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Docking 2024 #1313

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Description

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Related Issues

- Closes #XXX

Testing

About This PR

  • I have updated documentation related to this change so that future members are aware of the changes I've made.

AlexanderWangY and others added 30 commits September 5, 2024 13:51
@AlexanderWangY
simple square detection with aspect ratio
7a28791
@AlexanderWangY
Merge pull request #1270 from uf-mil/alex_dock_dev
a26b723 
Simple square detection initialized
@andrew-aj
moved docking mission over from 2022
b125537
@andrew-aj
Merge remote-tracking branch 'origin/dock_color_detection' into docki…
faee33d 
…ng_2024
@andrew-aj
added more comments
31f9025
@andrew-aj
added old stuff and fixed topic names
0d454d2
@andrew-aj
fixed poi
fb27d8a
@andrew-aj
fixed docking so it now moves
84a8ab3
@Josht8601
Doing some debug printinh
06fa82e
@AlexanderWangY
adding methods for square detection
8af7791
@willzoo
Added rudimentary implementation of find_color(). Successfully determ…
16c3e23 
…ines dock color sometimes.
@willzoo
Merge branch 'docking_2024' of https://github.com/uf-mil/mil into doc…
70f9c77 
…king_2024
Added way to check for a color and move to it
c91e7c2
@willzoo
Getting cluster from lidar now loops for user input (temporary soluti…
c80ae23 
…on). Press e if the image-lidar transformation is correct to move on to find_color()
@danushsingla
Repeatedly gets LIDAR points for docking bays until a correct image s…
8b90628 
…hape is found with a one color majority in each picture
@willzoo
Now it autonomously finds the color of the dock, and moves to the doc…
3957654 
…k with the matching color. However, the boat sits there for ~30 seconds trying to get a correct LIDAR to Image mapping.
@danushsingla
Added basic square detection after finding colors and docking. Still …
eade720 
…needs some improvement in the event that it cannot find exactly three squares.
@willzoo
Fixed errors in shoot projectile funciton (call location, and cv to c…
cabac6f 
…v2 rename)
@aaliao
Added vision pipeline file and section for it to go in docking.py
0347312
@willzoo
Cherry pick first commit from 2024-task6-testworld
9cc6ac7
@maxhv1 @willzoo
scan dock fling world name change
54d001a
@maxhv1 @willzoo
pulled my files out of VRX submodule, now moved into navigator_gazebo
af860aa
@willzoo
Merge branch 'docking_2024' of https://github.com/uf-mil/mil into doc…
68d5248 
…king_2024
@danushsingla
Andrew's rocking issue fix
5201f9a
@willzoo
Changed poi in config file to match position of dock in Max's world
b859516
@willzoo
Merge branch 'docking_2024' of https://github.com/uf-mil/mil into doc…
7624943 
…king_2024
@danushsingla
Increased offset of docking and takes a picture before shooting the b…
8cdefa5 
…all (uses fresh image)
@danushsingla
Merge branch 'docking_2024' of https://github.com/uf-mil/mil into doc…
33a9e57 
…king_2024
@aaliao
verified pipeline, just need to add to docking.py
050575e
@willzoo
Changed dock position and attempted to fix lidar cropping issue
d907771
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7 participants
@andrew-aj @AlexanderWangY @Josht8601 @willzoo @danushsingla @aaliao @maxhv1