swarm cv tool

collects video stream from tello and sends real time absulute location and peers detected

Publishes to Topics

1. "location"
2. "peer_detection"

Usage

In the following example, we use a parameter file located in the working directory.

ros2 run swarm_env_detector location_peer_detection --params-file default_params.yaml

Parameters

Parameter	Meaning	Default Value	Remark
swarm_cv_tool.video_ip	ip of the tello streaming video	0.0.0.0	-
swarm_cv_tool.video_port	video port for the tello stream	11111	-
swarm_cv_tool.calib_path	yaml calibration file path	/ros_ws/src/swarm_cv_tool/drone_calib/drone20.yaml	-
use_sim_time	Should the time also be simulated	false	See ROS Clock

Dependencies

• interfaces_alate
• interfaces_swarm
• scipy
• OpenCV-contrib: Aruco module

to install the dependencies, run ./dep_install.bash