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Consolidate documentation for webots live error tracking on NUbook. #272

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Consolidate documentation for webots live error tracking on NUbook. #272

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18 changes: 11 additions & 7 deletions src/book/03-guides/01-main-codebase/04-maintaining-subsystems.mdx
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Expand Up @@ -12,18 +12,22 @@ This page details how to maintain various subsystems within the main codebase.

## Odometry

### Webots Live Error Tracking
## Vision

The accuracy of the vision system is reliant on the accuracy of odometry and kinematics because they affect the placement of the mesh and green horizon. It is important that these systems work reasonable well otherwise the robot may have issues detecting objects.

## Webots Live Error Tracking

The `nugus_controller` in Webots has functionality to send live odometry ground truth data to the robot. To use this
The `nugus_controller` in Webots has functionality to send live vision and odometry ground truth data to the robot. To use this

1. [Set up Webots and compile the NUWebots code](/guides/tools/webots-setup) (you do not need the RoboCup set up).
2. Run the `kid.wbt` world in Webots.
3. Run `webots/keyboardwalk` in NUbots. [See the Getting Started page to set up the NUbots codebase](/guides/main/getting-started).
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@ysims ysims Aug 31, 2024

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3. Run `webots/keyboardwalk` in NUbots. [See the Getting Started page to set up the NUbots codebase](/guides/main/getting-started).
3. Run `webots/localisation` in NUbots. [See the Getting Started page to set up the NUbots codebase](/guides/main/getting-started).

keyboardwalk doesn't have vision

4. Run [NUsight](/guides/main/getting-started#get-build-and-run-nusight) or [PlotJuggler](https://github.com/NUbots/NUbots/tree/main/module/network/PlotJuggler/README.md) and observe the graphs for the robot's prediction, the ground truth and the error of the torso's real rotation and translation relative to world.

## Vision

The accuracy of the vision system is reliant on the accuracy of odometry and kinematics because they affect the placement of the mesh and green horizon. It is important that these systems work reasonable well otherwise the robot may have issues detecting objects.
4. Run [NUsight](/guides/main/getting-started#get-build-and-run-nusight) or [PlotJuggler](https://github.com/NUbots/NUbots/tree/main/module/network/PlotJuggler/README.md) and observe the graphs for the robot's odometry and vision systems.
- Odometry data includes prediction, the ground truth and the error of the torso's real rotation and translation relative to world.
- Ball detection includes true ball position and detected ball error split up into angular and projection distance.
- Goal detection data includes average detected goal error, split up into including and excluding outlier bad posts and the total number of bad posts.

### Dataset Generation

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