payload.modes.PayloadAprilTagApproachMode

Classes

TagObservation
PayloadAprilTagApproachParams
PayloadAprilTagApproachMode	Drive the payload toward one AprilTag and terminate once close enough.

Module Contents

class TagObservation

tag_id: int

tvec_x: float

tvec_y: float

tvec_z: float

center_x: float

center_y: float

yaw_error: float

area: float

class PayloadAprilTagApproachParams

Bases: vehicle_common.mode_loader.ParamsBase

tag_id: int | None = None

tag_size_m: float = 0.0508

tag_family: str = 'tag36h11'

max_forward_speed: float = 0.2

forward_gain: float = 0.5

angular_gain: float = 0.003

yaw_gain: float = 0.0

stop_distance_m: float = 0.2

tag_lost_coast_s: float = 0.5

compressed: bool = False

completion_state: str = 'done'

class PayloadAprilTagApproachMode

Bases: vehicle_common.mode.Mode

Drive the payload toward one AprilTag and terminate once close enough.

required_vision_nodes = ()

requires_camera = True

transition_labels = ('done', 'tag_lost')

initialize(node: rclpy.node.Node, vehicle: payload.payload.Payload, params: PayloadAprilTagApproachParams) → None

_on_image(msg: sensor_msgs.msg.Image) → None

_on_compressed_image(msg: sensor_msgs.msg.CompressedImage) → None

_on_camera_info(msg: sensor_msgs.msg.CameraInfo) → None

_get_bgr_frame() → object | None

on_enter() → None

_detect_observations() → dict[int, TagObservation] | None

_publish_drive(linear: float, angular: float) → None

_now() → float

_handle_tag_timeout(now: float) → bool

_select_target(observations: dict[int, TagObservation]) → TagObservation | None

on_update(time_delta: float) → None

check_status() → str

on_exit() → None