Create Development Guideline #21
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menson168
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Sep 16, 2018
* Revised readme.md, created low level control dir * fixes #16 * Updated README.md, shell script requires root * Initial commit of control * start future improvements lists * fix typo * Commit for work transfer to linux machine * #21 start dev guide * #9 configure usb_cam and add cv_camera, just in case * minor change commit * remove old version directory cv_camera * remove old version usb_cam directory * updated files from usb_cam * fix cv_camera, cleanup lanes-v1 * Implemented pathHeading Calc * cleanup and add debug code * launch views video1, does not display image (intentinoally) * Completed lat_controller core algo * Imported fix to GPS error * fixed error message. calculation likely still incorrect * reformat and add __future__ imports * Add debugger node to verify camera functionality * Fix typo in docstring * Reformat and add main() methods * Changed exception handler style * Add lane detection v2 source. Need to convert to python 2 * Built control core library * Update module README with credits * Added RAZOR 9DOF * Attempt to fix the repo link for razor * rm razor * Final IMU * Initial commit of the control node * Advanced Lanes work in python 2 * Added Interface and Common pkg * committing all changes * Added three ROS nodes. Lane offset data of a video feed can now be published * Removed swp, swn, swo files * Converting Vec3 to vector of cluster indices * Fixed some bugs * Fixed bugs * mm * Display label instead of intesnity * Maybe sped up gpf * missed semicolon * Edited params * this code is so bad :( * whoops * this is getting annoying * mm * Hopefully fixed * Implemented scanline wrapping * fix bug * mm * Maybe fixed scanline wrapping * moar bugs * mm * mm * mmm * ugh * sadasdfas * last time * Update README.md * Complete lane v2 node structure * Cleaned up lane v2 nodes * Add condition for no detected lane * Calibrate ELP camera * - Finished making Segmentation as stable as possible (for now). - Improved readability -Removed old files * Fixed gitignore * Delete .vscode files * revert to old gpf code * newest_steering_test.ino * Fixed over-segmentation of ground-plane * Add files via upload Initial low-level MCU node for low-level control. * Update redcar_control.ino Initial low-level control code for driving and steering control. * Add files via upload Initial commit of Control_Adapter_Arduino_node. * Delete low_lvl_mcu_node.py * Change no lane reading to "nan" Float32 * temp gpf fix * Implemented Point Filtering - NOT TESTED * Completed Rev1 Control node w/ custom message * Remove default test videos * Cleanup and refresh cached files * Added an IMU callback for control node to retrieve orientation * Updates after testing * #25 Add placeholder for face detector * #25 Add initial face detector * #25 Add haarcascade xml files * Add updated cache files * New point count based obstacle detection algorithm * #25 Altered CMakeLists to integrate cpp files * #25 Update face detector * Update control_node.cpp * Updated Object detection field * Change swiftnav to output vel_down * Fixed size_t error * fixed range to type float * Start launch file * Added control launch file * initial path interpolation file * Added launchfile, now publishing boolean * edited launch file * Fixed launch file ..again * Finished and tested lidar code * final parameter tweak * Fixed timer function bug, Added obstacle detection and driving mode mechanism * Add new arduino test code * Update path interpolation * Update new steering test * Fixed path heading check issue, placed CATKIN_IGNORE in localization pkg to prevent build error * Removed catkin_ignore from localization, planned to merge into ISS-29 * Added geodetic to ECEF conversion * Path interpolation publishes a path message * Set y position message to correct ouput * Path interpolation works with global reference frame * Add relative X and Y calculation * Improve interpolation function * Updated IMU Accel, Gyro Calibation * Fixed compilation error * Read locations from file * Fixed missing last point corner case in #42 * Hotfix commented out x_n * Fixed file parser #42 * Quick cleanup documentation #42 * Remove unnecessary globals * Modularize path interpolation * Add adaptive point density calculation * Add steering angle conversion * #42 debug in process for finePointsY equation * Fixed interpolation formula #42 * Cleanup #42 * Update launch file for path interpolation * Create geodesy package * Started real time position output node * Add mgrs library for UTM conversion * Remove mgrs library * Add geodetic to UTM calculation from utm pypy library * Update launch file * Add adaptive point density calc for UTM * Reorganize data #42 * Quick cleanup #42 * Cleanup Arduino and Python code * Cleanup Arduino Code * fix imu config * imu usb port change * Changed UTM to OOP implementation * Add OOP implementation for ECEF interpolation * Refactor ECEF path interpolation * Refactor UTM path interpolation * Update .gitignore * Start ENU converter * Stopped tracking cache files * Update manifest * Add live GPS position converter * Add velocity calculation * Hotfix debug message * Update geodesy launch * Including instructions at the topic for running code * Including instructions at the topic for running code * Added heading estimation into path cb * Fixed small struct bug * Fix for reseting prev_pos, added control debug layer * Added control files * Small update * Tuned PID parameters for 12 Volts and added timeout safety features * fixed rc, fixed control launch to include python node * Added rosserial launch * Added 2 new Paths * Fixed some low lvl python logic * removed old python low lvl node * launch files for path * updated joy installation * pip install * control bug fix * updated path * Obstacle detection fix * changed mitchell's code to reduce buffer size * Control Bug Fix * New student union path * Most updated Arduino code, tested some filtering at idle to lower oscillation * Control update * Arduino Fix * Preliminary error confirmation * Add point converter #53 * Fixed ENU data to ECEF data bug #53 * Update formatting for debugging #53 * Updated ardu_adapter.py and newest_steering_test.ino to remove magic numbers * Forgot an indent * working low level control code * Controller logic fix, fit was having error in having duplicated points * Start tf master node * Small fix * Fixed the wrapping angle issue where i forgot to remap the output to the right variable * Least squares gpf method w/ Eigen * Kalman Filter Core function implementationn * Fixed eigen compile errors * Update IMU message published * Move validation data to appropriate location * Note future TF msg improvements * Implemented SVD approach to groun plane fitting (NOT TESTED YET) * Fixed Eigen compilation bug * Verified that new CalculatePlaneNormal works as desired * fixed compilation bugs * Added include guards to all header files, tweaked gpf parameters * fixed z_min error * Gpf working commit * Update initial framework messages for tf * Update executable target * IMU Calibration, Control node update * Removed libuvc from util
menson168
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Sep 16, 2018
* Revised readme.md, created low level control dir * fixes #16 * Updated README.md, shell script requires root * Initial commit of control * start future improvements lists * fix typo * Commit for work transfer to linux machine * #21 start dev guide * #9 configure usb_cam and add cv_camera, just in case * minor change commit * remove old version directory cv_camera * remove old version usb_cam directory * updated files from usb_cam * fix cv_camera, cleanup lanes-v1 * Implemented pathHeading Calc * cleanup and add debug code * launch views video1, does not display image (intentinoally) * Completed lat_controller core algo * Imported fix to GPS error * fixed error message. calculation likely still incorrect * reformat and add __future__ imports * Add debugger node to verify camera functionality * Fix typo in docstring * Reformat and add main() methods * Changed exception handler style * Add lane detection v2 source. Need to convert to python 2 * Built control core library * Update module README with credits * Added RAZOR 9DOF * Attempt to fix the repo link for razor * rm razor * Final IMU * Initial commit of the control node * Advanced Lanes work in python 2 * Added Interface and Common pkg * committing all changes * Added three ROS nodes. Lane offset data of a video feed can now be published * Removed swp, swn, swo files * Converting Vec3 to vector of cluster indices * Fixed some bugs * Fixed bugs * mm * Display label instead of intesnity * Maybe sped up gpf * missed semicolon * Edited params * this code is so bad :( * whoops * this is getting annoying * mm * Hopefully fixed * Implemented scanline wrapping * fix bug * mm * Maybe fixed scanline wrapping * moar bugs * mm * mm * mmm * ugh * sadasdfas * last time * Update README.md * Complete lane v2 node structure * Cleaned up lane v2 nodes * Add condition for no detected lane * Calibrate ELP camera * - Finished making Segmentation as stable as possible (for now). - Improved readability -Removed old files * Fixed gitignore * Delete .vscode files * revert to old gpf code * newest_steering_test.ino * Fixed over-segmentation of ground-plane * Add files via upload Initial low-level MCU node for low-level control. * Update redcar_control.ino Initial low-level control code for driving and steering control. * Add files via upload Initial commit of Control_Adapter_Arduino_node. * Delete low_lvl_mcu_node.py * Change no lane reading to "nan" Float32 * temp gpf fix * Implemented Point Filtering - NOT TESTED * Completed Rev1 Control node w/ custom message * Remove default test videos * Cleanup and refresh cached files * Added an IMU callback for control node to retrieve orientation * Updates after testing * #25 Add placeholder for face detector * #25 Add initial face detector * #25 Add haarcascade xml files * Add updated cache files * New point count based obstacle detection algorithm * #25 Altered CMakeLists to integrate cpp files * #25 Update face detector * Update control_node.cpp * Updated Object detection field * Change swiftnav to output vel_down * Fixed size_t error * fixed range to type float * Start launch file * Added control launch file * initial path interpolation file * Added launchfile, now publishing boolean * edited launch file * Fixed launch file ..again * Finished and tested lidar code * final parameter tweak * Fixed timer function bug, Added obstacle detection and driving mode mechanism * Add new arduino test code * Update path interpolation * Update new steering test * Fixed path heading check issue, placed CATKIN_IGNORE in localization pkg to prevent build error * Removed catkin_ignore from localization, planned to merge into ISS-29 * Added geodetic to ECEF conversion * Path interpolation publishes a path message * Set y position message to correct ouput * Path interpolation works with global reference frame * Add relative X and Y calculation * Improve interpolation function * Updated IMU Accel, Gyro Calibation * Fixed compilation error * Read locations from file * Fixed missing last point corner case in #42 * Hotfix commented out x_n * Fixed file parser #42 * Quick cleanup documentation #42 * Remove unnecessary globals * Modularize path interpolation * Add adaptive point density calculation * Add steering angle conversion * #42 debug in process for finePointsY equation * Fixed interpolation formula #42 * Cleanup #42 * Update launch file for path interpolation * Create geodesy package * Started real time position output node * Add mgrs library for UTM conversion * Remove mgrs library * Add geodetic to UTM calculation from utm pypy library * Update launch file * Add adaptive point density calc for UTM * Reorganize data #42 * Quick cleanup #42 * Cleanup Arduino and Python code * Cleanup Arduino Code * fix imu config * imu usb port change * Changed UTM to OOP implementation * Add OOP implementation for ECEF interpolation * Refactor ECEF path interpolation * Refactor UTM path interpolation * Update .gitignore * Start ENU converter * Stopped tracking cache files * Update manifest * Add live GPS position converter * Add velocity calculation * Hotfix debug message * Update geodesy launch * Including instructions at the topic for running code * Including instructions at the topic for running code * Added heading estimation into path cb * Fixed small struct bug * Fix for reseting prev_pos, added control debug layer * Added control files * Small update * Tuned PID parameters for 12 Volts and added timeout safety features * fixed rc, fixed control launch to include python node * Added rosserial launch * Added 2 new Paths * Fixed some low lvl python logic * removed old python low lvl node * launch files for path * updated joy installation * pip install * control bug fix * updated path * Obstacle detection fix * changed mitchell's code to reduce buffer size * Control Bug Fix * New student union path * Most updated Arduino code, tested some filtering at idle to lower oscillation * Control update * Arduino Fix * Preliminary error confirmation * Add point converter #53 * Fixed ENU data to ECEF data bug #53 * Update formatting for debugging #53 * Updated ardu_adapter.py and newest_steering_test.ino to remove magic numbers * Forgot an indent * working low level control code * Controller logic fix, fit was having error in having duplicated points * Start tf master node * Small fix * Fixed the wrapping angle issue where i forgot to remap the output to the right variable * Least squares gpf method w/ Eigen * Kalman Filter Core function implementationn * Fixed eigen compile errors * Update IMU message published * Move validation data to appropriate location * Note future TF msg improvements * Implemented SVD approach to groun plane fitting (NOT TESTED YET) * Fixed Eigen compilation bug * Verified that new CalculatePlaneNormal works as desired * fixed compilation bugs * Added include guards to all header files, tweaked gpf parameters * fixed z_min error * Gpf working commit * Update initial framework messages for tf * Update executable target * IMU Calibration, Control node update * Removed libuvc from util
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Should move this over to the wiki to reduce space in repo |
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Moved over to wiki. Need refinement on C++ dev guide |
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A development guideline for coding style, git good practices, and ROS good practices shall be created.
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