blue bowl

Author: vladushked

src/sauvc_missions/configs/missions/blue_bowl.yaml

@@ -5,22 +5,52 @@ states:
       type: EnableObjectDetection
       camera_topic: /stingray/topics/camera/front
       enable: true
-  MOVE_WITH_CENTERING:
+  SEARCH_MAT:
+    action: 
+      type: BboxSearchTwist
+      bbox_name: mat
+      bbox_topic: /stingray/topics/camera/front/bbox_array
+      first_clockwise: true
+      found_threshold: 1
+      max_yaw: 360
+      yaw_step: 30.0
+      depth: 1.5
+      roll: 0.0
+      pitch: 0.0
+      search_rate: 0.5
+  CENTERING_MAT:
+    action: 
+      type: BboxCenteringTwist
+      bbox_name: mat
+      bbox_topic: /stingray/topics/camera/front/bbox_array
+      distance_threshold: 10.0
+      lost_threshold: 30
+      avoid_bbox_name_array: []
+      avoid_distance_threshold: 0.0
+      avoid_horizontal_threshold: 0.0
+      surge: 100.0
+      sway: 0.0
+      depth: 1.0
+      roll: 0.0
+      pitch: 0.0
+      duration: 100.0
+      centering_rate: 0.5
+  CENTERING_BLUE_BOWL:
     action: 
       type: BboxCenteringTwist
       bbox_name: blue_bowl
       bbox_topic: /stingray/topics/camera/front/bbox_array
-      distance_threshold: 1.5
+      distance_threshold: 2.0
       lost_threshold: 30
       avoid_bbox_name_array: []
       avoid_distance_threshold: 0.0
       avoid_horizontal_threshold: 0.0
-      surge: 50.0
+      surge: 30.0
       sway: 0.0
-      depth: 1.5
+      depth: 1.0
       roll: 0.0
       pitch: 0.0
-      duration: 15.0
+      duration: 100.0
       centering_rate: 0.5
   DISABLE_OBJECT_DETECTION:
     action:
@@ -32,15 +62,17 @@ states:
   MOVE_TO_BOWL: 
     action: 
       type: Twist
-      surge: 50.0
+      surge: 30.0
       sway: 0.0
-      depth: 1.5
+      depth: 1.0
       roll: 0.0
       pitch: 0.0
       yaw: 0.0
       duration: 5.0
 transitions:
-  - { trigger: ok, source: ENABLE_OBJECT_DETECTION, dest: MOVE_WITH_CENTERING }
-  - { trigger: ok, source: MOVE_WITH_CENTERING, dest: DISABLE_OBJECT_DETECTION }
+  - { trigger: ok, source: ENABLE_OBJECT_DETECTION, dest: SEARCH_MAT }
+  - { trigger: ok, source: SEARCH_MAT, dest: CENTERING_MAT }
+  - { trigger: ok, source: CENTERING_MAT, dest: CENTERING_BLUE_BOWL }
+  - { trigger: ok, source: CENTERING_BLUE_BOWL, dest: DISABLE_OBJECT_DETECTION }
   - { trigger: ok, source: DISABLE_OBJECT_DETECTION, dest: MOVE_TO_BOWL }
   - { trigger: ok, source: MOVE_TO_BOWL, dest: OK }

src/sauvc_missions/configs/missions/flares.yaml

@@ -8,7 +8,7 @@ states:
   WAIT_SEQUENCE:
     action:
       type: Duration
-      duration: 2.0
+      duration: 10.0
   FLARES:
     action: 
       type: SequencePunchBboxTwist

src/sauvc_missions/configs/scenarios/allv.yaml

@@ -0,0 +1,22 @@
+initial: INIT
+ok_state_package_name: stingray_missions
+failed_state_package_name: stingray_missions
+missions:
+  INIT:
+    config_name: init
+    package_name: stingray_missions
+  GATE:
+    config_name: gate
+    package_name: sauvc_missions
+  FLARES:
+    config_name: flares
+    package_name: sauvc_missions
+  BLUE_BOWL:
+    config_name: blue_bowl
+    package_name: sauvc_missions
+
+transitions:
+  - { source: INIT, outcome: OK, dest: GATE }
+  - { source: GATE, outcome: OK, dest: FLARES }
+  - { source: FLARES, outcome: OK, dest: BLUE_BOWL }
+  - { source: BLUE_BOWL, outcome: OK, dest: OK }

src/sauvc_missions/configs/scenarios/blue_bowl.yaml

@@ -5,9 +5,14 @@ missions:
   INIT:
     config_name: init
     package_name: stingray_missions
-  MOVE_TO_BOWL:
+  GATE:
+    config_name: gate
+    package_name: sauvc_missions
+  BLUE_BOWL:
     config_name: blue_bowl
     package_name: sauvc_missions
+
 transitions:
-  - { source: INIT, outcome: OK, dest: MOVE_TO_BOWL }
-  - { source: MOVE_TO_BOWL, outcome: OK, dest: OK }
+  - { source: INIT, outcome: OK, dest: GATE }
+  - { source: GATE, outcome: OK, dest: BLUE_BOWL }
+  - { source: BLUE_BOWL, outcome: OK, dest: OK }

src/sauvc_missions/configs/scenarios/only_blue_bowl.yaml

@@ -0,0 +1,13 @@
+initial: INIT
+ok_state_package_name: stingray_missions
+failed_state_package_name: stingray_missions
+missions:
+  INIT:
+    config_name: init
+    package_name: stingray_missions
+  MOVE_TO_BOWL:
+    config_name: blue_bowl
+    package_name: sauvc_missions
+transitions:
+  - { source: INIT, outcome: OK, dest: MOVE_TO_BOWL }
+  - { source: MOVE_TO_BOWL, outcome: OK, dest: OK }