Robot Localization using AprilTags

[JakobSchoeberle]

Robot Localization using AprilTags

This year the team is using a Limelight 4 for robot localization. Since we do not have enough space to set up a full FRC field with AprilTags, we created a field map that represents our home field and its AprilTag layout. This will allow for the testing of the system before hopefully testing at another teams field.

Todo List

• Flash the Limelight with the latest software
• Mount and wire the Limelight to the robot
• Build a .fmap file with measurements taken from our field
• Integrate Limelight's code into our code-base

Pitfalls

• Coordinate System - The coordinate system can be confusing for the case of the Limelight field builder we are using Field Space (FRC). But we will also use Field Space (FRC WPIBlue) very often. Just make sure that the one that you are using is the correct one for the job.

Useful links

• http://limelight.local:5801/
• Limelight 4 Quick-Start
• Apriltag Pipelines - Limelight Docs
• Limelight Map Builder Tool

[JakobSchoeberle]

Added limelight support into code-base at Commit.

[JakobSchoeberle]

More work is required to LCCC field specific files. These are stored in frc-4931/LCCC_PracticeField. These need updates to allow for PathPlanner to work correctly with our field here at LCCC. Here is a link to a CD thread talking about it. And more on Github frc2025_roboconPathplanning.