One Camera Sim

README.md

@@ -21,7 +21,7 @@ If using Webots, you must install webots separately.
 5. Still in `src`, run `cat Phoenix/phoenix.repos | vcs import` to import source dependencies
 6. Cd to the workspace root, and run `rosdep install --from-paths src --ignore-src -r -y` to install binary dependencies
 7. Still in workspace root, run `colcon build` to build the workspace. If using clang in your IDE,
-   run `colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON`
+   run `colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON` (this command takes care of depthai errors)
     1. If using the compile commands, they are often created in build. Move it to the workspace root, and import it into
        your IDE tooling.
 8. Make sure your user is a part of the unix `dialout` group. This allows for it to connect to USB devices. In addition,
@@ -87,4 +87,4 @@ This file should be launched on a computer connected to the kart, similar to abo
 a laptop connected to the kart that will also run the utilitbot launch. 
 
 The file above needs to have both the interface board and both cameras connected. These are just used for their IMU.
-If desired, you can just use the encoder alone by adding `encoder_only`.
+If desired, you can just use the encoder alone by adding `encoder_only`.

phoenix.repos

@@ -19,6 +19,14 @@ repositories:
       type: git
       url: git@github.com:ISC-Project-Phoenix/phnx_io_ros.git
       version: main
+    polynomial_planner:
+          type: git
+          url: git@github.com:ISC-Project-Phoenix/Polynomial_planner.git
+          version: master
+    road_detectors:
+          type: git
+          url: git@github.com:ISC-Project-Phoenix/road_detectors.git
+          version: master
     logi_g29:
       type: git
       url: git@github.com:ISC-Project-Phoenix/logi_g29.git

phoenix_description/urdf/phoenix.urdf

@@ -534,4 +534,3 @@
         <plugin type="wb_io_ros::WbIoRos" />
     </webots>
 </robot>
-

phoenix_gazebo/CMakeLists.txt

@@ -40,4 +40,4 @@ if(BUILD_TESTING)
     ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_package()
+ament_package()

phoenix_gazebo/config/robot_localization/robot_localization.yaml

@@ -178,9 +178,9 @@ ekf_filter_node:
     imu0_differential: false
     imu0_relative: false
     imu0_queue_size: 10
-    #imu0_pose_rejection_threshold: 0.8
-    #imu0_twist_rejection_threshold: 0.8
-    #imu0_linear_acceleration_rejection_threshold: 0.8
+      #imu0_pose_rejection_threshold: 0.8
+      #imu0_twist_rejection_threshold: 0.8
+      #imu0_linear_acceleration_rejection_threshold: 0.8
 
     # [ADVANCED] Some IMUs automatically remove acceleration due to gravity, and others don't. If yours doesn't, please set
     # this to true, and *make sure* your data conforms to REP-103, specifically, that the data is in ENU frame.
@@ -195,12 +195,13 @@ ekf_filter_node:
 #    imu1_differential: false
 #    imu1_relative: false
 #    imu1_queue_size: 10
-#    #imu0_pose_rejection_threshold: 0.8
-#    #imu0_twist_rejection_threshold: 0.8
-#    #imu0_linear_acceleration_rejection_threshold: 0.8
-#
-#    # [ADVANCED] Some IMUs automatically remove acceleration due to gravity, and others don't. If yours doesn't, please set
-#    # this to true, and *make sure* your data conforms to REP-103, specifically, that the data is in ENU frame.
+
+    #imu0_pose_rejection_threshold: 0.8
+    #imu0_twist_rejection_threshold: 0.8
+    #imu0_linear_acceleration_rejection_threshold: 0.8
+
+    # [ADVANCED] Some IMUs automatically remove acceleration due to gravity, and others don't. If yours doesn't, please set
+    # this to true, and *make sure* your data conforms to REP-103, specifically, that the data is in ENU frame.
 #    imu1_remove_gravitational_acceleration: true # We need this for the oak-d and gazebo
 
     # [ADVANCED]  The EKF and UKF models follow a standard predict/correct cycle. During prediction, if there is no

phoenix_gazebo/launch/include/polynomial_planner/polynomial_planner.launch.py

@@ -47,4 +47,5 @@ def generate_launch_description():
                               description='Use simulation clock if true'),
         # Nodes
         plan,
+
     ])

phoenix_gazebo/launch/include/road_detectors/obj_detector_ai.launch.py

@@ -33,8 +33,8 @@ def generate_launch_description():
 
     det = Node(
         package='obj_detector_ai',
-        executable='obj_detector_ai',
-        name='obj_detector_ai',
+        executable='yolo_subscriber_node_new',
+        name='yolo_subscriber_node_new',
         output='screen',
         parameters=[{
             'use_sim_time': use_sim_time,

phoenix_gazebo/launch/sim.launch.py

@@ -116,7 +116,7 @@ def generate_launch_description():
 
         DeclareLaunchArgument(
             'use_ai',
-            default_value='false',
+            default_value='true',
             description='Uses the AI stack if true'),
 
         # Nodes
@@ -128,4 +128,4 @@ def generate_launch_description():
         pp,
         poly_plan,
         poly_plan_ai
-    ])
+    ])

phoenix_gazebo/models/phoenix_elements/phoenix_3Dmodel__backBumper.mtl

@@ -0,0 +1,12 @@
+# Blender 3.3.20 MTL File: 'None'
+# www.blender.org
+
+newmtl Black_Plasticky
+Ns 30.384651
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2