Thomas O'Brien

Adds mujoco simulator abd renders in scene in NUsight

TODO: - [ ] Build ORBSLAM3 as library in Docker - [ ] Map output from ORBSLAM3 coordinates to our coordinate system (Htw) - [ ] Figure out how to...

This PR adds goal post localisation similar to RobotLocalisation

This PR adds a measurement update to the `FieldLocalisation` module based on field intersections (L, X, T). A list of landmarks is created on startup and each field line intersection...

This PR adds PID controller for torso pitch and x-y position. TODO: - [ ] Tune on real hardware - [ ] Adds torso velocity estimate to SensorFilter - [...

NUsight Feature Request: Kinematics Viewer

6

Idea would be to just strip down the localisation view and render robot in torso space. Would look something like this. 

- Removes min association distance for landmarks - Add visualisation in nusight - Adds more initial hypothesis to help when starting