fix rotation of tags.
StefanIlic1 Nov 22, 2024
9711c84
Use new AprilTag field layout.
StefanIlic1 Nov 22, 2024
6d2806f
Switch the intake subsystem to the stub implementation.
StefanIlic1 Nov 22, 2024
769b055
Update wheel diameter based on latest measurement.
StefanIlic1 Nov 22, 2024
a358a3f
Set LEDs to green at start of auto.
gcschmit Nov 22, 2024
7706bb6
Reset the pose via the odometry object.
gcschmit Nov 22, 2024
d73e704
Reset the pose via the odometry object when resetting based on vision…
gcschmit Nov 22, 2024
66e0078
Log the pose of the front-right of the robot.
gcschmit Nov 23, 2024
9098ff8
Log the poses of all AprilTags.
gcschmit Nov 23, 2024
683a408
Add logging to support tuning auto paths
gcschmit Nov 27, 2024
41f180a
Update start pose for odometry tuning field
gcschmit Nov 27, 2024
a0f9d82
Log the difference between the vision estimate pose and the current p…
gcschmit Nov 28, 2024
fb23237
Log the vision pose estimate error.
gcschmit Nov 28, 2024
889b2cf
Add vision latency adjustment
gcschmit Nov 29, 2024
dbc2bb9
Add constant to enable/disable incorporating vision pose estimates in…
gcschmit Nov 29, 2024
ac5b238
Fix algorithm to calculate distance traveled by each module.
gcschmit Dec 4, 2024
1930ea6
characterize wheel diameter based on 4m auto path
StefanIlic1 Dec 5, 2024
c47b5ca
fix coordinates of AprilTags on field wall
StefanIlic1 Dec 5, 2024
d728c17
Log camera axis
gcschmit Dec 12, 2024
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2 changes: 1 addition & 1 deletion .pathplanner/settings.json
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Expand Up @@ -18,6 +18,6 @@
"defaultMaxVel": 3.25,
"defaultMaxAccel": 6.948,
"defaultMaxAngVel": 530.0,
"defaultMaxAngAccel": 2005.0,
"defaultMaxAngAccel": 510.0,
"maxModuleSpeed": 3.88
}
3 changes: 2 additions & 1 deletion .vscode/settings.json
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Expand Up @@ -90,5 +90,6 @@
"WPILOG",
"Xstance",
"YUYV"
]
],
"java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable"
}
117 changes: 117 additions & 0 deletions src/main/deploy/2024-preseason-vision.json
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@@ -0,0 +1,117 @@
{
"tags": [
{
"ID": 1,
"pose": {
"translation": {
"x": 7.1628,
"y": 0,
"z": 0.29
},
"rotation": {
"quaternion": {
"W": 0.7071067811865475,
"X": 0.0,
"Y": 0.0,
"Z": 0.7071067811865475
}
}
}
},
{
"ID": 4,
"pose": {
"translation": {
"x": 3.6068,
"y": 0,
"z": 0.254
},
"rotation": {
"quaternion": {
"W": 0.7071067811865475,
"X": 0.0,
"Y": 0.0,
"Z": 0.7071067811865475
}
}
}
},
{
"ID": 2,
"pose": {
"translation": {
"x": 0,
"y": 2.286,
"z": 0.508
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 3,
"pose": {
"translation": {
"x": 0,
"y": 2.8448,
"z": 0.508
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 5,
"pose": {
"translation": {
"x": 3.6068,
"y": 3.175,
"z": 1.22555
},
"rotation": {
"quaternion": {
"W": -0.7071067811865475,
"X": 0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
},
{

"ID": 6,
"pose": {
"translation": {
"x": 7.1628,
"y": 3.175,
"z": 1.3081
},
"rotation": {
"quaternion": {
"W": -0.7071067811865475,
"X": 0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
}
],
"field": {
"length": 10.7188,
"width": 3.175
}
}
25 changes: 25 additions & 0 deletions src/main/deploy/pathplanner/autos/DistanceTestFast.auto
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@@ -0,0 +1,25 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 2.0,
"y": 4.4
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "DistanceTestFast"
}
}
]
}
},
"folder": "Tuning",
"choreoAuto": false
}
2 changes: 1 addition & 1 deletion ...eploy/pathplanner/autos/DistanceTest.auto → ...oy/pathplanner/autos/DistanceTestMed.auto
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Expand Up @@ -14,7 +14,7 @@
{
"type": "path",
"data": {
"pathName": "DistanceTest"
"pathName": "DistanceTestMed"
}
}
]
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25 changes: 25 additions & 0 deletions src/main/deploy/pathplanner/autos/DistanceTestSlow.auto
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@@ -0,0 +1,25 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 2.0,
"y": 4.4
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "DistanceTestSlow"
}
}
]
}
},
"folder": "Tuning",
"choreoAuto": false
}
31 changes: 31 additions & 0 deletions src/main/deploy/pathplanner/autos/OvalTestFast.auto
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@@ -0,0 +1,31 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 2.0,
"y": 4.4
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "OvalTestFast1"
}
},
{
"type": "path",
"data": {
"pathName": "OvalTestFast2"
}
}
]
}
},
"folder": "Tuning",
"choreoAuto": false
}
31 changes: 31 additions & 0 deletions src/main/deploy/pathplanner/autos/OvalTestSlow.auto
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@@ -0,0 +1,31 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 2.0,
"y": 4.4
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "OvalTestSlow1"
}
},
{
"type": "path",
"data": {
"pathName": "OvalTestSlow2"
}
}
]
}
},
"folder": "Tuning",
"choreoAuto": false
}
25 changes: 25 additions & 0 deletions src/main/deploy/pathplanner/autos/RotationTestFast.auto
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@@ -0,0 +1,25 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 2.0,
"y": 4.4
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "RotationTestFast"
}
}
]
}
},
"folder": "Tuning",
"choreoAuto": false
}
25 changes: 25 additions & 0 deletions src/main/deploy/pathplanner/autos/RotationTestSlow.auto
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@@ -0,0 +1,25 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 2.0,
"y": 4.4
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "RotationTestSlow"
}
}
]
}
},
"folder": "Tuning",
"choreoAuto": false
}
2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/4 - center.path
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Expand Up @@ -35,7 +35,7 @@
"maxVelocity": 3.25,
"maxAcceleration": 6.948,
"maxAngularVelocity": 530.0,
"maxAngularAcceleration": 2005.0
"maxAngularAcceleration": 510.0
},
"goalEndState": {
"velocity": 0.7,
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/Amp Collect 3rd.path
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Expand Up @@ -69,7 +69,7 @@
"maxVelocity": 3.25,
"maxAcceleration": 6.948,
"maxAngularVelocity": 530.0,
"maxAngularAcceleration": 2005.0
"maxAngularAcceleration": 510.0
},
"goalEndState": {
"velocity": 0,
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/Amp Far Score 3rd.path
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Expand Up @@ -69,7 +69,7 @@
"maxVelocity": 3.25,
"maxAcceleration": 6.948,
"maxAngularVelocity": 530.0,
"maxAngularAcceleration": 2005.0
"maxAngularAcceleration": 510.0
},
"goalEndState": {
"velocity": 0,
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/Amp Missed 2nd Collect 3rd.path
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Expand Up @@ -51,7 +51,7 @@
"maxVelocity": 3.25,
"maxAcceleration": 6.948,
"maxAngularVelocity": 530.0,
"maxAngularAcceleration": 2005.0
"maxAngularAcceleration": 510.0
},
"goalEndState": {
"velocity": 0,
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/Amp Score 2nd.path
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Expand Up @@ -53,7 +53,7 @@
"maxVelocity": 3.25,
"maxAcceleration": 6.948,
"maxAngularVelocity": 530.0,
"maxAngularAcceleration": 2005.0
"maxAngularAcceleration": 510.0
},
"goalEndState": {
"velocity": 0,
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/Amp Score 3rd.path
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Expand Up @@ -69,7 +69,7 @@
"maxVelocity": 3.25,
"maxAcceleration": 6.948,
"maxAngularVelocity": 530.0,
"maxAngularAcceleration": 2005.0
"maxAngularAcceleration": 510.0
},
"goalEndState": {
"velocity": 0,
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/Collect 2nd.path
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Expand Up @@ -103,7 +103,7 @@
"maxVelocity": 3.25,
"maxAcceleration": 6.948,
"maxAngularVelocity": 530.0,
"maxAngularAcceleration": 2005.0
"maxAngularAcceleration": 510.0
},
"goalEndState": {
"velocity": 0,
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/Collect 3rd.path
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Expand Up @@ -69,7 +69,7 @@
"maxVelocity": 3.25,
"maxAcceleration": 6.948,
"maxAngularVelocity": 530.0,
"maxAngularAcceleration": 2005.0
"maxAngularAcceleration": 510.0
},
"goalEndState": {
"velocity": 0,
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/Collect 4th.path
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Expand Up @@ -69,7 +69,7 @@
"maxVelocity": 3.25,
"maxAcceleration": 6.948,
"maxAngularVelocity": 530.0,
"maxAngularAcceleration": 2005.0
"maxAngularAcceleration": 510.0
},
"goalEndState": {
"velocity": 0,
Expand Down
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