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COMPAS Mobile Robot Relocalization

Robot localization using external measuring device (total station).

Build and test PyPI Package latest release Conda License

Image of total station and robot setup in Brunnen Photo from video shot by MASDFAB 1920 team.

Sources

Code adapted from source code by Selen Ercan and Sandro Meier at Gramazio Kohler Research, ETH Zurich (2019).

Original code: gramaziokohler/IF_jamming/if_jamming/localization

Citing

Ercan, Selen, Sandro Meier, Fabio Gramazio, and Matthias Kohler. 2019. "Automated Localization of a Mobile Construction Robot with an External Measurement Device." In Proceedings of the 36th International Symposium on Automation and Robotics in Construction (ISARC 2019), 929-36. International Association on Automation and Robotics in Construction. https://doi.org/10.3929/ethz-b-000328442.

@inproceedings{ercan_automated_2019,
	title = {Automated {Localization} of a {Mobile} {Construction} {Robot} with an {External} {Measurement} {Device}},
	copyright = {http://rightsstatements.org/page/InC-NC/1.0/},
	url = {https://www.research-collection.ethz.ch/handle/20.500.11850/328442},
	doi = {10.3929/ethz-b-000328442},
	language = {en},
	booktitle = {Proceedings of the 36th {International} {Symposium} on {Automation} and {Robotics} in {Construction} ({ISARC} 2019)},
	publisher = {International Association on Automation and Robotics in Construction},
	author = {Ercan, Selen and Meier, Sandro and Gramazio, Fabio and Kohler, Matthias},
	year = {2019},
	note = {Accepted: 2019-09-11T08:51:48Z},
	pages = {929--936},
}

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compas_mrr's Issues

A more compact name?

I remember we struggled with naming this one back then, and the result is a mouthful. How about we rename this to compas_mbr instead of the currently explicit but very long name?

Debug why nesting fixtures breaks IPY tests

Debug why nesting fixtures breaks IPY tests

def pts_defining_orthogonal_frame(example_pt_rcs):

https://github.com/gramaziokohler/compas_mobile_robot_reloc/blob/11c65f4fab2d8a91255f24ddb1af29e140cdd631/tests/test_three_pts_localization.py#L46

@fixture
def pts_defining_orthogonal_frame():
    # TODO: Debug why nesting fixtures breaks IPY tests
    # def pts_defining_orthogonal_frame(example_pt_rcs):
    pt = Point(1000, 1250, 1500)
    return [pt, Point(2000, 1250, 1500), Point(1000, 2250, 1500)]


@fixture
def orthogonal_frame():
    # def orthogonal_frame(example_pt_rcs):
    pt = Point(1000, 1250, 1500)
    return Frame(pt, Point(1, 0, 0), Vector(0, 1, 0))


def test__pts_to_frame(pts_defining_orthogonal_frame, orthogonal_frame):

48aa0143f393e54b8f7cdc3877f499e34f094895

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