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Adaptive new auto-aim #151

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f97d7fb
Add some function for deep_aim.
lovodllt Apr 19, 2025
11831ff
Sync the commits from the master branch.
lovodllt Jun 5, 2025
06a2206
Merge branch 'gdut-dynamic-x:master' into master
lovodllt Sep 14, 2025
edb0de6
Merge branch 'gdut-dynamic-x:master' into master
lovodllt Apr 6, 2026
4c44ccb
Adaptive new auto-aim.
lovodllt Apr 6, 2026
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2 changes: 1 addition & 1 deletion config/rm_controllers/sentry.yaml
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Expand Up @@ -182,4 +182,4 @@ controllers:
barrel_controller:
type: effort_controllers/JointPositionController
joint: "barrel_joint"
pid: { p: 30.0, i: 15.0, d: 0.3, i_clamp_max: 0.03, i_clamp_min: -0.03, antiwindup: true, publish_state: false }
pid: { p: 30.0, i: 15.0, d: 0.3, i_clamp_max: 0.03, i_clamp_min: -0.03, antiwindup: true, publish_state: false }
2 changes: 1 addition & 1 deletion config/rm_ecat_hw/device_configurations/dart.yaml
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Expand Up @@ -37,4 +37,4 @@ gpios:
mode: 0
- name: "calibration_right"
pin: 0
mode: 0
mode: 0
2 changes: 1 addition & 1 deletion config/rm_referee/dart.yaml
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Expand Up @@ -7,4 +7,4 @@ rm_referee:
trigger_change:
time_change:
fixed:
flash:
flash:
8 changes: 5 additions & 3 deletions config/vision/camera.yaml
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@@ -1,4 +1,4 @@
camera:
hk_camera:
image_width: 1440
image_height: 1080
pixel_format: bgr8
Expand All @@ -8,8 +8,10 @@ camera:
camera_sn: 00J90631052
frame_rate: 1000
exposure_auto: false
exposure_value: 1500
exposure_value: 1000
exposure_value_windmill: 3000
gamma_selector: 2
gamma_value: 0.5
enable_imu_trigger: true
enable_imu_trigger: false
is_fps_down: false
target_fps: 40.0
17 changes: 17 additions & 0 deletions config/vision/camera_left.yaml
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@@ -0,0 +1,17 @@
hk_camera_left:
# 1280×1024 640×512
image_width: 1280
image_height: 1024
pixel_format: bgr8
camera_info_url: 'file:///home/hiling/.ros/camera_info/DA8835803_left.yaml'
camera_name: hk_camera_left
camera_frame_id: camera_optical_frame_left
frame_id: camera_optical_frame_left
camera_sn: DA8835805
frame_rate: 15
exposure_auto: false
exposure_value: 1000
gamma_selector: 2
gamma_value: 0.5
enable_imu_trigger: true
sleep_time: 2
17 changes: 17 additions & 0 deletions config/vision/camera_right.yaml
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@@ -0,0 +1,17 @@
hk_camera_right:
# 1280×1024 640×512
image_width: 1280
image_height: 1024
pixel_format: bgr8
camera_info_url: 'file:///home/hiling/.ros/camera_info/test_cam_right.yaml'
camera_name: hk_camera_right
camera_frame_id: camera_optical_frame_right
frame_id: camera_optical_frame_right
camera_sn: DA8835803
frame_rate: 15
exposure_auto: false
exposure_value: 1000
gamma_selector: 2
gamma_value: 0.5
enable_imu_trigger: true
sleep_time: 1
22 changes: 0 additions & 22 deletions config/vision/sentry.yaml
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33 changes: 15 additions & 18 deletions launch/vision/camera.launch
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@@ -1,25 +1,22 @@
<launch>
<arg name="imu_trigger" default="false"/>
<arg name="camera_type" default="$(env CAMERA_TYPE)" doc="Camera type"/>
<arg name="camera_class" default="$(env CAMERA_CLASS)"/>
<arg name="camera_name" default="camera"/>
<arg name="camera_frame" default="camera_optical_frame"/>
<arg name="hw_name" default="$(env HW_NAME)" doc="[rm_ecat_hw, rm_hw]"/>
<arg name="manager_name" default="vision_nodelet"/>
<arg name="camera_class" default="HKCameraNodelet"/>
<arg name="camera_type" default="hk_camera"/>
<arg name="suffix" default=""/>
<arg name="hw_name" default="rm_ecat_hw" doc="[rm_ecat_hw, rm_hw]"/>
<arg name="image_topic"
default="$(eval '/' + arg('camera_type') + ('_' + arg('suffix') if arg('suffix') else '') + '/image_raw')"/>
<arg name="camera_info_topic"
default="$(eval '/' + arg('camera_type') + ('_' + arg('suffix') if arg('suffix') else '') + '/camera_info')"/>

<rosparam file="$(find rm_config)/config/vision/camera.yaml" command="load"/>

<node pkg="nodelet" type="nodelet" name="vision_nodelet" args="manager"
output="screen" respawn="true">
<param name="num_worker_threads" value="8"/>
</node>

<node pkg="nodelet" type="nodelet" name="$(arg camera_name)"
args="load $(arg camera_type)/$(arg camera_class) vision_nodelet"
<rosparam file="$(eval find('rm_detection_tradition') + '/config/camera' + ('_' + arg('suffix') if arg('suffix') else '') + '.yaml')" command="load"/>
<node pkg="nodelet" type="nodelet" name="$(eval arg('camera_type') + ('_' + arg('suffix') if arg('suffix') else ''))"
args="load $(arg camera_type)/$(arg camera_class) $(arg manager_name)"
output="screen" respawn="true">
<param name="camera_frame_id" value="$(arg camera_frame)"/>
<param name="enable_imu_trigger" value="$(arg imu_trigger)"/>
<remap from="$(arg camera_name)/image_raw" to="/$(arg camera_type)/$(arg camera_name)/image_raw"/>
<remap from="/$(arg camera_name)/imu_trigger" to="/$(arg hw_name)/imu_trigger"/>
<remap from="$(arg camera_type)/image_raw" to="$(arg image_topic)"/>
<remap from="$(arg camera_type)/camera_info" to="$(arg camera_info_topic)"/>
<remap from="/rm_hw/gimbal_imu/trigger_time" to="/$(arg hw_name)/gimbal_imu/trigger_time"/>
</node>
</launch>
</launch>
53 changes: 0 additions & 53 deletions launch/vision/sentry_camera.launch
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42 changes: 0 additions & 42 deletions launch/vision/sentry_vision_loader.launch
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45 changes: 0 additions & 45 deletions launch/vision/vision_loader.launch
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99 changes: 99 additions & 0 deletions launch/vision/vision_main_node.launch
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@@ -0,0 +1,99 @@
<launch>
<arg name="camera_type" default="hk_camera"/>
<arg name="manager_name" default="vision_nodelet"/>

<!-- nodelet manager name -->
<arg name="use_back" default="false"/>

<arg name="use_left" default="false"/>
<arg name="use_right" default="false"/>

<!-- ========== main thread ========== -->
<!-- main nodelet manager -->
<node pkg="nodelet" type="nodelet" name="$(arg manager_name)" args="manager" output="screen"/>

<!-- Camera -->
<include file="$(find rm_target_tracker)/launch/camera.launch">
<arg name="camera_type" value="$(arg camera_type)"/>
<arg name="manager_name" value="$(arg manager_name)"/>
<arg name="suffix" value=""/>
</include>

<!-- Detection -->
<include file="$(find rm_detection_tradition)/launch/detection_tradition.launch">
<arg name="manager_name" value="$(arg manager_name)"/>
<arg name="camera_type" value="$(arg camera_type)"/>
<arg name="suffix" value=""/>
</include>

<!-- Pose solver -->
<include file="$(find rm_pose_solver)/launch/pose_solver.launch">
<arg name="manager_name" value="$(arg manager_name)"/>
<arg name="camera_type" value="$(arg camera_type)"/>
<arg name="suffix" value=""/>
</include>

<!-- Target Tracker -->
<include file="$(find rm_target_tracker)/launch/target_tracker.launch">
<arg name="manager_name" value="$(arg manager_name)"/>
<arg name="camera_type" value="$(arg camera_type)"/>
<arg name="suffix" value=""/>
</include>

<!-- ========== back thread ========== -->
<group if="$(arg use_back)">
<arg name="sub_manager_name" default="vision_nodelet_back"/>

<node pkg="nodelet" type="nodelet" name="$(arg sub_manager_name)" args="manager" output="screen"/>

<include file="$(find rm_target_tracker)/launch/camera.launch">
<arg name="manager_name" value="$(arg sub_manager_name)"/>
<arg name="camera_type" value="$(arg camera_type)"/>
<arg name="suffix" value="back"/>
</include>

<include file="$(find rm_detection_tradition)/launch/detection_tradition.launch">
<arg name="manager_name" value="$(arg sub_manager_name)"/>
<arg name="camera_type" value="$(arg camera_type)"/>
<arg name="suffix" value="back"/>
</include>
</group>

<!-- ========== left thread ========== -->
<group if="$(arg use_left)">
<arg name="sub_manager_name" default="vision_nodelet_left"/>

<node pkg="nodelet" type="nodelet" name="$(arg sub_manager_name)" args="manager" output="screen"/>

<include file="$(find rm_target_tracker)/launch/camera.launch">
<arg name="manager_name" value="$(arg sub_manager_name)"/>
<arg name="camera_type" value="$(arg camera_type)"/>
<arg name="suffix" value="left"/>
</include>

<include file="$(find rm_detection_tradition)/launch/detection_tradition.launch">
<arg name="manager_name" value="$(arg sub_manager_name)"/>
<arg name="camera_type" value="$(arg camera_type)"/>
<arg name="suffix" value="left"/>
</include>
</group>

<!-- ========== right thread ========== -->
<group if="$(arg use_right)">
<arg name="sub_manager_name" default="vision_nodelet_right"/>

<node pkg="nodelet" type="nodelet" name="$(arg sub_manager_name)" args="manager" output="screen"/>

<include file="$(find rm_target_tracker)/launch/camera.launch">
<arg name="manager_name" value="$(arg sub_manager_name)"/>
<arg name="camera_type" value="$(arg camera_type)"/>
<arg name="suffix" value="right"/>
</include>

<include file="$(find rm_detection_tradition)/launch/detection_tradition.launch">
<arg name="manager_name" value="$(arg sub_manager_name)"/>
<arg name="camera_type" value="$(arg camera_type)"/>
<arg name="suffix" value="right"/>
</include>
</group>
</launch>