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Added 2017-2018 mars rover repository.

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This commit is contained in:
Corwin Perren
2018-08-22 14:54:52 -07:00
parent a56690ca18
commit 7fd2641766
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15
OSU Robotics Club/Mars Rover 2017-2018/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"

34
OSU Robotics Club/Mars Rover 2017-2018/software/environment/rover/UDEV_rules/99-rover-usb-serial.rules Normal file
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# Examples
#########################
# 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"
#########################
##### NOTE!!!! The IONIs cannot be on IRIS. The throughput is too high for it to handle with only a 12Mbit usb hub onboard #####
# IRIS Board Mappings
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyREAR"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyLEFT"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyRIGHT"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyEffectors"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_1_0"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyTowerAndPanTilt"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyOdometry"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyChassisPanTilt"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM34WE0R", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyRDF_SoilProbe"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM34WE0R", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyIRIS_2_1"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM34WE0R", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyIRIS"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM34WE0R", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyExtraUART"
# External 485 adapter for the ARM
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="AH05K2Y8", SYMLINK+="rover/ttyARM"
##### Mappings from OMSI / EXPO driving with individual adapters
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6015", ATTRS{serial}=="DA01OM1N", SYMLINK+="rover/ttyScale"
# SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="A906H89E", SYMLINK+="rover/ttyRIGHT"
# SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="A906H7P0", SYMLINK+="rover/ttyREAR"

4
OSU Robotics Club/Mars Rover 2017-2018/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/.
sudo reboot

86
OSU Robotics Club/Mars Rover 2017-2018/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

91
OSU Robotics Club/Mars Rover 2017-2018/software/environment/rover/auto_poweroff/auto_poweroff.py Executable file
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#!/usr/bin/env python
#####################################
# Imports
#####################################
# Python native imports
from time import time, sleep
from os.path import exists, dirname, realpath
from os import system, chdir
import sys
#####################################
# Global Variables
#####################################
UDEV_RULES_PATHS = ["../UDEV_rules/99-rover-usb-serial.rules"]
SHUTDOWN_TIMEOUT = 5
#####################################
# get_script_path Definition
#####################################
def get_script_path():
return dirname(realpath(sys.argv[0]))
#####################################
# udev_parser Definition
#####################################
def udev_parser(rules_paths):
device_paths = {}
script_path = get_script_path()
chdir(script_path)
for current_file in rules_paths:
lines = open(current_file).readlines()
for line in lines:
if line[0] != "#" and line[0] != "\n":
current_path = line.split("SYMLINK+=")[1].strip("\"\n")
device_paths["/dev/" + current_path] = time()
return device_paths
#####################################
# AutoPoweroffWatchdog Class Definition
#####################################
class AutoPoweroffWatchdog(object):
def __init__(self, devices, shutdown_timeout, do_poweroff=True):
self.watched_devices = devices
self.shutdown_timeout = shutdown_timeout
self.do_poweroff = do_poweroff
# ########## Thread Flags ##########
self.run_thread_flag = True
self.run()
def run(self):
while self.run_thread_flag:
self.check_and_update_devices()
self.initiate_shutdown_if_needed()
sleep(0.25)
def check_and_update_devices(self):
for device in self.watched_devices:
if exists(device):
self.watched_devices[device] = time()
def initiate_shutdown_if_needed(self):
for device in self.watched_devices:
if (time() - self.watched_devices[device]) < self.shutdown_timeout:
return
if self.do_poweroff:
system("sudo wall -n No devices seen for %s seconds. Powering down. Poweroff script exiting." %
self.shutdown_timeout)
system("sudo poweroff")
exit()
else:
system("sudo wall -n No devices seen for %s seconds, but not powering down. Poweroff script exiting.")
exit()
#####################################
# Main
#####################################
if __name__ == "__main__":
watched_devices = udev_parser(UDEV_RULES_PATHS)
AutoPoweroffWatchdog(watched_devices, SHUTDOWN_TIMEOUT, True)

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OSU Robotics Club/Mars Rover 2017-2018/software/environment/rover/startup/screenrc Normal file
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# the following two lines give a two-line status, with the current window highlighted
hardstatus alwayslastline
hardstatus string '%{= kG}[%{G}%H%? %1`%?%{g}][%= %{= kw}%-w%{+b yk} %n*%t%?(%u)%? %{-}%+w %=%{g}][%{B}%m/%d %{W}%C%A%{g}]'
# huge scrollback buffer
defscrollback 5000
# no welcome message
startup_message off
# 256 colors
attrcolor b ".I"
termcapinfo xterm 'Co#256:AB=\E[48;5;%dm:AF=\E[38;5;%dm'
defbce on
# mouse tracking allows to switch region focus by clicking
mousetrack on
# default windows
screen -t RoverMain 1 bash -c "/home/nvidia/Github/Rover_2017_2018/software/environment/rover/startup/startup.sh"
screen -t Shell 2 bash
select 1
bind c screen 1 # window numbering starts at 1 not 0
bind 0 select 10
# get rid of silly xoff stuff
bind s split
# layouts
layout autosave on
layout new one
select 1
layout new two
select 1
split
resize -v +8
focus down
select 4
focus up
layout new three
select 1
split
resize -v +7
focus down
select 3
split -v
resize -h +10
focus right
select 4
focus up
layout attach one
layout select one
# navigating regions with Ctrl-arrows
bindkey "^[[1;5D" focus left
bindkey "^[[1;5C" focus right
bindkey "^[[1;5A" focus up
bindkey "^[[1;5B" focus down
# switch windows with F3 (prev) and F4 (next)
bindkey "^[OR" prev
bindkey "^[OS" next
# switch layouts with Ctrl+F3 (prev layout) and Ctrl+F4 (next)
bindkey "^[O1;5R" layout prev
bindkey "^[O1;5S" layout next
# F2 puts Screen into resize mode. Resize regions using hjkl keys.
bindkey "^[OQ" eval "command -c rsz" # enter resize mode
# use hjkl keys to resize regions
bind -c rsz h eval "resize -h -5" "command -c rsz"
bind -c rsz j eval "resize -v -5" "command -c rsz"
bind -c rsz k eval "resize -v +5" "command -c rsz"
bind -c rsz l eval "resize -h +5" "command -c rsz"
# quickly switch between regions using tab and arrows
bind -c rsz \t eval "focus" "command -c rsz" # Tab
bind -c rsz -k kl eval "focus left" "command -c rsz" # Left
bind -c rsz -k kr eval "focus right" "command -c rsz" # Right
bind -c rsz -k ku eval "focus up" "command -c rsz" # Up
bind -c rsz -k kd eval "focus down" "command -c rsz" # Down
# Clean up screen display with files
altscreen on

6
OSU Robotics Club/Mars Rover 2017-2018/software/environment/rover/startup/startup.sh Executable file
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#!/bin/bash
source /opt/ros/kinetic/setup.bash
source /home/nvidia/catkin_workspace/devel/setup.bash
/home/nvidia/Github/Rover_2017_2018/software/environment/rover/auto_poweroff/auto_poweroff.py &
roslaunch rover_main rover.launch
exec bash