Task: Get Ground Truth Vision Objects

[ysims]

Note: This task is aimed at people who are not very confident with webots and would like to get familiar with it. This task will give someone experience with webots worlds, controllers, protos and supervisors. There is some linear algebra involved - if you are not confident with this, you can just get the position of the objects as they are in the world and you can get help from your team members to get the objects relative to the robot's camera.

This task relates to issue #58 on tests. This is needed for the vision, localisation and behaviour tests.

Ground Truth Vision Objects
This task involves creating a webots controller in NUWebots and getting the position of balls and goal posts relative to the robot's cameras, and printing out that position. Create a new world called eg 'Vision Test'.

• Use the kid.wbt as a template for creating a new world
• See this link on how to create a controller.
• Use your controller in your new world
• The vision controller has code for getting to the robot's cameras.
• You will need a supervisor to access the objects
• You will need to add a DEF to the objects you want to grab, and use the getFromDef(string) function to get the object with the supervisor
• You will need to use some problem solving to figure out how to get just the front vertical goal posts. Ask for some help if you get stuck.
• You can learn about the linear algebra concepts needed for getting the objects relative to the robot's camera rather than the world on NUbook.
• I found it can be useful to look up the functions in the actual code, since all the docs are C functions. ie if you want to know all functions that the supervisor can use in C++, open the webots codebase and open the file Supervisor.hpp. Same thing for Nodes and Robots.

Most importantly ask for help if you need it in the webots channel on Slack!

[ysims]

#96 and #97