Keyboard Typing

.gitignore

@@ -50,9 +50,12 @@ state_machine/state_log.txt
 data/*.png
 data/raw-pano-images
 
+# blender backup files
+*.blend1
+
 # Dynamixel Ignores
 .catkin_tools/
 .dynamixel_sdk/
 
 # Persistent esw mrover_can FetchContent cache (survives a clean build, not tracked)
-/.cache/esw/
+/.cache/esw/

.vscode/extensions.json

@@ -9,6 +9,6 @@
         "redhat.vscode-yaml",
         "llvm-vs-code-extensions.vscode-clangd",
         "eamodio.gitlens",
-        "streetsidesoftware.code-spell-checker",
+        "streetsidesoftware.code-spell-checker"
     ],
 }

CMakeLists.txt

@@ -344,6 +344,13 @@ mrover_link_component(tag_detector lie opencv_core opencv_aruco opencv_imgproc l
 mrover_executable_from_component(stereo_tag_detector perception/executables/stereo_tag_detector.cpp tag_detector_component)
 mrover_executable_from_component(image_tag_detector perception/executables/image_tag_detector.cpp tag_detector_component)
 
+# Keyboard Typing
+mrover_add_component(keyboard_typing perception/keyboard_typing/keyboard_typing.cpp perception/keyboard_typing/pch.hpp KeyboardTypingNode perception/keyboard_typing/constants.hpp)
+mrover_ament_component(keyboard_typing rclcpp rclcpp_components tf2 tf2_ros geometry_msgs sensor_msgs)
+mrover_link_component(keyboard_typing lie parameter_utils opencv_core opencv_aruco opencv_imgproc opencv_highgui opencv_dnn opencv_calib3d opencv_imgcodecs opencv_video loop_profiler)
+
+mrover_executable_from_component(keyboard_typing perception/executables/keyboard_typing.cpp keyboard_typing_component)
+
 # Cost Map
 mrover_add_component(cost_map perception/cost_map/*.cpp perception/cost_map/pch.hpp CostMapNode)
 mrover_ament_component(cost_map rclcpp rclcpp_components tf2 tf2_ros)

config/keyboard_typing.yaml

@@ -0,0 +1,37 @@
+/**:
+  ros__parameters:
+    tag_size: 0.02
+    # Format: [id, x, y, z]
+
+    # Distance of each tag to bottom left tag, probably wont be needed but change if necessary
+    # Will need to change tag id on day of comp
+    tag_offsets: [
+      4.0, 0.0,     0.0,      0.0, # Bottom-left
+      5.0, 0.41407, 0.0,      0.0, # Bottom-right
+      3.0, 0.41407, 0.183444, 0.0, # Top-left
+      2.0, 0.0,     0.183444, 0.0 # Top-right
+    ]
+    min_code_length: 3
+    max_code_length: 6
+
+    camera_matrix: [297.5423204165929, 0.0,               306.51784066632075, 
+                    0.0,               295.1006235094907, 247.4880266546329, 
+                    0.0,               0.0,               1.0]
+
+    # camera_matrix: [294.8447664894051, 0.0,               320.781111263661, 
+    #                 0.0,               292.9945007031336, 241.50291271027783, 
+    #                 0.0,               0.0,               1.0]
+
+    distortion_coefficients: [-0.002013779189917317,
+                              -0.05320314517636387,
+                              -0.0013949346108894896,
+                              0.00023247660995265573,
+                              0.018284177139663432]
+
+    # Add vertical and horizontal dist from tag center to keyboard as needed
+    # vertical z key from keyboard corner = 0.031575
+    # horizontal z key from keyboard corner 0.05495
+    z_key_transform: [0.041575, 0.06495, 0.0303784]
+
+
+

config/simulator/mars_map.yaml

@@ -12,3 +12,7 @@ objects:
   mars_world:
     type: urdf
     uri: package://mrover/urdf/world/mars.urdf.xacro
+  lander:
+    type: urdf
+    uri: package://mrover/urdf/world/lander.urdf.xacro
+    position: [ -5, 2, -0.75 ]

launch/jetson_arm.launch.py

@@ -57,10 +57,25 @@ def generate_launch_description():
         output="screen",
     )
 
+    # keyboard typing node
+    keyboard_typing_node = Node(
+        package="mrover",
+        executable="keyboard_typing",
+        name="keyboard_typing",
+        parameters=[Path(get_package_share_directory("mrover"), "config", "keyboard_typing.yaml")],
+        respawn=False,
+    )
+
+    arm_e_link_to_cam = Node(
+        package="tf2_ros",
+        executable="static_transform_publisher",
+        arguments=["0.02948991", "0", "-0.0456159", "0", "-1.0996", "0", "arm_fk_de", "finger_camera_frame"],
+    )
+
     launch_localization = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             Path(get_package_share_directory("mrover"), "launch/localization.launch.py").__str__()
         )
     )
 
-    return LaunchDescription([launch_include_jetson_base, arm_hw_bridge_node, cam_container, launch_localization])
+    return LaunchDescription([launch_include_jetson_base, arm_hw_bridge_node, cam_container, launch_localization, keyboard_typing_node, arm_e_link_to_cam])

launch/keyboardtypingtest.launch.py

@@ -0,0 +1,36 @@
+from pathlib import Path
+
+from ament_index_python import get_package_share_directory
+
+import launch
+from launch_ros.actions import Node, LoadComposableNodes
+from launch_ros.descriptions import ComposableNode
+
+
+def generate_launch_description():
+    # keyboard typing node
+    keyboard_typing = Node(
+        package="mrover",
+        executable="keyboard_typing",
+        name="keyboard_typing",
+        parameters=[Path(get_package_share_directory("mrover"), "config", "keyboard_typing.yaml")],
+        respawn=False,
+    )
+
+    # gripper: [0.16533, 0, 0.059547] # forward, horizontal, vertical
+    # gripper_pitch: 1.134
+
+    # base_link_to_zed = Node(
+    #     package="tf2_ros",
+    #     executable="static_transform_publisher",
+    #     arguments=["0", "0", "1", "0", "0", "0", "1", "base_link", "zed_left_camera_frame"],
+    # )
+
+    # joint DE to camera: [0, 0.03713988, 0.0945642] roll: 0, pitch: 1.134, yaw: 0
+    arm_e_link_to_cam = Node(
+        package="tf2_ros",
+        executable="static_transform_publisher",
+        arguments=["0.02948991", "0", "-0.0456159", "0", "-1.0996", "0", "arm_fk_de", "finger_camera_frame"],
+    )
+
+    return launch.LaunchDescription([keyboard_typing, arm_e_link_to_cam])

perception/executables/keyboard_typing.cpp

@@ -0,0 +1,12 @@
+#include <keyboard_typing/keyboard_typing.hpp>
+
+auto main(int argc, char** argv) -> int {
+    rclcpp::init(argc, argv);
+    auto keyboardT = std::make_shared<mrover::KeyboardTypingNode>();
+    rclcpp::executors::SingleThreadedExecutor executor;
+    executor.add_node(keyboardT);
+    executor.spin();
+
+    rclcpp::shutdown();
+    return EXIT_SUCCESS;
+}