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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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16
scripts/run_autonomous.sh
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@@ -17,26 +17,23 @@ print_error() { echo -e "${RED}[ERROR]${NC} $1"; }
SOFTWARE_RENDER=auto
WORLD="uav_ugv_search.sdf"
MISSION="hover"
SEARCH="spiral"
ALTITUDE=""
DURATION=""
while [[ $# -gt 0 ]]; do
case $1 in
--software-render) SOFTWARE_RENDER=true; shift ;;
--no-software-render) SOFTWARE_RENDER=false; shift ;;
--world) WORLD="$2"; shift 2 ;;
--mission) MISSION="$2"; shift 2 ;;
--search) SEARCH="$2"; shift 2 ;;
--altitude) ALTITUDE="$2"; shift 2 ;;
--duration) DURATION="$2"; shift 2 ;;
-h|--help)
echo "Usage: $0 [options]"
echo " --software-render Force software rendering"
echo " --no-software-render Disable software rendering"
echo " --world <file> World file (default: uav_ugv_search.sdf)"
echo " --mission <type> hover, square, search (default: hover)"
echo " --search <type> spiral, lawnmower, levy (default: spiral)"
echo " --altitude <m> Override altitude from config"
echo " --duration <s> Override duration from config"
exit 0
;;
*) shift ;;
@@ -178,9 +175,8 @@ print_info "[3/4] Starting main.py ..."
cd "$PROJECT_DIR"
sleep 3
MAIN_ARGS="--device sim --connection tcp:127.0.0.1:5760 --mission $MISSION"
MAIN_ARGS="--device sim --connection tcp:127.0.0.1:5760 --search $SEARCH"
[ -n "$ALTITUDE" ] && MAIN_ARGS="$MAIN_ARGS --altitude $ALTITUDE"
[ -n "$DURATION" ] && MAIN_ARGS="$MAIN_ARGS --duration $DURATION"
python3 src/main.py $MAIN_ARGS &
MAIN_PID=$!
@@ -201,7 +197,7 @@ print_info " main.py (pymavlink)"
print_info " |"
print_info " camera_viewer.py (OpenCV)"
print_info ""
print_info " Mission: $MISSION (config from YAML)"
print_info " Search: $SEARCH"
print_info " Press Ctrl+C to stop"
print_info "==================================="
@@ -211,7 +207,7 @@ cleanup_sitl
print_info ""
print_info "=================================="
print_info " Mission Complete!"
print_info " Search Complete!"
print_info "=================================="
print_info "Gazebo GUI still open."
print_info "Press Ctrl+C to exit."