Proto commits in jhu-asco/aerial_autonomy

These commits are when the Protocol Buffers files have changed: (only the last 100 relevant commits are shown)

2022-09-10

Added a delay at each location for post pick and search to allow for looking for the object

2022-09-07

Small improvements to i gain usage

2022-09-06

Added integrator to reference controller

2022-08-30

Added region for checking tolerances continuously

2022-08-29

Added continuously checking z is within tolerance

2022-08-23

Created new tracking strategy for closest object of a particular ID, additionally handled closest strategy correctly by sending relative poses

2022-08-22

Gripping angle based on object ID

2022-08-21

Pulling transform for tracker from tf rather than the current quad pose, also allowed for measurement offset

2022-08-17

tdiff warning change

Added ability to transform odom from pose and publish tfs

2022-08-14

Added tracking multiple objects with the same ID and parameters for minimum distance between objects (would could be set maximally to fuse everything together) and minimum number of detections to get rid of outliers

Added warning for yaw during pick action. Checks yaw continuously and adds a warning to the status for significant deviations. Really only relevant for motions like pick where it shouldn't be deviating much while moving

2022-08-13

Added check for magnetometer ratio to reset if there is an issue

2022-08-11

Added parameters for using fixed orientations and orientation based on straight line

2022-08-04

Added odometry sensor to receive poses from tf

2022-04-04

Added decay to the exponential filter and set the tracker to used a fixed orientation after the decay is complete

2022-03-30

m200 changes

2022-03-28

Added general odometry sensor for use with odom topics published in ros Switched gui to use odom sensor pose if available

2022-03-08

* Check that tracking pose is recent, otherwise use old one * Can specify tracker timeout in config * Hover controller - control to current position when in hover * Reorganized state machine and removed some of the arm power/fold commands

2021-05-28

nuc changes

2021-04-07

orange tracking update

2021-03-21

State machine code and tests

2020-12-02

geofence and logging

2020-11-11

Geofence

2020-10-15

Initial Draft. Doesn't compile

2020-01-22

Created enum for switching between mocap, guidance, and t265. Created odometry_sensor for nav_msgs/Odometry type sensors

Merge branch 'tf_pick_place' of github.com:jhu-asco/aerial_autonomy into tf_pick_place

Matrice Late Commits

2019-11-03

Created enum for switching between mocap, guidance, and t265. Created odometry_sensor for nav_msgs/Odometry type sensors

2019-07-12

Add timer multiplier for speed up that does nto affect control

2019-06-25

Add logging and analysis for RPYTBasedPositionControllerDroneConnector. Add separate config and launch file for spo

2019-06-19

Add UAVStatePublisher class. Add rpyToQuat conversion function. Update thrust gain config for tf_parser

2019-05-03

Merge pull request #212 from jhu-asco/sensor_place_state_machine Sensor place state machine

2019-03-04

Description change

The documentation is generated from this commit.

Checkout pick_place_state_machine_config.proto from master

2019-02-28

post-check commit

2019-02-22

Linking Error

2019-01-29

Merge branch 'least-square-plane-fit' into matrice_test_sensor_placement

Merge branch 'master' into least-square-plane-fit Conflicts: include/aerial_autonomy/robot_systems/uav_vision_system.h

PR fixes

Change coordinate of the plane. Add roi_to_plane_converter in uav vision system.

2019-01-28

reset pick place config

PR changes

Merge branch 'master' of https://github.com/jhu-asco/aerial_autonomy into adaptive_estimator

2019-01-25

Merge branch 'master' of https://github.com/jhu-asco/aerial_autonomy into sensor_place_state_machine

2019-01-24

Merge branch 'master' of https://github.com/jhu-asco/aerial_autonomy into sensor_place_state_machine

State Machine, Tests, Functors, States

2019-01-14

Integrate acceleration bias estimator into controller and add tests

2019-01-10

Add initial tests and config for acceleration bias estimator

2019-01-09

Transformed Sensor Class

2019-01-03

Compiled clean

2019-01-02

First Merge. Not compiled yet

2018-12-20

Pre-Flight Test Transfer

2018-12-12

Add doc

Add skeleton code for generic state estimator

Remove unused proto import. Initialize config for uav basic functor tests

2018-12-11

Add velocity based relative pose connector

2018-12-07

Pull in MPC changes om mpc poly reference

Fix tests

2018-11-30

sensor from other branch

2018-11-28

Change visual servoing connector using proto config

Parameter Tuning, Safety Factors Added, Launch Files Assembled

2018-11-18

Visualizer Bug Fix, New Circular RefTraj

2018-11-09

CMakelist merge conflict resolved

Add obstacle avoidance high level controller

2018-11-05

Add obstacle cost and config protos

2018-11-02

Adaptive Simulator pre-viz merge

2018-10-26

viualizer takes connector as an input

2018-09-27

Add visualizer config.

2018-09-20

Fix required in proto

Add reachinggoalbackstepping to uav state machine

2018-09-19

Add odom sensor config. Add backstepping controller config.

Add minimum snap trajectory config.

Add average velocity.

Add odometry sensor in order to replace pose sensor.

2018-09-04

Add config file for minimum snap ref trajectory

2018-09-03

Fix minor logging issues, increase MPC costs

Add initial guess rp bias estimator

2018-08-31

Add separate config for RPYT reference controller during waypoint tracking

2018-08-30

Add polynomial reference to waypoint tracking

2018-08-29

Add setting thrust gain during reaching post pick waypoint

Increase order of noise to make sure it is smooth

Add noise at end of polynomial reference

2018-08-28

Add prepick state, update polynomial reference to set time based on max velocity and some minimum time

2018-08-27

Move velocity filtering into pose sensor Removed pose sensor from MPC. Will have to figure out how to add pose + velocity + rpydot to MPC sensor

Simple Formatting Changes

2018-08-26

Ad rp bias estimation to thrust gain estimator

2018-08-24

Add polynomial reference to state machine

Add polynomial reference trajectory

2018-08-23

Working (uav_system_node) code Debugging visual_servoing_code

2018-08-21

Add filters and ported code to avoid duplication

2018-08-17

Removed velocity sensor config proto, OBE because of ROS sensor config

Sensor Transform Added & PR modifications made (mostly)

Add filteer, use sensor in visual reference connector

2018-08-15

Rename, add comments and move code around

2018-08-14

VINS updates to master. Still need to add sensor offset transforms somewhere.

2018-08-12

Fix MPC for visual servoing Basic problem: No global look ahead and look ahead is obtained from thrust gain estimator

2018-08-11

Integrated MPC. Currently there is a bug somewhere because of which MPC starts oscillating crazy??

2018-08-10

Add simulated tracker, add separate relative pose visual servoing Use MPCRelativePoseVisualServoing to use visual servoing Also abort HighLevelController when aborting UAV Controller

Add mpc to visual servoing transition functor