# Tailored_Target_Jun_for_2024

**Repository Path**: ucas-sas-robot-team/tailored-target-jun-for-2024

## Basic Information

- **Project Name**: Tailored_Target_Jun_for_2024
- **Description**: Baseline for self-target research since 2023
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-03-10
- **Last Updated**: 2024-04-06

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Tailored code for self-target 2024
## Getting started
### Hardware requirement
- Intel realsense (or you can use our recorded bags for debugging)
- ttyUSB module
### Environment setup
- Ubuntu 20.04
- ROS2 foxy
- Intel realsense SDK and its ros2 wrapper

### IMU Serial setup
In ros2 foxy and humble, the serial library is not provided, so we need to install it manually.
```bash
# make sure that you have sourced your ros2 environment
cd
git clone https://gitee.com/ucas-sas-robot-team/serial.git # a mirror of a ros2 serial repo in github
cd serial
mkdir build
cd build
cmake ..
sudo make install
```



### system setup

```bash
cd
git clone https://gitee.com/ucas-sas-robot-team/tailored-target-jun-for-2024
cd tailored-target-jun-for-2024
sudo apt-get update && rosdep install --from-paths src --ignore-src -r -y
```

```bash
sudo apt install libgeometry-msgs-dev # for #include <geometry_msgs/TransformStamped.h>
```

### Build
在`src/rm_vision/rm_vision_bringup/config/robot_type.yaml`目录下，选择机器人类型。IMU、相机、等结构的安装方位将会在启动时装载。

```bash
# assume you are already in the root of the workspace tailored-target-jun-for-2024
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
```

### Run

make sure that IMU is ttyUSBimu, and the can_serial port is ttyUSBcan. If not, you need to change the port in the config file.

serial port is fixed now

In one window(start nodes)
```bash
source install/setup.bash
ros2 launch rm_vision_bringup all.launch.py
```
In another window(set params)
```bash
ros2 param set /camera/camera  rgb_camera.auto_exposure_priority false
ros2 param set /camera/camera  rgb_camera.enable_auto_exposure false
ros2 param set /camera/camera  rgb_camera.exposure 30
```

启动serial节点，只通过all.launch.py启动，而不通过serial_driver.launch 启动
这是因为有枪口矫正系数写在shoot_caliberate.yaml里

目前，按照代码里的逻辑，得先插IMU，再插CAN USB接口。保证IMU是ttyUSBimu，CAN_USB是ttyUSBcan

#### Without hardware, use our bag
In one window
```bash
source install/setup.bash
ros2 launch rm_vision_bringup no_hardware.launch.py
```
In another window
Download our bags at [Baidu Netdisk link](https://pan.baidu.com/s/1IdKN-XNSiF6MLV-Dg0wDOg?pwd=w6fw) and unzip it, then, navigate to the folder containing the extracted 848x480x60_30_mid_trans and use
```bash
ros2 bag play 848x480x60_30_mid_trans
```
to play the bag.


#### With hardware

##### all in one
```bash
source install/setup.bash
ros2 launch rm_vision_bringup all.launch.py
```

##### Separate

In one window
```bash
source install/setup.bash
ros2 launch rm_vision_bringup no_hardware.launch.py
```
In another window
```bash
ros2 launch realsense2_camera rs_launch.py camera.profile:=848x480x60
```
We set the camera exposure to 30

Launch Imu
```
source install/setup.bash
ros2 launch fdilink_ahrs odom_tf.launch.py 
```
#### Visualization
You can use some rviz2 to visualize the results.
```bash
# enter the root of the workspace
source install/setup.bash
rviz2 -d src/rm_vision/rm_vision_bringup/rviz/visualize.rviz
```
You can use rqt to see the relationships and tfs.
```
rqt
```
#### Notice
How to set the camera exposure:
```
ros2 param get /camera/camera rgb_camera.exposure
ros2 param set /camera/camera  rgb_camera.exposure 30.0
```
How to change params:
1. ```ros2 param set <package_name> <param_name> xxx```
2. change params in node_params.yaml
3. change ratios in codes

How to solve "/dev/ttyUSB0 permission denied.
":
```
sudo usermod -a -G dialout $USER
```
then reboot

## Design
### Frames Change 
We use two ways to create frames.\
We totally set five frames:odom(inertial system) , gimbal_link , gun_link , imu , camera_color_optical_frame\
Only when the data was put in an inertial system can we get a proper pose estimation with EKF.So we set an odom frame which is on the center of PTZ witn no rotations.(It means we see rotations as non-inertia but we see translations as inertia.)\
Please note that we cannot only use imu to create an odometry!!!!!!
1. create a node \
   Properties:\
    It can set both static and dynamic frames.But every time it is changed,we need to build again.\
   Reference documents:\
   https://docs.ros.org/en/foxy/Tutorials/Intermediate/Tf2/Adding-A-Frame-Cpp.html\
   Use:We only set a transform whose father's name id is odom and child's name id is gimbal link to record the rotation of PTZ.

   
要把无下位机的控制程序写完


## future work(TODO LIST)
1. 添加哨兵双云台全部在NUC上启动的流程
1. 编写参数标定的README
1. 编写上场工作流程，调节红色和蓝色的识别
1. 测试IMU热插拔流程

如此定义机器人的串口和IMU

对于步兵和英雄机器人，can口是/dev/ttyUSBcan，IMU是/dev/ttyUSBimu

对于哨兵机器人，can口是/dev/ttyUSBcan，IMU是/dev/ttyUSBimuup和/dev/ttyUSBimudown

为了启动哨兵机器人的两个节点，需要启动：

两组：姿态解算，装甲板识别，目标追踪

一组：串口收发

一组：无下位机控制

如果按照现在的结构，一切的launch file将会变得比较混乱。这是因为在launch file中根据某一字符串确定读取的参数，导致没有办法从高层级的python launch把字符串发给更低层级的 python launch，这是因为参数在运行时确定，而launch file只是生成了参数的"description"。

为了快速完成任务，保留英雄和步兵的launch方式：直接启动。而对于哨兵双云台同时启动的情况，我们从头直接编写launch 文件，而不考虑现有launch file的复用，以尽可能少地修改代码，将精力聚焦于更重要的事情上。

现在必须要让自瞄和串口收发剥离开来了，先跑通单个机器人的代码。