Eurobot-Localization/Vive

Vive workspace for Eurobot

Contributors: Angus and YuShan

Install

# create a new catkin_workspace, if you need to.
cd ~/catkin_workspace/src
git clone git@github.com:YuShan122/Vive.git

cd Vive
chmod 777 vive_install.sh
./vive_install.sh

# If error occurs
# sudo apt-get install qtbase5-dev
# sudo apt-get install qtdeclarative5-dev
# sudo apt-get install libarmadillo-dev

complie

cd ~/catkin_workspace
catkin_make
# if error occurs, compile "obstacle_detector" first as follow:
catkin_make -DCATKIN_WHITELIST_PACKAGES="obstacle_detector"
catkin_make -DCATKIN_WHITELIST_PACKAGES="vive"

Calibration

Getting LH->map

• Set up three lighthouses.
• Check dump path in vive_calibrate.cpp, line 278. Remember catkin_make if the code is modified.
• Open vive_calibrate.launch. Check and modify value of params: calibrate_tracker side.
• Put the tracker on the playground.
  • Position: (1.5, 1.0) (the center of the playground), and
  • Orientation: LED facing right shorter side of the playground(the line x=3).
• Launch.

roslaunch vive vive_calibrate.launch

• Wait untill the numbers printed to be stable.
  • If you don't want to replace the last calibration:

  # open another terminal
  rosparam set /vive_calibrate/dump_blue false
  rosparam set /vive_calibrate/dump_green false
  

• Press ctrl+C to stop the program. vive/param/vive_calibrate.yaml will be replaced by new calibration.

Calibration of map_origin rotation

• Set up three lighthouses.
• Check dump path in vive_calibrate2.cpp, line 380. Remember catkin_make if the code is modified.
• Open vive_calibrate2.launch, check and modify args: side_ tracker_.
• Put the tracker on the playground.
• Launch.

roslaunch vive vive_calibrate2.launch
# open another terminal
rosrun vive vive_calibrate_contrl

• There are four points; the position of the points are set in vive_calibrate.yaml -> pos_true_xandy.
• Input numbers with vive_calibrate_contrl, and put tracker on the position vive_calibrate2 gives you.
• When finishing one point, before moving tracker, input another number in vive_calibrate_contrl.
• Then move the tracker to next posistion.
• If all four points are finished, close vive_calibrate2 (by input 9 or press ctrl+C). The calibration data would be written into vive_calibrate.yaml.
• Finished.

Run

robot

• Open vive_trackerpose.launch, check and modify args:
  • robot1_active / robot2_active
  • robot1_tracker / robot2_tracker
  • side : 'g' or 'b'. Note: We didn't use this string param in EUROBOT2023, but an int param /side. 1 green, 0 blue. This param is set by other.
  • ekf_ : running with ekf or not. If true, the program would compare the position of vive and ekf.
  • print_world : Print information of vive_world or not. Note: SimpleApi logger in vive_world would always print information.
• Launch.

rosparam set /side 0 # blue, or
rosparam set /side 1 # green
roslaunch vive vive_trackerpose.launch

rival

• Open vive_rival_1.launch/vive_rival_2.launch, check and modify args:
  • rival1_active / rival2_active
  • rival1_tracker / rival2_tracker
  • side : 'g' or 'b'. Note: We didn't use this string param in EUROBOT2023, but an int param /side. 1 green, 0 blue. This param is set by other.
  • lowpass_active_ : to determined the lowpass filter active.
• Launch.

rosparam set /side 0 # blue, or
rosparam set /side 1 # green
roslaunch vive vive_rival_1.launch # or
roslaunch vive vive_rival_2.launch