Example of Software Workflow Submission (Ex. Following a Path Marker)

[DaniParr]

What needs to change?

Use this issue as an example of how you should be submitting your work when working on an issue.

How would this task be tested?

This is an example.

[DaniParr]

First we will take images from the down camera one-by-one, then process the image by passing a Canny filter over the image to extract the edges. Once we have the edges of the path marker we will extract the vectors and get the angle offset in reference to the bottom border of the image. With the angle (X), we will tell the robot yaw X degrees. If X is 0, we will have the robot move forward until we don't see the path marker anymore or the angle offset is not 0.

[DaniParr]

Looks good!

It seems you want to write a mission that follows a path marker. I would start by checking out how other missions are written inside mil/Subjugator/command/subjugator_missions/subjugator_missions. To run a mission do mission run <name_of_mission>, after including your mission in the init.py.

When processing image data, you may want to use our computer vision package, https://github.com/uf-mil/vision_stack. It'll simplify the preprocessing and some analysis. A helpful tip is pass a gaussian layer over the raw image data before doing further processing to remove any noise and ripples from the sun in the water.

If you want to meet up in person to further discuss your approach, DM me on Discord and we can set up a time to meet or find me at my office hours!

Best of luck,
Daniel Parra