payload.modes.PayloadDualApproachMode

PayloadDualApproachMode: single-mode approach that fuses AprilTag tracking with HSV colour-blob tracking for a string obstacle.

Every frame the mode attempts AprilTag detection first (provides yaw correction). When no tag is visible it falls back to HSV colour tracking of the string. Termination is based on the pixel height of the colour blob’s bounding box exceeding stop_height_px.

If both the tag and the colour target are lost for lost_timeout_s seconds the payload stops.

Classes

PayloadDualApproachParams
PayloadDualApproachMode	Approach using AprilTag when visible, HSV colour fallback otherwise.

Functions

_color_blob_info(→ Optional[Tuple[float, float, int, int]])

Largest contour centroid, area, and bounding-box height.

Module Contents

_color_blob_info(mask: numpy.ndarray, min_area: float) → Tuple[float, float, int, int] | None

Largest contour centroid, area, and bounding-box height.

Returns (cx, cy, area, bbox_height) or None.

class PayloadDualApproachParams

Bases: vehicle_common.mode_loader.ParamsBase

tag_id: int | None = 0

tag_size_m: float = 0.0508

tag_family: str = 'tag36h11'

tag_forward_gain: float = 0.5

tag_max_forward_speed: float = 0.2

tag_angular_gain: float = 0.003

tag_yaw_gain: float = 0.6

lower_hsv: list[int] = (20, 100, 100)

upper_hsv: list[int] = (35, 255, 255)

color_forward_speed: float = 0.015

color_angular_gain: float = 0.003

color_centering_threshold_px: int = 15

color_drive_angular_scale: float = 0.0

color_min_detect_pixels: int = 50

prime_height_px: int = 100

stop_height_px: int = 300

post_prime_lost_frames: int = 5

lost_timeout_s: float = 5.0

compressed_image: bool = False

class PayloadDualApproachMode

Bases: vehicle_common.mode.Mode

Approach using AprilTag when visible, HSV colour fallback otherwise.

required_vision_nodes = ()

requires_camera = True

transition_labels = ()

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

_on_image(msg) → None

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

_get_bgr() → numpy.ndarray | None

_now() → float

_publish_debug(bgr: numpy.ndarray, mask: numpy.ndarray, source: str, tag, color_cx: float | None, color_cy: float | None, color_height_px: int) → None

_detect_tag(bgr: numpy.ndarray)

Return the target TagObservation or None.

_detect_color(bgr: numpy.ndarray) → Tuple[numpy.ndarray, float | None, float | None, int, int]

Return (mask, cx, cy, area, bbox_height_px).

on_enter() → None

on_update(time_delta: float) → None

check_status() → str

on_exit() → None