Tharp/mac vo integration

[tharp789]

This branch integrated macvo and a camera parameter server

Addresses #75

[andrewjong]

• update other modules to also use the camera parameter server
• must update docs
• resolve conflicts
• can you also rebase these into a single commit?

[andrewjong]

@tharp789 , I've rebased this upon develop.
I'm getting the following error:
[macvo-11] from Odometry.MACVO import MACVO ... ModuleNotFoundError: No module named 'Odometry'

Could you try checking out this version of the branch and seeing if you can find the source of the bug, please?

Will need to build the docker image with docker compose build and also build the ros workspace with bws.

[macvo-11] Traceback (most recent call last):
[macvo-11] File "/root/ros_ws/install/macvo/lib/macvo/macvo", line 33, in
[macvo-11] sys.exit(load_entry_point('macvo', 'console_scripts', 'macvo')())
[macvo-11] File "/root/ros_ws/install/macvo/lib/macvo/macvo", line 25, in importlib_load_entry_point
[macvo-11] return next(matches).load()
[macvo-11] File "/usr/lib/python3.10/importlib/metadata/init.py", line 171, in load
[macvo-11] module = import_module(match.group('module'))
[macvo-11] File "/usr/lib/python3.10/importlib/init.py", line 126, in import_module
[macvo-11] return _bootstrap._gcd_import(name[level:], package, level)
[macvo-11] File "", line 1050, in _gcd_import
[macvo-11] File "", line 1027, in _find_and_load
[macvo-11] File "", line 1006, in _find_and_load_unlocked
[macvo-11] File "", line 688, in _load_unlocked
[macvo-11] File "", line 883, in exec_module
[macvo-11] File "", line 241, in _call_with_frames_removed
[macvo-11] File "/root/ros_ws/build/macvo/macvo/macvo.py", line 30, in
[macvo-11] from Odometry.MACVO import MACVO
[macvo-11] ModuleNotFoundError: No module named 'Odometry'
[ERROR] [macvo-11]: process has died [pid 1191, exit code 1, cmd '/root/ros_ws/install/macvo/lib/macvo/macvo --ros-args -r __ns:=/robot_1 -p use_sim_time:=True --params-file /tmp/launch_params_h68oah8e --params-file /root/ros_ws/install/macvo/share/macvo/config/interface_config.yaml -r left/image_rect:=/robot_1/sensors/front_stereo/left/image_rect -r right/image_rect:=/robot_1/sensors/front_stereo/right/image_rect -r /sensors/get_camera_params:=/robot_1/sensors/get_camera_params -r visual_odometry_pose:=/robot_1/perception/visual_odometry_pose -r visual_odometry_points:=/robot_1/perception/visual_odometry_points -r visual_odometry_img:=/robot_1/perception/visual_odometry_img'].

[andrewjong]

Had to run git submodule update --init --recursive

[andrewjong]

Getting the image to MACVO drops Isaac real time factor from 0.5 to 0.25 on the RTX 6000 Ada.

MACVO publishes at 5hz

RViz seems to crash when I try to add the MACVO odom to RViz for some reason. Also currently my rebase has the tmux attach button not working in Isaac Sim. not sure why

[andrewjong]

MACVO is outputting position at the wrong place. Some translation and rotation? Also seems the translation is 2x where the drone actually is?

https://drive.google.com/file/d/1FisUcLERh-ENQi_KyQyMUni4HVBy1nyl/view?usp=sharing

[andrewjong]

Integrated. However MACVO still giving error in wrong position. Also haven't switched to use MACVO odometry topic and camera param server for the rest of the stack. Will merge first so that we can update develop with the new docker image. Then we can fix the MACVO bugs before we merge to main. Will open a new issue for the remaining bugs.