How to us April Tag for re-localization

[pgaston]

(Using meepmeep here - hopefully that isn't the issue... Any help is appreciated! I tried reddit, but didn't get any takers.
Hopefully I'm not too far out in left field...)

Two thoughts on how to integrate April Tags into our auto - using roadrunner 1.0... (btw, rr + meepmeep looks great!)

1. In a large auto TrajectorySecuence, use addDisplacementMarker when we want to re-localize. This doesn't work. I'm assuming (?) that when the TrajectorySecuence did the 'build()' it baked in poses? Or is this a meepmeep interaction? When the new bot pose is set, meepmeep flashes the robot in the new position, then immediately continues ignoring the changed position.
   // Drop off second one .splineTo(new Vector2d(aprilTagDropoff.getX(),aprilTagDropoff.getY()),aprilTagDropoff.getHeading()) // Read AprilTag for re-localization .addDisplacementMarker(() -> { // This runs after the last splineTo completes - we want to be mostly stopped for april tags to work currentPose = getAprilTagPose() // current pose if we don't see the AT // Testing - re-localize enough so can see on meepmeep Pose2d testPose = new Pose2d(currentPose.getX()-20,currentPose.getY(),currentPose.getHeading()); myBot.setPose(testPose); // relocalized - but not working })
2. Use multiple TrajectorySequence (s) - with the AT read between them. Similar to 0.56 . This isn't working for me - in the example below only the second/last TrajectorySequence is run.
   myBot.followTrajectorySequence(tsAlpha); myBot.setPose(getAprilTagPose()); // will return currentPose if AT not found TrajectorySequence tsToDropOff = myBot.getDrive().trajectorySequenceBuilder(myBot.getPose()) // Drop off second one .splineTo(new Vector2d(aprilTagDropoff.getX(),aprilTagDropoff.getY()),aprilTagDropoff.getHeading()) .build(); myBot.followTrajectorySequence(tsToDropOff);

[pgaston]

Or I could just be lost... meepmeep works well at least!

[rbrott]

using roadrunner 1.0...

I'm confused because you mention RR 1.0 but then talk about trajectory sequences below which are a 0.5 quickstart feature. The API in your examples is also 0.5.

(Using meepmeep here - hopefully that isn't the issue... Any help is appreciated! I tried reddit, but didn't get any takers. Hopefully I'm not too far out in left field...)

MeepMeep isn't a great place to experiment with relocalization. It only knows about the desired trajectory with its perfect poses.

When the new bot pose is set, meepmeep flashes the robot in the new position, then immediately continues ignoring the changed position.

This is pretty much what I would expect.

Check out acmerobotics/road-runner-quickstart#367 for a better starting point.

[pgaston]

Interesting. Thought I was following 1.0. Whoops! As a mentor I’m new to FTC this year and Android Studio/java. (ROS2 experience…) Thanks for feedback! P

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On Mon, Mar 4, 2024 at 2:46 PM Ryan Brott ***@***.***> wrote: using roadrunner 1.0... I'm confused because you mention RR 1.0 but then talk about trajectory sequences below which are a 0.5 quickstart feature. The API in your examples is also 0.5. (Using meepmeep here - hopefully that isn't the issue... Any help is appreciated! I tried reddit, but didn't get any takers. Hopefully I'm not too far out in left field...) MeepMeep isn't a great place to experiment with relocalization. It only knows about the desired trajectory with its perfect poses. When the new bot pose is set, meepmeep flashes the robot in the new position, then immediately continues ignoring the changed position. This is pretty much what I would expect. Check out acmerobotics/road-runner-quickstart#367 <acmerobotics/road-runner-quickstart#367> for a better starting point. — Reply to this email directly, view it on GitHub <#101 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AA3THW7LYNNZLGI45M2HV7LYWTFQJAVCNFSM6AAAAABEFRLO22VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTSNZXGMZTMMZQGE> . You are receiving this because you authored the thread.Message ID: ***@***.***>

[pgaston]

Much better! fyi - perhaps a few more words on the opening of the MeepMeep readme would be better. As in "This" is the current fork... One (and I think I did) interpreted that as that link leads one to the fork that support RR 1.0. Maybe it's me - but I didn't see anything calling out versions... Great work! Love it. Kids here built their own version last year - barely works - author graduated - new coder spends 90% of their time trying to understand half-baked code w/o comments - etc. Next year we're learning this!

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On Mon, Mar 4, 2024 at 3:02 PM Peter Gaston ***@***.***> wrote: Interesting. Thought I was following 1.0. Whoops! As a mentor I’m new to FTC this year and Android Studio/java. (ROS2 experience…) Thanks for feedback! P On Mon, Mar 4, 2024 at 2:46 PM Ryan Brott ***@***.***> wrote: > using roadrunner 1.0... > > I'm confused because you mention RR 1.0 but then talk about trajectory > sequences below which are a 0.5 quickstart feature. The API in your > examples is also 0.5. > > (Using meepmeep here - hopefully that isn't the issue... Any help is > appreciated! I tried reddit, but didn't get any takers. Hopefully I'm not > too far out in left field...) > > MeepMeep isn't a great place to experiment with relocalization. It only > knows about the desired trajectory with its perfect poses. > > When the new bot pose is set, meepmeep flashes the robot in the new > position, then immediately continues ignoring the changed position. > > This is pretty much what I would expect. > > Check out acmerobotics/road-runner-quickstart#367 > <acmerobotics/road-runner-quickstart#367> for > a better starting point. > > — > Reply to this email directly, view it on GitHub > <#101 (comment)>, > or unsubscribe > <https://github.com/notifications/unsubscribe-auth/AA3THW7LYNNZLGI45M2HV7LYWTFQJAVCNFSM6AAAAABEFRLO22VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTSNZXGMZTMMZQGE> > . > You are receiving this because you authored the thread.Message ID: > ***@***.***> >