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Signage

Modified 2018-06-24 by Andrea Censi

Liam Paull

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Liam Paull

File docs/docs-opmanual_duckietown/book/opmanual_duckietown/07_signs_assembly.md.

File book/opmanual_duckietown/07_signs_assembly.md
in repo duckietown/docs-opmanual_duckietown branch master commit 1193e3f3
last modified by Andrea Censi on 2018-06-24 16:51:24

Created by function create_notes_from_elements in module mcdp_docs.task_markers.

The raw materials as described in Unit A-1 - Duckietown parts

A set of signs to be used for assembling your Duckietown.

Making New Signage

Modified 2018-06-22 by Andrea Censi

If you find that what is available in the database in insufficient for your needs, then you will need to add to the existing database.

To do so you will have to load the original AprilTags file available here: pdf ps

Which tag you should use depends on what type of sign you are trying add. The ranges of tags are specified in Table 3.2.

April tag ID ranges
Purpose Size Family ID Range
Traffic signs 6.5cm x 6.5cm 36h11 1-199
Traffic lights 6.5cm x 6.5cm 36h11 200-299
Localization 6.5cm x 6.5cm 36h11 300-399
Street Name Signs 6.5cm x 6.5cm 36h11 400-587

First, find the last sign of the type that you are trying to make in the signs and tags doc. You will use the next available ID after this one.

Construct the new sign by first copying and pasting an existing sign of similar type, and then replacing/adding the new AprilTag. To add the new april tag, use a screen capture mathod to crop precisely around the tag at the top and sides and include the sign id at the bottom. Then paste the tag into your word file under your desired and resize it exactly 6.5cm (2.56inches).

If you make a new road name sign, you may need to change the font size of the name so that it appears on one line (this is why we like people with names like “ROY” and “RUS”).

Important: You must also add your new sign to the April Tags DB in the software repo.

Add a new block like the ones that already exists or modify the one with the appropriate tag id:

- tag_id: NEW_TAG_ID
  tag_type: in {TrafficSign, Light, Localization, StreetName}
  street_name: either NEW_STREET_NAME or blank
  vehicle_name: currently not used
  traffic_sign_type: either TRAFFIC_SIGN_TYPE or blank

The value of NEW_STREET_NAME is up to you to decide (have fun with it!). The value of TRAFFIC_SIGN_TYPE should be one of the signs in Figure 2.14

When finished, regenerate the PDF version of the Word file, and commit everything to the repo (via a pull request of course).

It is also possible of course to start you own completely different signs and tags database, but make sure that you specify in the april_tags code which database to load from.

TODO: Update the way that the april tags code loads the database

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The following was marked as "todo".

TODO: Update the way that the april tags code loads the database

File docs/docs-opmanual_duckietown/book/opmanual_duckietown/07_signs_assembly.md.

File book/opmanual_duckietown/07_signs_assembly.md
in repo duckietown/docs-opmanual_duckietown branch master commit 1193e3f3
last modified by Andrea Censi on 2018-06-24 16:51:24

Created by function create_notes_from_elements in module mcdp_docs.task_markers.

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