Hydrothermal vent#1187
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Apr 16, 2024
| # Computer vision aspect still required to detect the red buoy. For now, random position used | ||
| class HydrothermalVent(SubjuGatorMission): | ||
| async def run(self, args): | ||
| self.buoy_pos = np.array([3, 4, -2]) # Convert buoy position to numpy array |
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The array represents the position of the buoy in x, y, z coordinates relative to the sub. I spoke to Daniel about how the sub would actually view the buoy and I will now work on modifying the functionality so it uses position in x,y relative to the center of the camera and radius/
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Hello, it's your friendly InvestiGator bot here! The docs preview for this PR is available at https://mil.ufl.edu/pr-docs/1187. Last updated at:
► f444f936b73c0ca2d5da8f3d5add929c3912fca1
► 2024-04-16 14:51 EDTHave a great day! Go gators! 🐊 |
…nd a function to later center the sub with respect to the buoy, once computer vision data is ready
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Description
I made the hydrothermal vent mission, along with the gazebo 3D modeling of the buoy for testing purposes. The mission consists on circumnavigating a red buoy. I also made it so the sub returns to origin after completing the mission
Screenshot or Video
Related Issues
- Closes #1143
Testing
run the following commands:
$ roslaunch subjugator_launch gazebo.launch --screen
$ gazebogui
$ amonitor kill
$ mission run Hydrothermal_vent
About This PR
Comments:
The mission uses a hard-coded value for the buoy position. Once computer vision has the red buoy detection ready, it can be implemented in this mission