gestom/cosphi

Artificial pheromone system

cosphi's Issues

Video size is limited

the video size is limited to 2GB. this prevents from recording long sequences

change the sourse of the camera feed to simulation

hey , I need to change the camera source in order to get it from simulator (gazebo) camera , any suggestions ?
am thinking about creating a node to subscribe to the camera topic and change it into some thing which simulate the usb camera @gestom

generating occupancy grid from the image between the 4 terminal patterns

i want to create a ros node to generate an occupancy grid from the camera feed
so i need to get the coordinates of the center of each of the 4 terminal patterns then crop the image and pass it to a processing node .

what is the best way to get those coordinates (related to the image pixels ), thanks in advance

the identified ID is changing during robot moving

Hi!
Thank you for opensource the project. I am trying to use the project but got a problem: the identified ID keeps changing during robot motion like constantly change from 01 to 02.
I am using 8 different makers.
Do you have some clue to make some improvements?

Robot ID 000 shows multiple cordinates?

Hello,
I ran the code successfully, but the robot Id 000 shows 5 different values as its coordinates.
The circular markers at the corners are given 000 as Id and also the 1st robot is given as ID 0. Is this because of this, or am I messing up somewhere?
Any help is appreciated.

Thanks

Requested frame format MJPG is not available

Hi,

I tried the swarmcon on a webcam (of a laptop) and it worked smoothly. Now I am trying to integrate it on a drone and therefore I installed the package on a ODROID card. The latter is connected to a camera FLEA USB 3.0 but I get the following error:

odroid@mkQuadroTest:~/swarmFab/CosPhi/Localization/bin$ ./swarmcon /dev/video6 1
Cannot write to log file output/SwarmCon_2016-09-06_17-27-42.txt. Does the "output" directory exist?
Device information:
Device path: /dev/video6
Stream settings:
ERROR: Requested frame format MJPG is not available and no fallback format was found.
Init v4L2 failed !! exit fatal
Cannot init camera device /dev/video6.
1.000000,0.000000,0.000000,0.000000,0.000000,0.000000,
1920.000000,1080.000000,
960.000000,540.000000,

could you please help me? Is it not possible to work with MJPG in swarmcon?

thanks in advance for your help.

Resizing Patterns

Hi,

I'm just wondering how do I change the size of the generated patterns for the localisation tracker? I want to try and use your system with epuck robots so I'd like to have much larger tags.

I can't work out how the /etc/create.sh file works in order to modify it.

Thanks
Siobhan

ROS_Bridge

hello MR @gestom , i am creating a small node that would listen to the TCP output of CosPhi and republish it as a ROS message , i am don with it , taking the port data and republish it as ros messge of type "String" , i want to convert the output to the standred "geometry_msgs/Pose2D.msg"
to do that i need to create a parser ( i am using python), what do you think is the best way to distinguish the robot Pose2D from the other robots :

1. create a custom ros message say Pos2D_ID and add a field for the iD
2. create a custom messge of Pos2D_Array and the index of the array is sorted by the robots ids
   for robot 1 i=1
   say array[i]->pose2D.x , array[i+1]->pose2D.y, array[i+2]->pose2D.theta
3. something with the stranded messages <but have no idea!!>

any ideas ? thanks in advance

Getting more done in GitHub with ZenHub

Hola! @nandankumar-drg has created a ZenHub account for the gestom organization. ZenHub is the leading team collaboration and project management solution built for GitHub.

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Lag

There is a 0.2-0.3ms delay between the localization and pheromone system. Investigate reasons.

how it detect the heading ?

the circle is symmetric so how it detect the heading ?
+
when i click a it used to set the outer pattern as the boarders but now it only give strange numbers

Localization: detect video end

Localization runs even if the video is terminated