Reworked and Stable Sonar Object/Wall Detection

[AnthonZh]

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

[nathanaelren]

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

[AnthonZh]

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

[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]

LGTM

Fixed

[Copilot]

Pull request overview

This PR refactors the sonar pipeline to provide more stable object/wall detection, adds a new denoising/segmentation module, and exposes additional visualization/telemetry to ROS topics for easier debugging in Foxglove.

Changes:

• Added a new sonar denoising + segmentation pipeline (sonar_object_detection.py) and updated sonar processing/utilities to support it.
• Updated the sonar ROS node to publish both “raw” and processed scans and to return/publish a wall angle.
• Updated task-planning to add rotate-to-normal behaviors driven by sonar results, and updated the Docker image to install scikit-image.

Reviewed changes

Copilot reviewed 12 out of 30 changed files in this pull request and generated 16 comments.

Show a summary per file

File	Description
onboard/src/task_planning/task_planning/tasks/sonar_tasks.py	Adds sonar-driven rotation tasks and helpers for extracting/normalizing the sonar normal angle.
onboard/src/task_planning/task_planning/task.py	Updates Task awaiting behavior to handle rclpy Futures (currently breaks future result propagation).
onboard/src/task_planning/task_planning/robot/oogway.py	Adjusts competition task list / parameters and adds a sonar rotation task entry point.
onboard/src/task_planning/task_planning/interface/cv.py	Minor whitespace cleanup.
onboard/src/sonar/sonar/sonar_utils.py	Moves sonar math/image conversion helpers into utilities (includes a critical negate math bug).
onboard/src/sonar/sonar/sonar_object_detection.py	New FFT denoising + segmentation + orthogonal regression utilities.
onboard/src/sonar/sonar/sonar_image_processing.py	Updates image building normalization and adds a GMM clustering helper.
onboard/src/sonar/sonar/sonar.py	Reworks sonar node processing pipeline, publishes raw image + wall angle, and extends service response fields (currently contains a syntax error and a segmentation instantiation mismatch).
onboard/src/sonar/README.md	Documents package structure and new topics (one message type mismatch).
onboard/src/sonar/sweep_data/data.jpeg	Adds sample sonar scan data asset.
onboard/src/sonar/sweep_data/newdata.jpeg	Adds sample sonar scan data asset.
docker/Dockerfile	Installs scikit-image to support the new pipeline.
core/src/custom_msgs/srv/SonarSweepRequest.srv	Adds angle_of_wall to service response.
core/src/custom_msgs/msg/SonarSweepResponse.msg	Adds angle_of_wall field and normalizes formatting.

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[AnthonZh]

Pool tested on 4/18, sonar works (IMU issue?)

[ChuChuCodes0414]

LGTM