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uavvs component

Table of Contents

This component makes the drone detect and follow an AprilTag from the 36h11 family

Ports

desired (out)

Data structure

  • struct ::or_rigid_body::state desired

    • struct ::or::time::ts ts

      • long sec

      • long nsec

    • boolean intrinsic

    • optional< struct ::or::t3d::pos > pos

      • double x

      • double y

      • double z

    • optional< struct ::or::t3d::att > att

      • double qw

      • double qx

      • double qy

      • double qz

    • optional< struct ::or::t3d::vel > vel

      • double vx

      • double vy

      • double vz

    • optional< struct ::or::t3d::avel > avel

      • double wx

      • double wy

      • double wz

    • optional< struct ::or::t3d::acc > acc

      • double ax

      • double ay

      • double az

    • optional< struct ::or::t3d::aacc > aacc

      • double awx

      • double awy

      • double awz

    • optional< struct ::or::t3d::jerk > jerk

      • double jx

      • double jy

      • double jz

    • optional< struct ::or::t3d::snap > snap

      • double sx

      • double sy

      • double sz

Provides desired velocity

Services

enable_display (function)

Inputs

  • double frequency

Enable display with frequency image per second

close_display (function)

Close the display

init_grabber (function)

Inputs

  • short device (default "0")

  • short cam_index (default "0")

  • short frame_rate (default "50") : in Hz

  • boolean shutter (default "1")

  • boolean gain (default "1")

Initialize grabber data structure and opens the grabber object The parameters are:

device :

  • 0 if using FLIR cameras through FlyCapture SDK

  • 1 if using cameras through OpenCV

cam_index : the index of the camera

frame_rate: Select the frame_rate of the camera (for FlyCapture)

shutter: auto or manual shutter (for FlyCapture)

gain: auto or manual gain (for FlyCapture)

init_detector (function)

Inputs

  • double tagSize

  • double quad_decimate (default "2")

  • double nThreads (default "4")

Initializes aprilTag detector

init_camera (function)

Inputs

  • double px

  • double py

  • double u0

  • double v0

  • double kud

  • double kdu

Initialize camera parameters.

Note that this function should be called after calibrating the camera with ViSP calibration example.

This method initializes the camera with specific parameters using perspective projection with distortion model.

init_servo (function)

Inputs

  • double lambda_0 (default "0.5") : gain at 0

  • double lambda_inf (default "0.3") : gain at infinity

  • double lambda_dot_0 (default "30") : slope at 0

  • double z_desired (default "1.25") : Desired distance to keep from tag

  • double camera_pan

  • double camera_pos[3]

Initialize visual servoing

camera_pos[3] is the position of camera frame’s origin in UAV’s frame

log (function)

Inputs

  • string<64> path (default "/tmp/test-visp.log") : Log file name

  • unsigned long decimation (default "1") : Reduced logging frequency
Throws

  • exception ::uavvs::e_sys

    • short code

    • string<128> what

Log data if visual servoing is initialized

log_stop (function)

Stop logging

Tasks

main

Context