dotbot-lh2-calibration 0.2.0

Tools to calibrate Lighthouse localization for the DotBots.

dotbot-lh2-calibration

Utilities for Lighthouse v2 calibration in the DotBot ecosystem.

Description

dotbot-lh2-calibration offers tools and methods to calibrate Lighthouse v2 base stations (LH2) relative to the DotBot robots.

Installation

You can install the package from PyPI:

pip install dotbot-lh2-calibration

Getting the Code

Clone the repository using Git:

git clone https://github.com/DotBots/dotbot-lh2-calibration.git

Usage

Build the calibration firmware

The source code of calibration firmware is available in the calibration directory and can be built using SEGGER Embedded Studio for ARM.

In SEGGER embedded studio, use the package manager (available in menu Tools > Package manager) to install the CMSIS 5 CMSIS-CORE, CMSIS-DSP and nRF packages.

For details on SEGGER Embedded Studio, read the online documentation.

Flash the firmware on the robot.

Calibration script

The calibration script is a Terminal User Interface application that connects to the serial port (at 115200 bauds) of the robot to collect the Lighthouse raw data.

Run the script as follows:

dotbot-calibration

Place the robot on the ground on the calibration points and in the UI, press the corresponding buttons. Once all 4 calibration points are checked, you can save the calibration.

The calibration file is stored in ~/.dotbot/calibration.out.

License

This project is published under the terms of the BSD-3-Clause license.