auto-aiming

Revitalized auto-aiming suite for Purdue RoboMaster Club 2024-2025.

Overall Suite Requirements

Functional Requirements:

• Detect an enemy armor plate in the camera's FOV.
  • Meet the following detection rate and accuracy requirements:
    • 5 meters: 90% detection rate, 5% pixel loss
    • 3 meters: 95% detection rate, 5% pixel loss
    • 2 meters: 95% detection rate, 5% pixel loss
  • Reduce search area around previously detected plates ("search area reduction").
  • Achieve 120 Hz detection frequency.
  • Classify the robot type based on its armor plate sticker.
• Compute camera-relative XYZ pose via PnP solving with 5% error margin.
• Filter out false positives and noise in the detection results.
  • Use a Kalman filter to smooth XYZ pose estimates.
  • Apply a "validity filter" for erroneous detection/pose results (e.g., based on distance, XYZ shifts).
• Compute the gimbal angles (yaw and pitch) required to accurately land projectiles on the detected armor plate.
  • Compute pitch using an easily-adjustable lookup table or ballistic model based on distance to target.
  • Compute yaw using a predictive model using the detected armor's XYZ pose, rotation, and velocity
• Send the computed gimbal angles to the STM32 control board via UART.

Non-Functional Requirements:

• Performance
  • Ensure real-time end-to-end performance of 120 Hz.
• Testability
  • Include a comprehensive suite of unit tests for all modules to verify component correctness.
• Maintainability
  • Maintain modularity by separating ROS2 and C++ logic into xyzNode.cpp and xyz.cpp files.
  • Provide thorough documentation, including doxygen-style comments for functions and README files for modules.

Usage

Clone this repository into your ros2-ws directory. We provide a run script that can be used to build, run, test, and clean the workspace with the following options:

• Build
  • ./auto-aiming/run build
• Launch ROS2 code
  • ./auto-aiming/run run <launch_file>
• Run automated tests (GTest)
  • ./auto-aiming/run test
• Clean the workspace
  • ./auto-aiming/run clean
• Optional flags
  • --quiet: Suppresses console output, logs output to command_output.log.
  • --debug: Builds with debug flags enabled.

Example:

./auto-aiming/run --debug --quiet run video2detector.py

Architecture Diagram