Reworked and Stable Sonar Object/Wall Detection by AnthonZh · Pull Request #109 · DukeRobotics/robosub-ros2

AnthonZh · 2025-12-06T18:42:31Z

Summary

Added sonar_object_detection.py for a pipeline to process raw sonar scans, segment them, and retrieve normal angles and poses
- Primarily use the Fourier Transform to denoise images
- Segments the image and throws out segments that don't meet certain criteria
- Uses orthogonal regression to retrieve the normal angle
Updated and cleaned the sonar.py file to move utility methods to the appropriate file
- Moved most calculation methods over to the utility file
Add a raw image publisher to that both the raw sonar scan and the processed sonar scan are viewable in foxglove
Update dockerfile to install scikit-image

Testing

Tested with empty data and previously collected data
Tested on land

…data. Docker-build.sh changed because of issues with personal computer.

Added Sonar Denoiser Class which can process sonar sweeps. Added a publisher to allow viewing data and testing if the processing is actually working

…ry code for the test

… with the sonar device to sonar_utils.py (#97) - Skipping checks because this is just to merge two of my branches together so that I can work out of one.

…stances of objects

…ressed_img, code in task_planning is from Pranav Bijith - add rotate_to_normal and rotate_to_angle_from_normal

… y=x

…stead of floats

… array

…onstant_sweep method align with the new sonar pipeline

nathanaelren · 2025-12-07T18:31:13Z

Converting to draft as has not been pool-tested yet.

…moved async errors

AnthonZh · 2026-01-24T18:53:09Z

Only sonar tasks need pool testing now.

…hough

This reverts commit bec9f5b.

…s2 into sonar-processing

…s2 into sonar-processing Update from oogway code

…s2 into sonar-processing

Merging main into sonar-processing to prepare for PR.

AnthonZh · 2026-04-02T23:37:22Z

I reopened the PR after thorough testing in the pool.

nathanaelren

i'll let @ChuChuCodes0414 fully review this (I'm in Greece) but took a quick look since my flight is delayed, two quick comments, thanks for all the great work Anthony! This is awesome

nathanaelren · 2026-04-03T13:26:20Z

onboard/src/controls/config/oogway.yaml

fix floating point errors

nathanaelren · 2026-04-03T13:39:45Z

onboard/src/sonar/README.md

+
+## Config
+The `config` directory contains robot-specific `.yaml` files. The format is as follows:
+```yaml


data type for all these pls

ChuChuCodes0414

In general good PR. Some changes to be made.

I will take a closer look when these are reviewed along with Nathanael's comments. Thank you!

ChuChuCodes0414 · 2026-04-04T17:16:29Z

onboard/src/sonar/sonar/sonar.py


-            # Normalize the angle to be within a specific range (e.g., -180 to 180)
-            line_angle_deg = np.clip(line_angle_deg, -180, 180)
+        segmentation = sonar_object_detection.SonarSegmentation2(


Can SonarSegmentation2 have a more descriptive name to differentiate it from SonarSegmentation

ChuChuCodes0414 · 2026-04-04T17:26:38Z

onboard/src/sonar/sonar/sonar_object_detection.py

+
+        return nearest_segment
+
+class SonarSegmentation2:


Same as previous comment

ChuChuCodes0414 · 2026-04-04T17:29:28Z

onboard/src/task_planning/task_planning/tasks/prequal_tasks.py


    # Move back through gate
-    await move_with_directions([(-2.5, 0, 0)], depth_level=DEPTH_LEVEL)
+    await move_with_directions([(2.5, 0, 0)])


No need for these prequal changes here

ChuChuCodes0414 · 2026-04-04T17:30:05Z

dvl_timestamps.txt

Let's also not push this to main please.

AnthonZh and others added 24 commits October 24, 2025 00:10

Sonar data from pool test on 10/19 added to /onboard/src/sonar/sweep_…

fb7507b

…data. Docker-build.sh changed because of issues with personal computer.

Renamed sweep data

b011ac8

Added skeletons for fourier

f512d5a

Added fourier transform to sonar image processing

3cf834e

changed return of fourier transform to include the gradian space image

22c2a38

Changing Sonar Package

3a5bcbb

Sonar Denoising

ac4556c

Added Sonar Denoiser Class which can process sonar sweeps. Added a publisher to allow viewing data and testing if the processing is actually working

Ready for 11/8 Pool Test program - added comments to indicate tempora…

63fe11a

…ry code for the test

Fixed the Pool Test error with wrong variable name

c81bb3a

Move methods from Sonar class which are more utility than interfacing…

1002a8f

… with the sonar device to sonar_utils.py (#97) - Skipping checks because this is just to merge two of my branches together so that I can work out of one.

Ported over and began documenting code to find the regressions and di…

14221b9

…stances of objects

Update Sonar Object Detection

b7c0c3a

Merge branch 'main' into sonar-processing

fe3e77f

Fixed the program so that sonar request does not crash

7539ce3

Ported over normal and object detection code

69f7efa

Finished porting over get_xy_of_object_in_sweep

fd11cea

Ported one last method from sonar to sonar_utils (convert_to_ros_comp…

880da11

…ressed_img, code in task_planning is from Pranav Bijith - add rotate_to_normal and rotate_to_angle_from_normal

Update sonar so that it runs on land, need to test for pool

91f1742

Transform poses & angles to account for cartesian forward being along…

f84beea

… y=x

Transform pose into posestamped

dc619fd

Fixed sonar issues: the main issue was passing in ints to the pose in…

2628af0

…stead of floats

Clean up Sonar Imports and make sonar_image from int array be a uint8…

d589694

… array

Added scikit-image to dockerfile for sonar

3a3c58a

Changed topic names to better reflect what is being published, make c…

5c1666c

…onstant_sweep method align with the new sonar pipeline

AnthonZh requested review from ChuChuCodes0414, maxwellmlin, nathanaelren and viethungle-vt1401 December 6, 2025 18:42

nathanaelren marked this pull request as draft December 7, 2025 18:31

pranavbijith1 and others added 6 commits January 24, 2026 17:58

converted normal_angle to degrees

53e06a5

Fixed sonar tasks using land testing, added more robust checks and re…

271f916

…moved async errors

Removed semicolons on return statements

ebbf3b6

fixed f strings

75a04a7

fixed f strings

510c17e

fixed errors using linting

0eca97a

AnthonZh and others added 18 commits February 7, 2026 17:57

Added wall angle onto SonarSweepRequest's response

5f75667

fixed linting issue in get_xy_of_object_in_sweep

a09cbc2

Added new sonar task to align to a wall, need to check my geometry, t…

d05bb60

…hough

Fixing rotate_to_normal

c0f80a1

Added cases for rotate_to_normal

bec9f5b

Made merges more likely

1c44082

Revert "Added cases for rotate_to_normal"

4cc8b78

This reverts commit bec9f5b.

Merge branch 'sonar-processing' of github.com:DukeRobotics/robosub-ro…

11071a6

…s2 into sonar-processing

Made merges even more likely

f9888eb

move await to rotate_to_normal so we directly interface with the future

dfe60fa

Merge branch 'sonar-processing' of github.com:DukeRobotics/robosub-ro…

79bfa1f

…s2 into sonar-processing Update from oogway code

Merge branch 'sonar-processing' of github.com:DukeRobotics/robosub-ro…

520859d

…s2 into sonar-processing

Testing on Oogway + Fix DockerFile

b06783d

Fixed Future awaited twice error, issue in task.py primarily

1777f2a

Cleaning up Sonar from pool test code

56c07b5

Fixed sonar

2682f3b

Merge branch 'main' into sonar-processing

1a723af

Merging main into sonar-processing to prepare for PR.

Linting to prepare for PR

bdf794c

AnthonZh marked this pull request as ready for review April 2, 2026 23:35

AnthonZh requested a review from nathanaelren April 2, 2026 23:35

nathanaelren reviewed Apr 3, 2026

View reviewed changes

ChuChuCodes0414 requested changes Apr 4, 2026

View reviewed changes

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Reworked and Stable Sonar Object/Wall Detection#109

Reworked and Stable Sonar Object/Wall Detection#109
AnthonZh wants to merge 69 commits intomainfrom
sonar-processing

AnthonZh commented Dec 6, 2025

Uh oh!

nathanaelren commented Dec 7, 2025

Uh oh!

AnthonZh commented Jan 24, 2026

Uh oh!

AnthonZh commented Apr 2, 2026

Uh oh!

nathanaelren left a comment

Uh oh!

nathanaelren Apr 3, 2026

Uh oh!

nathanaelren Apr 3, 2026

Uh oh!

ChuChuCodes0414 left a comment

Uh oh!

ChuChuCodes0414 Apr 4, 2026

Uh oh!

ChuChuCodes0414 Apr 4, 2026

Uh oh!

ChuChuCodes0414 Apr 4, 2026

Uh oh!

ChuChuCodes0414 Apr 4, 2026

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

6 participants

Conversation

AnthonZh commented Dec 6, 2025

Summary

Testing

Uh oh!

nathanaelren commented Dec 7, 2025

Uh oh!

AnthonZh commented Jan 24, 2026

Uh oh!

AnthonZh commented Apr 2, 2026

Uh oh!

nathanaelren left a comment

Choose a reason for hiding this comment

Uh oh!

nathanaelren Apr 3, 2026

Choose a reason for hiding this comment

Uh oh!

nathanaelren Apr 3, 2026

Choose a reason for hiding this comment

Uh oh!

ChuChuCodes0414 left a comment

Choose a reason for hiding this comment

Uh oh!

ChuChuCodes0414 Apr 4, 2026

Choose a reason for hiding this comment

Uh oh!

ChuChuCodes0414 Apr 4, 2026

Choose a reason for hiding this comment

Uh oh!

ChuChuCodes0414 Apr 4, 2026

Choose a reason for hiding this comment

Uh oh!

ChuChuCodes0414 Apr 4, 2026

Choose a reason for hiding this comment

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

6 participants