caperren/osurc_mars_rover_2017_2018
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MAJOR refactor of software layout. Needed as ground station and rover both need access to shared packages.

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This commit is contained in:
Corwin Perren
2018-02-27 18:38:55 -08:00
parent ff7a587f80
commit 934dd3eeb4
148 changed files with 412 additions and 337 deletions
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15
software/environment/rover/UDEV_rules/99-rover-cameras.rules Normal file
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# udevadm info -a -p $(udevadm info -q path -n /dev/video2)
# ATTRS{serial}=="B9A8A5FF", MODE="0660",GROUP="nvidia",
# SUBSYSTEM=="video4linux",ATTRS{idVendor}=="0x046d",ATTRS{idProduct}=="0x082d",NAME="videoext"
# The zed camera
KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", ATTRS{idVendor}=="2b03", ATTRS{idProduct}=="f580", SYMLINK+="rover/camera_zed"
# The first C920 Webcam
KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="082d", ATTRS{serial}=="B9A8A5FF", SYMLINK+="rover/camera_undercarriage"
# The second C920 Webcam
KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="082d", ATTRS{serial}=="A98AA5FF", SYMLINK+="rover/camera_chassis"
# The special main nav cam
KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", ATTRS{idVendor}=="05a3", ATTRS{idProduct}=="9422", ATTRS{serial}=="SN0001", ATTR{index}=="0", SYMLINK+="rover/camera_main_navigation"

25
software/environment/rover/UDEV_rules/99-rover-usb-serial.rules Normal file
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# SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="FTU9EU0I", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyDEV0"
# SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="FTU9EU0I", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyDEV1"
# SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="FTU9EU0I", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyCompass"
# SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="FTU9EU0I", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyGPS"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2NFZVA", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_0_0"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2NFZVA", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyIRIS_0_1"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2NFZVA", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyIRIS_0_2"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2NFZVA", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_0_3"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2RJ8G5", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_1_0"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2RJ8G5", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyIRIS_1_1"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2RJ8G5", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyIRIS_1_2"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2RJ8G5", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_1_3"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2UFVE1", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_2_0"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2UFVE1", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyIRIS_2_1"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2UFVE1", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyIRIS_2_2"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2UFVE1", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_2_3"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="AH05K2Y8", SYMLINK+="rover/ttyTEST"

3
software/environment/rover/UDEV_rules/install_rules.sh Executable file
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#!/bin/bash
sudo cp 99-rover-cameras.rules /etc/udev/rules.d/.
sudo cp 99-rover-usb-serial.rules /etc/udev/rules.d/.

86
software/environment/rover/ZED_settings/SN2129.conf Normal file
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[LEFT_CAM_2K]
cx = 1103.74
cy = 663.956
fx = 1389.02
fy = 1389.02
k1 = -0.175403
k2 = 0.0278335
[LEFT_CAM_FHD]
cx = 959.74
cy = 582.956
fx = 1389.02
fy = 1389.02
k1 = -0.175403
k2 = 0.0278335
[LEFT_CAM_HD]
cx = 638.37
cy = 379.978
fx = 694.512
fy = 694.512
k1 = -0.175403
k2 = 0.0278335
[LEFT_CAM_VGA]
cx = 334.185
cy = 196.989
fx = 347.256
fy = 347.256
k1 = -0.175403
k2 = 0.0278335
[RIGHT_CAM_2K]
cx = 1152.59
cy = 667.942
fx = 1393.95
fy = 1393.95
k1 = -0.175501
k2 = 0.0279378
[RIGHT_CAM_FHD]
cx = 1008.59
cy = 586.942
fx = 1393.95
fy = 1393.95
k1 = -0.175501
k2 = 0.0279378
[RIGHT_CAM_HD]
cx = 662.797
cy = 381.971
fx = 696.977
fy = 696.977
k1 = -0.175501
k2 = 0.0279378
[RIGHT_CAM_VGA]
cx = 346.399
cy = 197.985
fx = 348.489
fy = 348.489
k1 = -0.175501
k2 = 0.0279378
[STEREO]
BaseLine = 120.098
CV_2K = 4.66838e-06
CV_FHD = 4.66838e-06
CV_HD = 4.66838e-06
CV_VGA = 4.66838e-06
RX_2K = 0.000518746
RX_FHD = 0.000518746
RX_HD = 0.000518746
RX_VGA = 0.000518746
RZ_2K = -0.00147751
RZ_FHD = -0.00147751
RZ_HD = -0.00147751
RZ_VGA = -0.00147751