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Robotx qual task #1272

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Robotx qual task #1272

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440d35c
Added robotx comms support for simulation
alexperez33 Nov 12, 2022
b057e75
killboard updates
andrew-aj Nov 13, 2022
9cdae72
Fix circular import from types.py
alexperez33 Nov 15, 2022
7351bd7
Fix circular import from types.py
alexperez33 Nov 15, 2022
4c1042b
deleted test
andrew-aj Nov 15, 2022
353dd82
Merge branch 'robotx_merge_branch' of github.com:uf-mil/mil into robo…
alexperez33 Nov 15, 2022
77f5d1f
qual changes
alexperez33 Nov 16, 2022
20c1958
merged master into robotx_qual_task
DaniParr Sep 6, 2024
01bbfbb
increased the confidence threshold of the YOLO model to prevent overl…
DaniParr Sep 6, 2024
61e1f33
Remove print statements
cbrxyz Sep 10, 2024
5fd7561
Remove navigator_kill_board changes which won't be used in 2024
cbrxyz Sep 10, 2024
a51522f
Remove breaking temporary change in navigator_robotx_comms
cbrxyz Sep 13, 2024
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4 changes: 2 additions & 2 deletions NaviGator/mission_control/navigator_launch/config/camera_calibration/dell.yaml
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@@ -1,6 +1,6 @@
---
image_width: 1920
image_height: 1080
image_width: 640
image_height: 480
camera_name: head_camera
camera_matrix:
rows: 3
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13 changes: 6 additions & 7 deletions NaviGator/mission_control/navigator_launch/launch/hardware/cameras/dell_right.launch
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@@ -1,19 +1,18 @@
<?xml version="1.0"?>
<launch>
<arg name="simulation" default="False" />
<group ns="camera/front/right" >
<node pkg="usb_cam" type="usb_cam_node" name="dell_driver" unless="$(arg simulation)" >
<group ns="camera/front/right">
<node pkg="usb_cam" type="usb_cam_node" name="dell_driver" unless="$(arg simulation)">
<param name="video_device" value="/dev/v4l/by-id/usb-Alpha_Imaging_Tech._Corp._Dell_Webcam_WB7022_A7D19B26B27A-video-index0" />
<param name="camera_frame_id" value="wamv/front_right_cam_link_optical" />
<param name="camera_info_url" value="file://$(find navigator_launch)/config/camera_calibration/dell.yaml" />
<param name="pixel_format" value="yuyv" />
<param name="image_width" value="1920" />
<param name="image_height" value="1080" />
<param name="framerate" value="7" />
<param name="image_width" value="640" />
<param name="image_height" value="480" />
<param name="framerate" value="30" />
<remap from="dell_driver/image_raw" to="image_raw" />
<remap from="dell_driver/camera_info" to="camera_info" />
</node>
<node pkg="image_proc" type="image_proc" name="dell_right_image_proc">
</node>
<node pkg="image_proc" type="image_proc" name="dell_right_image_proc"></node>
</group>
</launch>
2 changes: 1 addition & 1 deletion NaviGator/mission_control/navigator_launch/launch/hardware/cameras/front_cameras.launch
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@@ -1,6 +1,6 @@
<?xml version="1.0"?>
<launch>
<arg name="front_left" default="True" />
<arg name="front_left" default="False" />
<arg name="front_right" default="True" />
<arg name="simulation" default="False" />
<include if="$(arg front_left)" file="$(find navigator_launch)/launch/hardware/cameras/dell_left.launch">
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2 changes: 1 addition & 1 deletion NaviGator/mission_control/navigator_launch/launch/hardware/kill_board.launch
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<launch>
<node pkg="navigator_kill_board" type="kill_board_driver.py" name="kill_board_interface">
<param name="port" value="/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A104OWRY-if00-port0" />
<param name="port" value="/dev/serial/by-id/usb-Texas_Instruments_In-Circuit_Debug_Interface_0E237EF7-if00" />
<param name="baud" value="9700" />
</node>
</launch>
2 changes: 1 addition & 1 deletion NaviGator/mission_control/navigator_launch/launch/master.launch
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Expand Up @@ -10,7 +10,7 @@
<include if="$(arg online-bagger)" file="$(find navigator_launch)/launch/online_bagger.launch" />
<include unless="$(arg simulation)" file="$(find navigator_launch)/launch/hardware.launch"/>
<include unless="$(arg simulation)" file="$(find navigator_launch)/launch/perception/classifier.launch" >
<arg name="main_image_topic" value="/camera/front/left/image_color"/>
<arg name="main_image_topic" value="/camera/front/right/image_color"/>
<arg name="use_yolo_model1" value="True"/>
<arg name="use_yolo_model2" value="False"/>
<arg name="weights_model1" value="$(find yolov7_ros)/src/mil_weights/robotx.pt" />
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117 changes: 58 additions & 59 deletions NaviGator/mission_control/navigator_launch/launch/perception/classifier.launch
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@@ -1,68 +1,67 @@
<?xml version="1.0"?>
<launch>

<arg name="weights_model1" default="$(find yolov7_ros)/src/mil_weights/robotx.pt" />
<arg name="weights_model2" default="$(find yolov7_ros)/src/mil_weights/robotx.pt" />
<arg name="weights_model3" default="$(find yolov7_ros)/src/mil_weights/stc.pt" />
<arg name="data_yaml_model1" default="$(find yolov7_ros)/src/data/vrx_buoys.yaml" />
<arg name="data_yaml_model2" default="$(find yolov7_ros)/src/data/vrx_buoys.yaml" />
<arg name="data_yaml_model3" default="$(find yolov7_ros)/src/data/stc.yaml" />
<arg name="main_image_topic" default="/camera/front/left/image_color"/>
<arg name="image_topic_model1" default="/yolov7/model1" />
<arg name="image_topic_model2" default="/yolov7/model2" />
<arg name="out_topic_model1" default="detections_model1" />
<arg name="out_topic_model2" default="detections_model2" />
<arg name="out_topic_model3" default="stc_detections_model" />
<arg name="conf_thresh" default="0.25" />
<arg name="image_size" default="640" />
<arg name="device" default="cpu" />
<arg name="use_yolo_model1" default="False"/>
<arg name="use_yolo_model2" default="False"/>
<arg name="use_yolo_model3" default="True"/>
<arg name="weights_model1" default="$(find yolov7_ros)/src/mil_weights/robotx.pt" />
<arg name="weights_model2" default="$(find yolov7_ros)/src/mil_weights/robotx.pt" />
<arg name="weights_model3" default="$(find yolov7_ros)/src/mil_weights/stc.pt" />
<arg name="data_yaml_model1" default="$(find yolov7_ros)/src/data/vrx_buoys.yaml" />
<arg name="data_yaml_model2" default="$(find yolov7_ros)/src/data/vrx_buoys.yaml" />
<arg name="data_yaml_model3" default="$(find yolov7_ros)/src/data/stc.yaml" />
<arg name="main_image_topic" default="/camera/front/right/image_color" />
<arg name="image_topic_model1" default="/yolov7/model1" />
<arg name="image_topic_model2" default="/yolov7/model2" />
<arg name="out_topic_model1" default="detections_model1" />
<arg name="out_topic_model2" default="detections_model2" />
<arg name="out_topic_model3" default="stc_detections_model" />
<arg name="conf_thresh" default="0.7" />
<arg name="image_size" default="640" />
<arg name="device" default="cpu" />
<arg name="use_yolo_model1" default="False" />
<arg name="use_yolo_model2" default="False" />
<arg name="use_yolo_model3" default="True" />

<node name="testing_arbiter" pkg="topic_tools" type="demux"
args="$(arg main_image_topic) $(arg image_topic_model1) $(arg image_topic_model2) /yolov7/none">
<remap from="demux" to="/yolov7"/>
</node>
<node name="testing_arbiter" pkg="topic_tools" type="demux" args="$(arg main_image_topic) $(arg image_topic_model1) $(arg image_topic_model2) /yolov7/none">
<remap from="demux" to="/yolov7" />
</node>

<!-- Use YOLOv7 -->
<include if="$(arg use_yolo_model1)" file="$(find yolov7_ros)/launch/yolov7.launch">
<arg name="weights" value="$(arg weights_model1)"/>
<arg name="image_topic" value="$(arg image_topic_model1)"/>
<arg name="out_topic" value="$(arg out_topic_model1)"/>
<arg name="conf_thresh" value="$(arg conf_thresh)"/>
<arg name="image_size" value="$(arg image_size)"/>
<arg name="device" value="$(arg device)"/>
<arg name="data_yaml" value="$(arg data_yaml_model1)"/>
</include>
<!-- Use YOLOv7 -->
<include if="$(arg use_yolo_model1)" file="$(find yolov7_ros)/launch/yolov7.launch">
<arg name="weights" value="$(arg weights_model1)" />
<arg name="image_topic" value="$(arg image_topic_model1)" />
<arg name="out_topic" value="$(arg out_topic_model1)" />
<arg name="conf_thresh" value="$(arg conf_thresh)" />
<arg name="image_size" value="$(arg image_size)" />
<arg name="device" value="$(arg device)" />
<arg name="data_yaml" value="$(arg data_yaml_model1)" />
</include>

<!-- Use YOLOv7 -->
<include if="$(arg use_yolo_model2)" file="$(find yolov7_ros)/launch/yolov7.launch">
<arg name="weights" value="$(arg weights_model2)"/>
<arg name="image_topic" value="$(arg image_topic_model2)"/>
<arg name="out_topic" value="$(arg out_topic_model2)"/>
<arg name="conf_thresh" value="$(arg conf_thresh)"/>
<arg name="image_size" value="$(arg image_size)"/>
<arg name="device" value="$(arg device)"/>
<arg name="data_yaml" value="$(arg data_yaml_model2)"/>
</include>
<!-- Use YOLOv7 -->
<include if="$(arg use_yolo_model2)" file="$(find yolov7_ros)/launch/yolov7.launch">
<arg name="weights" value="$(arg weights_model2)" />
<arg name="image_topic" value="$(arg image_topic_model2)" />
<arg name="out_topic" value="$(arg out_topic_model2)" />
<arg name="conf_thresh" value="$(arg conf_thresh)" />
<arg name="image_size" value="$(arg image_size)" />
<arg name="device" value="$(arg device)" />
<arg name="data_yaml" value="$(arg data_yaml_model2)" />
</include>

<!-- Use YOLOv7 -->
<include if="$(arg use_yolo_model3)" file="$(find yolov7_ros)/launch/yolov7.launch">
<arg name="weights" value="$(arg weights_model3)"/>
<arg name="image_topic" value="/stc_mask_debug"/>
<arg name="out_topic" value="$(arg out_topic_model3)"/>
<arg name="conf_thresh" value="$(arg conf_thresh)"/>
<arg name="image_size" value="$(arg image_size)"/>
<arg name="device" value="$(arg device)"/>
<arg name="data_yaml" value="$(arg data_yaml_model3)"/>
</include>
<!-- Use YOLOv7 -->
<include if="$(arg use_yolo_model3)" file="$(find yolov7_ros)/launch/yolov7.launch">
<arg name="weights" value="$(arg weights_model3)" />
<arg name="image_topic" value="/stc_mask_debug" />
<arg name="out_topic" value="$(arg out_topic_model3)" />
<arg name="conf_thresh" value="$(arg conf_thresh)" />
<arg name="image_size" value="$(arg image_size)" />
<arg name="device" value="$(arg device)" />
<arg name="data_yaml" value="$(arg data_yaml_model3)" />
</include>

<arg name="train" default="False" />
<node pkg="navigator_vision" type="classifier.py" name="classifier" output="screen">
<param name="debug" value="True" />
<param name="image_topic" value="$(arg main_image_topic)" />
<param name="model_location" value="config/model" />
<param name="train" value="$(arg train)" />
</node>
<arg name="train" default="False" />
<node pkg="navigator_vision" type="classifier.py" name="classifier" output="screen">
<param name="debug" value="True" />
<param name="image_topic" value="$(arg main_image_topic)" />
<param name="model_location" value="config/model" />
<param name="train" value="$(arg train)" />
</node>
</launch>
19 changes: 18 additions & 1 deletion NaviGator/mission_control/navigator_missions/navigator_missions/navigation.py
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Expand Up @@ -290,10 +290,18 @@ async def explore_closest_until(self, is_done, filter_and_sort):
# and find closest one within 25 meters (max width of a gate).
if cone_buoys_investigated > 0 and potential_candidate is None:
for i in range(len(objects)):
print(positions[i])
obj_vol = (
objects[i].scale.x * objects[i].scale.y * objects[i].scale.z
)

# Catch case where we invesitegate the shore
if obj_vol > 3:
continue

if (
objects[i].id not in investigated
and "round" not in objects[i].labeled_classification
and obj_vol < 3
):
distance = np.linalg.norm(positions[i] - self.pose[0])
if distance < shortest_distance and distance <= 25:
Expand All @@ -308,9 +316,18 @@ async def explore_closest_until(self, is_done, filter_and_sort):
# if that doesn't produce any results, literally just go to closest buoy
if potential_candidate is None:
for i in range(len(objects)):
obj_vol = (
objects[i].scale.x * objects[i].scale.y * objects[i].scale.z
)

# Catch case where we invesitegate the shore
if obj_vol > 3:
continue

if (
objects[i].id not in investigated
and "round" not in objects[i].labeled_classification
and obj_vol < 3
):
distance = np.linalg.norm(positions[i] - self.pose[0])
if distance < shortest_distance:
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12 changes: 12 additions & 0 deletions NaviGator/mission_control/navigator_missions/navigator_missions/navigator.py
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Expand Up @@ -3,6 +3,7 @@

import asyncio
import os
from enum import IntEnum
from typing import Callable

import genpy
Expand Down Expand Up @@ -42,6 +43,16 @@
from .pose_editor import PoseEditor2


class UAVModes(IntEnum):
"""
Enumerates constants of friendly uav mode names to ints
"""

STOWED = 1
DEPLOYED = 2
FAULTED = 3


class MissionResult:
NoResponse = 0
ParamNotFound = 1
Expand Down Expand Up @@ -130,6 +141,7 @@ async def setup_base(cls, mission_runner):
)

cls.pose = None
cls.uav_status = UAVModes.STOWED

def odom_set(odom: Odometry):
return setattr(cls, "pose", mil_tools.odometry_to_numpy(odom)[0])
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