- Overview
- Installation
- Usage
- Examples
- SW Documentation
- Used Libraries
- Issues, Ideas And Bugs
- License
- Contribution
The Space Ship Radar is a Python script designed to initialize a Webots camera and track ArUco markers within its field of view. The system accurately determines the position (P) of the markers in millimeters. Additionally, it tracks the speed (S) of the markers and measures their orientation angle in milliradians (mrad).
The system starts in the Configuration-State where the user can adjust certain values before the tracking begins. At the moment the user can adjust the size of the edge-markers in mm.
Then if the configuration is complete any key can be pressed to proceed to the tracking-state. Here the objects will be tracked and displayed.
To quit the program you can press the q-key in the Tracking-state.
git clone https://github.com/NewTec-GmbH/SpaceShipRadar.git
cd SpaceShipRadar
pip install .Locate the file named template.env in your project directory. Rename this file to .env. This is important as the application will look for this specific filename.
Open the newly renamed .env file in a text editor. You will see several lines that specify paths. You need to update these paths to point to the correct locations on your system.
Find the line that starts with RadonUlzer_PATH=. Change it to reflect the absolute path where program.exe is located on your machine. For example:
RadonUlzer_PATH=C:\path\to\your\LineFollowerSim\program.exe
Locate the line starting with SpaceShipRadar_PATH=.
Update it with the absolute path to space_ship_radar.py which is in this repo under src\space_ship_radar\. For example:
SpaceShipRadar_PATH=C:\path\to\your\SpaceShipRadar\src\space_ship_radar\space_ship_radar.py
Find the line that begins with CalibrationFolder_PATH=.
Ensure this points to the folder calibration (found in this repo under src\), and make sure it ends with a backslash '\'. For example:
CalibrationFolder_PATH=C:\path\to\your\src\calibration\
After updating all necessary paths, save and close the .env file.
To test this project in webots you can use the world under webots\worlds\WorkSpace.wbt.
If webots is open, you can use the start script:
.\start.ps1This will load the RadonUlzer Program specified .env and also load the SpaceShipRadar
python .\src\space_ship_radar\calibrate_camera.pypython .\src\space_ship_radar\real_camera.py In the docker-folder of this repository, you'll find a docker-compose.yml file that sets up an MQTT broker.
Additionally, there's a Python script (mqtt_subscriber.py) available that can listen to all messages published to the MQTT broker within the Docker container,
specifically for topics matching ssr/#.
python .\docker\mqtt_subscriber.py More information on the deployment and architecture can be found in the documentation
For detailed software design run $ /doc/detailed-design/make html to generate the detailed design documentation that then can be found
in the folder /doc/detailed-design/_build/html/index.html
Used 3rd party libraries which are not part of the standard Python package:
| Library | Description | License |
|---|---|---|
| toml | Parsing TOML | MIT |
see also requirements.txt
Sections below, for GitHub only
If you have further ideas or you found some bugs, great! Create an issue or if you are able and willing to fix it by yourself, clone the repository and create a pull request.
The whole source code is published under BSD-3-Clause. Consider the different licenses of the used third party libraries too!
Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, shall be licensed as above, without any additional terms or conditions.