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Camera Aruco Tags Dectection

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SirBlobby
2026-02-12 15:53:36 -05:00
parent 92da41138b
commit c91ea920a8
20 changed files with 688 additions and 470 deletions
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docs/architecture.md
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@@ -66,15 +66,15 @@ Camera → Visual Odometry → Position Estimator → Controller
#### Control Pipeline
```
Mission Planner → UAV Controller → MAVROS → ArduPilot
→ UGV Controller → cmd_vel
Search Algorithm → UAV Controller → MAVROS → ArduPilot
→ UGV Controller → cmd_vel
```
| Node | Function |
|------|----------|
| `uav_controller` | GUIDED mode control, auto-arm |
| `ugv_controller` | Differential drive control |
| `mission_planner` | Multi-vehicle coordination |
| `search` | Spiral, lawnmower, Lévy walk algorithms |
#### Safety Pipeline
@@ -138,23 +138,25 @@ GPS → Geofence Monitor → Failsafe Handler → Emergency Action
```
src/
├── main.py # Entry point
├── vision/
│ ├── visual_odometry.py # Feature tracking VO
│ ├── optical_flow.py # LK optical flow
│ └── camera_processor.py # Image processing
│ ├── object_detector.py # ArUco marker detection
│ ├── visual_odometry.py # Feature tracking VO
│ ├── optical_flow.py # LK optical flow
│ └── camera_processor.py # Gazebo camera feeds
├── localization/
│ ├── position_estimator.py # Weighted fusion
│ └── ekf_fusion.py # EKF fusion
│ ├── position_estimator.py # Weighted fusion
│ └── ekf_fusion.py # EKF fusion
├── navigation/
│ ├── local_planner.py # Path planning
│ └── waypoint_follower.py # Waypoint tracking
│ ├── local_planner.py # Path planning
│ └── waypoint_follower.py # Waypoint tracking
├── control/
│ ├── uav_controller.py # UAV flight control
│ ├── ugv_controller.py # UGV drive control
│ └── mission_planner.py # Coordination
│ ├── uav_controller.py # UAV flight control
│ ├── ugv_controller.py # UGV drive control
│ └── search.py # Search algorithms
└── safety/
├── geofence_monitor.py # GPS boundaries
└── failsafe_handler.py # Emergency handling
├── geofence_monitor.py # GPS boundaries
└── failsafe_handler.py # Emergency handling
```
## Configuration
@@ -175,3 +177,14 @@ vo_weight: 0.6 # Visual odometry
optical_flow: 0.3 # Optical flow
imu: 0.1 # IMU integration
```
### Speed Limits
```yaml
WPNAV_SPEED: 150 # Horizontal speed (cm/s)
WPNAV_ACCEL: 100 # Horizontal acceleration (cm/s/s)
WPNAV_SPEED_UP: 100 # Climb speed (cm/s)
WPNAV_SPEED_DN: 75 # Descent speed (cm/s)
WPNAV_ACCEL_Z: 75 # Vertical acceleration (cm/s/s)
LOIT_SPEED: 150 # Loiter speed (cm/s)
```