From edd41594869db1342c3234f4f131b83e16d0910a Mon Sep 17 00:00:00 2001 From: Theo Martin Date: Sun, 12 Mar 2023 19:42:35 +0100 Subject: [PATCH 001/132] Failsafe interface --- asv_setup/config/robots/ASV.yaml | 13 ++++ mission/failsafe_interface/CMakeLists.txt | 20 ++++++ .../failsafe_interface/launch/failsafe.launch | 7 ++ mission/failsafe_interface/package.xml | 27 ++++++++ .../scripts/failsafe_interface_node.py | 68 +++++++++++++++++++ 5 files changed, 135 insertions(+) create mode 100644 asv_setup/config/robots/ASV.yaml create mode 100644 mission/failsafe_interface/CMakeLists.txt create mode 100644 mission/failsafe_interface/launch/failsafe.launch create mode 100644 mission/failsafe_interface/package.xml create mode 100644 mission/failsafe_interface/scripts/failsafe_interface_node.py diff --git a/asv_setup/config/robots/ASV.yaml b/asv_setup/config/robots/ASV.yaml new file mode 100644 index 00000000..d8ba8267 --- /dev/null +++ b/asv_setup/config/robots/ASV.yaml @@ -0,0 +1,13 @@ +failsafe: + publishers: + failSafeStatus: '/failSafeStatus' + hardwareOperationMode: '/hardWareOperationMode' + subscribers: + softWareKillSwtich: '/softWareKillSwitch' + softWareOperationMode: '/softWareOperationMode' + + gpio: + gpioSoftWareKillSwitch: 1 + gpioSoftWareOperationMode: 2 + gpioFailSafeStatus: 3 + gpioHardWareOperationMode: 4 \ No newline at end of file diff --git a/mission/failsafe_interface/CMakeLists.txt b/mission/failsafe_interface/CMakeLists.txt new file mode 100644 index 00000000..d3b6e630 --- /dev/null +++ b/mission/failsafe_interface/CMakeLists.txt @@ -0,0 +1,20 @@ +cmake_minimum_required(VERSION 2.8.3) +project(thruster_interface) + +find_package(catkin REQUIRED COMPONENTS + rospy + vortex_msgs + std_msgs + message_generation + roslint +) + +roslint_python() + +catkin_package( + CATKIN_DEPENDS + rospy + vortex_msgs + std_msgs + message_runtime +) diff --git a/mission/failsafe_interface/launch/failsafe.launch b/mission/failsafe_interface/launch/failsafe.launch new file mode 100644 index 00000000..6e26d8fc --- /dev/null +++ b/mission/failsafe_interface/launch/failsafe.launch @@ -0,0 +1,7 @@ + + + + + + + \ No newline at end of file diff --git a/mission/failsafe_interface/package.xml b/mission/failsafe_interface/package.xml new file mode 100644 index 00000000..c62f9857 --- /dev/null +++ b/mission/failsafe_interface/package.xml @@ -0,0 +1,27 @@ + + + + thruster_interface + 0.0.0 + This package provides an interface between the commanded forces for each thruster and the thruster controllers. + Morten Fyhn Amundsen + MIT + http://vortexntnu.no/ + + catkin + + rospy + vortex_msgs + std_msgs + message_generation + roslint + scipy + + rospy + vortex_msgs + std_msgs + message_runtime + rospkg + python-scipy + + \ No newline at end of file diff --git a/mission/failsafe_interface/scripts/failsafe_interface_node.py b/mission/failsafe_interface/scripts/failsafe_interface_node.py new file mode 100644 index 00000000..7c6bba1c --- /dev/null +++ b/mission/failsafe_interface/scripts/failsafe_interface_node.py @@ -0,0 +1,68 @@ +import RPi.GPIO as GPIO +import rospy + +from std_msgs.msg import String + +class FailSafeInterface(object): + def __init__( + self, + + ): + self.gpioSoftWareKillSwitch = rospy.get_param("/failsafe/gpio/gpioSoftWareKillSwitch") + self.gpioSoftWareOperationMode = rospy.get_param("/failsafe/gpio/gpioSoftWareOperationMode") + self.gpioFailSafeStatus = rospy.get_param("/failsafe/gpio/gpioFailSafeStatus") + self.gpioHardWareOperationMode = rospy.get_param("/failsafe/gpio/gpioHardWareOperationMode") + + topicFailSafeStatus = rospy.get_param("/failsafe/publishers/failSafeStatus") + topicHardWareOperationMode = rospy.get_param("/failsafe/publishers/hardwareOperationMode") + topicSoftWareKillSwitch = rospy.get_param("/failsafe/subscribers/softWareKillSwitch") + topicSoftWareOperationMode = rospy.get_param("/failsafe/subscribers/softWareOperationMode") + + GPIO.setmode(GPIO.BCM) # Use BCM numbering + + GPIO.setup(self.gpioFailSafeStatus, GPIO.IN) # Set pin 4 as input + GPIO.setup(self.gpioHardWareOperationMode, GPIO.IN) # Set pin 4 as input + GPIO.setup(self.gpioSoftWareKillSwitch, GPIO.OUT) # Set pin 4 as input + GPIO.setup(self.gpioSoftWareOperationMode, GPIO.OUT) # Set pin 4 as input + + self.failSafeStatus = 0 #1 means normal operation, 0 means error + self.hardWareOperationMode = 0 #1 means software operation, 0 means RX manual + self.softWareKillSwitch = 0 #1 means normal operation, 0 means error + self.softWareOperationMode = 0 #1 means software manual, 0 means autonomous + + self.pubFailSafeStatus = rospy.Publisher(topicFailSafeStatus, String, queue_size=10) + self.pubHardWareOperationMode = rospy.Publisher(topicHardWareOperationMode, String, queue_size=10) + + self.subSoftWareKillSwitch = rospy.Subscriber(topicSoftWareKillSwitch, String, self.writeSoftwareKillSwitch) + self.subSoftWareOperationMode = rospy.Subscriber(topicSoftWareOperationMode, String, self.writeSoftwareOperationMode) + + def readPins(self): + self.failSafeStatus = GPIO.input(self.gpioFailSafeStatus) + self.hardWareOperationMode = GPIO.input(self.gpioHardWareOperationMode) + + self.pubFailSafeStatus.publish(self.failSafeStatus) + self.pubHardWareOperationMode.publish(self.hardWareOperationMode) + + rospy.loginfo("Received software kill status %s", self.failSafeStatus ) + + def writeSoftwareKillSwitch(self, message): + self.softWareKillSwitch = message.data + GPIO.output(self.gpioSoftWareKillSwitch, self.softWareKillSwitch) + + def writeSoftwareOperationMode(self, message): + self.softWareOperationMode = message.data + GPIO.output(self.gpioSoftWareOperationMode, self.softWareOperationMode) + +def FailSafeNodeSetup(): + rospy.init_node('failsafe_interface_node', anonymous=True) + + failsafe = FailSafeInterface() + + while not rospy.is_shutdown(): + failsafe.readPins() + +if __name__ == '__main__': + try: + FailSafeNodeSetup() + except rospy.ROSInterruptException: + pass From 0cce797eb3c03ee830992dabafaa4fb98bf16247 Mon Sep 17 00:00:00 2001 From: Theo Martin Date: Sun, 12 Mar 2023 19:45:06 +0100 Subject: [PATCH 002/132] Failsafe interface formatting --- .../scripts/failsafe_interface_node.py | 68 ++++++++++++------- 1 file changed, 45 insertions(+), 23 deletions(-) diff --git a/mission/failsafe_interface/scripts/failsafe_interface_node.py b/mission/failsafe_interface/scripts/failsafe_interface_node.py index 7c6bba1c..14f6b2f2 100644 --- a/mission/failsafe_interface/scripts/failsafe_interface_node.py +++ b/mission/failsafe_interface/scripts/failsafe_interface_node.py @@ -3,20 +3,32 @@ from std_msgs.msg import String + class FailSafeInterface(object): def __init__( - self, - + self, ): - self.gpioSoftWareKillSwitch = rospy.get_param("/failsafe/gpio/gpioSoftWareKillSwitch") - self.gpioSoftWareOperationMode = rospy.get_param("/failsafe/gpio/gpioSoftWareOperationMode") + self.gpioSoftWareKillSwitch = rospy.get_param( + "/failsafe/gpio/gpioSoftWareKillSwitch" + ) + self.gpioSoftWareOperationMode = rospy.get_param( + "/failsafe/gpio/gpioSoftWareOperationMode" + ) self.gpioFailSafeStatus = rospy.get_param("/failsafe/gpio/gpioFailSafeStatus") - self.gpioHardWareOperationMode = rospy.get_param("/failsafe/gpio/gpioHardWareOperationMode") + self.gpioHardWareOperationMode = rospy.get_param( + "/failsafe/gpio/gpioHardWareOperationMode" + ) topicFailSafeStatus = rospy.get_param("/failsafe/publishers/failSafeStatus") - topicHardWareOperationMode = rospy.get_param("/failsafe/publishers/hardwareOperationMode") - topicSoftWareKillSwitch = rospy.get_param("/failsafe/subscribers/softWareKillSwitch") - topicSoftWareOperationMode = rospy.get_param("/failsafe/subscribers/softWareOperationMode") + topicHardWareOperationMode = rospy.get_param( + "/failsafe/publishers/hardwareOperationMode" + ) + topicSoftWareKillSwitch = rospy.get_param( + "/failsafe/subscribers/softWareKillSwitch" + ) + topicSoftWareOperationMode = rospy.get_param( + "/failsafe/subscribers/softWareOperationMode" + ) GPIO.setmode(GPIO.BCM) # Use BCM numbering @@ -25,16 +37,24 @@ def __init__( GPIO.setup(self.gpioSoftWareKillSwitch, GPIO.OUT) # Set pin 4 as input GPIO.setup(self.gpioSoftWareOperationMode, GPIO.OUT) # Set pin 4 as input - self.failSafeStatus = 0 #1 means normal operation, 0 means error - self.hardWareOperationMode = 0 #1 means software operation, 0 means RX manual - self.softWareKillSwitch = 0 #1 means normal operation, 0 means error - self.softWareOperationMode = 0 #1 means software manual, 0 means autonomous - - self.pubFailSafeStatus = rospy.Publisher(topicFailSafeStatus, String, queue_size=10) - self.pubHardWareOperationMode = rospy.Publisher(topicHardWareOperationMode, String, queue_size=10) - - self.subSoftWareKillSwitch = rospy.Subscriber(topicSoftWareKillSwitch, String, self.writeSoftwareKillSwitch) - self.subSoftWareOperationMode = rospy.Subscriber(topicSoftWareOperationMode, String, self.writeSoftwareOperationMode) + self.failSafeStatus = 0 # 1 means normal operation, 0 means error + self.hardWareOperationMode = 0 # 1 means software operation, 0 means RX manual + self.softWareKillSwitch = 0 # 1 means normal operation, 0 means error + self.softWareOperationMode = 0 # 1 means software manual, 0 means autonomous + + self.pubFailSafeStatus = rospy.Publisher( + topicFailSafeStatus, String, queue_size=10 + ) + self.pubHardWareOperationMode = rospy.Publisher( + topicHardWareOperationMode, String, queue_size=10 + ) + + self.subSoftWareKillSwitch = rospy.Subscriber( + topicSoftWareKillSwitch, String, self.writeSoftwareKillSwitch + ) + self.subSoftWareOperationMode = rospy.Subscriber( + topicSoftWareOperationMode, String, self.writeSoftwareOperationMode + ) def readPins(self): self.failSafeStatus = GPIO.input(self.gpioFailSafeStatus) @@ -43,25 +63,27 @@ def readPins(self): self.pubFailSafeStatus.publish(self.failSafeStatus) self.pubHardWareOperationMode.publish(self.hardWareOperationMode) - rospy.loginfo("Received software kill status %s", self.failSafeStatus ) + rospy.loginfo("Received software kill status %s", self.failSafeStatus) - def writeSoftwareKillSwitch(self, message): + def writeSoftwareKillSwitch(self, message): self.softWareKillSwitch = message.data GPIO.output(self.gpioSoftWareKillSwitch, self.softWareKillSwitch) - def writeSoftwareOperationMode(self, message): + def writeSoftwareOperationMode(self, message): self.softWareOperationMode = message.data GPIO.output(self.gpioSoftWareOperationMode, self.softWareOperationMode) + def FailSafeNodeSetup(): - rospy.init_node('failsafe_interface_node', anonymous=True) + rospy.init_node("failsafe_interface_node", anonymous=True) failsafe = FailSafeInterface() while not rospy.is_shutdown(): failsafe.readPins() -if __name__ == '__main__': + +if __name__ == "__main__": try: FailSafeNodeSetup() except rospy.ROSInterruptException: From 944fc301c8f4eec4d24dbd44f2633558294636f4 Mon Sep 17 00:00:00 2001 From: Martynas Date: Tue, 4 Apr 2023 14:44:33 +0200 Subject: [PATCH 003/132] for testing laga en ny fil --- .../scripts/failsafe_interface_node copy.py | 90 ++++++++++++++++++ .../scripts/failsafe_interface_node.py | 92 ++----------------- 2 files changed, 99 insertions(+), 83 deletions(-) create mode 100644 mission/failsafe_interface/scripts/failsafe_interface_node copy.py diff --git a/mission/failsafe_interface/scripts/failsafe_interface_node copy.py b/mission/failsafe_interface/scripts/failsafe_interface_node copy.py new file mode 100644 index 00000000..14f6b2f2 --- /dev/null +++ b/mission/failsafe_interface/scripts/failsafe_interface_node copy.py @@ -0,0 +1,90 @@ +import RPi.GPIO as GPIO +import rospy + +from std_msgs.msg import String + + +class FailSafeInterface(object): + def __init__( + self, + ): + self.gpioSoftWareKillSwitch = rospy.get_param( + "/failsafe/gpio/gpioSoftWareKillSwitch" + ) + self.gpioSoftWareOperationMode = rospy.get_param( + "/failsafe/gpio/gpioSoftWareOperationMode" + ) + self.gpioFailSafeStatus = rospy.get_param("/failsafe/gpio/gpioFailSafeStatus") + self.gpioHardWareOperationMode = rospy.get_param( + "/failsafe/gpio/gpioHardWareOperationMode" + ) + + topicFailSafeStatus = rospy.get_param("/failsafe/publishers/failSafeStatus") + topicHardWareOperationMode = rospy.get_param( + "/failsafe/publishers/hardwareOperationMode" + ) + topicSoftWareKillSwitch = rospy.get_param( + "/failsafe/subscribers/softWareKillSwitch" + ) + topicSoftWareOperationMode = rospy.get_param( + "/failsafe/subscribers/softWareOperationMode" + ) + + GPIO.setmode(GPIO.BCM) # Use BCM numbering + + GPIO.setup(self.gpioFailSafeStatus, GPIO.IN) # Set pin 4 as input + GPIO.setup(self.gpioHardWareOperationMode, GPIO.IN) # Set pin 4 as input + GPIO.setup(self.gpioSoftWareKillSwitch, GPIO.OUT) # Set pin 4 as input + GPIO.setup(self.gpioSoftWareOperationMode, GPIO.OUT) # Set pin 4 as input + + self.failSafeStatus = 0 # 1 means normal operation, 0 means error + self.hardWareOperationMode = 0 # 1 means software operation, 0 means RX manual + self.softWareKillSwitch = 0 # 1 means normal operation, 0 means error + self.softWareOperationMode = 0 # 1 means software manual, 0 means autonomous + + self.pubFailSafeStatus = rospy.Publisher( + topicFailSafeStatus, String, queue_size=10 + ) + self.pubHardWareOperationMode = rospy.Publisher( + topicHardWareOperationMode, String, queue_size=10 + ) + + self.subSoftWareKillSwitch = rospy.Subscriber( + topicSoftWareKillSwitch, String, self.writeSoftwareKillSwitch + ) + self.subSoftWareOperationMode = rospy.Subscriber( + topicSoftWareOperationMode, String, self.writeSoftwareOperationMode + ) + + def readPins(self): + self.failSafeStatus = GPIO.input(self.gpioFailSafeStatus) + self.hardWareOperationMode = GPIO.input(self.gpioHardWareOperationMode) + + self.pubFailSafeStatus.publish(self.failSafeStatus) + self.pubHardWareOperationMode.publish(self.hardWareOperationMode) + + rospy.loginfo("Received software kill status %s", self.failSafeStatus) + + def writeSoftwareKillSwitch(self, message): + self.softWareKillSwitch = message.data + GPIO.output(self.gpioSoftWareKillSwitch, self.softWareKillSwitch) + + def writeSoftwareOperationMode(self, message): + self.softWareOperationMode = message.data + GPIO.output(self.gpioSoftWareOperationMode, self.softWareOperationMode) + + +def FailSafeNodeSetup(): + rospy.init_node("failsafe_interface_node", anonymous=True) + + failsafe = FailSafeInterface() + + while not rospy.is_shutdown(): + failsafe.readPins() + + +if __name__ == "__main__": + try: + FailSafeNodeSetup() + except rospy.ROSInterruptException: + pass diff --git a/mission/failsafe_interface/scripts/failsafe_interface_node.py b/mission/failsafe_interface/scripts/failsafe_interface_node.py index 14f6b2f2..1762b1e4 100644 --- a/mission/failsafe_interface/scripts/failsafe_interface_node.py +++ b/mission/failsafe_interface/scripts/failsafe_interface_node.py @@ -1,90 +1,16 @@ import RPi.GPIO as GPIO -import rospy - -from std_msgs.msg import String - - -class FailSafeInterface(object): - def __init__( - self, - ): - self.gpioSoftWareKillSwitch = rospy.get_param( - "/failsafe/gpio/gpioSoftWareKillSwitch" - ) - self.gpioSoftWareOperationMode = rospy.get_param( - "/failsafe/gpio/gpioSoftWareOperationMode" - ) - self.gpioFailSafeStatus = rospy.get_param("/failsafe/gpio/gpioFailSafeStatus") - self.gpioHardWareOperationMode = rospy.get_param( - "/failsafe/gpio/gpioHardWareOperationMode" - ) - - topicFailSafeStatus = rospy.get_param("/failsafe/publishers/failSafeStatus") - topicHardWareOperationMode = rospy.get_param( - "/failsafe/publishers/hardwareOperationMode" - ) - topicSoftWareKillSwitch = rospy.get_param( - "/failsafe/subscribers/softWareKillSwitch" - ) - topicSoftWareOperationMode = rospy.get_param( - "/failsafe/subscribers/softWareOperationMode" - ) - - GPIO.setmode(GPIO.BCM) # Use BCM numbering - - GPIO.setup(self.gpioFailSafeStatus, GPIO.IN) # Set pin 4 as input - GPIO.setup(self.gpioHardWareOperationMode, GPIO.IN) # Set pin 4 as input - GPIO.setup(self.gpioSoftWareKillSwitch, GPIO.OUT) # Set pin 4 as input - GPIO.setup(self.gpioSoftWareOperationMode, GPIO.OUT) # Set pin 4 as input - - self.failSafeStatus = 0 # 1 means normal operation, 0 means error - self.hardWareOperationMode = 0 # 1 means software operation, 0 means RX manual - self.softWareKillSwitch = 0 # 1 means normal operation, 0 means error - self.softWareOperationMode = 0 # 1 means software manual, 0 means autonomous - - self.pubFailSafeStatus = rospy.Publisher( - topicFailSafeStatus, String, queue_size=10 - ) - self.pubHardWareOperationMode = rospy.Publisher( - topicHardWareOperationMode, String, queue_size=10 - ) - - self.subSoftWareKillSwitch = rospy.Subscriber( - topicSoftWareKillSwitch, String, self.writeSoftwareKillSwitch - ) - self.subSoftWareOperationMode = rospy.Subscriber( - topicSoftWareOperationMode, String, self.writeSoftwareOperationMode - ) - - def readPins(self): - self.failSafeStatus = GPIO.input(self.gpioFailSafeStatus) - self.hardWareOperationMode = GPIO.input(self.gpioHardWareOperationMode) - - self.pubFailSafeStatus.publish(self.failSafeStatus) - self.pubHardWareOperationMode.publish(self.hardWareOperationMode) - - rospy.loginfo("Received software kill status %s", self.failSafeStatus) - - def writeSoftwareKillSwitch(self, message): - self.softWareKillSwitch = message.data - GPIO.output(self.gpioSoftWareKillSwitch, self.softWareKillSwitch) - - def writeSoftwareOperationMode(self, message): - self.softWareOperationMode = message.data - GPIO.output(self.gpioSoftWareOperationMode, self.softWareOperationMode) +if __name__ == "__main__": + inPIN = 20 + outPIN = 21 -def FailSafeNodeSetup(): - rospy.init_node("failsafe_interface_node", anonymous=True) + GPIO.setmode(GPIO.BCM) # Use BCM numbering - failsafe = FailSafeInterface() + GPIO.setup(inPIN, GPIO.IN) # Set pin 4 as input + GPIO.setup(outPIN, GPIO.OUT) # Set pin 4 as input - while not rospy.is_shutdown(): - failsafe.readPins() + inSig = GPIO.input(inPIN) + GPIO.output(outPIN, inSig) -if __name__ == "__main__": - try: - FailSafeNodeSetup() - except rospy.ROSInterruptException: - pass + print("Input: ", inSig) From 319342daafc2a8a09d3007980846ba4f22e0908a Mon Sep 17 00:00:00 2001 From: Martynas Date: Tue, 4 Apr 2023 14:46:05 +0200 Subject: [PATCH 004/132] edited file name --- .../scripts/failsafe_interface_node copy.py | 90 ------------------ .../scripts/failsafe_interface_node.py | 93 +++++++++++++++++-- mission/failsafe_interface/scripts/test.py | 17 ++++ 3 files changed, 101 insertions(+), 99 deletions(-) delete mode 100644 mission/failsafe_interface/scripts/failsafe_interface_node copy.py create mode 100644 mission/failsafe_interface/scripts/test.py diff --git a/mission/failsafe_interface/scripts/failsafe_interface_node copy.py b/mission/failsafe_interface/scripts/failsafe_interface_node copy.py deleted file mode 100644 index 14f6b2f2..00000000 --- a/mission/failsafe_interface/scripts/failsafe_interface_node copy.py +++ /dev/null @@ -1,90 +0,0 @@ -import RPi.GPIO as GPIO -import rospy - -from std_msgs.msg import String - - -class FailSafeInterface(object): - def __init__( - self, - ): - self.gpioSoftWareKillSwitch = rospy.get_param( - "/failsafe/gpio/gpioSoftWareKillSwitch" - ) - self.gpioSoftWareOperationMode = rospy.get_param( - "/failsafe/gpio/gpioSoftWareOperationMode" - ) - self.gpioFailSafeStatus = rospy.get_param("/failsafe/gpio/gpioFailSafeStatus") - self.gpioHardWareOperationMode = rospy.get_param( - "/failsafe/gpio/gpioHardWareOperationMode" - ) - - topicFailSafeStatus = rospy.get_param("/failsafe/publishers/failSafeStatus") - topicHardWareOperationMode = rospy.get_param( - "/failsafe/publishers/hardwareOperationMode" - ) - topicSoftWareKillSwitch = rospy.get_param( - "/failsafe/subscribers/softWareKillSwitch" - ) - topicSoftWareOperationMode = rospy.get_param( - "/failsafe/subscribers/softWareOperationMode" - ) - - GPIO.setmode(GPIO.BCM) # Use BCM numbering - - GPIO.setup(self.gpioFailSafeStatus, GPIO.IN) # Set pin 4 as input - GPIO.setup(self.gpioHardWareOperationMode, GPIO.IN) # Set pin 4 as input - GPIO.setup(self.gpioSoftWareKillSwitch, GPIO.OUT) # Set pin 4 as input - GPIO.setup(self.gpioSoftWareOperationMode, GPIO.OUT) # Set pin 4 as input - - self.failSafeStatus = 0 # 1 means normal operation, 0 means error - self.hardWareOperationMode = 0 # 1 means software operation, 0 means RX manual - self.softWareKillSwitch = 0 # 1 means normal operation, 0 means error - self.softWareOperationMode = 0 # 1 means software manual, 0 means autonomous - - self.pubFailSafeStatus = rospy.Publisher( - topicFailSafeStatus, String, queue_size=10 - ) - self.pubHardWareOperationMode = rospy.Publisher( - topicHardWareOperationMode, String, queue_size=10 - ) - - self.subSoftWareKillSwitch = rospy.Subscriber( - topicSoftWareKillSwitch, String, self.writeSoftwareKillSwitch - ) - self.subSoftWareOperationMode = rospy.Subscriber( - topicSoftWareOperationMode, String, self.writeSoftwareOperationMode - ) - - def readPins(self): - self.failSafeStatus = GPIO.input(self.gpioFailSafeStatus) - self.hardWareOperationMode = GPIO.input(self.gpioHardWareOperationMode) - - self.pubFailSafeStatus.publish(self.failSafeStatus) - self.pubHardWareOperationMode.publish(self.hardWareOperationMode) - - rospy.loginfo("Received software kill status %s", self.failSafeStatus) - - def writeSoftwareKillSwitch(self, message): - self.softWareKillSwitch = message.data - GPIO.output(self.gpioSoftWareKillSwitch, self.softWareKillSwitch) - - def writeSoftwareOperationMode(self, message): - self.softWareOperationMode = message.data - GPIO.output(self.gpioSoftWareOperationMode, self.softWareOperationMode) - - -def FailSafeNodeSetup(): - rospy.init_node("failsafe_interface_node", anonymous=True) - - failsafe = FailSafeInterface() - - while not rospy.is_shutdown(): - failsafe.readPins() - - -if __name__ == "__main__": - try: - FailSafeNodeSetup() - except rospy.ROSInterruptException: - pass diff --git a/mission/failsafe_interface/scripts/failsafe_interface_node.py b/mission/failsafe_interface/scripts/failsafe_interface_node.py index 1762b1e4..a595370b 100644 --- a/mission/failsafe_interface/scripts/failsafe_interface_node.py +++ b/mission/failsafe_interface/scripts/failsafe_interface_node.py @@ -1,16 +1,91 @@ import RPi.GPIO as GPIO +import rospy -if __name__ == "__main__": - inPIN = 20 - outPIN = 21 +from std_msgs.msg import String + + +class FailSafeInterface(object): + def __init__( + self, + ): + self.gpioSoftWareKillSwitch = rospy.get_param( + "/failsafe/gpio/gpioSoftWareKillSwitch" + ) + self.gpioSoftWareOperationMode = rospy.get_param( + "/failsafe/gpio/gpioSoftWareOperationMode" + ) + self.gpioFailSafeStatus = rospy.get_param("/failsafe/gpio/gpioFailSafeStatus") + self.gpioHardWareOperationMode = rospy.get_param( + "/failsafe/gpio/gpioHardWareOperationMode" + ) + + topicFailSafeStatus = rospy.get_param("/failsafe/publishers/failSafeStatus") + topicHardWareOperationMode = rospy.get_param( + "/failsafe/publishers/hardwareOperationMode" + ) + topicSoftWareKillSwitch = rospy.get_param( + "/failsafe/subscribers/softWareKillSwitch" + ) + topicSoftWareOperationMode = rospy.get_param( + "/failsafe/subscribers/softWareOperationMode" + ) + + GPIO.setmode(GPIO.BCM) # Use BCM numbering + + GPIO.setup(self.gpioFailSafeStatus, GPIO.IN) # Set pin 4 as input + GPIO.setup(self.gpioHardWareOperationMode, GPIO.IN) # Set pin 4 as input + GPIO.setup(self.gpioSoftWareKillSwitch, GPIO.OUT) # Set pin 4 as input + GPIO.setup(self.gpioSoftWareOperationMode, GPIO.OUT) # Set pin 4 as input + + self.failSafeStatus = 0 # 1 means normal operation, 0 means error + self.hardWareOperationMode = 0 # 1 means software operation, 0 means RX manual + self.softWareKillSwitch = 0 # 1 means normal operation, 0 means error + self.softWareOperationMode = 0 # 1 means software manual, 0 means autonomous + + self.pubFailSafeStatus = rospy.Publisher( + topicFailSafeStatus, String, queue_size=10 + ) + self.pubHardWareOperationMode = rospy.Publisher( + topicHardWareOperationMode, String, queue_size=10 + ) + + self.subSoftWareKillSwitch = rospy.Subscriber( + topicSoftWareKillSwitch, String, self.writeSoftwareKillSwitch + ) + self.subSoftWareOperationMode = rospy.Subscriber( + topicSoftWareOperationMode, String, self.writeSoftwareOperationMode + ) - GPIO.setmode(GPIO.BCM) # Use BCM numbering + def readPins(self): + self.failSafeStatus = GPIO.input(self.gpioFailSafeStatus) + self.hardWareOperationMode = GPIO.input(self.gpioHardWareOperationMode) - GPIO.setup(inPIN, GPIO.IN) # Set pin 4 as input - GPIO.setup(outPIN, GPIO.OUT) # Set pin 4 as input + self.pubFailSafeStatus.publish(self.failSafeStatus) + self.pubHardWareOperationMode.publish(self.hardWareOperationMode) - inSig = GPIO.input(inPIN) + rospy.loginfo("Received software kill status %s", self.failSafeStatus) - GPIO.output(outPIN, inSig) + def writeSoftwareKillSwitch(self, message): + self.softWareKillSwitch = message.data + GPIO.output(self.gpioSoftWareKillSwitch, self.softWareKillSwitch) + + def writeSoftwareOperationMode(self, message): + self.softWareOperationMode = message.data + GPIO.output(self.gpioSoftWareOperationMode, self.softWareOperationMode) + + +def FailSafeNodeSetup(): + rospy.init_node("failsafe_interface_node", anonymous=True) + + failsafe = FailSafeInterface() + + while not rospy.is_shutdown(): + failsafe.readPins() + + +if __name__ == "__main__": + try: + FailSafeNodeSetup() + except rospy.ROSInterruptException: + pass - print("Input: ", inSig) diff --git a/mission/failsafe_interface/scripts/test.py b/mission/failsafe_interface/scripts/test.py new file mode 100644 index 00000000..02f33e6f --- /dev/null +++ b/mission/failsafe_interface/scripts/test.py @@ -0,0 +1,17 @@ +import RPi.GPIO as GPIO + +if __name__ == "__main__": + inPIN = 20 + outPIN = 21 + + GPIO.setmode(GPIO.BCM) # Use BCM numbering + + GPIO.setup(inPIN, GPIO.IN) # Set pin 4 as input + GPIO.setup(outPIN, GPIO.OUT) # Set pin 4 as input + + inSig = GPIO.input(inPIN) + + GPIO.output(outPIN, inSig) + + print("Input: ", inSig) + From 20c2a000842b8dc445cd00df1d5a231f8482959e Mon Sep 17 00:00:00 2001 From: Theo Martin Date: Tue, 4 Apr 2023 15:49:41 +0200 Subject: [PATCH 005/132] Changed test script --- mission/failsafe_interface/scripts/test.py | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/mission/failsafe_interface/scripts/test.py b/mission/failsafe_interface/scripts/test.py index 02f33e6f..3ec5f488 100644 --- a/mission/failsafe_interface/scripts/test.py +++ b/mission/failsafe_interface/scripts/test.py @@ -1,17 +1,22 @@ import RPi.GPIO as GPIO if __name__ == "__main__": - inPIN = 20 - outPIN = 21 + outPIN = 11 + inPIN = 13 + sigPIN = 15 GPIO.setmode(GPIO.BCM) # Use BCM numbering GPIO.setup(inPIN, GPIO.IN) # Set pin 4 as input GPIO.setup(outPIN, GPIO.OUT) # Set pin 4 as input + GPIO.setup(sigPIN, GPIO.OUT) - inSig = GPIO.input(inPIN) + GPIO.output(outPIN, 1) - GPIO.output(outPIN, inSig) + while(True): + inSig = GPIO.input(inPIN) - print("Input: ", inSig) + GPIO.output(sigPIN, inSig) + + print("Input: ", inSig) From d5da22d0b50f64313c51117b8937b2930c177468 Mon Sep 17 00:00:00 2001 From: Theo Martin Date: Tue, 4 Apr 2023 21:33:30 +0200 Subject: [PATCH 006/132] Made functions for pin writing and reading --- mission/failsafe_interface/scripts/test.py | 78 ++++++++++++++++++---- 1 file changed, 64 insertions(+), 14 deletions(-) diff --git a/mission/failsafe_interface/scripts/test.py b/mission/failsafe_interface/scripts/test.py index 3ec5f488..2ea47c73 100644 --- a/mission/failsafe_interface/scripts/test.py +++ b/mission/failsafe_interface/scripts/test.py @@ -1,22 +1,72 @@ -import RPi.GPIO as GPIO +#!/usr/bin/env python +#Check this link to understand what's going on https://wiki.radxa.com/Rockpi4/hardware/gpio -if __name__ == "__main__": - outPIN = 11 - inPIN = 13 - sigPIN = 15 +import os +import time - GPIO.setmode(GPIO.BCM) # Use BCM numbering +import subprocess - GPIO.setup(inPIN, GPIO.IN) # Set pin 4 as input - GPIO.setup(outPIN, GPIO.OUT) # Set pin 4 as input - GPIO.setup(sigPIN, GPIO.OUT) +hardware_trigger = 133 # pin 35 +software_trigger = 76 # pin 33 +software_mode = 73 # pin 31 +hardware_mode = 74 # pin 29 - GPIO.output(outPIN, 1) - while(True): - inSig = GPIO.input(inPIN) - GPIO.output(sigPIN, inSig) +sudoPassword = "rock" - print("Input: ", inSig) +def init_pin(pin): + try: + command = f'sudo sh -c "echo {pin} > /sys/class/gpio/export"' + p = os.system('echo %s|sudo -S %s' % (sudoPassword, command)) + except: + pass + +def set_pin_as_output(pin): + try: + command = f'sudo sh -c "echo out > /sys/class/gpio/gpio{pin}/direction"' + p = os.system('echo %s|sudo -S %s' % (sudoPassword, command)) + except: + pass + +def pin_write(pin, value): + try: + sudoPassword = 'rock' + command = f'sudo sh -c "echo {value} > /sys/class/gpio/gpio{pin}/value"' + p = os.system('echo %s|sudo -S %s' % (sudoPassword, command)) + except: + pass + +def set_pin_as_input(pin): + try: + command = f'sudo sh -c "echo in > /sys/class/gpio/gpio{pin}/direction"' + p = os.system('echo %s|sudo -S %s' % (sudoPassword, command)) + except: + pass + +def pin_read(pin): + try: + #command = f"cat /sys/class/gpio/gpio{pin}/value" + #p = os.system('echo %s|sudo -S %s' % (sudoPassword, command)) + command = f'sudo sh -c "cat /sys/class/gpio/gpio{pin}/value"' + + output_str = os.popen('echo %s|sudo -S %s' % (sudoPassword, command)).read() + output_int = int(output_str) + return output_int + + except: + return -1 + +init_pin(hardware_trigger) +set_pin_as_output(hardware_trigger) + +print("Setting to high") +pin_write(hardware_trigger, 1) + +init_pin(software_trigger) +set_pin_as_input(software_trigger) + +while(True): + print(pin_read(software_trigger)) + time.sleep(1) \ No newline at end of file From d1b6c538769c2453cda4defea419d24aeb057980 Mon Sep 17 00:00:00 2001 From: Theo Martin Date: Thu, 6 Apr 2023 12:10:14 +0200 Subject: [PATCH 007/132] Implemented failsafe software side --- asv_setup/config/robots/ASV.yaml | 10 ++--- .../scripts/failsafe_interface_node.py | 45 +++++++++++++++---- .../scripts/{test.py => gpio_functions.py} | 16 +------ 3 files changed, 43 insertions(+), 28 deletions(-) rename mission/failsafe_interface/scripts/{test.py => gpio_functions.py} (78%) diff --git a/asv_setup/config/robots/ASV.yaml b/asv_setup/config/robots/ASV.yaml index d8ba8267..59643bd7 100644 --- a/asv_setup/config/robots/ASV.yaml +++ b/asv_setup/config/robots/ASV.yaml @@ -3,11 +3,11 @@ failsafe: failSafeStatus: '/failSafeStatus' hardwareOperationMode: '/hardWareOperationMode' subscribers: - softWareKillSwtich: '/softWareKillSwitch' + softWareKillSwitch: '/softWareKillSwitch' softWareOperationMode: '/softWareOperationMode' gpio: - gpioSoftWareKillSwitch: 1 - gpioSoftWareOperationMode: 2 - gpioFailSafeStatus: 3 - gpioHardWareOperationMode: 4 \ No newline at end of file + gpioSoftWareKillSwitch: 76 #pin 33 + gpioSoftWareOperationMode: 73 #pin 31 + gpioFailSafeStatus: 133 #pin 35 + gpioHardWareOperationMode: 74 #pin 29 \ No newline at end of file diff --git a/mission/failsafe_interface/scripts/failsafe_interface_node.py b/mission/failsafe_interface/scripts/failsafe_interface_node.py index a595370b..05131544 100644 --- a/mission/failsafe_interface/scripts/failsafe_interface_node.py +++ b/mission/failsafe_interface/scripts/failsafe_interface_node.py @@ -1,8 +1,10 @@ -import RPi.GPIO as GPIO +#!/usr/bin/python3 + import rospy from std_msgs.msg import String +from gpio_functions import * class FailSafeInterface(object): def __init__( @@ -11,13 +13,24 @@ def __init__( self.gpioSoftWareKillSwitch = rospy.get_param( "/failsafe/gpio/gpioSoftWareKillSwitch" ) + print(self.gpioSoftWareKillSwitch) + init_pin(self.gpioSoftWareKillSwitch) + self.gpioSoftWareOperationMode = rospy.get_param( "/failsafe/gpio/gpioSoftWareOperationMode" ) + print(self.gpioSoftWareOperationMode) + init_pin(self.gpioSoftWareOperationMode) + self.gpioFailSafeStatus = rospy.get_param("/failsafe/gpio/gpioFailSafeStatus") + init_pin(self.gpioFailSafeStatus) + self.gpioHardWareOperationMode = rospy.get_param( "/failsafe/gpio/gpioHardWareOperationMode" ) + print(self.gpioHardWareOperationMode) + init_pin(self.gpioHardWareOperationMode) + topicFailSafeStatus = rospy.get_param("/failsafe/publishers/failSafeStatus") topicHardWareOperationMode = rospy.get_param( @@ -26,10 +39,12 @@ def __init__( topicSoftWareKillSwitch = rospy.get_param( "/failsafe/subscribers/softWareKillSwitch" ) + topicSoftWareOperationMode = rospy.get_param( "/failsafe/subscribers/softWareOperationMode" ) + """ GPIO.setmode(GPIO.BCM) # Use BCM numbering GPIO.setup(self.gpioFailSafeStatus, GPIO.IN) # Set pin 4 as input @@ -41,6 +56,14 @@ def __init__( self.hardWareOperationMode = 0 # 1 means software operation, 0 means RX manual self.softWareKillSwitch = 0 # 1 means normal operation, 0 means error self.softWareOperationMode = 0 # 1 means software manual, 0 means autonomous + """ + set_pin_as_output(self.gpioSoftWareKillSwitch) + set_pin_as_output(self.gpioSoftWareOperationMode) + set_pin_as_input(self.gpioFailSafeStatus) + set_pin_as_input(self.gpioHardWareOperationMode) + + + self.pubFailSafeStatus = rospy.Publisher( topicFailSafeStatus, String, queue_size=10 @@ -57,34 +80,40 @@ def __init__( ) def readPins(self): - self.failSafeStatus = GPIO.input(self.gpioFailSafeStatus) - self.hardWareOperationMode = GPIO.input(self.gpioHardWareOperationMode) + #self.failSafeStatus = GPIO.input(self.gpioFailSafeStatus) + self.failSafeStatus = pin_read(self.gpioFailSafeStatus) + #self.hardWareOperationMode = GPIO.input(self.gpioHardWareOperationMode) + self.hardWareOperationMode = pin_read(self.gpioHardWareOperationMode) - self.pubFailSafeStatus.publish(self.failSafeStatus) - self.pubHardWareOperationMode.publish(self.hardWareOperationMode) + self.pubFailSafeStatus.publish(str(self.failSafeStatus)) + self.pubHardWareOperationMode.publish(str(self.hardWareOperationMode)) rospy.loginfo("Received software kill status %s", self.failSafeStatus) def writeSoftwareKillSwitch(self, message): self.softWareKillSwitch = message.data - GPIO.output(self.gpioSoftWareKillSwitch, self.softWareKillSwitch) + pin_write(self.gpioSoftWareKillSwitch, self.softWareKillSwitch) + #GPIO.output(self.gpioSoftWareKillSwitch, self.softWareKillSwitch) def writeSoftwareOperationMode(self, message): self.softWareOperationMode = message.data - GPIO.output(self.gpioSoftWareOperationMode, self.softWareOperationMode) + pin_write(self.gpioSoftWareOperationMode, self.softWareOperationMode) + #GPIO.output(self.gpioSoftWareOperationMode, self.softWareOperationMode) def FailSafeNodeSetup(): rospy.init_node("failsafe_interface_node", anonymous=True) - + print("Set up the node") failsafe = FailSafeInterface() while not rospy.is_shutdown(): + print("Got into the loop") failsafe.readPins() if __name__ == "__main__": try: + print("Attempting to set up node") FailSafeNodeSetup() except rospy.ROSInterruptException: pass diff --git a/mission/failsafe_interface/scripts/test.py b/mission/failsafe_interface/scripts/gpio_functions.py similarity index 78% rename from mission/failsafe_interface/scripts/test.py rename to mission/failsafe_interface/scripts/gpio_functions.py index 2ea47c73..19ab9a24 100644 --- a/mission/failsafe_interface/scripts/test.py +++ b/mission/failsafe_interface/scripts/gpio_functions.py @@ -20,6 +20,7 @@ def init_pin(pin): try: command = f'sudo sh -c "echo {pin} > /sys/class/gpio/export"' p = os.system('echo %s|sudo -S %s' % (sudoPassword, command)) + print("successfully set up pin") except: pass @@ -47,8 +48,6 @@ def set_pin_as_input(pin): def pin_read(pin): try: - #command = f"cat /sys/class/gpio/gpio{pin}/value" - #p = os.system('echo %s|sudo -S %s' % (sudoPassword, command)) command = f'sudo sh -c "cat /sys/class/gpio/gpio{pin}/value"' output_str = os.popen('echo %s|sudo -S %s' % (sudoPassword, command)).read() @@ -57,16 +56,3 @@ def pin_read(pin): except: return -1 - -init_pin(hardware_trigger) -set_pin_as_output(hardware_trigger) - -print("Setting to high") -pin_write(hardware_trigger, 1) - -init_pin(software_trigger) -set_pin_as_input(software_trigger) - -while(True): - print(pin_read(software_trigger)) - time.sleep(1) \ No newline at end of file From 33ee23688201aadc083a1964a7b12a73da622faa Mon Sep 17 00:00:00 2001 From: Theo Martin Date: Thu, 6 Apr 2023 12:16:14 +0200 Subject: [PATCH 008/132] Corrected launch and package file --- mission/failsafe_interface/launch/failsafe.launch | 2 +- mission/failsafe_interface/package.xml | 7 +++---- mission/failsafe_interface/scripts/gpio_functions.py | 7 ------- 3 files changed, 4 insertions(+), 12 deletions(-) diff --git a/mission/failsafe_interface/launch/failsafe.launch b/mission/failsafe_interface/launch/failsafe.launch index 6e26d8fc..09c8a8ef 100644 --- a/mission/failsafe_interface/launch/failsafe.launch +++ b/mission/failsafe_interface/launch/failsafe.launch @@ -1,7 +1,7 @@ - + \ No newline at end of file diff --git a/mission/failsafe_interface/package.xml b/mission/failsafe_interface/package.xml index c62f9857..2789e8aa 100644 --- a/mission/failsafe_interface/package.xml +++ b/mission/failsafe_interface/package.xml @@ -1,10 +1,10 @@ - thruster_interface + failsafe_interface 0.0.0 - This package provides an interface between the commanded forces for each thruster and the thruster controllers. - Morten Fyhn Amundsen + Provides an interface between the various failsafe and operation modes both software and hardware side. + Theo Martin MIT http://vortexntnu.no/ @@ -15,7 +15,6 @@ std_msgs message_generation roslint - scipy rospy vortex_msgs diff --git a/mission/failsafe_interface/scripts/gpio_functions.py b/mission/failsafe_interface/scripts/gpio_functions.py index 19ab9a24..b1a88583 100644 --- a/mission/failsafe_interface/scripts/gpio_functions.py +++ b/mission/failsafe_interface/scripts/gpio_functions.py @@ -6,13 +6,6 @@ import subprocess -hardware_trigger = 133 # pin 35 -software_trigger = 76 # pin 33 -software_mode = 73 # pin 31 -hardware_mode = 74 # pin 29 - - - sudoPassword = "rock" From 9f7c134ae4ad791a797653184dbea060de65983c Mon Sep 17 00:00:00 2001 From: Theo Martin Date: Thu, 6 Apr 2023 12:29:36 +0200 Subject: [PATCH 009/132] Again corrected CMakeLists, added comments --- mission/failsafe_interface/CMakeLists.txt | 2 +- .../scripts/failsafe_interface_node.py | 37 ++++++------------- .../scripts/gpio_functions.py | 37 ++++++++++++------- 3 files changed, 35 insertions(+), 41 deletions(-) diff --git a/mission/failsafe_interface/CMakeLists.txt b/mission/failsafe_interface/CMakeLists.txt index d3b6e630..7472122d 100644 --- a/mission/failsafe_interface/CMakeLists.txt +++ b/mission/failsafe_interface/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 2.8.3) -project(thruster_interface) +project(failsafe_interface) find_package(catkin REQUIRED COMPONENTS rospy diff --git a/mission/failsafe_interface/scripts/failsafe_interface_node.py b/mission/failsafe_interface/scripts/failsafe_interface_node.py index 05131544..91a52bf5 100644 --- a/mission/failsafe_interface/scripts/failsafe_interface_node.py +++ b/mission/failsafe_interface/scripts/failsafe_interface_node.py @@ -6,20 +6,21 @@ from gpio_functions import * + class FailSafeInterface(object): def __init__( self, ): + # Fetch the pin numbers from the ASV.yaml file self.gpioSoftWareKillSwitch = rospy.get_param( "/failsafe/gpio/gpioSoftWareKillSwitch" ) - print(self.gpioSoftWareKillSwitch) + # Initialize the pin init_pin(self.gpioSoftWareKillSwitch) self.gpioSoftWareOperationMode = rospy.get_param( "/failsafe/gpio/gpioSoftWareOperationMode" ) - print(self.gpioSoftWareOperationMode) init_pin(self.gpioSoftWareOperationMode) self.gpioFailSafeStatus = rospy.get_param("/failsafe/gpio/gpioFailSafeStatus") @@ -28,10 +29,9 @@ def __init__( self.gpioHardWareOperationMode = rospy.get_param( "/failsafe/gpio/gpioHardWareOperationMode" ) - print(self.gpioHardWareOperationMode) init_pin(self.gpioHardWareOperationMode) - + # Fetch topics topicFailSafeStatus = rospy.get_param("/failsafe/publishers/failSafeStatus") topicHardWareOperationMode = rospy.get_param( "/failsafe/publishers/hardwareOperationMode" @@ -39,32 +39,18 @@ def __init__( topicSoftWareKillSwitch = rospy.get_param( "/failsafe/subscribers/softWareKillSwitch" ) - + topicSoftWareOperationMode = rospy.get_param( "/failsafe/subscribers/softWareOperationMode" ) - """ - GPIO.setmode(GPIO.BCM) # Use BCM numbering - - GPIO.setup(self.gpioFailSafeStatus, GPIO.IN) # Set pin 4 as input - GPIO.setup(self.gpioHardWareOperationMode, GPIO.IN) # Set pin 4 as input - GPIO.setup(self.gpioSoftWareKillSwitch, GPIO.OUT) # Set pin 4 as input - GPIO.setup(self.gpioSoftWareOperationMode, GPIO.OUT) # Set pin 4 as input - - self.failSafeStatus = 0 # 1 means normal operation, 0 means error - self.hardWareOperationMode = 0 # 1 means software operation, 0 means RX manual - self.softWareKillSwitch = 0 # 1 means normal operation, 0 means error - self.softWareOperationMode = 0 # 1 means software manual, 0 means autonomous - """ + # Set pins as inputs or outputs set_pin_as_output(self.gpioSoftWareKillSwitch) set_pin_as_output(self.gpioSoftWareOperationMode) + set_pin_as_input(self.gpioFailSafeStatus) set_pin_as_input(self.gpioHardWareOperationMode) - - - self.pubFailSafeStatus = rospy.Publisher( topicFailSafeStatus, String, queue_size=10 ) @@ -80,25 +66,25 @@ def __init__( ) def readPins(self): - #self.failSafeStatus = GPIO.input(self.gpioFailSafeStatus) + # Read the pins self.failSafeStatus = pin_read(self.gpioFailSafeStatus) - #self.hardWareOperationMode = GPIO.input(self.gpioHardWareOperationMode) self.hardWareOperationMode = pin_read(self.gpioHardWareOperationMode) + # Publish accordingly, need to make it into a string self.pubFailSafeStatus.publish(str(self.failSafeStatus)) self.pubHardWareOperationMode.publish(str(self.hardWareOperationMode)) rospy.loginfo("Received software kill status %s", self.failSafeStatus) + # Output software kill switch through pin def writeSoftwareKillSwitch(self, message): self.softWareKillSwitch = message.data pin_write(self.gpioSoftWareKillSwitch, self.softWareKillSwitch) - #GPIO.output(self.gpioSoftWareKillSwitch, self.softWareKillSwitch) + # Output software operation mode through pin def writeSoftwareOperationMode(self, message): self.softWareOperationMode = message.data pin_write(self.gpioSoftWareOperationMode, self.softWareOperationMode) - #GPIO.output(self.gpioSoftWareOperationMode, self.softWareOperationMode) def FailSafeNodeSetup(): @@ -117,4 +103,3 @@ def FailSafeNodeSetup(): FailSafeNodeSetup() except rospy.ROSInterruptException: pass - diff --git a/mission/failsafe_interface/scripts/gpio_functions.py b/mission/failsafe_interface/scripts/gpio_functions.py index b1a88583..a0368a2c 100644 --- a/mission/failsafe_interface/scripts/gpio_functions.py +++ b/mission/failsafe_interface/scripts/gpio_functions.py @@ -1,5 +1,8 @@ #!/usr/bin/env python -#Check this link to understand what's going on https://wiki.radxa.com/Rockpi4/hardware/gpio +# Check this link to understand what's going on https://wiki.radxa.com/Rockpi4/hardware/gpio +# In short, to work with the GPIO pins we need to work with files. +# We go to /sys/class/gpio/ and we get a folder (gpio133 for example) for each initalized pin + import os import time @@ -11,39 +14,45 @@ def init_pin(pin): try: - command = f'sudo sh -c "echo {pin} > /sys/class/gpio/export"' - p = os.system('echo %s|sudo -S %s' % (sudoPassword, command)) - print("successfully set up pin") + command = f'sudo sh -c "echo {pin} > /sys/class/gpio/export"' + p = os.system("echo %s|sudo -S %s" % (sudoPassword, command)) except: pass + def set_pin_as_output(pin): try: - command = f'sudo sh -c "echo out > /sys/class/gpio/gpio{pin}/direction"' - p = os.system('echo %s|sudo -S %s' % (sudoPassword, command)) + # With the /direction file we set either to input or output, in this case output with out + command = f'sudo sh -c "echo out > /sys/class/gpio/gpio{pin}/direction"' + p = os.system("echo %s|sudo -S %s" % (sudoPassword, command)) except: pass + def pin_write(pin, value): try: - sudoPassword = 'rock' - command = f'sudo sh -c "echo {value} > /sys/class/gpio/gpio{pin}/value"' - p = os.system('echo %s|sudo -S %s' % (sudoPassword, command)) + # With the /value file we set the output + sudoPassword = "rock" + command = f'sudo sh -c "echo {value} > /sys/class/gpio/gpio{pin}/value"' + p = os.system("echo %s|sudo -S %s" % (sudoPassword, command)) except: pass + def set_pin_as_input(pin): try: - command = f'sudo sh -c "echo in > /sys/class/gpio/gpio{pin}/direction"' - p = os.system('echo %s|sudo -S %s' % (sudoPassword, command)) + # With the /direction file we set either to input or input, in this case output with in + command = f'sudo sh -c "echo in > /sys/class/gpio/gpio{pin}/direction"' + p = os.system("echo %s|sudo -S %s" % (sudoPassword, command)) except: pass + def pin_read(pin): try: - command = f'sudo sh -c "cat /sys/class/gpio/gpio{pin}/value"' - - output_str = os.popen('echo %s|sudo -S %s' % (sudoPassword, command)).read() + # With the /value file we read the input + command = f'sudo sh -c "cat /sys/class/gpio/gpio{pin}/value"' + output_str = os.popen("echo %s|sudo -S %s" % (sudoPassword, command)).read() output_int = int(output_str) return output_int From 98fda6cd9c1099a72cd49cf4420e061a78031c87 Mon Sep 17 00:00:00 2001 From: theoam02 <113838804+theoam02@users.noreply.github.com> Date: Sun, 30 Apr 2023 16:14:14 +0200 Subject: [PATCH 010/132] Update failsafe_interface_node.py Added more comments --- .../scripts/failsafe_interface_node.py | 19 ++++++++++++++----- 1 file changed, 14 insertions(+), 5 deletions(-) diff --git a/mission/failsafe_interface/scripts/failsafe_interface_node.py b/mission/failsafe_interface/scripts/failsafe_interface_node.py index 91a52bf5..e75bd9b2 100644 --- a/mission/failsafe_interface/scripts/failsafe_interface_node.py +++ b/mission/failsafe_interface/scripts/failsafe_interface_node.py @@ -17,15 +17,18 @@ def __init__( ) # Initialize the pin init_pin(self.gpioSoftWareKillSwitch) - + + #Repeat process for the other pins self.gpioSoftWareOperationMode = rospy.get_param( "/failsafe/gpio/gpioSoftWareOperationMode" ) init_pin(self.gpioSoftWareOperationMode) - + + #Repeat process for the other pins self.gpioFailSafeStatus = rospy.get_param("/failsafe/gpio/gpioFailSafeStatus") init_pin(self.gpioFailSafeStatus) - + + #Repeat process for the other pins self.gpioHardWareOperationMode = rospy.get_param( "/failsafe/gpio/gpioHardWareOperationMode" ) @@ -50,17 +53,23 @@ def __init__( set_pin_as_input(self.gpioFailSafeStatus) set_pin_as_input(self.gpioHardWareOperationMode) - + + #Create publisher for the hardware fail safe self.pubFailSafeStatus = rospy.Publisher( topicFailSafeStatus, String, queue_size=10 ) + + #Create publisher for the hardware operation mode self.pubHardWareOperationMode = rospy.Publisher( topicHardWareOperationMode, String, queue_size=10 ) - + + #Create subscriber for the software kill switch self.subSoftWareKillSwitch = rospy.Subscriber( topicSoftWareKillSwitch, String, self.writeSoftwareKillSwitch ) + + #Create subscriber for the software operation mode self.subSoftWareOperationMode = rospy.Subscriber( topicSoftWareOperationMode, String, self.writeSoftwareOperationMode ) From 3f0ec0bc948568b5db800e320ec79d75d3906a25 Mon Sep 17 00:00:00 2001 From: theoam02 <113838804+theoam02@users.noreply.github.com> Date: Sun, 30 Apr 2023 16:15:00 +0200 Subject: [PATCH 011/132] Update gpio_functions.py --- mission/failsafe_interface/scripts/gpio_functions.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/mission/failsafe_interface/scripts/gpio_functions.py b/mission/failsafe_interface/scripts/gpio_functions.py index a0368a2c..d0ccb500 100644 --- a/mission/failsafe_interface/scripts/gpio_functions.py +++ b/mission/failsafe_interface/scripts/gpio_functions.py @@ -9,7 +9,12 @@ import subprocess -sudoPassword = "rock" +#We store the password in a file locally on the rock pi +passwordFile = open("/home/rock/Documents/password.txt", "r") + +sudoPassword = passwordFile.readline().strip() + +passwordFile.close() def init_pin(pin): From f188f2dcee0c536a14c4719c8f506468ea8e5f60 Mon Sep 17 00:00:00 2001 From: Theo Martin Date: Sun, 9 Jul 2023 18:41:34 +0200 Subject: [PATCH 012/132] Made software operation and current failsafe scrip --- .../scripts/current_failsafe.py | 60 +++++++++++++++++++ .../scripts/software_operation_mode.py | 47 +++++++++++++++ 2 files changed, 107 insertions(+) create mode 100644 mission/failsafe_interface/scripts/current_failsafe.py create mode 100644 mission/failsafe_interface/scripts/software_operation_mode.py diff --git a/mission/failsafe_interface/scripts/current_failsafe.py b/mission/failsafe_interface/scripts/current_failsafe.py new file mode 100644 index 00000000..434f916a --- /dev/null +++ b/mission/failsafe_interface/scripts/current_failsafe.py @@ -0,0 +1,60 @@ +#!/usr/bin/python3 +import time +import smbus + +from MCP342x import MCP342x +from std_msgs.msg import Float32 + +import RPi.GPIO as GPIO + + +# Pin number to control +FS_PIN = 18 + +# Threshold value +THRESHOLD = 50 + +# Duration in seconds to wait before setting the pin LOW +DURATION = 1 + +# Initialize GPIO +GPIO.setmode(GPIO.BCM) +GPIO.setup(FS_PIN, GPIO.OUT) + + + + + # to read voltage and current from ADC on PDB through I2C +i2c_adress = 0x69 + + # init of I2C bus communication +bus = smbus.SMBus(1) + + +psm_to_battery_voltage = 11.0 # V/V +psm_to_battery_current_scale_factor = 37.8788 # A/V +psm_to_battery_current_offset = 0.330 # V + +upper_current_threshold = 12 + + +# Function to control the pin based on the value +def current_fs(current): + if current < THRESHOLD: + GPIO.output(FS_PIN, GPIO.HIGH) + else: + GPIO.output(FS_PIN, GPIO.LOW) + time.sleep(DURATION) + GPIO.output(FS_PIN, GPIO.HIGH) + +while True: + channel_voltage = MCP342x(bus, + i2c_adress, + channel=0, + resolution=18) # voltage + channel_current = MCP342x(bus, + i2c_adress, + channel=1, + resolution=18) # current + + current_fs(channel_current) \ No newline at end of file diff --git a/mission/failsafe_interface/scripts/software_operation_mode.py b/mission/failsafe_interface/scripts/software_operation_mode.py new file mode 100644 index 00000000..f344db13 --- /dev/null +++ b/mission/failsafe_interface/scripts/software_operation_mode.py @@ -0,0 +1,47 @@ +import rospy +import RPi.GPIO as GPIO + +SF_OP_MOD_PIN = 20 + + +class FailSafeInterface(object): + def __init__( + self, + ): + #Repeat process for the other pins + self.gpioSoftWareOperationMode = rospy.get_param( + "/failsafe/gpio/gpioSoftWareOperationMode" + ) + GPIO.setmode(self.gpioSoftWareOperationMode) + + topicSoftWareOperationMode = rospy.get_param( + "/failsafe/subscribers/softWareOperationMode" + ) + + #Create subscriber for the software operation mode + self.subSoftWareOperationMode = rospy.Subscriber( + topicSoftWareOperationMode, String, self.writeSoftwareOperationMode + ) + + # Output software operation mode through pin + def writeSoftwareOperationMode(self, message): + self.softWareOperationMode = message.data + GPIO.write(self.gpioSoftWareOperationMode, self.softWareOperationMode) + + +def FailSafeNodeSetup(): + rospy.init_node("failsafe_interface_node", anonymous=True) + print("Set up the node") + failsafe = FailSafeInterface() + + while not rospy.is_shutdown(): + print("Got into the loop") + failsafe.readPins() + + +if __name__ == "__main__": + try: + print("Attempting to set up node") + FailSafeNodeSetup() + except rospy.ROSInterruptException: + pass From 9ba8f4fee4be6f63646a29fefb0c14954518c3b9 Mon Sep 17 00:00:00 2001 From: Theo Martin Date: Sun, 16 Jul 2023 16:42:52 +0200 Subject: [PATCH 013/132] Added the bew fauksafe functinality --- asv_setup/config/robots/ASV.yaml | 8 ++-- mission/failsafe_interface/scripts/README | 5 +++ .../scripts/current_failsafe.py | 42 +++++++++---------- .../scripts/software_operation_mode.py | 8 +--- 4 files changed, 32 insertions(+), 31 deletions(-) create mode 100644 mission/failsafe_interface/scripts/README diff --git a/asv_setup/config/robots/ASV.yaml b/asv_setup/config/robots/ASV.yaml index 59643bd7..7028e69c 100644 --- a/asv_setup/config/robots/ASV.yaml +++ b/asv_setup/config/robots/ASV.yaml @@ -7,7 +7,7 @@ failsafe: softWareOperationMode: '/softWareOperationMode' gpio: - gpioSoftWareKillSwitch: 76 #pin 33 - gpioSoftWareOperationMode: 73 #pin 31 - gpioFailSafeStatus: 133 #pin 35 - gpioHardWareOperationMode: 74 #pin 29 \ No newline at end of file + gpioSoftWareKillSwitch: 33 #pin 33 + gpioSoftWareOperationMode: 31 #pin 31 + gpioFailSafeStatus: 35 #pin 35 + gpioHardWareOperationMode: 29 #pin 29 \ No newline at end of file diff --git a/mission/failsafe_interface/scripts/README b/mission/failsafe_interface/scripts/README new file mode 100644 index 00000000..5dd8e51d --- /dev/null +++ b/mission/failsafe_interface/scripts/README @@ -0,0 +1,5 @@ +The current_failsade.py file is to run on boot as a cronjob + +failsafe_interface_node is to be deprecated + +software_operation_mode is to be ran with ROS \ No newline at end of file diff --git a/mission/failsafe_interface/scripts/current_failsafe.py b/mission/failsafe_interface/scripts/current_failsafe.py index 434f916a..102d52ad 100644 --- a/mission/failsafe_interface/scripts/current_failsafe.py +++ b/mission/failsafe_interface/scripts/current_failsafe.py @@ -9,9 +9,9 @@ # Pin number to control -FS_PIN = 18 +FS_PIN = 33 -# Threshold value +# Threshold value current THRESHOLD = 50 # Duration in seconds to wait before setting the pin LOW @@ -21,10 +21,7 @@ GPIO.setmode(GPIO.BCM) GPIO.setup(FS_PIN, GPIO.OUT) - - - - # to read voltage and current from ADC on PDB through I2C +# to read voltage and current from ADC on PDB through I2C i2c_adress = 0x69 # init of I2C bus communication @@ -35,26 +32,29 @@ psm_to_battery_current_scale_factor = 37.8788 # A/V psm_to_battery_current_offset = 0.330 # V -upper_current_threshold = 12 +upper_current_threshold = 100 +channel_current = MCP342x(bus, + i2c_adress, + channel=1, + resolution=18) # current -# Function to control the pin based on the value -def current_fs(current): - if current < THRESHOLD: +# Function to control the pin based on the current +def current_fs(value): + global start_time + if value < THRESHOLD: GPIO.output(FS_PIN, GPIO.HIGH) + start_time = None else: - GPIO.output(FS_PIN, GPIO.LOW) - time.sleep(DURATION) - GPIO.output(FS_PIN, GPIO.HIGH) + if start_time is None: + start_time = time.time() + else: + if time.time() - start_time >= DURATION: + GPIO.output(FS_PIN, GPIO.LOW) + else: + GPIO.output(FS_PIN, GPIO.HIGH) while True: - channel_voltage = MCP342x(bus, - i2c_adress, - channel=0, - resolution=18) # voltage - channel_current = MCP342x(bus, - i2c_adress, - channel=1, - resolution=18) # current + current_fs(channel_current) \ No newline at end of file diff --git a/mission/failsafe_interface/scripts/software_operation_mode.py b/mission/failsafe_interface/scripts/software_operation_mode.py index f344db13..cd844cd1 100644 --- a/mission/failsafe_interface/scripts/software_operation_mode.py +++ b/mission/failsafe_interface/scripts/software_operation_mode.py @@ -1,7 +1,6 @@ import rospy import RPi.GPIO as GPIO - -SF_OP_MOD_PIN = 20 +from std_msgs.msg import String class FailSafeInterface(object): @@ -28,16 +27,13 @@ def writeSoftwareOperationMode(self, message): self.softWareOperationMode = message.data GPIO.write(self.gpioSoftWareOperationMode, self.softWareOperationMode) - def FailSafeNodeSetup(): rospy.init_node("failsafe_interface_node", anonymous=True) print("Set up the node") failsafe = FailSafeInterface() while not rospy.is_shutdown(): - print("Got into the loop") - failsafe.readPins() - + failsafe.writeSoftwareOperationMode(FailSafeInterface,) if __name__ == "__main__": try: From 19e7d53f4f69ca87d8994ff9e242363bedb55065 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Wed, 2 Aug 2023 23:37:49 +0200 Subject: [PATCH 014/132] Add start of visualizer MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- .../scripts/pid_controller.py | 27 ++++ motion/controller_testing/scripts/vessel.py | 37 ++++++ .../controller_testing/scripts/visualizer.py | 115 ++++++++++++++++++ 3 files changed, 179 insertions(+) create mode 100644 motion/controller_testing/scripts/pid_controller.py create mode 100755 motion/controller_testing/scripts/vessel.py create mode 100755 motion/controller_testing/scripts/visualizer.py diff --git a/motion/controller_testing/scripts/pid_controller.py b/motion/controller_testing/scripts/pid_controller.py new file mode 100644 index 00000000..2e09a981 --- /dev/null +++ b/motion/controller_testing/scripts/pid_controller.py @@ -0,0 +1,27 @@ +import numpy as np + +class PIDController3DOF: + def __init__(self, Kp, Ki, Kd, setpoint): + self.Kp = np.array(Kp) + self.Ki = np.array(Ki) + self.Kd = np.array(Kd) + self.setpoint = np.array(setpoint) + + self.integral_error = np.zeros(3) + self.previous_error = np.zeros(3) + + def reset(self): + self.integral_error = np.zeros(3) + self.previous_error = np.zeros(3) + + def control(self, state, dt): + error = self.setpoint - state + + P = np.dot(self.Kp, error) + self.integral_error += error * dt + I = self.Ki * self.integral_error + D = self.Kd * (error - self.previous_error) / dt + + self.previous_error = error + + return P + I + D \ No newline at end of file diff --git a/motion/controller_testing/scripts/vessel.py b/motion/controller_testing/scripts/vessel.py new file mode 100755 index 00000000..2963bcd1 --- /dev/null +++ b/motion/controller_testing/scripts/vessel.py @@ -0,0 +1,37 @@ +#!/usr/bin/python3 + +import numpy as np + +class Vessel3DOF: + def __init__(self, mass, damping, inertia): + # Mass and inertia matrix + self.M = np.diag([mass, mass, inertia]) + + # Damping matrix + self.D = np.diag([damping, damping, damping]) + + # State vector [u, v, r, x, y, psi], + # where u, v, r are velocities and x, y, psi are positions + self.state = np.zeros(6) + + def step(self, dt, u): + # Unpack state vector + u_vel, v_vel, r_vel, x_pos, y_pos, psi_pos = self.state + + # Body velocities + nu = np.array([u_vel, v_vel, r_vel]) + + # Newton's second law + nu_dot = np.linalg.inv(self.M) @ (u - self.D @ nu) + + # Position update - simple Euler integration + psi_dot = r_vel + x_dot = u_vel * np.cos(psi_pos) - v_vel * np.sin(psi_pos) + y_dot = u_vel * np.sin(psi_pos) + v_vel * np.cos(psi_pos) + eta_dot = np.array([x_dot, y_dot, psi_dot]) + + # Integrate forward in time + self.state[:3] += nu_dot * dt + self.state[3:] += eta_dot * dt + + return self.state.copy() \ No newline at end of file diff --git a/motion/controller_testing/scripts/visualizer.py b/motion/controller_testing/scripts/visualizer.py new file mode 100755 index 00000000..fc35b7f1 --- /dev/null +++ b/motion/controller_testing/scripts/visualizer.py @@ -0,0 +1,115 @@ +#!/usr/bin/python3 + +import numpy as np + +import matplotlib.pyplot as plt +from matplotlib.animation import FuncAnimation + +from vessel import Vessel3DOF +from pid_controller import PIDController3DOF + +DT = 1.0 + +class VesselVisualizer: + def __init__(self, vessel): + self.vessel = vessel + # Create subplots for vessel visualization and setpoints vs actual positions and yaw + self.fig, self.axes = plt.subplots(nrows=2, ncols=2, figsize=(10, 10)) + self.ax_vessel = self.axes[0, 0] + self.ax_x = self.axes[0, 1] + self.ax_y = self.axes[1, 0] + self.ax_psi = self.axes[1, 1] + + + # initialize the plot with initial vessel position and heading + x, y, psi = self.vessel.state[3:] + self.arrow = plt.Arrow(x, y, np.cos(psi), np.sin(psi), width=0.1) + self.ax_vessel.add_patch(self.arrow) + + + # Initialize the path line + self.path, = self.ax_vessel.plot(x, y, color="red") + + # # Set the x and y axis limits + self.ax_vessel.set_xlim(-5, 5) + self.ax_vessel.set_ylim(-5, 5) + + # Initialize x, y, and psi plots + self.x_line, = self.ax_x.plot(0, x) + self.y_line, = self.ax_y.plot(0, y) + self.psi_line, = self.ax_psi.plot(0, psi) + + self.current_time = 0.0 + + def update(self, frame): + self.current_time += DT + + # Clear the previous arrow + self.arrow.remove() + + # Update vessel state + u = pid_controller.control(self.vessel.state[3:], 0.1) # assuming dt=0.1 + print(f"Time: {self.current_time} \n Setpoint: {pid_controller.setpoint} \n State: {self.vessel.state[3:]} \n Control signal: {u} \n") + self.vessel.step(DT, u) + + # Draw the new arrow + x, y, psi = self.vessel.state[3:] + arrow_length = 1.0 + arrow_width = 1.0 + self.arrow = plt.Arrow(x, y, arrow_length*np.cos(psi), arrow_length*np.sin(psi), width=arrow_width) + self.ax_vessel.add_patch(self.arrow) + + # Update the path line + old_path = self.path.get_data() + new_path = (np.append(old_path[0], x), np.append(old_path[1], y)) + self.path.set_data(new_path) + + + + # Update x, y, and psi plots + x_y_data = np.append(self.x_line.get_ydata(), x) + y_y_data = np.append(self.y_line.get_ydata(), y) + psi_y_data = np.append(self.psi_line.get_ydata(), psi) + + self.x_line.set_data(np.append(self.x_line.get_xdata(), frame), x_y_data) + self.y_line.set_data(np.append(self.y_line.get_xdata(), frame), y_y_data) + self.psi_line.set_data(np.append(self.psi_line.get_xdata(), frame), psi_y_data) + + # Plot setpoints on x, y, and psi plots + self.ax_x.axhline(y=pid_controller.setpoint[0], color='r') + self.ax_y.axhline(y=pid_controller.setpoint[1], color='r') + self.ax_psi.axhline(y=pid_controller.setpoint[2], color='r') + + y_padding = 0.25 + window_size = 500 + + self.ax_x.set_xlim(max(0, frame-window_size), frame+1) + self.ax_y.set_xlim(max(0, frame-window_size), frame+1) + self.ax_psi.set_xlim(max(0, frame-window_size), frame+1) + + self.ax_x.set_ylim(min(x_y_data) - y_padding, max(max(x_y_data), pid_controller.setpoint[0]) + y_padding) + self.ax_y.set_ylim(min(y_y_data) - y_padding, max(max(y_y_data), pid_controller.setpoint[1]) + y_padding) + self.ax_psi.set_ylim(min(psi_y_data) - y_padding, max(max(psi_y_data), pid_controller.setpoint[2]) + y_padding) + + + def animate(self): + NUMBER_OF_FRAMES = 200 + TIME_BETWEEN_FRAMES_MS = 50 + anim = FuncAnimation(self.fig, self.update, frames=np.arange(0, NUMBER_OF_FRAMES, DT), interval=TIME_BETWEEN_FRAMES_MS, repeat=False) + plt.show() + + +if __name__ == '__main__': + # Initiate the vessel + vessel = Vessel3DOF(mass=10, damping=0, inertia=1) + + # Create the PID controller + Kp = [[0.1, 0, 0], [0, 0.1, 0], [0, 0, 0.001]] + Ki = [0.000, 0.000, 0.000] + Kd = [0.1, 0.1, 0.0] + setpoint = [1, 1, 0.5] # Desired x, y and heading + pid_controller = PIDController3DOF(Kp, Ki, Kd, setpoint) + + # Create a visualizer and animate + visualizer = VesselVisualizer(vessel) + visualizer.animate() \ No newline at end of file From 2d6f37067319245b7d5dc1d3dd17671f0d32f7fd Mon Sep 17 00:00:00 2001 From: github-actions Date: Wed, 2 Aug 2023 21:38:27 +0000 Subject: [PATCH 015/132] Automated autoyapf fixes --- .../scripts/pid_controller.py | 4 +- motion/controller_testing/scripts/vessel.py | 6 +- .../controller_testing/scripts/visualizer.py | 59 ++++++++++++------- 3 files changed, 45 insertions(+), 24 deletions(-) diff --git a/motion/controller_testing/scripts/pid_controller.py b/motion/controller_testing/scripts/pid_controller.py index 2e09a981..1ccfe000 100644 --- a/motion/controller_testing/scripts/pid_controller.py +++ b/motion/controller_testing/scripts/pid_controller.py @@ -1,6 +1,8 @@ import numpy as np + class PIDController3DOF: + def __init__(self, Kp, Ki, Kd, setpoint): self.Kp = np.array(Kp) self.Ki = np.array(Ki) @@ -24,4 +26,4 @@ def control(self, state, dt): self.previous_error = error - return P + I + D \ No newline at end of file + return P + I + D diff --git a/motion/controller_testing/scripts/vessel.py b/motion/controller_testing/scripts/vessel.py index 2963bcd1..c2e58466 100755 --- a/motion/controller_testing/scripts/vessel.py +++ b/motion/controller_testing/scripts/vessel.py @@ -2,7 +2,9 @@ import numpy as np + class Vessel3DOF: + def __init__(self, mass, damping, inertia): # Mass and inertia matrix self.M = np.diag([mass, mass, inertia]) @@ -10,7 +12,7 @@ def __init__(self, mass, damping, inertia): # Damping matrix self.D = np.diag([damping, damping, damping]) - # State vector [u, v, r, x, y, psi], + # State vector [u, v, r, x, y, psi], # where u, v, r are velocities and x, y, psi are positions self.state = np.zeros(6) @@ -34,4 +36,4 @@ def step(self, dt, u): self.state[:3] += nu_dot * dt self.state[3:] += eta_dot * dt - return self.state.copy() \ No newline at end of file + return self.state.copy() diff --git a/motion/controller_testing/scripts/visualizer.py b/motion/controller_testing/scripts/visualizer.py index fc35b7f1..91996269 100755 --- a/motion/controller_testing/scripts/visualizer.py +++ b/motion/controller_testing/scripts/visualizer.py @@ -10,7 +10,9 @@ DT = 1.0 + class VesselVisualizer: + def __init__(self, vessel): self.vessel = vessel # Create subplots for vessel visualization and setpoints vs actual positions and yaw @@ -20,13 +22,11 @@ def __init__(self, vessel): self.ax_y = self.axes[1, 0] self.ax_psi = self.axes[1, 1] - # initialize the plot with initial vessel position and heading x, y, psi = self.vessel.state[3:] self.arrow = plt.Arrow(x, y, np.cos(psi), np.sin(psi), width=0.1) self.ax_vessel.add_patch(self.arrow) - # Initialize the path line self.path, = self.ax_vessel.plot(x, y, color="red") @@ -43,20 +43,27 @@ def __init__(self, vessel): def update(self, frame): self.current_time += DT - + # Clear the previous arrow self.arrow.remove() # Update vessel state - u = pid_controller.control(self.vessel.state[3:], 0.1) # assuming dt=0.1 - print(f"Time: {self.current_time} \n Setpoint: {pid_controller.setpoint} \n State: {self.vessel.state[3:]} \n Control signal: {u} \n") + u = pid_controller.control(self.vessel.state[3:], + 0.1) # assuming dt=0.1 + print( + f"Time: {self.current_time} \n Setpoint: {pid_controller.setpoint} \n State: {self.vessel.state[3:]} \n Control signal: {u} \n" + ) self.vessel.step(DT, u) # Draw the new arrow x, y, psi = self.vessel.state[3:] arrow_length = 1.0 arrow_width = 1.0 - self.arrow = plt.Arrow(x, y, arrow_length*np.cos(psi), arrow_length*np.sin(psi), width=arrow_width) + self.arrow = plt.Arrow(x, + y, + arrow_length * np.cos(psi), + arrow_length * np.sin(psi), + width=arrow_width) self.ax_vessel.add_patch(self.arrow) # Update the path line @@ -64,16 +71,17 @@ def update(self, frame): new_path = (np.append(old_path[0], x), np.append(old_path[1], y)) self.path.set_data(new_path) - - # Update x, y, and psi plots x_y_data = np.append(self.x_line.get_ydata(), x) y_y_data = np.append(self.y_line.get_ydata(), y) psi_y_data = np.append(self.psi_line.get_ydata(), psi) - - self.x_line.set_data(np.append(self.x_line.get_xdata(), frame), x_y_data) - self.y_line.set_data(np.append(self.y_line.get_xdata(), frame), y_y_data) - self.psi_line.set_data(np.append(self.psi_line.get_xdata(), frame), psi_y_data) + + self.x_line.set_data(np.append(self.x_line.get_xdata(), frame), + x_y_data) + self.y_line.set_data(np.append(self.y_line.get_xdata(), frame), + y_y_data) + self.psi_line.set_data(np.append(self.psi_line.get_xdata(), frame), + psi_y_data) # Plot setpoints on x, y, and psi plots self.ax_x.axhline(y=pid_controller.setpoint[0], color='r') @@ -83,19 +91,28 @@ def update(self, frame): y_padding = 0.25 window_size = 500 - self.ax_x.set_xlim(max(0, frame-window_size), frame+1) - self.ax_y.set_xlim(max(0, frame-window_size), frame+1) - self.ax_psi.set_xlim(max(0, frame-window_size), frame+1) - - self.ax_x.set_ylim(min(x_y_data) - y_padding, max(max(x_y_data), pid_controller.setpoint[0]) + y_padding) - self.ax_y.set_ylim(min(y_y_data) - y_padding, max(max(y_y_data), pid_controller.setpoint[1]) + y_padding) - self.ax_psi.set_ylim(min(psi_y_data) - y_padding, max(max(psi_y_data), pid_controller.setpoint[2]) + y_padding) + self.ax_x.set_xlim(max(0, frame - window_size), frame + 1) + self.ax_y.set_xlim(max(0, frame - window_size), frame + 1) + self.ax_psi.set_xlim(max(0, frame - window_size), frame + 1) + self.ax_x.set_ylim( + min(x_y_data) - y_padding, + max(max(x_y_data), pid_controller.setpoint[0]) + y_padding) + self.ax_y.set_ylim( + min(y_y_data) - y_padding, + max(max(y_y_data), pid_controller.setpoint[1]) + y_padding) + self.ax_psi.set_ylim( + min(psi_y_data) - y_padding, + max(max(psi_y_data), pid_controller.setpoint[2]) + y_padding) def animate(self): NUMBER_OF_FRAMES = 200 TIME_BETWEEN_FRAMES_MS = 50 - anim = FuncAnimation(self.fig, self.update, frames=np.arange(0, NUMBER_OF_FRAMES, DT), interval=TIME_BETWEEN_FRAMES_MS, repeat=False) + anim = FuncAnimation(self.fig, + self.update, + frames=np.arange(0, NUMBER_OF_FRAMES, DT), + interval=TIME_BETWEEN_FRAMES_MS, + repeat=False) plt.show() @@ -112,4 +129,4 @@ def animate(self): # Create a visualizer and animate visualizer = VesselVisualizer(vessel) - visualizer.animate() \ No newline at end of file + visualizer.animate() From c5add8a7f5686ffb341fb86e5e7d01a89748d5c0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Fri, 4 Aug 2023 21:39:14 +0200 Subject: [PATCH 016/132] Removed vortex_msgs and fixed email typo in pid_controller package --- motion/pid_controller/package.xml | 2 +- vortex_msgs/CMakeLists.txt | 50 --------------------- vortex_msgs/LICENSE | 21 --------- vortex_msgs/README.md | 52 ---------------------- vortex_msgs/action/LosPathFollowing.action | 10 ----- vortex_msgs/msg/Debug.msg | 12 ----- vortex_msgs/msg/DpSetpoint.msg | 2 - vortex_msgs/msg/EulerOrientations.msg | 9 ---- vortex_msgs/msg/GuidanceData.msg | 24 ---------- vortex_msgs/msg/PropulsionCommand.msg | 17 ------- vortex_msgs/msg/Pwm.msg | 5 --- vortex_msgs/msg/RovState.msg | 5 --- vortex_msgs/msg/ThrusterForces.msg | 4 -- vortex_msgs/package.xml | 19 -------- vortex_msgs/srv/ControlMode.srv | 4 -- vortex_msgs/srv/SetPidGains.srv | 8 ---- vortex_msgs/srv/Waypoint.srv | 5 --- 17 files changed, 1 insertion(+), 248 deletions(-) delete mode 100644 vortex_msgs/CMakeLists.txt delete mode 100644 vortex_msgs/LICENSE delete mode 100644 vortex_msgs/README.md delete mode 100644 vortex_msgs/action/LosPathFollowing.action delete mode 100644 vortex_msgs/msg/Debug.msg delete mode 100644 vortex_msgs/msg/DpSetpoint.msg delete mode 100644 vortex_msgs/msg/EulerOrientations.msg delete mode 100644 vortex_msgs/msg/GuidanceData.msg delete mode 100644 vortex_msgs/msg/PropulsionCommand.msg delete mode 100644 vortex_msgs/msg/Pwm.msg delete mode 100644 vortex_msgs/msg/RovState.msg delete mode 100644 vortex_msgs/msg/ThrusterForces.msg delete mode 100644 vortex_msgs/package.xml delete mode 100644 vortex_msgs/srv/ControlMode.srv delete mode 100644 vortex_msgs/srv/SetPidGains.srv delete mode 100644 vortex_msgs/srv/Waypoint.srv diff --git a/motion/pid_controller/package.xml b/motion/pid_controller/package.xml index 7c18d6ec..4fe32f32 100644 --- a/motion/pid_controller/package.xml +++ b/motion/pid_controller/package.xml @@ -4,7 +4,7 @@ 0.0.0 The pid_controller package - ronja kræmer + ronja kræmer MIT diff --git a/vortex_msgs/CMakeLists.txt b/vortex_msgs/CMakeLists.txt deleted file mode 100644 index e77d102f..00000000 --- a/vortex_msgs/CMakeLists.txt +++ /dev/null @@ -1,50 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(vortex_msgs) - -find_package(catkin REQUIRED COMPONENTS - message_generation - geometry_msgs - std_msgs - actionlib - actionlib_msgs -) - -add_message_files( - DIRECTORY msg - FILES - ThrusterForces.msg - PropulsionCommand.msg - EulerOrientations.msg - GuidanceData.msg - Pwm.msg - DpSetpoint.msg - Debug.msg - RovState.msg -) - -## Generate services in the 'srv' folder -add_service_files( - FILES - ControlMode.srv - SetPidGains.srv - Waypoint.srv -) - -add_action_files( - FILES - LosPathFollowing.action -) - -generate_messages( - DEPENDENCIES - geometry_msgs - std_msgs - actionlib_msgs -) - -catkin_package( - CATKIN_DEPENDS - message_runtime - geometry_msgs - std_msgs -) diff --git a/vortex_msgs/LICENSE b/vortex_msgs/LICENSE deleted file mode 100644 index 9d699132..00000000 --- a/vortex_msgs/LICENSE +++ /dev/null @@ -1,21 +0,0 @@ -MIT License - -Copyright (c) 2019 Vortex NTNU - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. diff --git a/vortex_msgs/README.md b/vortex_msgs/README.md deleted file mode 100644 index 8676b43c..00000000 --- a/vortex_msgs/README.md +++ /dev/null @@ -1,52 +0,0 @@ -## ASV note -We should remove all the messages that are not required anymore, as I'm sure there's a lot of those... - -# vortex_msgs - - -[![Build Status](http://build.vortexntnu.no/job/vortex_msgs/badge/icon)](http://build.vortexntnu.no/job/vortex_msgs/) - -This ROS package contains all custom ROS message types used in all workspaces - -### Before you add a new custom message: are you _really_ sure you need one? -First have a look in the [common_msgs](http://wiki.ros.org/common_msgs?distro=kinetic) package to find out if any of the message types included in ROS works for you. - -### Adding a new message type -Create a new message description file in [msg](msg) - -Add the message in the list of messages in the CMakeLists.txt file in this repo -```txt -## Generate messages in the 'msg' folder -add_message_files( - FILES - ThrusterForces.msg -) -``` - -### Using the messages in your package -In your `package.xml`, add these dependencies -```xml -vortex_msgs -vortex_msgs -``` -Add it to your `CMakeLists.txt` -```txt -find_package(catkin REQUIRED COMPONENTS roscpp vortex_msgs) -``` -```txt -catkin_package( - INCLUDE_DIRS - LIBRARIES - CATKIN_DEPENDS roscpp vortex_msgs - DEPENDS -) -``` -```txt -add_dependencies( vortex_msgs_generate_messages_cpp) -``` - -Include the messages in your source code, i.e. -```cpp -#include -``` - diff --git a/vortex_msgs/action/LosPathFollowing.action b/vortex_msgs/action/LosPathFollowing.action deleted file mode 100644 index 86fe7142..00000000 --- a/vortex_msgs/action/LosPathFollowing.action +++ /dev/null @@ -1,10 +0,0 @@ -#goal definition -geometry_msgs/Point[2] waypoints -float32 forward_speed -float32 sphereOfAcceptance ---- -#result definition -bool terminalSector ---- -#feedback -float32 distanceToGoal diff --git a/vortex_msgs/msg/Debug.msg b/vortex_msgs/msg/Debug.msg deleted file mode 100644 index bb9be2a1..00000000 --- a/vortex_msgs/msg/Debug.msg +++ /dev/null @@ -1,12 +0,0 @@ -# Full state and all setpoints for maelstrom/uranus - -geometry_msgs/Point state_position -geometry_msgs/Twist state_velocity -float64 state_roll -float64 state_pitch -float64 state_yaw - -geometry_msgs/Point setpoint_position -float64 setpoint_roll -float64 setpoint_pitch -float64 setpoint_yaw diff --git a/vortex_msgs/msg/DpSetpoint.msg b/vortex_msgs/msg/DpSetpoint.msg deleted file mode 100644 index bf9596a4..00000000 --- a/vortex_msgs/msg/DpSetpoint.msg +++ /dev/null @@ -1,2 +0,0 @@ -geometry_msgs/Pose setpoint -uint32 control_mode diff --git a/vortex_msgs/msg/EulerOrientations.msg b/vortex_msgs/msg/EulerOrientations.msg deleted file mode 100644 index 18eb9ca9..00000000 --- a/vortex_msgs/msg/EulerOrientations.msg +++ /dev/null @@ -1,9 +0,0 @@ -# Desired and measured orientation, using Euler angles, in degrees. - -float64 roll -float64 pitch -float64 yaw - -float64 roll_d -float64 pitch_d -float64 yaw_d diff --git a/vortex_msgs/msg/GuidanceData.msg b/vortex_msgs/msg/GuidanceData.msg deleted file mode 100644 index 62dc0c31..00000000 --- a/vortex_msgs/msg/GuidanceData.msg +++ /dev/null @@ -1,24 +0,0 @@ -# The guidance system will output multiple different values that -# the controller system needs to function properly. All of these -# values should be contained in this message. - -float64 u -float64 u_d - -float64 u_dot -float64 u_d_dot - -float64 psi -float64 psi_d -float64 psi_ref - -float64 r -float64 r_d -float64 r_d_dot - -float64 z -float64 z_d - -float64 v -float64 t -float64 speed diff --git a/vortex_msgs/msg/PropulsionCommand.msg b/vortex_msgs/msg/PropulsionCommand.msg deleted file mode 100644 index 9d82f92b..00000000 --- a/vortex_msgs/msg/PropulsionCommand.msg +++ /dev/null @@ -1,17 +0,0 @@ -# This message contains a Vortex ROV propulsion command - -Header header - -# Normalized motion command -# -# All elements must be in the range [-1, 1] -# The order is -# [forward, right, down, roll right, tilt up, turn right] -float64[6] motion - -# Control mode -# -# Set all elements false to keep current mode. -# Set one element true to switch mode. Its index determines the mode, -# as defined in the control_modes.h. -bool[] control_mode diff --git a/vortex_msgs/msg/Pwm.msg b/vortex_msgs/msg/Pwm.msg deleted file mode 100644 index 09136d54..00000000 --- a/vortex_msgs/msg/Pwm.msg +++ /dev/null @@ -1,5 +0,0 @@ -# PWM pin numbers -uint16[] pins - -# Corresponding positive pulse width in microseconds -uint16[] positive_width_us diff --git a/vortex_msgs/msg/RovState.msg b/vortex_msgs/msg/RovState.msg deleted file mode 100644 index aee8109b..00000000 --- a/vortex_msgs/msg/RovState.msg +++ /dev/null @@ -1,5 +0,0 @@ -# The state of the ROV (position, orientation, linear velocity, angular velocity). - -Header header -geometry_msgs/Pose pose -geometry_msgs/Twist twist diff --git a/vortex_msgs/msg/ThrusterForces.msg b/vortex_msgs/msg/ThrusterForces.msg deleted file mode 100644 index dc53d9b2..00000000 --- a/vortex_msgs/msg/ThrusterForces.msg +++ /dev/null @@ -1,4 +0,0 @@ -# The forces to be exerted by each thruster, in newtons. - -Header header -float64[] thrust diff --git a/vortex_msgs/package.xml b/vortex_msgs/package.xml deleted file mode 100644 index f44c6706..00000000 --- a/vortex_msgs/package.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - vortex_msgs - 0.0.0 - The vortex_msgs package - Morten Fyhn Amundsen - MIT - - catkin - - message_generation - std_msgs - geometry_msgs - - message_runtime - std_msgs - geometry_msgs - - diff --git a/vortex_msgs/srv/ControlMode.srv b/vortex_msgs/srv/ControlMode.srv deleted file mode 100644 index 95b2f356..00000000 --- a/vortex_msgs/srv/ControlMode.srv +++ /dev/null @@ -1,4 +0,0 @@ -int64 controlMode ---- -string result ---- diff --git a/vortex_msgs/srv/SetPidGains.srv b/vortex_msgs/srv/SetPidGains.srv deleted file mode 100644 index 2744e362..00000000 --- a/vortex_msgs/srv/SetPidGains.srv +++ /dev/null @@ -1,8 +0,0 @@ -float64[] P_gains -float64[] I_gains -float64[] D_gains -float64[] F_gains -float64 integral_windup_limit -float64 setpoint_range -float64 max_output_ramp_rate ---- diff --git a/vortex_msgs/srv/Waypoint.srv b/vortex_msgs/srv/Waypoint.srv deleted file mode 100644 index b9da5862..00000000 --- a/vortex_msgs/srv/Waypoint.srv +++ /dev/null @@ -1,5 +0,0 @@ -#request -float32[] waypoint ---- -#response -bool success \ No newline at end of file From fb1a59974c58d89263dcc4c313113abf700e39f0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Fri, 4 Aug 2023 22:55:08 +0200 Subject: [PATCH 017/132] Added draft for tf.launch --- asv_setup/launch/tf.launch | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) create mode 100644 asv_setup/launch/tf.launch diff --git a/asv_setup/launch/tf.launch b/asv_setup/launch/tf.launch new file mode 100644 index 00000000..7e400cff --- /dev/null +++ b/asv_setup/launch/tf.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file From 0a8d2b248a37593b8e1c03c2d9c43174cf034bf1 Mon Sep 17 00:00:00 2001 From: vortex git Date: Fri, 4 Aug 2023 22:42:31 +0000 Subject: [PATCH 018/132] Added sensors modules with bms package --- sensors/bms/CMakeLists.txt | 41 ++++++++++++ sensors/bms/launch/bms.launch | 10 +++ sensors/bms/package.xml | 31 +++++++++ sensors/bms/scripts/freya_bms.py | 44 +++++++++++++ sensors/bms/scripts/freya_bms_node.py | 44 +++++++++++++ sensors/bms/src/freya_bms_node.cpp | 94 +++++++++++++++++++++++++++ 6 files changed, 264 insertions(+) create mode 100644 sensors/bms/CMakeLists.txt create mode 100644 sensors/bms/launch/bms.launch create mode 100644 sensors/bms/package.xml create mode 100644 sensors/bms/scripts/freya_bms.py create mode 100755 sensors/bms/scripts/freya_bms_node.py create mode 100644 sensors/bms/src/freya_bms_node.cpp diff --git a/sensors/bms/CMakeLists.txt b/sensors/bms/CMakeLists.txt new file mode 100644 index 00000000..e62f5b25 --- /dev/null +++ b/sensors/bms/CMakeLists.txt @@ -0,0 +1,41 @@ +cmake_minimum_required(VERSION 3.0.2) +project(bms) + +## Compile as C++11, supported in ROS Kinetic and newer +add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + sensor_msgs + roscpp + rospy +) + +## System dependencies are found with CMake's conventions +find_package(Boost REQUIRED COMPONENTS system) + +## Declare catkin package +catkin_package( + INCLUDE_DIRS include + LIBRARIES freya_bms + CATKIN_DEPENDS roscpp sensor_msgs + DEPENDS Boost +) + +## Specify additional locations of header files +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} +) + +## Declare a C++ executable +add_executable(freya_${PROJECT_NAME}_node src/freya_bms_node.cpp) + +## Specify libraries to link a library or executable target against +target_link_libraries(freya_${PROJECT_NAME}_node + ${catkin_LIBRARIES} + ${Boost_LIBRARIES} +) \ No newline at end of file diff --git a/sensors/bms/launch/bms.launch b/sensors/bms/launch/bms.launch new file mode 100644 index 00000000..0d69bc04 --- /dev/null +++ b/sensors/bms/launch/bms.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/sensors/bms/package.xml b/sensors/bms/package.xml new file mode 100644 index 00000000..8546b178 --- /dev/null +++ b/sensors/bms/package.xml @@ -0,0 +1,31 @@ + + + bms + 0.0.0 + The bms package + + + + + vortex + + TODO + + catkin + sensor_msgs + roscpp + rospy + sensor_msgs + roscpp + rospy + sensor_msgs + roscpp + rospy + + + + + + + + diff --git a/sensors/bms/scripts/freya_bms.py b/sensors/bms/scripts/freya_bms.py new file mode 100644 index 00000000..698fb779 --- /dev/null +++ b/sensors/bms/scripts/freya_bms.py @@ -0,0 +1,44 @@ +#!/usr/bin/env python3 +import subprocess + +def execute_jbdtool(usb_port): + """ + This function executes the jbdtool command to query the BMS (Battery Management System) + connected to the specified serial port. It then parses the output to extract + information about Voltage, Current, Temps, and Cells. + + :param usb_port: The USB port number to connect to (e.g., "USB0", "USB1", etc.) + :type usb_port: str + + Output: + - Prints the Voltage, Current, Temps, and Cells to the console. + - If there's an error in executing the command, prints an error message. + + Example Output: + Voltage: 24.010 + Current: 0.000 + Temps: 23.1,23.1,22.9 + Cells: 4.006,4.005,4.000,4.005,4.000,4.000 + """ + + + command = ["./jbdtool", "-t", f"serial:/dev/{usb_port}"] + working_directory = "/home/vortex/bms/jbdtool" + + try: + response = subprocess.run(command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, check=True, cwd=working_directory) + return response + + except subprocess.CalledProcessError as e: + print("An error occurred while executing the command.") + print("Error:", e.stderr.decode()) + +def parse_bms_data(response): + output = response.stdout.decode() + + voltage = output.split("Voltage")[1].split("\n")[0].strip() + current = output.split("Current")[1].split("\n")[0].strip() + temps = output.split("Temps")[1].split("\n")[0].strip() + cells = output.split("Cells")[1].split("\n")[0].strip() + + return voltage, current, temps, cells \ No newline at end of file diff --git a/sensors/bms/scripts/freya_bms_node.py b/sensors/bms/scripts/freya_bms_node.py new file mode 100755 index 00000000..ca389faf --- /dev/null +++ b/sensors/bms/scripts/freya_bms_node.py @@ -0,0 +1,44 @@ +#!/usr/bin/env python3 + +import rospy +from sensor_msgs.msg import BatteryState +from freya_bms import execute_jbdtool, parse_bms_data + +def main(): + # Initialize the node with the name 'freya_bms' + rospy.init_node('freya_bms') + + # Create a Publisher object to publish messages to the 'battery_info' topic + battery_pub = rospy.Publisher('/internal/status/bms', BatteryState, queue_size=10) + + # List of USB devices to loop through + usb_ports = ["ttyUSB1", "ttyUSB2"] # Add as many as you need + + # Rate object to control the loop rate (in Hz) + rate = rospy.Rate(1) # 1 Hz + + while not rospy.is_shutdown(): + for usb_port in usb_ports: + response = execute_jbdtool(usb_port) + if response.stdout != b'': # Check if data is received + + voltage, current, temps, cells = parse_bms_data(response) + + battery_msg = BatteryState() + battery_msg.voltage = float(voltage) # Assuming voltage is in Volts + battery_msg.current = float(current) # Assuming current is in Amperes + battery_msg.temperature = float(temps.split(',')[0]) # Assuming temperature is in degrees Celsius + battery_msg.location = usb_port + + # Publish the Battery message to the 'battery_info' topic + battery_pub.publish(battery_msg) + + # Sleep until the next iteration + rate.sleep() + +if __name__ == '__main__': + try: + main() + rospy.spin() + except rospy.ROSInterruptException: + pass diff --git a/sensors/bms/src/freya_bms_node.cpp b/sensors/bms/src/freya_bms_node.cpp new file mode 100644 index 00000000..e8ae1856 --- /dev/null +++ b/sensors/bms/src/freya_bms_node.cpp @@ -0,0 +1,94 @@ +#include +#include +#include +#include +#include +#include +#include +#include + +/** + * Executes the jbdtool command to query the BMS connected to the specified serial port. + * + * @param usb_port The USB port number to connect to (e.g., "ttyUSB0", "ttyUSB1", etc.) + * @param output The output string containing the command result + */ + +void execute_jbdtool(const std::string &usb_port, std::string &output) { + std::string command = "./jbdtool -t serial:/dev/" + usb_port; + std::string working_directory = "/home/vortex/bms/jbdtool"; + + boost::process::ipstream is; + boost::process::child c(command, boost::process::std_out > is, boost::process::start_dir = working_directory); + + std::string line; + while (c.running() && std::getline(is, line)) { + output += line + "\n"; + } + + c.wait(); +} + +/** + * Parses the output from the BMS to extract information about Voltage, Current, Temps, and Cells. + * + * @param response The response string from the BMS command execution + * @param voltage The extracted voltage value + * @param current The extracted current value + * @param temps The extracted temperature values as a string + * @param cells The extracted cell values as a string + */ + +void parse_bms_data(const std::string &response, float &voltage, float ¤t, std::string &temps, std::string &cells) { + std::stringstream ss(response); + + std::string line; + while (std::getline(ss, line)) { + if (line.find("Voltage") != std::string::npos) { + voltage = std::stof(line.substr(line.find("Voltage") + 8)); + } else if (line.find("Current") != std::string::npos) { + current = std::stof(line.substr(line.find("Current") + 8)); + } else if (line.find("Temps") != std::string::npos) { + temps = line.substr(line.find("Temps") + 6); + } else if (line.find("Cells") != std::string::npos) { + cells = line.substr(line.find("Cells") + 6); + } + } +} + +int main(int argc, char **argv) { + ros::init(argc, argv, "bms"); + ros::NodeHandle nh; + + ros::Publisher battery_pub = nh.advertise("/internal/status/bms", 10); + + std::vector usb_ports = {"ttyUSB1", "ttyUSB2"}; // + + ros::Rate rate(1); // 1 Hz + + // Main loop for publishing BatteryState messages from BMS data + while (ros::ok()) { + for (const std::string &usb_port : usb_ports) { + std::string response; + execute_jbdtool(usb_port, response); + + if (!response.empty()) { + float voltage, current; + std::string temps, cells; + parse_bms_data(response, voltage, current, temps, cells); + + sensor_msgs::BatteryState battery_msg; + battery_msg.voltage = voltage; + battery_msg.current = current; + battery_msg.temperature = std::stof(temps.substr(0, temps.find(','))); + battery_msg.location = usb_port; + + battery_pub.publish(battery_msg); + } + } + + rate.sleep(); + } + + return 0; +} From b8531bcfcdafc1a50a5c2a5853bcea55014c3c6f Mon Sep 17 00:00:00 2001 From: github-actions Date: Fri, 4 Aug 2023 22:44:16 +0000 Subject: [PATCH 019/132] Automated autoyapf fixes --- sensors/bms/scripts/freya_bms.py | 13 +++++++++---- sensors/bms/scripts/freya_bms_node.py | 21 ++++++++++++++------- 2 files changed, 23 insertions(+), 11 deletions(-) diff --git a/sensors/bms/scripts/freya_bms.py b/sensors/bms/scripts/freya_bms.py index 698fb779..251445d3 100644 --- a/sensors/bms/scripts/freya_bms.py +++ b/sensors/bms/scripts/freya_bms.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 import subprocess + def execute_jbdtool(usb_port): """ This function executes the jbdtool command to query the BMS (Battery Management System) @@ -21,18 +22,22 @@ def execute_jbdtool(usb_port): Cells: 4.006,4.005,4.000,4.005,4.000,4.000 """ - command = ["./jbdtool", "-t", f"serial:/dev/{usb_port}"] working_directory = "/home/vortex/bms/jbdtool" try: - response = subprocess.run(command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, check=True, cwd=working_directory) + response = subprocess.run(command, + stdout=subprocess.PIPE, + stderr=subprocess.PIPE, + check=True, + cwd=working_directory) return response - + except subprocess.CalledProcessError as e: print("An error occurred while executing the command.") print("Error:", e.stderr.decode()) + def parse_bms_data(response): output = response.stdout.decode() @@ -41,4 +46,4 @@ def parse_bms_data(response): temps = output.split("Temps")[1].split("\n")[0].strip() cells = output.split("Cells")[1].split("\n")[0].strip() - return voltage, current, temps, cells \ No newline at end of file + return voltage, current, temps, cells diff --git a/sensors/bms/scripts/freya_bms_node.py b/sensors/bms/scripts/freya_bms_node.py index ca389faf..d22b9843 100755 --- a/sensors/bms/scripts/freya_bms_node.py +++ b/sensors/bms/scripts/freya_bms_node.py @@ -4,15 +4,18 @@ from sensor_msgs.msg import BatteryState from freya_bms import execute_jbdtool, parse_bms_data + def main(): # Initialize the node with the name 'freya_bms' rospy.init_node('freya_bms') # Create a Publisher object to publish messages to the 'battery_info' topic - battery_pub = rospy.Publisher('/internal/status/bms', BatteryState, queue_size=10) + battery_pub = rospy.Publisher('/internal/status/bms', + BatteryState, + queue_size=10) # List of USB devices to loop through - usb_ports = ["ttyUSB1", "ttyUSB2"] # Add as many as you need + usb_ports = ["ttyUSB1", "ttyUSB2"] # Add as many as you need # Rate object to control the loop rate (in Hz) rate = rospy.Rate(1) # 1 Hz @@ -20,14 +23,17 @@ def main(): while not rospy.is_shutdown(): for usb_port in usb_ports: response = execute_jbdtool(usb_port) - if response.stdout != b'': # Check if data is received - + if response.stdout != b'': # Check if data is received + voltage, current, temps, cells = parse_bms_data(response) battery_msg = BatteryState() - battery_msg.voltage = float(voltage) # Assuming voltage is in Volts - battery_msg.current = float(current) # Assuming current is in Amperes - battery_msg.temperature = float(temps.split(',')[0]) # Assuming temperature is in degrees Celsius + battery_msg.voltage = float( + voltage) # Assuming voltage is in Volts + battery_msg.current = float( + current) # Assuming current is in Amperes + battery_msg.temperature = float(temps.split( + ',')[0]) # Assuming temperature is in degrees Celsius battery_msg.location = usb_port # Publish the Battery message to the 'battery_info' topic @@ -36,6 +42,7 @@ def main(): # Sleep until the next iteration rate.sleep() + if __name__ == '__main__': try: main() From 149f90262264344756687e2aef65406e1e0320dc Mon Sep 17 00:00:00 2001 From: Clang Robot Date: Fri, 4 Aug 2023 22:44:20 +0000 Subject: [PATCH 020/132] Committing clang-format changes --- sensors/bms/src/freya_bms_node.cpp | 36 +++++++++++++++++------------- 1 file changed, 21 insertions(+), 15 deletions(-) diff --git a/sensors/bms/src/freya_bms_node.cpp b/sensors/bms/src/freya_bms_node.cpp index e8ae1856..259c0cb1 100644 --- a/sensors/bms/src/freya_bms_node.cpp +++ b/sensors/bms/src/freya_bms_node.cpp @@ -1,16 +1,18 @@ -#include -#include +#include #include -#include -#include #include #include -#include +#include +#include +#include +#include /** - * Executes the jbdtool command to query the BMS connected to the specified serial port. - * - * @param usb_port The USB port number to connect to (e.g., "ttyUSB0", "ttyUSB1", etc.) + * Executes the jbdtool command to query the BMS connected to the specified + * serial port. + * + * @param usb_port The USB port number to connect to (e.g., "ttyUSB0", + * "ttyUSB1", etc.) * @param output The output string containing the command result */ @@ -19,7 +21,8 @@ void execute_jbdtool(const std::string &usb_port, std::string &output) { std::string working_directory = "/home/vortex/bms/jbdtool"; boost::process::ipstream is; - boost::process::child c(command, boost::process::std_out > is, boost::process::start_dir = working_directory); + boost::process::child c(command, boost::process::std_out > is, + boost::process::start_dir = working_directory); std::string line; while (c.running() && std::getline(is, line)) { @@ -30,8 +33,9 @@ void execute_jbdtool(const std::string &usb_port, std::string &output) { } /** - * Parses the output from the BMS to extract information about Voltage, Current, Temps, and Cells. - * + * Parses the output from the BMS to extract information about Voltage, Current, + * Temps, and Cells. + * * @param response The response string from the BMS command execution * @param voltage The extracted voltage value * @param current The extracted current value @@ -39,7 +43,8 @@ void execute_jbdtool(const std::string &usb_port, std::string &output) { * @param cells The extracted cell values as a string */ -void parse_bms_data(const std::string &response, float &voltage, float ¤t, std::string &temps, std::string &cells) { +void parse_bms_data(const std::string &response, float &voltage, float ¤t, + std::string &temps, std::string &cells) { std::stringstream ss(response); std::string line; @@ -60,11 +65,12 @@ int main(int argc, char **argv) { ros::init(argc, argv, "bms"); ros::NodeHandle nh; - ros::Publisher battery_pub = nh.advertise("/internal/status/bms", 10); + ros::Publisher battery_pub = + nh.advertise("/internal/status/bms", 10); - std::vector usb_ports = {"ttyUSB1", "ttyUSB2"}; // + std::vector usb_ports = {"ttyUSB1", "ttyUSB2"}; // - ros::Rate rate(1); // 1 Hz + ros::Rate rate(1); // 1 Hz // Main loop for publishing BatteryState messages from BMS data while (ros::ok()) { From 06187484b36d2d82075ccee39225c1c130acbf06 Mon Sep 17 00:00:00 2001 From: vortex git Date: Fri, 4 Aug 2023 22:46:53 +0000 Subject: [PATCH 021/132] Updated launch name --- asv_setup/launch/{naglfar.launch => freya.launch} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename asv_setup/launch/{naglfar.launch => freya.launch} (100%) diff --git a/asv_setup/launch/naglfar.launch b/asv_setup/launch/freya.launch similarity index 100% rename from asv_setup/launch/naglfar.launch rename to asv_setup/launch/freya.launch From 1d21e3c480571c7069776af7b0f081e67ef2173c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Sat, 5 Aug 2023 19:29:29 +0200 Subject: [PATCH 022/132] Continue with vis MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- motion/controller_testing/scripts/freya.py | 122 ++++++++++++++++++ .../scripts/pid_controller.py | 9 +- motion/controller_testing/scripts/vessel.py | 3 +- .../controller_testing/scripts/visualizer.py | 91 ++++++++++--- 4 files changed, 202 insertions(+), 23 deletions(-) create mode 100644 motion/controller_testing/scripts/freya.py diff --git a/motion/controller_testing/scripts/freya.py b/motion/controller_testing/scripts/freya.py new file mode 100644 index 00000000..231ecdbc --- /dev/null +++ b/motion/controller_testing/scripts/freya.py @@ -0,0 +1,122 @@ +import numpy as np +from scipy.linalg import expm + +# Constants +mp = 2.5 +rp = 0.075 +V_c = 1 +beta_c = 0.2 +n_max = 10000 +n_min = -10000 +k_pos = 0.005 +k_neg = 0.001 + +# Skew-symmetric matrix +def Smtrx(vector): + return np.array([[0, -vector[2], vector[1]], [vector[2], 0, -vector[0]], [-vector[1], vector[0], 0]]) + +# Rotation matrix from Euler angles (zyx convention) +def Rzyx(phi, theta, psi): + return np.array([[np.cos(psi) * np.cos(theta), np.cos(psi) * np.sin(theta) * np.sin(phi) - np.sin(psi) * np.cos(phi), np.cos(psi) * np.sin(theta) * np.cos(phi) + np.sin(psi) * np.sin(phi)], + [np.sin(psi) * np.cos(theta), np.sin(psi) * np.sin(theta) * np.sin(phi) + np.cos(psi) * np.cos(phi), np.sin(psi) * np.sin(theta) * np.cos(phi) - np.cos(psi) * np.sin(phi)], + [-np.sin(theta), np.cos(theta) * np.sin(phi), np.cos(theta) * np.cos(phi)]]) + + +def model(x, tau): + # Ensure the input vectors are the correct size + assert len(x) == 12, 'x vector must have dimension 12!' + + # Vehicle dimensions + x_pont = 1.2 + y_pont = 1.0 + z_pont = 0.5 + + # Inertia Matrix + m = 11.0 # mass of the otter in kg + Ix = 1.0 # moment of inertia about x + Iy = 1.0 # moment of inertia about y + Iz = 1.0 # moment of inertia about z + I = np.diag([Ix, Iy, Iz]) + + # Rigid body mass matrix + M_RB = np.block([[m * np.eye(3), np.zeros((3, 3))], [np.zeros((3, 3)), I]]) + + # Added mass + X_du = 0 # Surge (kg) + Y_dv = 0 # Sway (kg) + Z_dw = 0 # Heave (kg) + K_dp = 0 # Roll (kg*m^2) + M_dq = 0 # Pitch (kg*m^2) + N_dr = 0 # Yaw (kg*m^2) + M_A = -np.diag([X_du, Y_dv, Z_dw, K_dp, M_dq, N_dr]) + + # Total mass matrix + M = M_RB + M_A + + # Damping coefficients + X_u = 2 # Linear damping - Surge (Ns/m) + Y_v = 2 # Linear damping - Sway (Ns/m) + Z_w = 5 # Linear damping - Heave (Ns/m) + K_p = 0.1 # Linear damping - Roll (Ns) + M_q = 0.1 # Linear damping - Pitch (Ns) + N_r = 0.1 # Linear damping - Yaw (Ns) + D_l = np.diag([X_u, Y_v, Z_w, K_p, M_q, N_r]) # Linear damping matrix + + X_uu = 0 # Quadratic damping - Surge (Ns^2/m^2) + Y_vv = 0 # Quadratic damping - Sway (Ns^2/m^2) + Z_ww = 0 # Quadratic damping - Heave (Ns^2/m^2) + K_pp = 0 # Quadratic damping - Roll (Ns) + M_qq = 0 # Quadratic damping - Pitch (Ns) + N_rr = 0.1 # Quadratic damping - Yaw (Ns) + D_q = np.diag([abs(X_uu * x[6]), abs(Y_vv * x[7]), abs(Z_ww * x[8]), abs(K_pp * x[9]), abs(M_qq * x[10]), abs(N_rr * x[11])]) # Quadratic damping matrix + + D = D_l + D_q # Damping matrix + + # Coriolis and centripetal matrix + CRB = m * np.block([[np.zeros((3, 3)), -Smtrx(np.array([x[6], x[7], x[8]]))], + [Smtrx(np.array([x[6], x[7], x[8]])), -Smtrx(I.dot(np.array([x[9], x[10], x[11]])))]]) + + + CA = m * np.block([[np.zeros((3, 3)), -Smtrx(np.array([x[0], x[1], x[2]]))], + [np.zeros((3, 3)), np.zeros((3, 3))]]) + + + C = CRB + CA + + # Propeller forces + # n_prop = np.clip(n, n_min, n_max) + # T_pos = k_pos * n_prop * abs(n_prop) + # T_neg = k_neg * n_prop * abs(n_prop) + # T = np.where(n_prop > 0, T_pos, T_neg) + + #tau = np.array([T.sum(), 0, 0, 0, 0, (x_pont / 2) * (T[1] - T[0]) + (y_pont / 2) * (T[3] - T[2])]) + + # System matrices + eta = x[0:6] + nu = x[6:12] + + J = np.block([[np.eye(3), np.zeros((3, 3))], [np.zeros((3, 3)), Rzyx(eta[3], eta[4], eta[5])]]) + + M_inv = np.linalg.inv(M) + + # # tau is defined in world, move to body + yaw = eta[5] + c = np.cos(yaw) + s = np.sin(yaw) + + R = np.array(([c, -s, 0], [s, c, 0], [0, 0, 1])) + + # # nu is defined in world, move to body + nu[:3] = R @ nu[:3] + + tau = R @ tau + + tau_body_six = np.array((tau[0], tau[1], 0.0, 0.0, 0.0, tau[2])) + + # System model + etadot = J @ nu + nudot = M_inv @ (tau_body_six - C @ nu - D @ nu) + + xdot = np.concatenate((etadot, nudot)) + + return xdot diff --git a/motion/controller_testing/scripts/pid_controller.py b/motion/controller_testing/scripts/pid_controller.py index 2e09a981..d6781c0d 100644 --- a/motion/controller_testing/scripts/pid_controller.py +++ b/motion/controller_testing/scripts/pid_controller.py @@ -1,5 +1,8 @@ import numpy as np +def ssa(angle): + return (angle + np.pi) % (2 * np.pi) - np.pi + class PIDController3DOF: def __init__(self, Kp, Ki, Kd, setpoint): self.Kp = np.array(Kp) @@ -15,7 +18,11 @@ def reset(self): self.previous_error = np.zeros(3) def control(self, state, dt): - error = self.setpoint - state + x_error = self.setpoint[0] - state[0] + y_error = self.setpoint[1] - state[1] + yaw_error = ssa(self.setpoint[2] - state[2]) + + error = np.array((x_error, y_error, yaw_error)) P = np.dot(self.Kp, error) self.integral_error += error * dt diff --git a/motion/controller_testing/scripts/vessel.py b/motion/controller_testing/scripts/vessel.py index 2963bcd1..a2aaa7a8 100755 --- a/motion/controller_testing/scripts/vessel.py +++ b/motion/controller_testing/scripts/vessel.py @@ -34,4 +34,5 @@ def step(self, dt, u): self.state[:3] += nu_dot * dt self.state[3:] += eta_dot * dt - return self.state.copy() \ No newline at end of file + return self.state.copy() + diff --git a/motion/controller_testing/scripts/visualizer.py b/motion/controller_testing/scripts/visualizer.py index fc35b7f1..ccab7569 100755 --- a/motion/controller_testing/scripts/visualizer.py +++ b/motion/controller_testing/scripts/visualizer.py @@ -5,24 +5,38 @@ import matplotlib.pyplot as plt from matplotlib.animation import FuncAnimation -from vessel import Vessel3DOF +from scipy.integrate import odeint + +#import freya from pid_controller import PIDController3DOF -DT = 1.0 +import vessel + +DT = 0.25 + + +def get_2d_state(state): + x = state[0] + y = state[1] + psi = state[5] + vx = state[6] + vy = state[7] + return x, y, psi, vx, vy class VesselVisualizer: def __init__(self, vessel): self.vessel = vessel - # Create subplots for vessel visualization and setpoints vs actual positions and yaw - self.fig, self.axes = plt.subplots(nrows=2, ncols=2, figsize=(10, 10)) + + self.fig, self.axes = plt.subplots(nrows=3, ncols=2, figsize=(10, 10)) self.ax_vessel = self.axes[0, 0] self.ax_x = self.axes[0, 1] self.ax_y = self.axes[1, 0] self.ax_psi = self.axes[1, 1] + self.ax_vx = self.axes[2, 0] + self.ax_vy = self.axes[2, 1] - - # initialize the plot with initial vessel position and heading - x, y, psi = self.vessel.state[3:] + vx, vy, vpsi, x, y, psi = self.vessel.state + self.arrow = plt.Arrow(x, y, np.cos(psi), np.sin(psi), width=0.1) self.ax_vessel.add_patch(self.arrow) @@ -35,9 +49,12 @@ def __init__(self, vessel): self.ax_vessel.set_ylim(-5, 5) # Initialize x, y, and psi plots + self.x_line, = self.ax_x.plot(0, x) self.y_line, = self.ax_y.plot(0, y) self.psi_line, = self.ax_psi.plot(0, psi) + self.vx_line, = self.ax_vx.plot(0, vx) + self.vy_line, = self.ax_vy.plot(0, vy) self.current_time = 0.0 @@ -47,15 +64,18 @@ def update(self, frame): # Clear the previous arrow self.arrow.remove() - # Update vessel state + u = pid_controller.control(self.vessel.state[3:], 0.1) # assuming dt=0.1 - print(f"Time: {self.current_time} \n Setpoint: {pid_controller.setpoint} \n State: {self.vessel.state[3:]} \n Control signal: {u} \n") + #u = np.array((0.1, 0, 0)) self.vessel.step(DT, u) # Draw the new arrow - x, y, psi = self.vessel.state[3:] arrow_length = 1.0 arrow_width = 1.0 + vx, vy, vpsi, x, y, psi = self.vessel.state + + print(f"Time: {self.current_time} \n Setpoint: {pid_controller.setpoint} \n State: {x}, {y}, {psi} \n Control signal: {u} \n") + self.arrow = plt.Arrow(x, y, arrow_length*np.cos(psi), arrow_length*np.sin(psi), width=arrow_width) self.ax_vessel.add_patch(self.arrow) @@ -64,16 +84,25 @@ def update(self, frame): new_path = (np.append(old_path[0], x), np.append(old_path[1], y)) self.path.set_data(new_path) - - # Update x, y, and psi plots x_y_data = np.append(self.x_line.get_ydata(), x) y_y_data = np.append(self.y_line.get_ydata(), y) psi_y_data = np.append(self.psi_line.get_ydata(), psi) - + vx_y_data = np.append(self.vx_line.get_ydata(), vx) + vy_y_data = np.append(self.vy_line.get_ydata(), vy) + self.x_line.set_data(np.append(self.x_line.get_xdata(), frame), x_y_data) self.y_line.set_data(np.append(self.y_line.get_xdata(), frame), y_y_data) self.psi_line.set_data(np.append(self.psi_line.get_xdata(), frame), psi_y_data) + self.vx_line.set_data(np.append(self.vx_line.get_xdata(), frame), vx_y_data) + self.vy_line.set_data(np.append(self.vy_line.get_xdata(), frame), vy_y_data) + + + self.x_line.set_label('North') + self.y_line.set_label('East') + self.psi_line.set_label('Heading') + self.vx_line.set_label('Surge Velocity') + self.vy_line.set_label('Sway Velocity') # Plot setpoints on x, y, and psi plots self.ax_x.axhline(y=pid_controller.setpoint[0], color='r') @@ -86,30 +115,50 @@ def update(self, frame): self.ax_x.set_xlim(max(0, frame-window_size), frame+1) self.ax_y.set_xlim(max(0, frame-window_size), frame+1) self.ax_psi.set_xlim(max(0, frame-window_size), frame+1) + self.ax_vx.set_xlim(max(0, frame-window_size), frame+1) + self.ax_vy.set_xlim(max(0, frame-window_size), frame+1) self.ax_x.set_ylim(min(x_y_data) - y_padding, max(max(x_y_data), pid_controller.setpoint[0]) + y_padding) self.ax_y.set_ylim(min(y_y_data) - y_padding, max(max(y_y_data), pid_controller.setpoint[1]) + y_padding) self.ax_psi.set_ylim(min(psi_y_data) - y_padding, max(max(psi_y_data), pid_controller.setpoint[2]) + y_padding) + # self.ax_vx.set_ylim(min(vx_y_data) - y_padding, max(max(vx_y_data), pid_controller.setpoint[3]) + y_padding) + # self.ax_vy.set_ylim(min(vy_y_data) - y_padding, max(max(vy_y_data), pid_controller.setpoint[4]) + y_padding) + + self.ax_x.legend() + self.ax_y.legend() + self.ax_psi.legend() + self.ax_vx.legend() + self.ax_vy.legend() def animate(self): - NUMBER_OF_FRAMES = 200 + NUMBER_OF_FRAMES = 2000 TIME_BETWEEN_FRAMES_MS = 50 anim = FuncAnimation(self.fig, self.update, frames=np.arange(0, NUMBER_OF_FRAMES, DT), interval=TIME_BETWEEN_FRAMES_MS, repeat=False) plt.show() if __name__ == '__main__': - # Initiate the vessel - vessel = Vessel3DOF(mass=10, damping=0, inertia=1) + # # Initiate the vessel + mass = 20.0 + damping = 2.0 + inertia = 1.0 + simulated_vessel = vessel.Vessel3DOF(mass, damping, inertia) + + N = 20 # prediction horizon + + # cost matrices + Q = np.diag([1, 1, 1, 1, 1, 1]) # state error cost + R = np.diag([0.1, 0.1, 0.1]) # control effort cost + # Create the PID controller - Kp = [[0.1, 0, 0], [0, 0.1, 0], [0, 0, 0.001]] - Ki = [0.000, 0.000, 0.000] - Kd = [0.1, 0.1, 0.0] - setpoint = [1, 1, 0.5] # Desired x, y and heading + Kp = [[0.1, 0, 0], [0, 1.0, 0], [0, 0, 0.25]] + Ki = [0.001, 0.001, 0.000] + Kd = [0.0, 0.0, 0.0] + setpoint = [1, 0, np.pi/4] # Desired x, y and heading pid_controller = PIDController3DOF(Kp, Ki, Kd, setpoint) # Create a visualizer and animate - visualizer = VesselVisualizer(vessel) + visualizer = VesselVisualizer(simulated_vessel) visualizer.animate() \ No newline at end of file From 2dd21e7979803cc6f21f333e525cb3af7f2429f2 Mon Sep 17 00:00:00 2001 From: github-actions Date: Sat, 5 Aug 2023 17:31:02 +0000 Subject: [PATCH 023/132] Automated autoyapf fixes --- motion/controller_testing/scripts/freya.py | 53 ++++++++++++---- .../scripts/pid_controller.py | 2 + motion/controller_testing/scripts/vessel.py | 1 - .../controller_testing/scripts/visualizer.py | 61 ++++++++++++------- 4 files changed, 81 insertions(+), 36 deletions(-) diff --git a/motion/controller_testing/scripts/freya.py b/motion/controller_testing/scripts/freya.py index 231ecdbc..5b337912 100644 --- a/motion/controller_testing/scripts/freya.py +++ b/motion/controller_testing/scripts/freya.py @@ -11,15 +11,32 @@ k_pos = 0.005 k_neg = 0.001 + # Skew-symmetric matrix def Smtrx(vector): - return np.array([[0, -vector[2], vector[1]], [vector[2], 0, -vector[0]], [-vector[1], vector[0], 0]]) + return np.array([[0, -vector[2], vector[1]], [vector[2], 0, -vector[0]], + [-vector[1], vector[0], 0]]) + # Rotation matrix from Euler angles (zyx convention) def Rzyx(phi, theta, psi): - return np.array([[np.cos(psi) * np.cos(theta), np.cos(psi) * np.sin(theta) * np.sin(phi) - np.sin(psi) * np.cos(phi), np.cos(psi) * np.sin(theta) * np.cos(phi) + np.sin(psi) * np.sin(phi)], - [np.sin(psi) * np.cos(theta), np.sin(psi) * np.sin(theta) * np.sin(phi) + np.cos(psi) * np.cos(phi), np.sin(psi) * np.sin(theta) * np.cos(phi) - np.cos(psi) * np.sin(phi)], - [-np.sin(theta), np.cos(theta) * np.sin(phi), np.cos(theta) * np.cos(phi)]]) + return np.array([[ + np.cos(psi) * np.cos(theta), + np.cos(psi) * np.sin(theta) * np.sin(phi) - np.sin(psi) * np.cos(phi), + np.cos(psi) * np.sin(theta) * np.cos(phi) + np.sin(psi) * np.sin(phi) + ], + [ + np.sin(psi) * np.cos(theta), + np.sin(psi) * np.sin(theta) * np.sin(phi) + + np.cos(psi) * np.cos(phi), + np.sin(psi) * np.sin(theta) * np.cos(phi) - + np.cos(psi) * np.sin(phi) + ], + [ + -np.sin(theta), + np.cos(theta) * np.sin(phi), + np.cos(theta) * np.cos(phi) + ]]) def model(x, tau): @@ -68,18 +85,28 @@ def model(x, tau): K_pp = 0 # Quadratic damping - Roll (Ns) M_qq = 0 # Quadratic damping - Pitch (Ns) N_rr = 0.1 # Quadratic damping - Yaw (Ns) - D_q = np.diag([abs(X_uu * x[6]), abs(Y_vv * x[7]), abs(Z_ww * x[8]), abs(K_pp * x[9]), abs(M_qq * x[10]), abs(N_rr * x[11])]) # Quadratic damping matrix + D_q = np.diag([ + abs(X_uu * x[6]), + abs(Y_vv * x[7]), + abs(Z_ww * x[8]), + abs(K_pp * x[9]), + abs(M_qq * x[10]), + abs(N_rr * x[11]) + ]) # Quadratic damping matrix D = D_l + D_q # Damping matrix # Coriolis and centripetal matrix - CRB = m * np.block([[np.zeros((3, 3)), -Smtrx(np.array([x[6], x[7], x[8]]))], - [Smtrx(np.array([x[6], x[7], x[8]])), -Smtrx(I.dot(np.array([x[9], x[10], x[11]])))]]) - - - CA = m * np.block([[np.zeros((3, 3)), -Smtrx(np.array([x[0], x[1], x[2]]))], - [np.zeros((3, 3)), np.zeros((3, 3))]]) + CRB = m * np.block( + [[np.zeros((3, 3)), -Smtrx(np.array([x[6], x[7], x[8]]))], + [ + Smtrx(np.array([x[6], x[7], x[8]])), + -Smtrx(I.dot(np.array([x[9], x[10], x[11]]))) + ]]) + CA = m * np.block([[ + np.zeros((3, 3)), -Smtrx(np.array([x[0], x[1], x[2]])) + ], [np.zeros((3, 3)), np.zeros((3, 3))]]) C = CRB + CA @@ -95,7 +122,9 @@ def model(x, tau): eta = x[0:6] nu = x[6:12] - J = np.block([[np.eye(3), np.zeros((3, 3))], [np.zeros((3, 3)), Rzyx(eta[3], eta[4], eta[5])]]) + J = np.block([[np.eye(3), np.zeros((3, 3))], + [np.zeros((3, 3)), + Rzyx(eta[3], eta[4], eta[5])]]) M_inv = np.linalg.inv(M) diff --git a/motion/controller_testing/scripts/pid_controller.py b/motion/controller_testing/scripts/pid_controller.py index 29314191..c4665b4c 100644 --- a/motion/controller_testing/scripts/pid_controller.py +++ b/motion/controller_testing/scripts/pid_controller.py @@ -1,8 +1,10 @@ import numpy as np + def ssa(angle): return (angle + np.pi) % (2 * np.pi) - np.pi + class PIDController3DOF: def __init__(self, Kp, Ki, Kd, setpoint): diff --git a/motion/controller_testing/scripts/vessel.py b/motion/controller_testing/scripts/vessel.py index f1e1dffb..c2e58466 100755 --- a/motion/controller_testing/scripts/vessel.py +++ b/motion/controller_testing/scripts/vessel.py @@ -37,4 +37,3 @@ def step(self, dt, u): self.state[3:] += eta_dot * dt return self.state.copy() - \ No newline at end of file diff --git a/motion/controller_testing/scripts/visualizer.py b/motion/controller_testing/scripts/visualizer.py index 101c8c60..b389943d 100755 --- a/motion/controller_testing/scripts/visualizer.py +++ b/motion/controller_testing/scripts/visualizer.py @@ -38,7 +38,7 @@ def __init__(self, vessel): self.ax_vy = self.axes[2, 1] vx, vy, vpsi, x, y, psi = self.vessel.state - + self.arrow = plt.Arrow(x, y, np.cos(psi), np.sin(psi), width=0.1) self.ax_vessel.add_patch(self.arrow) @@ -65,8 +65,8 @@ def update(self, frame): # Clear the previous arrow self.arrow.remove() - - u = pid_controller.control(self.vessel.state[3:], 0.1) # assuming dt=0.1 + u = pid_controller.control(self.vessel.state[3:], + 0.1) # assuming dt=0.1 #u = np.array((0.1, 0, 0)) self.vessel.step(DT, u) @@ -75,9 +75,15 @@ def update(self, frame): arrow_width = 1.0 vx, vy, vpsi, x, y, psi = self.vessel.state - print(f"Time: {self.current_time} \n Setpoint: {pid_controller.setpoint} \n State: {x}, {y}, {psi} \n Control signal: {u} \n") + print( + f"Time: {self.current_time} \n Setpoint: {pid_controller.setpoint} \n State: {x}, {y}, {psi} \n Control signal: {u} \n" + ) - self.arrow = plt.Arrow(x, y, arrow_length*np.cos(psi), arrow_length*np.sin(psi), width=arrow_width) + self.arrow = plt.Arrow(x, + y, + arrow_length * np.cos(psi), + arrow_length * np.sin(psi), + width=arrow_width) self.ax_vessel.add_patch(self.arrow) # Update the path line @@ -90,14 +96,18 @@ def update(self, frame): y_y_data = np.append(self.y_line.get_ydata(), y) psi_y_data = np.append(self.psi_line.get_ydata(), psi) vx_y_data = np.append(self.vx_line.get_ydata(), vx) - vy_y_data = np.append(self.vy_line.get_ydata(), vy) - - self.x_line.set_data(np.append(self.x_line.get_xdata(), frame), x_y_data) - self.y_line.set_data(np.append(self.y_line.get_xdata(), frame), y_y_data) - self.psi_line.set_data(np.append(self.psi_line.get_xdata(), frame), psi_y_data) - self.vx_line.set_data(np.append(self.vx_line.get_xdata(), frame), vx_y_data) - self.vy_line.set_data(np.append(self.vy_line.get_xdata(), frame), vy_y_data) - + vy_y_data = np.append(self.vy_line.get_ydata(), vy) + + self.x_line.set_data(np.append(self.x_line.get_xdata(), frame), + x_y_data) + self.y_line.set_data(np.append(self.y_line.get_xdata(), frame), + y_y_data) + self.psi_line.set_data(np.append(self.psi_line.get_xdata(), frame), + psi_y_data) + self.vx_line.set_data(np.append(self.vx_line.get_xdata(), frame), + vx_y_data) + self.vy_line.set_data(np.append(self.vy_line.get_xdata(), frame), + vy_y_data) self.x_line.set_label('North') self.y_line.set_label('East') @@ -113,15 +123,21 @@ def update(self, frame): y_padding = 0.25 window_size = 500 - self.ax_x.set_xlim(max(0, frame-window_size), frame+1) - self.ax_y.set_xlim(max(0, frame-window_size), frame+1) - self.ax_psi.set_xlim(max(0, frame-window_size), frame+1) - self.ax_vx.set_xlim(max(0, frame-window_size), frame+1) - self.ax_vy.set_xlim(max(0, frame-window_size), frame+1) + self.ax_x.set_xlim(max(0, frame - window_size), frame + 1) + self.ax_y.set_xlim(max(0, frame - window_size), frame + 1) + self.ax_psi.set_xlim(max(0, frame - window_size), frame + 1) + self.ax_vx.set_xlim(max(0, frame - window_size), frame + 1) + self.ax_vy.set_xlim(max(0, frame - window_size), frame + 1) - self.ax_x.set_ylim(min(x_y_data) - y_padding, max(max(x_y_data), pid_controller.setpoint[0]) + y_padding) - self.ax_y.set_ylim(min(y_y_data) - y_padding, max(max(y_y_data), pid_controller.setpoint[1]) + y_padding) - self.ax_psi.set_ylim(min(psi_y_data) - y_padding, max(max(psi_y_data), pid_controller.setpoint[2]) + y_padding) + self.ax_x.set_ylim( + min(x_y_data) - y_padding, + max(max(x_y_data), pid_controller.setpoint[0]) + y_padding) + self.ax_y.set_ylim( + min(y_y_data) - y_padding, + max(max(y_y_data), pid_controller.setpoint[1]) + y_padding) + self.ax_psi.set_ylim( + min(psi_y_data) - y_padding, + max(max(psi_y_data), pid_controller.setpoint[2]) + y_padding) # self.ax_vx.set_ylim(min(vx_y_data) - y_padding, max(max(vx_y_data), pid_controller.setpoint[3]) + y_padding) # self.ax_vy.set_ylim(min(vy_y_data) - y_padding, max(max(vy_y_data), pid_controller.setpoint[4]) + y_padding) @@ -165,12 +181,11 @@ def animate(self): Q = np.diag([1, 1, 1, 1, 1, 1]) # state error cost R = np.diag([0.1, 0.1, 0.1]) # control effort cost - # Create the PID controller Kp = [[0.1, 0, 0], [0, 1.0, 0], [0, 0, 0.25]] Ki = [0.001, 0.001, 0.000] Kd = [0.0, 0.0, 0.0] - setpoint = [1, 0, np.pi/4] # Desired x, y and heading + setpoint = [1, 0, np.pi / 4] # Desired x, y and heading pid_controller = PIDController3DOF(Kp, Ki, Kd, setpoint) # Create a visualizer and animate From 39dbc66da0979c7cb8cd8bb1240f781a097e48a4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Sat, 5 Aug 2023 20:34:35 +0200 Subject: [PATCH 024/132] Start cpp thruster interface MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- ...rce-mapping-forward-reverse-datablad.xlsx# | 1 - ...ing-forward-reverse-datablad@V18dot5.xlsx# | 1 - ...orce-mapping-forward-reverse-datablad.xlsx | Bin 27639 -> 0 bytes ...ping-forward-reverse-datablad@V18dot5.xlsx | Bin 13935 -> 0 bytes .../config/ThrustMe_P1000_force_mapping.csv | 190 ++++++++++++++++++ motion/thruster_interface/package.xml | 50 +---- .../src/thruster_interface.cpp | 126 ++++++++++++ .../src/thruster_interface_node.py | 2 +- 8 files changed, 319 insertions(+), 51 deletions(-) delete mode 100644 motion/thruster_interface/config/.~lock.ThrustMe-P1000-force-mapping-forward-reverse-datablad.xlsx# delete mode 100644 motion/thruster_interface/config/.~lock.ThrustMe-P1000-force-mapping-forward-reverse-datablad@V18dot5.xlsx# delete mode 100644 motion/thruster_interface/config/ThrustMe-P1000-force-mapping-forward-reverse-datablad.xlsx delete mode 100644 motion/thruster_interface/config/ThrustMe-P1000-force-mapping-forward-reverse-datablad@V18dot5.xlsx create mode 100644 motion/thruster_interface/config/ThrustMe_P1000_force_mapping.csv create mode 100644 motion/thruster_interface/src/thruster_interface.cpp diff --git a/motion/thruster_interface/config/.~lock.ThrustMe-P1000-force-mapping-forward-reverse-datablad.xlsx# b/motion/thruster_interface/config/.~lock.ThrustMe-P1000-force-mapping-forward-reverse-datablad.xlsx# deleted file mode 100644 index de14fd0f..00000000 --- a/motion/thruster_interface/config/.~lock.ThrustMe-P1000-force-mapping-forward-reverse-datablad.xlsx# +++ /dev/null @@ -1 +0,0 @@ -,theoam,theoam.lenovo,02.04.2023 19:31,file:///home/theoam/.config/libreoffice/4; \ No newline at end of file diff --git a/motion/thruster_interface/config/.~lock.ThrustMe-P1000-force-mapping-forward-reverse-datablad@V18dot5.xlsx# b/motion/thruster_interface/config/.~lock.ThrustMe-P1000-force-mapping-forward-reverse-datablad@V18dot5.xlsx# 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1135.96 +-12337.55 1140.45 +-12202.25 1144.94 +-12147.19 1149.44 +-12097.76 1153.93 +-11947.61 1158.43 +-11948.59 1162.92 +-11878.31 1167.42 +-11685.45 1171.91 +-11630.87 1176.4 +-11660.74 1180.9 +-11514.6 1185.39 +-11370.6 1189.89 +-11293.55 1194.38 +-11221.2 1198.88 +-11213.27 1203.37 +-11064.32 1207.87 +-11049.23 1212.36 +-10945.55 1216.85 +-10837.99 1221.35 +-10678.96 1225.84 +-10754.31 1230.34 +-10588.09 1234.83 +-10503.28 1239.33 +-10344.9 1243.82 +-10226.64 1248.31 +-10190.24 1252.81 +-10081.85 1257.3 +-9959.01 1261.8 +-9948.11 1266.29 +-9759.36 1270.79 +-9753.3 1275.28 +-9619.75 1279.78 +-9525.81 1284.27 +-9362.72 1288.76 +-9333.51 1293.26 +-9187.35 1297.75 +-9078.53 1302.25 +-8851.82 1306.74 +-8732.14 1311.24 +-8632.45 1315.73 +-8490.62 1320.22 +-8411.14 1324.72 +-8312.52 1329.21 +-8047.98 1333.71 +-7948.19 1338.2 +-7934.35 1342.7 +-7780.13 1347.19 +-7709.89 1351.69 +-7375.4 1356.18 +-7364.05 1360.67 +-7233.1 1365.17 +-6972.58 1369.66 +-6845.09 1374.16 +-6759.8 1378.65 +-6633.6 1383.15 +-6337.56 1387.64 +-6224.88 1392.13 +-6132.13 1396.63 +-5939.88 1401.12 +-5682.91 1405.62 +-5527.56 1410.11 +-5258.96 1414.61 +-5074.12 1419.1 +-4823.63 1423.6 +-4685.91 1428.09 +-4500.56 1432.58 +-4308.91 1437.08 +-4012.16 1441.57 +-3866.78 1446.07 +-3608.86 1450.56 +-3235.68 1455.06 +-2964.98 1459.55 +-2782.91 1464.04 +-2522.36 1468.54 +-2112.45 1473.03 +-1955.09 1477.53 +-1551.28 1482.02 +-1327.8 1486.52 +-913.3 1491.01 +-506.29 1495.51 +0 1500 +614.46 1504.04 +967.25 1508.08 +1501.92 1512.12 +1965.98 1516.16 +2315.18 1520.2 +2789.34 1524.24 +3218.91 1528.28 +3442.74 1532.32 +3763.95 1536.36 +4118.76 1540.4 +4473.32 1544.44 +4733.06 1548.48 +5052.11 1552.53 +5306.67 1556.57 +5514.31 1560.61 +5789.63 1564.65 +6061.47 1568.69 +6337.72 1572.73 +6516.65 1576.77 +6718.8 1580.81 +6901.18 1584.85 +7112.16 1588.89 +7352 1592.93 +7634.54 1596.97 +7720.88 1601.01 +7973.84 1605.05 +8136.83 1609.09 +8386.24 1613.13 +8569.13 1617.17 +8745.66 1621.21 +8921.09 1625.25 +9081.5 1629.29 +9306.64 1633.33 +9397.61 1637.37 +9521.35 1641.41 +9746.14 1645.45 +9890.84 1649.49 +9952.96 1653.54 +10218.41 1657.58 +10275.6 1661.62 +10446.95 1665.66 +10584.48 1669.7 +10754.31 1673.74 +10864.61 1677.78 +10959.78 1681.82 +11109.23 1685.86 +11210.52 1689.9 +11367.21 1693.94 +11528.98 1697.98 +11604.96 1702.02 +11700.44 1706.06 +11756.9 1710.1 +11942.16 1714.14 +12045.06 1718.18 +12179.5 1722.22 +12383.12 1726.26 +12317.95 1730.3 +12531.05 1734.34 +12581.61 1738.38 +12716.21 1742.42 +12825.03 1746.46 +12832.83 1750.51 +13053.31 1754.55 +13181.88 1758.59 +13207.91 1762.63 +13247.19 1766.67 +13414.53 1770.71 +13466.28 1774.75 +13573.65 1778.79 +13696.17 1782.83 +13803.27 1786.87 +13847.3 1790.91 +14029.66 1794.95 +14067.08 1798.99 +14156.74 1803.03 +14283.08 1807.07 +14300.44 1811.11 +14443.34 1815.15 +14541.8 1819.19 +14560.88 1823.23 +14584.52 1827.27 +14665.63 1831.31 +14718.97 1835.35 +14901.01 1839.39 +14973.02 1843.43 +15054.56 1847.47 +15149.7 1851.52 +15239.98 1855.56 +15272.75 1859.6 +15281.37 1863.64 +15384.03 1867.68 +15419.57 1871.72 +15593.75 1875.76 +15602.55 1879.8 +15724.38 1883.84 +15696.74 1887.88 +15764.41 1891.92 +15910.14 1895.96 +15958.35 1900 \ No newline at end of file diff --git a/motion/thruster_interface/package.xml b/motion/thruster_interface/package.xml index c19b6259..75fa59c4 100644 --- a/motion/thruster_interface/package.xml +++ b/motion/thruster_interface/package.xml @@ -4,50 +4,10 @@ 0.0.0 The thruster_interface package - - - - theoam + Christopher Strøm + MIT - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin rospy std_msgs @@ -56,10 +16,4 @@ rospy std_msgs - - - - - - diff --git a/motion/thruster_interface/src/thruster_interface.cpp b/motion/thruster_interface/src/thruster_interface.cpp new file mode 100644 index 00000000..2b125cd7 --- /dev/null +++ b/motion/thruster_interface/src/thruster_interface.cpp @@ -0,0 +1,126 @@ +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include + +float interpolate(const std::map& pwm_table, float force) { + auto upper_bound = pwm_table.upper_bound(force); + if (upper_bound == pwm_table.end()) { + --upper_bound; + } + auto lower_bound = std::prev(upper_bound); + + if (lower_bound == pwm_table.end()) { + return upper_bound->second; + } + + float force1 = lower_bound->first; + float force2 = upper_bound->first; + float pwm1 = lower_bound->second; + float pwm2 = upper_bound->second; + + if (force1 == force2) { + return pwm1; + } + + return std::round(pwm1 + ((force - force1) * (pwm2 - pwm1)) / (force2 - force1) + 0.5); +} + +std::vector pwm_to_bytes(const std::vector& pwm_values) { + std::vector bytes; + for (const auto& val : pwm_values) { + // Ensure the value is in the correct range and cast to an integer + int pwm_int = static_cast(std::min(std::max(val, 1100), 1900)); + + // Split the integer into most significant byte (MSB) and least significant byte (LSB) + uint8_t msb = (pwm_int >> 8) & 0xFF; + uint8_t lsb = pwm_int & 0xFF; + + // Add MSB and LSB to the bytes vector + bytes.push_back(msb); + bytes.push_back(lsb); + } + return bytes; +} + + + +int main() { + // Create an empty map + std::map pwm_table; + + // Open the data file + std::ifstream data("../config/ThrustMe_P1000_force_mapping.csv"); + if (!data.is_open()) { + std::cerr << "Unable to open file\n"; + return 1; + } + + std::string line; + // Ignore the header line + std::getline(data, line); + + while (std::getline(data, line)) { + std::istringstream stream(line); + + std::string force_str, pwm_str; + + std::getline(stream, force_str, '\t'); + std::getline(stream, pwm_str); + + double force = std::stod(force_str); + double pwm = std::stod(pwm_str); + + pwm_table[force] = pwm; + } + + const int I2C_BUS = 1; + const int I2C_ADDRESS = 0x21; + + int file = open("/dev/i2c-1", O_RDWR); + if (file < 0) { + std::cerr << "Error opening device\n"; + return 1; + } + + if (ioctl(file, I2C_SLAVE, I2C_ADDRESS) < 0) { + std::cerr << "Error setting I2C address\n"; + return 1; + } + + float desired_force_thr_1 = 9000; + float desired_force_thr_2 = 9000; + float desired_force_thr_3 = 9000; + float desired_force_thr_4 = 9000; + + int pwm_thr_1 = interpolate(pwm_table, desired_force_thr_1); + int pwm_thr_2 = interpolate(pwm_table, desired_force_thr_2); + int pwm_thr_3 = interpolate(pwm_table, desired_force_thr_3); + int pwm_thr_4 = interpolate(pwm_table, desired_force_thr_4); + + std::vector pwm_values = {pwm_thr_1, pwm_thr_2, pwm_thr_3, pwm_thr_4}; + std::vector pwm_bytes = pwm_to_bytes(pwm_values); + int data_size = pwm_bytes.size(); + + + // Send the I2C message + if (write(file, pwm_bytes.data(), data_size) != data_size) { + std::cerr << "Error sending data\n"; + return 1; + } + + close(file); + + + return 0; +} \ No newline at end of file diff --git a/motion/thruster_interface/src/thruster_interface_node.py b/motion/thruster_interface/src/thruster_interface_node.py index f300895a..80bdcce0 100755 --- a/motion/thruster_interface/src/thruster_interface_node.py +++ b/motion/thruster_interface/src/thruster_interface_node.py @@ -29,7 +29,7 @@ def __init__( self.thruster_directions = thruster_directions self.thruster_offsets = thruster_offsets - self.bus = smbus2.SMBus(7) + self.bus = smbus2.SMBus(1) self.address = 0x21 self.thruster_operational_voltage_range = rospy.get_param( From 07a9ac7faa45abbf39aadaf9229cbb38de73f13f Mon Sep 17 00:00:00 2001 From: Clang Robot Date: Sat, 5 Aug 2023 18:35:00 +0000 Subject: [PATCH 025/132] Committing clang-format changes --- .../src/thruster_interface.cpp | 178 +++++++++--------- 1 file changed, 88 insertions(+), 90 deletions(-) diff --git a/motion/thruster_interface/src/thruster_interface.cpp b/motion/thruster_interface/src/thruster_interface.cpp index 2b125cd7..c48a923c 100644 --- a/motion/thruster_interface/src/thruster_interface.cpp +++ b/motion/thruster_interface/src/thruster_interface.cpp @@ -1,126 +1,124 @@ -#include #include -#include +#include #include #include +#include +#include +#include +#include #include #include -#include #include -#include -#include #include -float interpolate(const std::map& pwm_table, float force) { - auto upper_bound = pwm_table.upper_bound(force); - if (upper_bound == pwm_table.end()) { - --upper_bound; - } - auto lower_bound = std::prev(upper_bound); +float interpolate(const std::map &pwm_table, float force) { + auto upper_bound = pwm_table.upper_bound(force); + if (upper_bound == pwm_table.end()) { + --upper_bound; + } + auto lower_bound = std::prev(upper_bound); - if (lower_bound == pwm_table.end()) { - return upper_bound->second; - } + if (lower_bound == pwm_table.end()) { + return upper_bound->second; + } - float force1 = lower_bound->first; - float force2 = upper_bound->first; - float pwm1 = lower_bound->second; - float pwm2 = upper_bound->second; + float force1 = lower_bound->first; + float force2 = upper_bound->first; + float pwm1 = lower_bound->second; + float pwm2 = upper_bound->second; - if (force1 == force2) { - return pwm1; - } + if (force1 == force2) { + return pwm1; + } - return std::round(pwm1 + ((force - force1) * (pwm2 - pwm1)) / (force2 - force1) + 0.5); + return std::round( + pwm1 + ((force - force1) * (pwm2 - pwm1)) / (force2 - force1) + 0.5); } -std::vector pwm_to_bytes(const std::vector& pwm_values) { - std::vector bytes; - for (const auto& val : pwm_values) { - // Ensure the value is in the correct range and cast to an integer - int pwm_int = static_cast(std::min(std::max(val, 1100), 1900)); - - // Split the integer into most significant byte (MSB) and least significant byte (LSB) - uint8_t msb = (pwm_int >> 8) & 0xFF; - uint8_t lsb = pwm_int & 0xFF; - - // Add MSB and LSB to the bytes vector - bytes.push_back(msb); - bytes.push_back(lsb); - } - return bytes; +std::vector pwm_to_bytes(const std::vector &pwm_values) { + std::vector bytes; + for (const auto &val : pwm_values) { + // Ensure the value is in the correct range and cast to an integer + int pwm_int = static_cast(std::min(std::max(val, 1100), 1900)); + + // Split the integer into most significant byte (MSB) and least significant + // byte (LSB) + uint8_t msb = (pwm_int >> 8) & 0xFF; + uint8_t lsb = pwm_int & 0xFF; + + // Add MSB and LSB to the bytes vector + bytes.push_back(msb); + bytes.push_back(lsb); + } + return bytes; } - - int main() { - // Create an empty map - std::map pwm_table; - - // Open the data file - std::ifstream data("../config/ThrustMe_P1000_force_mapping.csv"); - if (!data.is_open()) { - std::cerr << "Unable to open file\n"; - return 1; - } + // Create an empty map + std::map pwm_table; - std::string line; - // Ignore the header line - std::getline(data, line); + // Open the data file + std::ifstream data("../config/ThrustMe_P1000_force_mapping.csv"); + if (!data.is_open()) { + std::cerr << "Unable to open file\n"; + return 1; + } - while (std::getline(data, line)) { - std::istringstream stream(line); + std::string line; + // Ignore the header line + std::getline(data, line); - std::string force_str, pwm_str; + while (std::getline(data, line)) { + std::istringstream stream(line); - std::getline(stream, force_str, '\t'); - std::getline(stream, pwm_str); + std::string force_str, pwm_str; - double force = std::stod(force_str); - double pwm = std::stod(pwm_str); + std::getline(stream, force_str, '\t'); + std::getline(stream, pwm_str); - pwm_table[force] = pwm; - } - - const int I2C_BUS = 1; - const int I2C_ADDRESS = 0x21; + double force = std::stod(force_str); + double pwm = std::stod(pwm_str); - int file = open("/dev/i2c-1", O_RDWR); - if (file < 0) { - std::cerr << "Error opening device\n"; - return 1; - } + pwm_table[force] = pwm; + } - if (ioctl(file, I2C_SLAVE, I2C_ADDRESS) < 0) { - std::cerr << "Error setting I2C address\n"; - return 1; - } + const int I2C_BUS = 1; + const int I2C_ADDRESS = 0x21; - float desired_force_thr_1 = 9000; - float desired_force_thr_2 = 9000; - float desired_force_thr_3 = 9000; - float desired_force_thr_4 = 9000; + int file = open("/dev/i2c-1", O_RDWR); + if (file < 0) { + std::cerr << "Error opening device\n"; + return 1; + } - int pwm_thr_1 = interpolate(pwm_table, desired_force_thr_1); - int pwm_thr_2 = interpolate(pwm_table, desired_force_thr_2); - int pwm_thr_3 = interpolate(pwm_table, desired_force_thr_3); - int pwm_thr_4 = interpolate(pwm_table, desired_force_thr_4); + if (ioctl(file, I2C_SLAVE, I2C_ADDRESS) < 0) { + std::cerr << "Error setting I2C address\n"; + return 1; + } - std::vector pwm_values = {pwm_thr_1, pwm_thr_2, pwm_thr_3, pwm_thr_4}; - std::vector pwm_bytes = pwm_to_bytes(pwm_values); - int data_size = pwm_bytes.size(); + float desired_force_thr_1 = 9000; + float desired_force_thr_2 = 9000; + float desired_force_thr_3 = 9000; + float desired_force_thr_4 = 9000; + int pwm_thr_1 = interpolate(pwm_table, desired_force_thr_1); + int pwm_thr_2 = interpolate(pwm_table, desired_force_thr_2); + int pwm_thr_3 = interpolate(pwm_table, desired_force_thr_3); + int pwm_thr_4 = interpolate(pwm_table, desired_force_thr_4); - // Send the I2C message - if (write(file, pwm_bytes.data(), data_size) != data_size) { - std::cerr << "Error sending data\n"; - return 1; - } + std::vector pwm_values = {pwm_thr_1, pwm_thr_2, pwm_thr_3, pwm_thr_4}; + std::vector pwm_bytes = pwm_to_bytes(pwm_values); + int data_size = pwm_bytes.size(); - close(file); + // Send the I2C message + if (write(file, pwm_bytes.data(), data_size) != data_size) { + std::cerr << "Error sending data\n"; + return 1; + } + close(file); - return 0; + return 0; } \ No newline at end of file From 5985828b194923606881b68a77b001ba6647b9f4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Sat, 5 Aug 2023 21:59:58 +0200 Subject: [PATCH 026/132] Add cpp thruster interface first draft MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- motion/thruster_interface/CMakeLists.txt | 203 +--------- .../thruster_interface/thruster_interface.hpp | 35 ++ .../thruster_interface_ros.hpp | 23 ++ .../launch/thruster_interface.launch | 5 +- motion/thruster_interface/package.xml | 15 +- .../src/thruster_interface.cpp | 144 +++---- .../src/thruster_interface_node.cpp | 10 + .../src/thruster_interface_node.py | 367 ------------------ .../src/thruster_interface_ros.cpp | 19 + .../tests/thruster_interface_test.cpp | 135 +++++++ 10 files changed, 312 insertions(+), 644 deletions(-) create mode 100644 motion/thruster_interface/include/thruster_interface/thruster_interface.hpp create mode 100644 motion/thruster_interface/include/thruster_interface/thruster_interface_ros.hpp create mode 100644 motion/thruster_interface/src/thruster_interface_node.cpp delete mode 100755 motion/thruster_interface/src/thruster_interface_node.py create mode 100644 motion/thruster_interface/src/thruster_interface_ros.cpp create mode 100644 motion/thruster_interface/tests/thruster_interface_test.cpp diff --git a/motion/thruster_interface/CMakeLists.txt b/motion/thruster_interface/CMakeLists.txt index 0510f339..bcecb79d 100644 --- a/motion/thruster_interface/CMakeLists.txt +++ b/motion/thruster_interface/CMakeLists.txt @@ -1,205 +1,32 @@ cmake_minimum_required(VERSION 3.0.2) project(thruster_interface) -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) +add_compile_options(-std=c++17) -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS - rospy + roscpp + roslib std_msgs + vortex_msgs ) -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( -# INCLUDE_DIRS include -# LIBRARIES thruster_interface -# CATKIN_DEPENDS rospy std_msgs -# DEPENDS system_lib + INCLUDE_DIRS include ) -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations include_directories( -# include + include ${catkin_INCLUDE_DIRS} ) -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/thruster_interface.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/thruster_interface_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +add_executable( + ${PROJECT_NAME}_node + src/thruster_interface.cpp + src/thruster_interface_ros.cpp + src/thruster_interface_node.cpp +) ## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# catkin_install_python(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_thruster_interface.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +target_link_libraries(${PROJECT_NAME}_node + ${catkin_LIBRARIES} +) \ No newline at end of file diff --git a/motion/thruster_interface/include/thruster_interface/thruster_interface.hpp b/motion/thruster_interface/include/thruster_interface/thruster_interface.hpp new file mode 100644 index 00000000..7157da3e --- /dev/null +++ b/motion/thruster_interface/include/thruster_interface/thruster_interface.hpp @@ -0,0 +1,35 @@ +#ifndef THRUSTER_INTERFACE_HPP +#define THRUSTER_INTERFACE_HPP + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +class ThrusterInterface { +private: + std::map pwm_table; + const int I2C_BUS = 1; + const int I2C_ADDRESS = 0x21; + const char* I2C_DEVICE = "/dev/i2c-1"; + + float interpolate(float force); + std::vector pwm_to_bytes(const std::vector &pwm_values); + +public: + ThrusterInterface(std::string mapping_file); + void publish_thrust_to_escs(std::vector forces); +}; + +#endif // THRUSTER_INTERFACE_HPP diff --git a/motion/thruster_interface/include/thruster_interface/thruster_interface_ros.hpp b/motion/thruster_interface/include/thruster_interface/thruster_interface_ros.hpp new file mode 100644 index 00000000..65ba5d06 --- /dev/null +++ b/motion/thruster_interface/include/thruster_interface/thruster_interface_ros.hpp @@ -0,0 +1,23 @@ +#ifndef THRUSTER_INTERFACE_ROS_HPP +#define THRUSTER_INTERFACE_ROS_HPP + +#include "thruster_interface/thruster_interface.hpp" + +#include "vortex_msgs/ThrusterForces.h" + +#include +#include + +class ThrusterInterfaceROS { +private: + std::string mapping_file = ros::package::getPath("thruster_interface") + "/config/ThrustMe_P1000_force_mapping.csv"; + ThrusterInterface thrusterInterface{mapping_file}; + ros::NodeHandle nh; + ros::Subscriber sub; + +public: + ThrusterInterfaceROS(); + void thrustCallback(const vortex_msgs::ThrusterForces::ConstPtr& msg); +}; + +#endif // THRUSTER_INTERFACE_ROS_HPP diff --git a/motion/thruster_interface/launch/thruster_interface.launch b/motion/thruster_interface/launch/thruster_interface.launch index 0bbed016..108cb3b6 100644 --- a/motion/thruster_interface/launch/thruster_interface.launch +++ b/motion/thruster_interface/launch/thruster_interface.launch @@ -1,9 +1,6 @@ - - - - + diff --git a/motion/thruster_interface/package.xml b/motion/thruster_interface/package.xml index 75fa59c4..cd320992 100644 --- a/motion/thruster_interface/package.xml +++ b/motion/thruster_interface/package.xml @@ -9,11 +9,18 @@ MIT catkin - rospy + roscpp + roslib std_msgs - rospy - std_msgs - rospy + vortex_msgs + + roscpp + roslib std_msgs + vortex_msgs + + + + diff --git a/motion/thruster_interface/src/thruster_interface.cpp b/motion/thruster_interface/src/thruster_interface.cpp index 2b125cd7..b70634be 100644 --- a/motion/thruster_interface/src/thruster_interface.cpp +++ b/motion/thruster_interface/src/thruster_interface.cpp @@ -1,19 +1,35 @@ -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include - -#include - -float interpolate(const std::map& pwm_table, float force) { +#include "thruster_interface/thruster_interface.hpp" + + +ThrusterInterface::ThrusterInterface(std::string mapping_file) { + // Open the data file + std::ifstream data(mapping_file); + + if (!data.is_open()) { + std::cerr << "Unable to open file\n"; + exit(1); + } + + std::string line; + // Ignore the header line + std::getline(data, line); + + while (std::getline(data, line)) { + std::istringstream stream(line); + + std::string force_str, pwm_str; + + std::getline(stream, force_str, '\t'); + std::getline(stream, pwm_str); + + double force = std::stod(force_str); + double pwm = std::stod(pwm_str); + + pwm_table[force] = pwm; + } +} + +float ThrusterInterface::interpolate(float force) { auto upper_bound = pwm_table.upper_bound(force); if (upper_bound == pwm_table.end()) { --upper_bound; @@ -26,6 +42,7 @@ float interpolate(const std::map& pwm_table, float force) { float force1 = lower_bound->first; float force2 = upper_bound->first; + float pwm1 = lower_bound->second; float pwm2 = upper_bound->second; @@ -36,91 +53,56 @@ float interpolate(const std::map& pwm_table, float force) { return std::round(pwm1 + ((force - force1) * (pwm2 - pwm1)) / (force2 - force1) + 0.5); } -std::vector pwm_to_bytes(const std::vector& pwm_values) { - std::vector bytes; - for (const auto& val : pwm_values) { - // Ensure the value is in the correct range and cast to an integer - int pwm_int = static_cast(std::min(std::max(val, 1100), 1900)); +std::vector ThrusterInterface::pwm_to_bytes(const std::vector &pwm_values) { - // Split the integer into most significant byte (MSB) and least significant byte (LSB) - uint8_t msb = (pwm_int >> 8) & 0xFF; - uint8_t lsb = pwm_int & 0xFF; - - // Add MSB and LSB to the bytes vector - bytes.push_back(msb); - bytes.push_back(lsb); - } - return bytes; -} + std::vector bytes; + for (const auto &val : pwm_values) { + // Ensure the value is in the correct range and cast to an integer + int pwm_int = static_cast(std::min(std::max(val, 1100), 1900)); + // Split the integer into most significant byte (MSB) and least significant + // byte (LSB) + uint8_t msb = (pwm_int >> 8) & 0xFF; + uint8_t lsb = pwm_int & 0xFF; + // Add MSB and LSB to the bytes vector + bytes.push_back(msb); + bytes.push_back(lsb); + } + return bytes; +} -int main() { - // Create an empty map - std::map pwm_table; - - // Open the data file - std::ifstream data("../config/ThrustMe_P1000_force_mapping.csv"); - if (!data.is_open()) { - std::cerr << "Unable to open file\n"; - return 1; +void ThrusterInterface::publish_thrust_to_escs(std::vector forces) { + std::vector pwm_values; + for (auto force : forces) { + pwm_values.push_back(interpolate(force)); } - std::string line; - // Ignore the header line - std::getline(data, line); - - while (std::getline(data, line)) { - std::istringstream stream(line); - - std::string force_str, pwm_str; - - std::getline(stream, force_str, '\t'); - std::getline(stream, pwm_str); - - double force = std::stod(force_str); - double pwm = std::stod(pwm_str); + std::vector pwm_bytes = pwm_to_bytes(pwm_values); + int data_size = pwm_bytes.size(); - pwm_table[force] = pwm; - } - - const int I2C_BUS = 1; - const int I2C_ADDRESS = 0x21; + // DEBUG + // for (auto pwm : pwm_values) { + // std::cout << pwm << " "; + // } + // std::cout << std::endl; - int file = open("/dev/i2c-1", O_RDWR); + int file = open(I2C_DEVICE, O_RDWR); if (file < 0) { std::cerr << "Error opening device\n"; - return 1; + exit(1); } if (ioctl(file, I2C_SLAVE, I2C_ADDRESS) < 0) { std::cerr << "Error setting I2C address\n"; - return 1; + exit(1); } - float desired_force_thr_1 = 9000; - float desired_force_thr_2 = 9000; - float desired_force_thr_3 = 9000; - float desired_force_thr_4 = 9000; - - int pwm_thr_1 = interpolate(pwm_table, desired_force_thr_1); - int pwm_thr_2 = interpolate(pwm_table, desired_force_thr_2); - int pwm_thr_3 = interpolate(pwm_table, desired_force_thr_3); - int pwm_thr_4 = interpolate(pwm_table, desired_force_thr_4); - - std::vector pwm_values = {pwm_thr_1, pwm_thr_2, pwm_thr_3, pwm_thr_4}; - std::vector pwm_bytes = pwm_to_bytes(pwm_values); - int data_size = pwm_bytes.size(); - - // Send the I2C message if (write(file, pwm_bytes.data(), data_size) != data_size) { std::cerr << "Error sending data\n"; - return 1; + exit(1); } close(file); - - - return 0; } \ No newline at end of file diff --git a/motion/thruster_interface/src/thruster_interface_node.cpp b/motion/thruster_interface/src/thruster_interface_node.cpp new file mode 100644 index 00000000..b550dc30 --- /dev/null +++ b/motion/thruster_interface/src/thruster_interface_node.cpp @@ -0,0 +1,10 @@ +#include "thruster_interface/thruster_interface_ros.hpp" + +int main(int argc, char **argv) { + ros::init(argc, argv, "thruster_interface_node"); + ThrusterInterfaceROS thrusterInterfaceROS; + + ros::spin(); + + return 0; +} \ No newline at end of file diff --git a/motion/thruster_interface/src/thruster_interface_node.py b/motion/thruster_interface/src/thruster_interface_node.py deleted file mode 100755 index 80bdcce0..00000000 --- a/motion/thruster_interface/src/thruster_interface_node.py +++ /dev/null @@ -1,367 +0,0 @@ -#!/usr/bin/python3 - -from math import isnan, isinf -from collections import deque -import numpy as np -from openpyxl import load_workbook -from scipy.interpolate import interp1d - -import smbus2 - -import rospy, rospkg -from std_msgs.msg import Float32, Float32MultiArray -from vortex_msgs.msg import Pwm - - -class ThrusterInterface(object): - - def __init__( - self, - thruster_datasheet_path, - voltage_topic, - thruster_forces_topic, - pwm_topic, - num_thrusters, - thruster_directions, - thruster_offsets, - ): - self.num_thrusters = num_thrusters - self.thruster_directions = thruster_directions - self.thruster_offsets = thruster_offsets - - self.bus = smbus2.SMBus(1) - self.address = 0x21 - - self.thruster_operational_voltage_range = rospy.get_param( - "/propulsion/thrusters/thrusters_operational_voltage_range") - self.thruster_operational_voltage_min = self.thruster_operational_voltage_range[ - 0] - self.thruster_operational_voltage_max = self.thruster_operational_voltage_range[ - 1] - - self.thruster_map = rospy.get_param("/propulsion/thrusters/map") - self.thrust_range = rospy.get_param( - "/propulsion/thrusters/thrust_range") - self.pwm_limit_min = self.map_percentage_to_pwm( - self.thrust_range[0], 1100, 1900) - self.pwm_limit_max = self.map_percentage_to_pwm( - self.thrust_range[1], 1100, 1900) - - # create thruster to pwm lookup function - rospy.loginfo("Parsing and interpolating thruster datasheet..") - ( - self.pwm_values, - self.thrusts_from_voltage, - self.thrust_to_pwm, - ) = self.parse_and_interpolate_thruster_data(thruster_datasheet_path) - - # set up subscribers and publishers - self.voltage_queue = deque([10] * 10) - self.voltage_sub = rospy.Subscriber(voltage_topic, Float32, - self.voltage_cb) - # rospy.loginfo("waiting for voltage on %s.." % voltage_topic) - # rospy.wait_for_message(voltage_topic, Float32) # voltage must be set - self.pwm_pub = rospy.Publisher(pwm_topic, Pwm, queue_size=1) - self.thrust_sub = rospy.Subscriber(thruster_forces_topic, - Float32MultiArray, self.thrust_cb) - self.delivered_thrust_pub = rospy.Publisher("/thrust/delivered_forces", - Float32MultiArray, - queue_size=1) - - self.output_to_zero() - rospy.on_shutdown(self.output_to_zero) - - rospy.loginfo("Thruster interface initialized") - - def map_percentage_to_pwm(self, percentage, rangeStart, rangeEnd): - """maps percentage values from -1.9 to 1.0 into start and range pwm signal - Args: - percentage: Percentage that will be maped [-1.0, 1.0] - rangeStart: PWM sart range - rangeEnd: PWM end range - Returns: - list: all possible pwm values - dict[float]: dictionary with thrust for each pwm for a given voltage - dict[float]: dictionary with thrust_to_pwm interpolation functions - for a given voltage - """ - - pwmSignal = int(((percentage + 1) / 2) * (rangeEnd - rangeStart) + - rangeStart) - return pwmSignal - - def parse_and_interpolate_thruster_data(self, thruster_datasheet_path): - """Parses the ThrustMe P1000 datasheet and creates a new dataset - for voltages at steps of 0.1 by scaling existing data. - Args: - thruster_datasheet_path (string): path to P1000 thruster dataseheet - Returns: - list: all possible pwm values - dict[float]: dictionary with thrust for each pwm for a given voltage - dict[float]: dictionary with thrust_to_pwm interpolation functions - for a given voltage - """ - - # parse P1000 datasheet - workbook = load_workbook(filename=thruster_datasheet_path) - voltages = [20.5, 22.5, 24.5] - pwm_values = [cell[0].value for cell in workbook["18.5V"]["B3":"B191"]] - thrusts_dict = dict() - for voltage in voltages: - thrusts_dict[voltage] = [ - cell[0].value * 9.8 / 1000 - for cell in workbook["%.1fV" % voltage]["A3":"A191"] - ] # * 9.8 / 1000 for converting from grams f to newton - - # create new dataset with voltage steps of 0.1 by interpolating - new_voltage_steps = np.round(np.arange(20, 25.01, 0.1), decimals=1) - thrusts_from_voltage = dict() - for voltage in new_voltage_steps: - thrusts_from_voltage[voltage] = [] - for i in range(len(pwm_values)): - pwm = pwm_values[i] - thrusts = [thrusts_dict[voltage][i] for voltage in voltages] - interpolated_thrusts = np.interp(new_voltage_steps, voltages, - thrusts) - - # save interpolated thrusts to dict - for voltage, thrust in zip(new_voltage_steps, - interpolated_thrusts): - thrusts_from_voltage[voltage].append(thrust) - - # create pwm_lookup functions by 1d interpolation of thrusts at each voltage level - thrust_to_pwm = dict() - for voltage in new_voltage_steps: - thrust_to_pwm[voltage] = interp1d(thrusts_from_voltage[voltage], - pwm_values, - kind="slinear") - - return (pwm_values, thrusts_from_voltage, thrust_to_pwm) - - def pwm_lookup(self, thrust, voltage): - """finds a good pwm value for a desired thrust and a battery voltage - Args: - thrust (Float32): desired thruster forces - voltage (Float): battery voltage - Returns: - Int: pwm signal - """ - if ( - thrust == 0 - ): # neccessary since multiple pwms map to zero thrust, which confuses the interpolation - return 1500 - else: - voltage_rounded = np.round(voltage, decimals=1) - pwm = self.thrust_to_pwm[voltage_rounded](thrust) - return int(np.round(pwm)) - - def zero_thrust_msg(self): - """creates a ThrusterForces message with all thrusts set to zero - Returns: - ThrusterForces: message with all thrusts set to zero - """ - zero_thrust_msg = Float32MultiArray() - for i in range(self.num_thrusters): - zero_thrust_msg.data.append(0) - return zero_thrust_msg - - def get_voltage(self): - return 22.0 # We haven't implemented BMS yet, what should arctually be there is np.round(sum(self.voltage_queue) / len(self.voltage_queue), 1) - - def validate_and_limit_thrust(self, thrust_msg): - """limits a thrust value to achieveable maximum and minumum values and - performs sanity checks on the message. Returns zero thrust is desired - thrust is insane and returns a limited thurst if desired thrusts are - out of bounds. - Args: - thrust_msg (Float32): msg with desired thrusts in newton - Returns: - Float32: msg with achievable thrusts in newton - """ - thruster_forces = list(thrust_msg.data) - voltage = self.get_voltage() - - if len(thrust_msg.data) != self.num_thrusters: - return self.zero_thrust_msg() - - for thruster_number in range(len(thrust_msg.data)): - forward_limit = self.thrusts_from_voltage[voltage][ - -self.thruster_offsets[thruster_number] // 4 - - 5] # 4 because of steps provided in T200 datasheet, 5 because of a quick hack - reverse_limit = self.thrusts_from_voltage[voltage][ - self.thruster_offsets[thruster_number] // 4 + 5] - thrust = thrust_msg.data[thruster_number] - - if isnan(thrust) or isinf(thrust): - return self.zero_thrust_msg() - if thrust > forward_limit: - thruster_forces[thruster_number] = forward_limit - if thrust < reverse_limit: - thruster_forces[thruster_number] = reverse_limit - - return Float32MultiArray(data=thruster_forces) - - def limit_pwm(self, pwm, i): - """limits pwm to a preset amount, has a hardcoded limiter for min/max values just in case - Args: - pwm (Int): a pwm value - i: thruster nr.? - Returns: - double: int limited pwm value - """ - - # Softcoded limit that can be changed - if pwm > (self.pwm_limit_max + - self.thruster_offsets[self.thruster_map[i]]): - pwm = self.pwm_limit_max + self.thruster_offsets[ - self.thruster_map[i]] - elif pwm < (self.pwm_limit_min + - self.thruster_offsets[self.thruster_map[i]]): - pwm = self.pwm_limit_min + self.thruster_offsets[ - self.thruster_map[i]] - - # A hardcoded limit if someone sets thrust ofset to high, we limit it to 1900 or 1100 PWM - if pwm > 1900: - return 1900 - elif pwm < 1100: - return 1100 - - return pwm - - def output_to_zero(self): - """Sets thrust to zero""" - zero_thrust_msg = self.zero_thrust_msg() - self.thrust_cb(zero_thrust_msg) - - def voltage_cb(self, voltage_msg): - """Rounds voltage to one decimal and saves it - Args: - voltage_msg (Float32): voltage in volt - """ - self.add_voltage(voltage_msg.data) - - def thrust_from_pwm(self, pwm): - """returns thrust for a given pwm, taking system voltage into account. - Args: - pwm (Int): a pwm value - Returns: - double: thrust value - """ - return self.pwm_to_thrust[self.get_voltage()](pwm) - - def thrust_cb(self, thrust_msg): - """Takes inn desired thruster forces and publishes - corresponding desired pwm values. - Args: - thrust_msg (Float32): desired thruster forces in newton - """ - - # check that voltage is within range - voltage = self.get_voltage() - if not (self.thruster_operational_voltage_min <= voltage <= - self.thruster_operational_voltage_max): - self.STOP_thrusters() - return - - # validate thrust - validated_thrust_msg = self.validate_and_limit_thrust(thrust_msg) - thrust = list(validated_thrust_msg.data) - - # calculate pwm values from desired thrust and system voltage - microsecs = [None] * self.num_thrusters - pwm_msg = Pwm() - for i in range(self.num_thrusters): - pwm_microsecs = ( - self.pwm_lookup(thrust[self.thruster_map[i]], voltage) + - self.thruster_offsets[i]) - - if self.thruster_directions[self.thruster_map[i]] == -1: - middle_value = 1500 + self.thruster_offsets[ - self.thruster_map[i]] - diff = pwm_microsecs - middle_value - pwm_microsecs = middle_value - diff - pwm_microsecs = self.limit_pwm(pwm_microsecs, i) - microsecs[self.thruster_map[i]] = pwm_microsecs - # Make pwm list here for i2c - pwm_msg.pins.append(self.thruster_map[i]) - - # Write to i2c - address = 1 - self.send_i2c_data(address, microsecs) - - # publish pwm - pwm_msg.positive_width_us = np.array(microsecs).astype("uint16") - self.pwm_pub.publish(pwm_msg) - - # publish delivered thrust (for data collection purposes) - self.delivered_thrust_pub.publish(validated_thrust_msg) - - def STOP_thrusters(self): - # calculate pwm values to STOP thusters - pwm_microsecs = [None] * self.num_thrusters - pwm_msg = Pwm() - for i in range(self.num_thrusters): - middle_value = 1500 + self.thruster_offsets[self.thruster_map[i]] - pwm_microsecs[self.thruster_map[i]] = middle_value # Thrust to 0% - # Make pwm list here for i2c - pwm_msg.pins.append(self.thruster_map[i]) - - # publish pwm - pwm_msg.positive_width_us = np.array(pwm_microsecs).astype("uint16") - # Write 1500 microseconds. - self.pwm_pub.publish(pwm_msg) - - # publish delivered thrust (for data collection purposes) - self.delivered_thrust_pub.publish(self.zero_thrust_msg()) - - def send_i2c_data(self, address, microsecs): - data_to_send = [] - temp = 0 - for data in microsecs: - # Split the 16-bit integer into two 8-bit bytes - msb = data >> 8 - lsb = data & 0xFF - data_to_send += [msb] - data_to_send += [lsb] - temp += 2 - # Since the function actually requires a sort of "signing" acknowledgement package, - # We just put the first byte as the signing acknowledgement package, the rest of the 7 bytes are sent as usual - # Thanks to this we get 8 bytes in the end, which is necessary for our implementation - self.bus.write_i2c_block_data(self.address, data_to_send[0], - data_to_send[1:temp]) - - -if __name__ == "__main__": - rospy.init_node("thruster_interface", log_level=rospy.INFO) - rospack = rospkg.RosPack() - thruster_interface_path = rospack.get_path("thruster_interface") - - PWM_TOPIC = rospy.get_param("/thruster_interface/pwm_topic", - default="/pwm") - VOLTAGE_TOPIC = rospy.get_param("/thruster_interface/voltage_topic", - default="/auv/battery_level/system") - DESIRED_THRUST_TOPIC = rospy.get_param( - "/thruster_interface/desired_thrust_topic", - default="/thrust/thruster_forces") - - P1000_DATASHEET_PATH = rospy.get_param( - "/thruster_interface/thruster_datasheet_path", - default= - "%s/config//ThrustMe-P1000-force-mapping-forward-reverse-datablad.xlsx" - % thruster_interface_path, - ) - NUM_THRUSTERS = rospy.get_param("/propulsion/thrusters/num") - THRUST_OFFSET = rospy.get_param("/propulsion/thrusters/offset") - THRUSTER_DIRECTION = rospy.get_param("/propulsion/thrusters/direction") - - thruster_interface = ThrusterInterface( - thruster_datasheet_path=P1000_DATASHEET_PATH, - voltage_topic=VOLTAGE_TOPIC, - thruster_forces_topic=DESIRED_THRUST_TOPIC, - pwm_topic=PWM_TOPIC, - num_thrusters=NUM_THRUSTERS, - thruster_directions=THRUSTER_DIRECTION, - thruster_offsets=THRUST_OFFSET, - ) - - rospy.spin() diff --git a/motion/thruster_interface/src/thruster_interface_ros.cpp b/motion/thruster_interface/src/thruster_interface_ros.cpp new file mode 100644 index 00000000..66656df2 --- /dev/null +++ b/motion/thruster_interface/src/thruster_interface_ros.cpp @@ -0,0 +1,19 @@ +#include "thruster_interface/thruster_interface_ros.hpp" + +ThrusterInterfaceROS::ThrusterInterfaceROS() { + sub = nh.subscribe("/thrust/thruster_forces", 10, &ThrusterInterfaceROS::thrustCallback, this); +} + +void ThrusterInterfaceROS::thrustCallback(const vortex_msgs::ThrusterForces::ConstPtr& msg) { + // Convert from Newton to grams + double newton_to_gram_conversion_factor = 101.97162; + + std::vector forces_in_grams = { + msg->thrust[0] * newton_to_gram_conversion_factor, + msg->thrust[1] * newton_to_gram_conversion_factor, + msg->thrust[2] * newton_to_gram_conversion_factor, + msg->thrust[3] * newton_to_gram_conversion_factor + }; + + thrusterInterface.publish_thrust_to_escs(forces_in_grams); +} \ No newline at end of file diff --git a/motion/thruster_interface/tests/thruster_interface_test.cpp b/motion/thruster_interface/tests/thruster_interface_test.cpp new file mode 100644 index 00000000..c09763a2 --- /dev/null +++ b/motion/thruster_interface/tests/thruster_interface_test.cpp @@ -0,0 +1,135 @@ +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include + +#include +#include + + +float desired_force = 0; + +float interpolate(const std::map &pwm_table, float force) { + auto upper_bound = pwm_table.upper_bound(force); + if (upper_bound == pwm_table.end()) { + --upper_bound; + } + auto lower_bound = std::prev(upper_bound); + + if (lower_bound == pwm_table.end()) { + return upper_bound->second; + } + + float force1 = lower_bound->first; + float force2 = upper_bound->first; + float pwm1 = lower_bound->second; + float pwm2 = upper_bound->second; + + if (force1 == force2) { + return pwm1; + } + + return std::round( + pwm1 + ((force - force1) * (pwm2 - pwm1)) / (force2 - force1) + 0.5); +} + +std::vector pwm_to_bytes(const std::vector &pwm_values) { + std::vector bytes; + for (const auto &val : pwm_values) { + // Ensure the value is in the correct range and cast to an integer + int pwm_int = static_cast(std::min(std::max(val, 1100), 1900)); + + // Split the integer into most significant byte (MSB) and least significant + // byte (LSB) + uint8_t msb = (pwm_int >> 8) & 0xFF; + uint8_t lsb = pwm_int & 0xFF; + + // Add MSB and LSB to the bytes vector + bytes.push_back(msb); + bytes.push_back(lsb); + } + return bytes; +} + +int main() { + // Create an empty map + std::map pwm_table; + + // Open the data file + std::ifstream data("../config/ThrustMe_P1000_force_mapping.csv"); + + if (!data.is_open()) { + std::cerr << "Unable to open file\n"; + return 1; + } + + std::string line; + // Ignore the header line + std::getline(data, line); + + while (std::getline(data, line)) { + std::istringstream stream(line); + + std::string force_str, pwm_str; + + std::getline(stream, force_str, '\t'); + std::getline(stream, pwm_str); + + double force = std::stod(force_str); + double pwm = std::stod(pwm_str); + + pwm_table[force] = pwm; + } + + const int I2C_BUS = 1; + const int I2C_ADDRESS = 0x21; + + + int file = open("/dev/i2c-1", O_RDWR); + if (file < 0) { + std::cerr << "Error opening device\n"; + return 1; + } + + if (ioctl(file, I2C_SLAVE, I2C_ADDRESS) < 0) { + std::cerr << "Error setting I2C address\n"; + return 1; + } + + + float desired_force_thr_1 = 0.0; //12000 - 250*i; + float desired_force_thr_2 = 0.0; //-5000 + 500*i; //12000 - 250*i; + float desired_force_thr_3 = 0.0;//-5000 + 500*i; //0.0; //12000 - 250*i; + float desired_force_thr_4 = -5000 + 500*i; //12000 - 250*i; + + int pwm_thr_1 = interpolate(pwm_table, desired_force_thr_1); + int pwm_thr_2 = interpolate(pwm_table, desired_force_thr_2); + int pwm_thr_3 = interpolate(pwm_table, desired_force_thr_3); + int pwm_thr_4 = interpolate(pwm_table, desired_force_thr_4); + + std::vector pwm_values = {pwm_thr_1, pwm_thr_2, pwm_thr_3, pwm_thr_4}; + std::vector pwm_bytes = pwm_to_bytes(pwm_values); + + + int data_size = pwm_bytes.size(); + + // Send the I2C message + if (write(file, pwm_bytes.data(), data_size) != data_size) { + std::cerr << "Error sending data\n"; + return 1; + } + + close(file); + + return 0; +} From 117c9ca1d41961634c00ecbc4c6d957d2f444a1a Mon Sep 17 00:00:00 2001 From: Clang Robot Date: Sat, 5 Aug 2023 20:01:19 +0000 Subject: [PATCH 027/132] Committing clang-format changes --- .../thruster_interface/thruster_interface.hpp | 33 +++-- .../thruster_interface_ros.hpp | 15 ++- .../src/thruster_interface.cpp | 122 +++++++++--------- .../src/thruster_interface_node.cpp | 8 +- .../src/thruster_interface_ros.cpp | 23 ++-- .../tests/thruster_interface_test.cpp | 100 +++++++------- 6 files changed, 149 insertions(+), 152 deletions(-) diff --git a/motion/thruster_interface/include/thruster_interface/thruster_interface.hpp b/motion/thruster_interface/include/thruster_interface/thruster_interface.hpp index 7157da3e..26e7fc93 100644 --- a/motion/thruster_interface/include/thruster_interface/thruster_interface.hpp +++ b/motion/thruster_interface/include/thruster_interface/thruster_interface.hpp @@ -1,35 +1,34 @@ #ifndef THRUSTER_INTERFACE_HPP #define THRUSTER_INTERFACE_HPP -#include -#include -#include -#include -#include -#include +#include #include #include #include +#include +#include #include +#include +#include +#include #include -#include #include -#include - +#include +#include class ThrusterInterface { private: - std::map pwm_table; - const int I2C_BUS = 1; - const int I2C_ADDRESS = 0x21; - const char* I2C_DEVICE = "/dev/i2c-1"; + std::map pwm_table; + const int I2C_BUS = 1; + const int I2C_ADDRESS = 0x21; + const char *I2C_DEVICE = "/dev/i2c-1"; - float interpolate(float force); - std::vector pwm_to_bytes(const std::vector &pwm_values); + float interpolate(float force); + std::vector pwm_to_bytes(const std::vector &pwm_values); public: - ThrusterInterface(std::string mapping_file); - void publish_thrust_to_escs(std::vector forces); + ThrusterInterface(std::string mapping_file); + void publish_thrust_to_escs(std::vector forces); }; #endif // THRUSTER_INTERFACE_HPP diff --git a/motion/thruster_interface/include/thruster_interface/thruster_interface_ros.hpp b/motion/thruster_interface/include/thruster_interface/thruster_interface_ros.hpp index 65ba5d06..d04a8a31 100644 --- a/motion/thruster_interface/include/thruster_interface/thruster_interface_ros.hpp +++ b/motion/thruster_interface/include/thruster_interface/thruster_interface_ros.hpp @@ -5,19 +5,20 @@ #include "vortex_msgs/ThrusterForces.h" -#include #include +#include class ThrusterInterfaceROS { private: - std::string mapping_file = ros::package::getPath("thruster_interface") + "/config/ThrustMe_P1000_force_mapping.csv"; - ThrusterInterface thrusterInterface{mapping_file}; - ros::NodeHandle nh; - ros::Subscriber sub; + std::string mapping_file = ros::package::getPath("thruster_interface") + + "/config/ThrustMe_P1000_force_mapping.csv"; + ThrusterInterface thrusterInterface{mapping_file}; + ros::NodeHandle nh; + ros::Subscriber sub; public: - ThrusterInterfaceROS(); - void thrustCallback(const vortex_msgs::ThrusterForces::ConstPtr& msg); + ThrusterInterfaceROS(); + void thrustCallback(const vortex_msgs::ThrusterForces::ConstPtr &msg); }; #endif // THRUSTER_INTERFACE_ROS_HPP diff --git a/motion/thruster_interface/src/thruster_interface.cpp b/motion/thruster_interface/src/thruster_interface.cpp index 2dfaa276..a6490223 100644 --- a/motion/thruster_interface/src/thruster_interface.cpp +++ b/motion/thruster_interface/src/thruster_interface.cpp @@ -1,50 +1,49 @@ #include "thruster_interface/thruster_interface.hpp" - ThrusterInterface::ThrusterInterface(std::string mapping_file) { - // Open the data file - std::ifstream data(mapping_file); + // Open the data file + std::ifstream data(mapping_file); - if (!data.is_open()) { - std::cerr << "Unable to open file\n"; - exit(1); - } + if (!data.is_open()) { + std::cerr << "Unable to open file\n"; + exit(1); + } - std::string line; - // Ignore the header line - std::getline(data, line); + std::string line; + // Ignore the header line + std::getline(data, line); - while (std::getline(data, line)) { - std::istringstream stream(line); + while (std::getline(data, line)) { + std::istringstream stream(line); - std::string force_str, pwm_str; + std::string force_str, pwm_str; - std::getline(stream, force_str, '\t'); - std::getline(stream, pwm_str); + std::getline(stream, force_str, '\t'); + std::getline(stream, pwm_str); - double force = std::stod(force_str); - double pwm = std::stod(pwm_str); + double force = std::stod(force_str); + double pwm = std::stod(pwm_str); - pwm_table[force] = pwm; - } + pwm_table[force] = pwm; + } } float ThrusterInterface::interpolate(float force) { - auto upper_bound = pwm_table.upper_bound(force); - if (upper_bound == pwm_table.end()) { - --upper_bound; - } - auto lower_bound = std::prev(upper_bound); + auto upper_bound = pwm_table.upper_bound(force); + if (upper_bound == pwm_table.end()) { + --upper_bound; + } + auto lower_bound = std::prev(upper_bound); if (lower_bound == pwm_table.end()) { return upper_bound->second; } - float force1 = lower_bound->first; - float force2 = upper_bound->first; + float force1 = lower_bound->first; + float force2 = upper_bound->first; - float pwm1 = lower_bound->second; - float pwm2 = upper_bound->second; + float pwm1 = lower_bound->second; + float pwm2 = upper_bound->second; if (force1 == force2) { return pwm1; @@ -54,7 +53,8 @@ float ThrusterInterface::interpolate(float force) { pwm1 + ((force - force1) * (pwm2 - pwm1)) / (force2 - force1) + 0.5); } -std::vector ThrusterInterface::pwm_to_bytes(const std::vector &pwm_values) { +std::vector +ThrusterInterface::pwm_to_bytes(const std::vector &pwm_values) { std::vector bytes; for (const auto &val : pwm_values) { @@ -74,36 +74,36 @@ std::vector ThrusterInterface::pwm_to_bytes(const std::vector &pwm } void ThrusterInterface::publish_thrust_to_escs(std::vector forces) { - std::vector pwm_values; - for (auto force : forces) { - pwm_values.push_back(interpolate(force)); - } - - std::vector pwm_bytes = pwm_to_bytes(pwm_values); - int data_size = pwm_bytes.size(); - - // DEBUG - // for (auto pwm : pwm_values) { - // std::cout << pwm << " "; - // } - // std::cout << std::endl; - - int file = open(I2C_DEVICE, O_RDWR); - if (file < 0) { - std::cerr << "Error opening device\n"; - exit(1); - } - - if (ioctl(file, I2C_SLAVE, I2C_ADDRESS) < 0) { - std::cerr << "Error setting I2C address\n"; - exit(1); - } - - // Send the I2C message - if (write(file, pwm_bytes.data(), data_size) != data_size) { - std::cerr << "Error sending data\n"; - exit(1); - } - - close(file); + std::vector pwm_values; + for (auto force : forces) { + pwm_values.push_back(interpolate(force)); + } + + std::vector pwm_bytes = pwm_to_bytes(pwm_values); + int data_size = pwm_bytes.size(); + + // DEBUG + // for (auto pwm : pwm_values) { + // std::cout << pwm << " "; + // } + // std::cout << std::endl; + + int file = open(I2C_DEVICE, O_RDWR); + if (file < 0) { + std::cerr << "Error opening device\n"; + exit(1); + } + + if (ioctl(file, I2C_SLAVE, I2C_ADDRESS) < 0) { + std::cerr << "Error setting I2C address\n"; + exit(1); + } + + // Send the I2C message + if (write(file, pwm_bytes.data(), data_size) != data_size) { + std::cerr << "Error sending data\n"; + exit(1); + } + + close(file); } \ No newline at end of file diff --git a/motion/thruster_interface/src/thruster_interface_node.cpp b/motion/thruster_interface/src/thruster_interface_node.cpp index b550dc30..7066fe8d 100644 --- a/motion/thruster_interface/src/thruster_interface_node.cpp +++ b/motion/thruster_interface/src/thruster_interface_node.cpp @@ -1,10 +1,10 @@ #include "thruster_interface/thruster_interface_ros.hpp" int main(int argc, char **argv) { - ros::init(argc, argv, "thruster_interface_node"); - ThrusterInterfaceROS thrusterInterfaceROS; + ros::init(argc, argv, "thruster_interface_node"); + ThrusterInterfaceROS thrusterInterfaceROS; - ros::spin(); + ros::spin(); - return 0; + return 0; } \ No newline at end of file diff --git a/motion/thruster_interface/src/thruster_interface_ros.cpp b/motion/thruster_interface/src/thruster_interface_ros.cpp index 66656df2..ba8d2322 100644 --- a/motion/thruster_interface/src/thruster_interface_ros.cpp +++ b/motion/thruster_interface/src/thruster_interface_ros.cpp @@ -1,19 +1,20 @@ #include "thruster_interface/thruster_interface_ros.hpp" ThrusterInterfaceROS::ThrusterInterfaceROS() { - sub = nh.subscribe("/thrust/thruster_forces", 10, &ThrusterInterfaceROS::thrustCallback, this); + sub = nh.subscribe("/thrust/thruster_forces", 10, + &ThrusterInterfaceROS::thrustCallback, this); } -void ThrusterInterfaceROS::thrustCallback(const vortex_msgs::ThrusterForces::ConstPtr& msg) { - // Convert from Newton to grams - double newton_to_gram_conversion_factor = 101.97162; +void ThrusterInterfaceROS::thrustCallback( + const vortex_msgs::ThrusterForces::ConstPtr &msg) { + // Convert from Newton to grams + double newton_to_gram_conversion_factor = 101.97162; - std::vector forces_in_grams = { - msg->thrust[0] * newton_to_gram_conversion_factor, - msg->thrust[1] * newton_to_gram_conversion_factor, - msg->thrust[2] * newton_to_gram_conversion_factor, - msg->thrust[3] * newton_to_gram_conversion_factor - }; + std::vector forces_in_grams = { + msg->thrust[0] * newton_to_gram_conversion_factor, + msg->thrust[1] * newton_to_gram_conversion_factor, + msg->thrust[2] * newton_to_gram_conversion_factor, + msg->thrust[3] * newton_to_gram_conversion_factor}; - thrusterInterface.publish_thrust_to_escs(forces_in_grams); + thrusterInterface.publish_thrust_to_escs(forces_in_grams); } \ No newline at end of file diff --git a/motion/thruster_interface/tests/thruster_interface_test.cpp b/motion/thruster_interface/tests/thruster_interface_test.cpp index c09763a2..974b4a2e 100644 --- a/motion/thruster_interface/tests/thruster_interface_test.cpp +++ b/motion/thruster_interface/tests/thruster_interface_test.cpp @@ -13,9 +13,8 @@ #include -#include #include - +#include float desired_force = 0; @@ -62,74 +61,71 @@ std::vector pwm_to_bytes(const std::vector &pwm_values) { } int main() { - // Create an empty map - std::map pwm_table; - - // Open the data file - std::ifstream data("../config/ThrustMe_P1000_force_mapping.csv"); - - if (!data.is_open()) { - std::cerr << "Unable to open file\n"; - return 1; - } + // Create an empty map + std::map pwm_table; - std::string line; - // Ignore the header line - std::getline(data, line); + // Open the data file + std::ifstream data("../config/ThrustMe_P1000_force_mapping.csv"); - while (std::getline(data, line)) { - std::istringstream stream(line); - - std::string force_str, pwm_str; + if (!data.is_open()) { + std::cerr << "Unable to open file\n"; + return 1; + } - std::getline(stream, force_str, '\t'); - std::getline(stream, pwm_str); + std::string line; + // Ignore the header line + std::getline(data, line); - double force = std::stod(force_str); - double pwm = std::stod(pwm_str); + while (std::getline(data, line)) { + std::istringstream stream(line); - pwm_table[force] = pwm; - } + std::string force_str, pwm_str; - const int I2C_BUS = 1; - const int I2C_ADDRESS = 0x21; + std::getline(stream, force_str, '\t'); + std::getline(stream, pwm_str); + double force = std::stod(force_str); + double pwm = std::stod(pwm_str); - int file = open("/dev/i2c-1", O_RDWR); - if (file < 0) { - std::cerr << "Error opening device\n"; - return 1; - } + pwm_table[force] = pwm; + } - if (ioctl(file, I2C_SLAVE, I2C_ADDRESS) < 0) { - std::cerr << "Error setting I2C address\n"; - return 1; - } + const int I2C_BUS = 1; + const int I2C_ADDRESS = 0x21; + int file = open("/dev/i2c-1", O_RDWR); + if (file < 0) { + std::cerr << "Error opening device\n"; + return 1; + } - float desired_force_thr_1 = 0.0; //12000 - 250*i; - float desired_force_thr_2 = 0.0; //-5000 + 500*i; //12000 - 250*i; - float desired_force_thr_3 = 0.0;//-5000 + 500*i; //0.0; //12000 - 250*i; - float desired_force_thr_4 = -5000 + 500*i; //12000 - 250*i; + if (ioctl(file, I2C_SLAVE, I2C_ADDRESS) < 0) { + std::cerr << "Error setting I2C address\n"; + return 1; + } - int pwm_thr_1 = interpolate(pwm_table, desired_force_thr_1); - int pwm_thr_2 = interpolate(pwm_table, desired_force_thr_2); - int pwm_thr_3 = interpolate(pwm_table, desired_force_thr_3); - int pwm_thr_4 = interpolate(pwm_table, desired_force_thr_4); + float desired_force_thr_1 = 0.0; // 12000 - 250*i; + float desired_force_thr_2 = 0.0; //-5000 + 500*i; //12000 - 250*i; + float desired_force_thr_3 = 0.0; //-5000 + 500*i; //0.0; //12000 - 250*i; + float desired_force_thr_4 = -5000 + 500 * i; // 12000 - 250*i; - std::vector pwm_values = {pwm_thr_1, pwm_thr_2, pwm_thr_3, pwm_thr_4}; - std::vector pwm_bytes = pwm_to_bytes(pwm_values); + int pwm_thr_1 = interpolate(pwm_table, desired_force_thr_1); + int pwm_thr_2 = interpolate(pwm_table, desired_force_thr_2); + int pwm_thr_3 = interpolate(pwm_table, desired_force_thr_3); + int pwm_thr_4 = interpolate(pwm_table, desired_force_thr_4); + std::vector pwm_values = {pwm_thr_1, pwm_thr_2, pwm_thr_3, pwm_thr_4}; + std::vector pwm_bytes = pwm_to_bytes(pwm_values); - int data_size = pwm_bytes.size(); + int data_size = pwm_bytes.size(); - // Send the I2C message - if (write(file, pwm_bytes.data(), data_size) != data_size) { + // Send the I2C message + if (write(file, pwm_bytes.data(), data_size) != data_size) { std::cerr << "Error sending data\n"; return 1; - } + } - close(file); + close(file); - return 0; + return 0; } From aabcfb1035e766424a27394d7a2fae9eeb4d1181 Mon Sep 17 00:00:00 2001 From: vortex git Date: Sat, 5 Aug 2023 20:40:14 +0000 Subject: [PATCH 028/132] Fix path errors Signed-off-by: vortex git --- asv_setup/config/robots/naglfar.yaml | 2 +- motion/thruster_allocator/src/allocator_ros.cpp | 2 +- .../thruster_and_allocator_interface.launch | 12 ++++++++++++ motion/thruster_interface/src/main | Bin 0 -> 82656 bytes 4 files changed, 14 insertions(+), 2 deletions(-) create mode 100644 motion/thruster_interface/launch/thruster_and_allocator_interface.launch create mode 100755 motion/thruster_interface/src/main diff --git a/asv_setup/config/robots/naglfar.yaml b/asv_setup/config/robots/naglfar.yaml index 399d0343..95328343 100644 --- a/asv_setup/config/robots/naglfar.yaml +++ b/asv_setup/config/robots/naglfar.yaml @@ -31,7 +31,7 @@ propulsion: yaw: true thrusters: num: 4 - configuration_matrix_NED: + configuration_matrix: #NED [[ 0.70711, 0.70711, 0.70711, 0.70711], # Surge [ -0.70711, 0.70711, -0.70711, 0.70711], # Sway [ 0.27738, 0.27738, -0.27738, -0.27738]] # Yaw diff --git a/motion/thruster_allocator/src/allocator_ros.cpp b/motion/thruster_allocator/src/allocator_ros.cpp index 231c7c6e..e615aea6 100644 --- a/motion/thruster_allocator/src/allocator_ros.cpp +++ b/motion/thruster_allocator/src/allocator_ros.cpp @@ -76,7 +76,7 @@ void Allocator::spinOnce() { if (!saturateVector(&thruster_forces, m_min_thrust, m_max_thrust)) ROS_WARN_THROTTLE(1, "Thruster forces vector required saturation."); - + //std::cout << thruster_forces << std::endl; vortex_msgs::ThrusterForces msg_out; arrayEigenToMsg(thruster_forces, &msg_out); diff --git a/motion/thruster_interface/launch/thruster_and_allocator_interface.launch b/motion/thruster_interface/launch/thruster_and_allocator_interface.launch new file mode 100644 index 00000000..5053301d --- /dev/null +++ b/motion/thruster_interface/launch/thruster_and_allocator_interface.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/motion/thruster_interface/src/main b/motion/thruster_interface/src/main new file mode 100755 index 0000000000000000000000000000000000000000..9eaa134818b3f659d5453bf0f900e5176851f91b GIT binary patch literal 82656 zcmeHwe_&MAmH*2R1Qj((R9YzxKUz^SBoH7ds{ z@Snpj{PO1q)O$Dp|Azqne*}KHPrJT?!Q)r&r2%^Q40!nE|2p_j_2K{T0es#YAb)Xy zJiiX$^EUzQwFB^f55Ok}$g?Y;e@_J9X9DE!59r@d1<12JfX}xB@;?{QFP{J(zkcrt z;Bz>D&)){*|8#(y7X;umvifX|5ldHyw^-zNmr+ZDk7TC^*K zKkw)Efc&2cu;*kzyT~_&yv*@_O8{PscKP-DwE_Gs`0tK%EPCUOU{}@8wVN#)rDm7fcDlJe^?;p>x2{Py+wu1H zRD0dBC{mX%t4}Y`WfLiI^I;!d*HpERveu{P+jg|Gv#hLawl0F&60K|eO4Ub5vL$7z 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zo-D-4(%UF5Zz#9y=Weqz4Lc*mO+M$@=;zUfL$FWh$}E469i{yvxNMl=-}|r?*EmyO zXX3F|9>sUzT_Ztx8!{PTJKUI%JUOCeow69`pK{zddtlCwp?F5naC?SW`^yibU_Vn| zI~?(=D$a$&3fGPXyGImoU#t?q=1eh}Vh^^0pQh<{ow5#J2gcc$>%~SIrl$xM z;HS1^+A5)M0a+!u&5D0jyin4fQoo5-5^v_8Zf%aCth|9~G-~tpe29Z*Cj zGpdTTB%&yi0(Z?7mp`l$T4Z8#(dWl`-v&fKD^EX#jh}N?p9+2u%0D~LsXDLof`@7N z8;d_F-@p$-r<p_J6Wg&%~N3ZRQRta@je>7TX1$P*gzY2fe@}C1nRgir2SxK1;D!)^$(OmoaG!o46ZCqaHDQOrp;O61K zm7+gAp7M?F(zwu*`2BzLBk~LOMLd}G*T!^;P^m}qvpVF}>ctb47cm>TywK|@(fD}l z-;Ol1{HD0hEOeEpfVcjyd&-|^(dC71xK_W*zaDm09}>*^lb_W&h5lL!GWFK~3h+zu zM`MdV2cFaoKJcV|_v%mT7y25qk;zN>elFk7rIznz&ikDgCNn@UN5?dIp$T-udrf_39!r&h%Thyu81O2jV65 z%YQd)Vz16IQuzW@PW6}S?9RVZ{zeDU57HcyitUSisW{P&ckjL0qT{|{YVe*pjh literal 0 HcmV?d00001 From 81a6483f3157e0d5199811f297184c5f7b711851 Mon Sep 17 00:00:00 2001 From: Clang Robot Date: Sat, 5 Aug 2023 20:41:31 +0000 Subject: [PATCH 029/132] Committing clang-format changes --- motion/thruster_allocator/src/allocator_ros.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/motion/thruster_allocator/src/allocator_ros.cpp b/motion/thruster_allocator/src/allocator_ros.cpp index e615aea6..78ff4b90 100644 --- a/motion/thruster_allocator/src/allocator_ros.cpp +++ b/motion/thruster_allocator/src/allocator_ros.cpp @@ -76,7 +76,7 @@ void Allocator::spinOnce() { if (!saturateVector(&thruster_forces, m_min_thrust, m_max_thrust)) ROS_WARN_THROTTLE(1, "Thruster forces vector required saturation."); - //std::cout << thruster_forces << std::endl; + // std::cout << thruster_forces << std::endl; vortex_msgs::ThrusterForces msg_out; arrayEigenToMsg(thruster_forces, &msg_out); From 7b6188b0b61f4497a63b9af96f6ad02ffc18090d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Sat, 5 Aug 2023 22:42:39 +0200 Subject: [PATCH 030/132] Temp pass i2c write error MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- motion/thruster_interface/src/main | Bin 82656 -> 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zI~?(=D$a$&3fGPXyGImoU#t?q=1eh}Vh^^0pQh<{ow5#J2gcc$>%~SIrl$xM z;HS1^+A5)M0a+!u&5D0jyin4fQoo5-5^v_8Zf%aCth|9~G-~tpe29Z*Cj zGpdTTB%&yi0(Z?7mp`l$T4Z8#(dWl`-v&fKD^EX#jh}N?p9+2u%0D~LsXDLof`@7N z8;d_F-@p$-r<p_J6Wg&%~N3ZRQRta@je>7TX1$P*gzY2fe@}C1nRgir2SxK1;D!)^$(OmoaG!o46ZCqaHDQOrp;O61K zm7+gAp7M?F(zwu*`2BzLBk~LOMLd}G*T!^;P^m}qvpVF}>ctb47cm>TywK|@(fD}l z-;Ol1{HD0hEOeEpfVcjyd&-|^(dC71xK_W*zaDm09}>*^lb_W&h5lL!GWFK~3h+zu zM`MdV2cFaoKJcV|_v%mT7y25qk;zN>elFk7rIznz&ikDgCNn@UN5?dIp$T-udrf_39!r&h%Thyu81O2jV65 z%YQd)Vz16IQuzW@PW6}S?9RVZ{zeDU57HcyitUSisW{P&ckjL0qT{|{YVe*pjh diff --git a/motion/thruster_interface/src/thruster_interface.cpp b/motion/thruster_interface/src/thruster_interface.cpp index a6490223..971ad182 100644 --- a/motion/thruster_interface/src/thruster_interface.cpp +++ b/motion/thruster_interface/src/thruster_interface.cpp @@ -101,8 +101,7 @@ void ThrusterInterface::publish_thrust_to_escs(std::vector forces) { // Send the I2C message if (write(file, pwm_bytes.data(), data_size) != data_size) { - std::cerr << "Error sending data\n"; - exit(1); + std::cerr << "Error sending data, ignoring message...\n"; } close(file); From 07ebee26aa8dbf7e7552eb35e7e4653512f45700 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Sat, 5 Aug 2023 23:21:34 +0200 Subject: [PATCH 031/132] Motion nodes cleanup MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- motion/joystick_guidance/CMakeLists.txt | 202 ------------------ motion/joystick_guidance/README.md | 12 -- motion/joystick_guidance/package.xml | 19 -- .../scripts/joystick_guidance.py | 56 ----- motion/motion_launch/launch/motion.launch | 1 - motion/pid_controller/CMakeLists.txt | 21 -- motion/pid_controller/package.xml | 30 --- .../pid_controller/scripts/pid_controller.py | 81 ------- motion/pid_controller/setup.py | 6 - .../thruster_allocator/src/allocator_ros.cpp | 1 + 10 files changed, 1 insertion(+), 428 deletions(-) delete mode 100644 motion/joystick_guidance/CMakeLists.txt delete mode 100644 motion/joystick_guidance/README.md delete mode 100644 motion/joystick_guidance/package.xml delete mode 100755 motion/joystick_guidance/scripts/joystick_guidance.py delete mode 100644 motion/pid_controller/CMakeLists.txt delete mode 100644 motion/pid_controller/package.xml delete mode 100755 motion/pid_controller/scripts/pid_controller.py delete mode 100644 motion/pid_controller/setup.py diff --git a/motion/joystick_guidance/CMakeLists.txt b/motion/joystick_guidance/CMakeLists.txt deleted file mode 100644 index 59ba2bb2..00000000 --- a/motion/joystick_guidance/CMakeLists.txt +++ /dev/null @@ -1,202 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(joystick_guidance) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs # Or other packages containing msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES joystick_guidance -# CATKIN_DEPENDS other_catkin_pkg -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include -# ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/joystick_guidance.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/joystick_guidance_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# catkin_install_python(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_joystick_interface.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/motion/joystick_guidance/README.md b/motion/joystick_guidance/README.md deleted file mode 100644 index 9bb7d904..00000000 --- a/motion/joystick_guidance/README.md +++ /dev/null @@ -1,12 +0,0 @@ -## Joystick guidance - -#### Subscribes to: -* /guidance/joystick_data - -#### Publishes to: -* /auv/thruster_manager/input -* /guidance/joystick_reference - -This package takes joystick inputs and turns it into a thrust vector. In the future it will serve as a conversion -between joystick inputs and controller inputs. - diff --git a/motion/joystick_guidance/package.xml b/motion/joystick_guidance/package.xml deleted file mode 100644 index 3d752a71..00000000 --- a/motion/joystick_guidance/package.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - joystick_guidance - 0.0.0 - The joystick_guidance package - Jae Hyeong Hwang - MIT - - catkin - - - rospy - sensor_msgs - - - rospy - sensor_msgs - - diff --git a/motion/joystick_guidance/scripts/joystick_guidance.py b/motion/joystick_guidance/scripts/joystick_guidance.py deleted file mode 100755 index dc656624..00000000 --- a/motion/joystick_guidance/scripts/joystick_guidance.py +++ /dev/null @@ -1,56 +0,0 @@ -#!/usr/bin/python3 - -# Written by Jae Hyeong Hwang and O. Solbo -# Copyright (c) 2021, Vortex NTNU. -# All rights reserved. - -import rospy -from geometry_msgs.msg import Wrench -from sensor_msgs.msg import Joy - -# to configure joystick environment, please refer to http://wiki.ros.org/joy/Tutorials/ConfiguringALinuxJoystick - - -class JoystickGuidanceNode: - - def __init__(self): - - thrust_topic = rospy.get_param("/guidance/joy/thrust_topic", - default="/thrust/desired_forces") - - self.sub = rospy.Subscriber("/mission/joystick_data", - Joy, - self.joystick_data_cb, - queue_size=1) - self.pub = rospy.Publisher(thrust_topic, Wrench, queue_size=1) - - # self.joystick_activation_service_server = rospy.Service( - # "/joystick_guidance/activate_joystick_control", - # SetBool, - # self.toggle_joystick_cb, - # ) - - self.surge = 0 - self.sway = 1 - self.heave = 2 - self.roll = 3 - self.pitch = 4 - self.yaw = 5 - - def joystick_data_cb(self, msg): - joystick_msg = Wrench() - joystick_msg.force.x = msg.axes[self.surge] - joystick_msg.force.y = msg.axes[self.sway] - joystick_msg.force.z = msg.axes[self.heave] - joystick_msg.torque.x = msg.axes[self.roll] - joystick_msg.torque.y = msg.axes[self.pitch] - joystick_msg.torque.z = msg.axes[self.yaw] - - self.pub.publish(joystick_msg) - - -if __name__ == "__main__": - - rospy.init_node("joystick_guidance") - joystick_guidance = JoystickGuidanceNode() - rospy.spin() diff --git a/motion/motion_launch/launch/motion.launch b/motion/motion_launch/launch/motion.launch index 9c4e1b70..2e0e16aa 100644 --- a/motion/motion_launch/launch/motion.launch +++ b/motion/motion_launch/launch/motion.launch @@ -9,7 +9,6 @@ - diff --git a/motion/pid_controller/CMakeLists.txt b/motion/pid_controller/CMakeLists.txt deleted file mode 100644 index 68b951b0..00000000 --- a/motion/pid_controller/CMakeLists.txt +++ /dev/null @@ -1,21 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(pid_controller) - -find_package(catkin REQUIRED COMPONENTS - dynamic_reconfigure - geometry_msgs - rospy - vortex_msgs -) - -catkin_python_setup() - -include_directories( - ${catkin_INCLUDE_DIRS} -) - - catkin_install_python(PROGRAMS - scripts/pid_controller.py - DESTINATION ${CATKIN_GLOBAL_PYTHON_DESTINATION} -) - diff --git a/motion/pid_controller/package.xml b/motion/pid_controller/package.xml deleted file mode 100644 index 4fe32f32..00000000 --- a/motion/pid_controller/package.xml +++ /dev/null @@ -1,30 +0,0 @@ - - - pid_controller - 0.0.0 - The pid_controller package - - ronja kræmer - - MIT - - - catkin - dynamic_reconfigure - geometry_msgs - rospy - vortex_msgs - dynamic_reconfigure - geometry_msgs - rospy - vortex_msgs - dynamic_reconfigure - geometry_msgs - rospy - vortex_msgs - - - - - - diff --git a/motion/pid_controller/scripts/pid_controller.py b/motion/pid_controller/scripts/pid_controller.py deleted file mode 100755 index 522febfc..00000000 --- a/motion/pid_controller/scripts/pid_controller.py +++ /dev/null @@ -1,81 +0,0 @@ -#!/usr/bin/python3 -# Written by Kristoffer Rakstad Solberg, Student -# Copyright (c) 2020 Manta AUV, Vortex NTNU. -# All rights reserved. - -import numpy as np - - -class PIDRegulator: - """ - A very basic 1D PID controller - """ - - def __init__(self, p, i, d, sat): - """ - Initialize the PID controller by setting gains - and saturation - - Args: - p proportional gain - i integral gain - d derivative gain - sat saturation limit - """ - - self.p = p - self.i = i - self.d = d - self.sat = sat - - self.integral = 0 - self.prev_err = 0 - self.prev_t = -1 - - def __str__(self): - """ - Create a formatted string containing the controller gains - and the saturation limit. - """ - - msg = "PID controller:" - msg += "\n\tp=%f" % self.p - msg += "\n\cd ti=%f" % self.i - msg += "\n\td=%f" % self.d - msg += "\n\tsat=%f" % self.sat - return msg - - def regulate(self, err, t): - """ - Calculate the controller gain - - Args: - err the state error used to calculate controller gain (e) - t the current time - - Returns: - float: The controller gain u - """ - - if self.prev_t == -1: - self.prev_t = t - return 0.0 - - derr_dt = 0.0 - dt = t - self.prev_t - - if self.prev_t > 0.0 and dt > 0.0: - derr_dt = (err - self.prev_err) / dt - self.integral += 0.5 * (err + self.prev_err) * dt - - u = self.p * err + self.d * derr_dt + self.i * self.integral - - self.prev_err = err - self.prev_t = t - - if np.linalg.norm(u) > self.sat: - # controller is in saturation: limit output, reset integral - u = self.sat * u / np.linalg.norm(u) - self.integral = 0.0 - - return u diff --git a/motion/pid_controller/setup.py b/motion/pid_controller/setup.py deleted file mode 100644 index 6cdbb2a6..00000000 --- a/motion/pid_controller/setup.py +++ /dev/null @@ -1,6 +0,0 @@ -from distutils.core import setup -from catkin_pkg.python_setup import generate_distutils_setup - -d = generate_distutils_setup(packages=["pid_controller"], - package_dir={"": "scripts"}) -setup(**d) diff --git a/motion/thruster_allocator/src/allocator_ros.cpp b/motion/thruster_allocator/src/allocator_ros.cpp index 78ff4b90..77f0447d 100644 --- a/motion/thruster_allocator/src/allocator_ros.cpp +++ b/motion/thruster_allocator/src/allocator_ros.cpp @@ -141,3 +141,4 @@ bool Allocator::healthyWrench(const Eigen::VectorXd &v) const { return true; } + From 0f27b65b187e4bc04f3188e709a61861a90e92d0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Sat, 5 Aug 2023 23:21:53 +0200 Subject: [PATCH 032/132] Finalize joystick interface for testing MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- .../scripts/joystick_interface.py | 45 +++++-------------- 1 file changed, 12 insertions(+), 33 deletions(-) diff --git a/mission/joystick_interface/scripts/joystick_interface.py b/mission/joystick_interface/scripts/joystick_interface.py index 8082f743..1e64c651 100755 --- a/mission/joystick_interface/scripts/joystick_interface.py +++ b/mission/joystick_interface/scripts/joystick_interface.py @@ -2,7 +2,7 @@ import rospy from sensor_msgs.msg import Joy - +from geometry_msgs.msg import Wrench class JoystickInterface: @@ -17,11 +17,6 @@ def __init__(self): self.joystick_surge_scaling = rospy.get_param( "/joystick/scaling/surge") self.joystick_sway_scaling = rospy.get_param("/joystick/scaling/sway") - self.joystick_heave_scaling = rospy.get_param( - "/joystick/scaling/heave") - self.joystick_roll_scaling = rospy.get_param("/joystick/scaling/roll") - self.joystick_pitch_scaling = rospy.get_param( - "/joystick/scaling/pitch") self.joystick_yaw_scaling = rospy.get_param("/joystick/scaling/yaw") self.joystick_buttons_map = [ @@ -53,9 +48,9 @@ def __init__(self): Joy, self.joystick_cb, queue_size=1) - self.joystick_pub = rospy.Publisher("/mission/joystick_data", - Joy, - queue_size=1) + + self.force_pub = rospy.Publisher("/thrust/desired_force", Wrench, queue_size=1) + self.torque_pub = rospy.Publisher("/thrust/desired_torque", Wrench, queue_size=1) rospy.loginfo("Joystick interface is up and running") @@ -71,35 +66,19 @@ def joystick_cb(self, msg): surge = axes["vertical_axis_left_stick"] * self.joystick_surge_scaling sway = axes["horizontal_axis_left_stick"] * self.joystick_sway_scaling - heave = (axes["RT"] - axes["LT"]) / 2 * self.joystick_heave_scaling - roll = (buttons["RB"] - buttons["LB"]) * self.joystick_roll_scaling - pitch = axes[ - "vertical_axis_right_stick"] * self.joystick_pitch_scaling * (-1) yaw = axes["horizontal_axis_right_stick"] * self.joystick_yaw_scaling - dpad_lights = axes["dpad_horizontal"] - dpad_gripper = axes["dpad_vertical"] - - joystick_msg = Joy() - joystick_msg.axes = [ - surge, - sway, - heave, - roll, - pitch, - yaw, - dpad_lights, - dpad_gripper, - ] + wrench_msg = Wrench() + wrench_msg.force.x = surge + wrench_msg.force.y = sway + wrench_msg.torque.z = yaw - self.joystick_pub.publish(joystick_msg) + self.force_pub.publish(wrench_msg) + self.torque_pub.publish(wrench_msg) if __name__ == "__main__": - try: - joystick_interface = JoystickInterface() - rospy.spin() + joystick_interface = JoystickInterface() + rospy.spin() - except rospy.ROSInterruptException: - pass From 5d166ea73a5945298007d9fb33ebd7864cfc05b6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Sat, 5 Aug 2023 23:22:05 +0200 Subject: [PATCH 033/132] Cleanup in launchfiles MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- asv_setup/config/params/gnc.yaml | 6 +++--- asv_setup/launch/freya.launch | 1 - asv_setup/launch/pc.launch | 4 ++++ 3 files changed, 7 insertions(+), 4 deletions(-) diff --git a/asv_setup/config/params/gnc.yaml b/asv_setup/config/params/gnc.yaml index cf7bb865..2ad61527 100644 --- a/asv_setup/config/params/gnc.yaml +++ b/asv_setup/config/params/gnc.yaml @@ -20,6 +20,6 @@ controllers: joystick: scaling: - surge: 0 - sway: 0 - yaw: 0 + surge: 100.0 + sway: 100.0 + yaw: 100.0 diff --git a/asv_setup/launch/freya.launch b/asv_setup/launch/freya.launch index da480f34..6abb8a7c 100644 --- a/asv_setup/launch/freya.launch +++ b/asv_setup/launch/freya.launch @@ -22,5 +22,4 @@ - \ No newline at end of file diff --git a/asv_setup/launch/pc.launch b/asv_setup/launch/pc.launch index de4f71d3..bee55d6c 100644 --- a/asv_setup/launch/pc.launch +++ b/asv_setup/launch/pc.launch @@ -3,9 +3,13 @@ + + + + \ No newline at end of file From 7086b840279fe1712ad6da211df1f38866591995 Mon Sep 17 00:00:00 2001 From: github-actions Date: Sat, 5 Aug 2023 21:22:33 +0000 Subject: [PATCH 034/132] Automated autoyapf fixes --- .../joystick_interface/scripts/joystick_interface.py | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/mission/joystick_interface/scripts/joystick_interface.py b/mission/joystick_interface/scripts/joystick_interface.py index 1e64c651..075f840a 100755 --- a/mission/joystick_interface/scripts/joystick_interface.py +++ b/mission/joystick_interface/scripts/joystick_interface.py @@ -4,6 +4,7 @@ from sensor_msgs.msg import Joy from geometry_msgs.msg import Wrench + class JoystickInterface: def __init__(self): @@ -48,9 +49,13 @@ def __init__(self): Joy, self.joystick_cb, queue_size=1) - - self.force_pub = rospy.Publisher("/thrust/desired_force", Wrench, queue_size=1) - self.torque_pub = rospy.Publisher("/thrust/desired_torque", Wrench, queue_size=1) + + self.force_pub = rospy.Publisher("/thrust/desired_force", + Wrench, + queue_size=1) + self.torque_pub = rospy.Publisher("/thrust/desired_torque", + Wrench, + queue_size=1) rospy.loginfo("Joystick interface is up and running") @@ -81,4 +86,3 @@ def joystick_cb(self, msg): joystick_interface = JoystickInterface() rospy.spin() - From ec55fec49a3c052fa26d8e9af1662d857db1b773 Mon Sep 17 00:00:00 2001 From: Clang Robot Date: Sat, 5 Aug 2023 21:22:38 +0000 Subject: [PATCH 035/132] Committing clang-format changes --- motion/thruster_allocator/src/allocator_ros.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/motion/thruster_allocator/src/allocator_ros.cpp b/motion/thruster_allocator/src/allocator_ros.cpp index 77f0447d..78ff4b90 100644 --- a/motion/thruster_allocator/src/allocator_ros.cpp +++ b/motion/thruster_allocator/src/allocator_ros.cpp @@ -141,4 +141,3 @@ bool Allocator::healthyWrench(const Eigen::VectorXd &v) const { return true; } - From bf633c7f50ff79c3fc7f27a9c0f1dd0803590283 Mon Sep 17 00:00:00 2001 From: vortex git Date: Sat, 5 Aug 2023 23:00:25 +0000 Subject: [PATCH 036/132] Add debug from asv Signed-off-by: vortex git --- .../src/thruster_interface.cpp | 10 +++++----- .../src/thruster_interface_ros.cpp | 4 ++-- .../tests/thruster_interface_test.cpp | 16 +++++++++++----- 3 files changed, 18 insertions(+), 12 deletions(-) diff --git a/motion/thruster_interface/src/thruster_interface.cpp b/motion/thruster_interface/src/thruster_interface.cpp index 971ad182..a32e48f5 100644 --- a/motion/thruster_interface/src/thruster_interface.cpp +++ b/motion/thruster_interface/src/thruster_interface.cpp @@ -83,10 +83,10 @@ void ThrusterInterface::publish_thrust_to_escs(std::vector forces) { int data_size = pwm_bytes.size(); // DEBUG - // for (auto pwm : pwm_values) { - // std::cout << pwm << " "; - // } - // std::cout << std::endl; + //for (auto pwm : pwm_values) { + // std::cout << pwm << " "; + //} + //std::cout << std::endl; int file = open(I2C_DEVICE, O_RDWR); if (file < 0) { @@ -105,4 +105,4 @@ void ThrusterInterface::publish_thrust_to_escs(std::vector forces) { } close(file); -} \ No newline at end of file +} diff --git a/motion/thruster_interface/src/thruster_interface_ros.cpp b/motion/thruster_interface/src/thruster_interface_ros.cpp index ba8d2322..42831b27 100644 --- a/motion/thruster_interface/src/thruster_interface_ros.cpp +++ b/motion/thruster_interface/src/thruster_interface_ros.cpp @@ -8,7 +8,7 @@ ThrusterInterfaceROS::ThrusterInterfaceROS() { void ThrusterInterfaceROS::thrustCallback( const vortex_msgs::ThrusterForces::ConstPtr &msg) { // Convert from Newton to grams - double newton_to_gram_conversion_factor = 101.97162; + double newton_to_gram_conversion_factor = 1019.7162; std::vector forces_in_grams = { msg->thrust[0] * newton_to_gram_conversion_factor, @@ -17,4 +17,4 @@ void ThrusterInterfaceROS::thrustCallback( msg->thrust[3] * newton_to_gram_conversion_factor}; thrusterInterface.publish_thrust_to_escs(forces_in_grams); -} \ No newline at end of file +} diff --git a/motion/thruster_interface/tests/thruster_interface_test.cpp b/motion/thruster_interface/tests/thruster_interface_test.cpp index 974b4a2e..ba7fdec7 100644 --- a/motion/thruster_interface/tests/thruster_interface_test.cpp +++ b/motion/thruster_interface/tests/thruster_interface_test.cpp @@ -104,10 +104,12 @@ int main() { return 1; } + for (int i = 0; i <= 10; i++){ + std::cout << i << ": "; float desired_force_thr_1 = 0.0; // 12000 - 250*i; float desired_force_thr_2 = 0.0; //-5000 + 500*i; //12000 - 250*i; float desired_force_thr_3 = 0.0; //-5000 + 500*i; //0.0; //12000 - 250*i; - float desired_force_thr_4 = -5000 + 500 * i; // 12000 - 250*i; + float desired_force_thr_4 = 0.0; //-5000 + 500 * i; // 12000 - 250*i; int pwm_thr_1 = interpolate(pwm_table, desired_force_thr_1); int pwm_thr_2 = interpolate(pwm_table, desired_force_thr_2); @@ -120,12 +122,16 @@ int main() { int data_size = pwm_bytes.size(); // Send the I2C message - if (write(file, pwm_bytes.data(), data_size) != data_size) { - std::cerr << "Error sending data\n"; - return 1; + auto write_feedback = write(file, pwm_bytes.data(), data_size); + if (write_feedback != data_size) { + std::cerr << "Feedback: " << write_feedback << " Data size: " << data_size << ". Error sending data, ignoring...\n"; + } + else{ + std::cout << "Feedback: " << write_feedback << " Data size: " << data_size << " Data sent successfully!\n"; } close(file); - +std::this_thread::sleep_for(std::chrono::milliseconds(1000)); +} return 0; } From cb542a85e8cb57a61c984f2fb7e4c5d551b4a821 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Sun, 6 Aug 2023 01:15:05 +0200 Subject: [PATCH 037/132] Add pca-compatible thruster interface MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- .../thruster_interface/thruster_interface.hpp | 3 ++- .../thruster_interface_ros.hpp | 2 ++ .../src/thruster_interface.cpp | 7 +++++-- .../src/thruster_interface_ros.cpp | 19 ++++++++++++++++++- 4 files changed, 27 insertions(+), 4 deletions(-) diff --git a/motion/thruster_interface/include/thruster_interface/thruster_interface.hpp b/motion/thruster_interface/include/thruster_interface/thruster_interface.hpp index 26e7fc93..f0b2856d 100644 --- a/motion/thruster_interface/include/thruster_interface/thruster_interface.hpp +++ b/motion/thruster_interface/include/thruster_interface/thruster_interface.hpp @@ -23,12 +23,13 @@ class ThrusterInterface { const int I2C_ADDRESS = 0x21; const char *I2C_DEVICE = "/dev/i2c-1"; - float interpolate(float force); std::vector pwm_to_bytes(const std::vector &pwm_values); public: ThrusterInterface(std::string mapping_file); void publish_thrust_to_escs(std::vector forces); + float interpolate(float force); + }; #endif // THRUSTER_INTERFACE_HPP diff --git a/motion/thruster_interface/include/thruster_interface/thruster_interface_ros.hpp b/motion/thruster_interface/include/thruster_interface/thruster_interface_ros.hpp index d04a8a31..707d0b27 100644 --- a/motion/thruster_interface/include/thruster_interface/thruster_interface_ros.hpp +++ b/motion/thruster_interface/include/thruster_interface/thruster_interface_ros.hpp @@ -4,6 +4,7 @@ #include "thruster_interface/thruster_interface.hpp" #include "vortex_msgs/ThrusterForces.h" +#include "vortex_msgs/Pwm.h" #include #include @@ -15,6 +16,7 @@ class ThrusterInterfaceROS { ThrusterInterface thrusterInterface{mapping_file}; ros::NodeHandle nh; ros::Subscriber sub; + ros::Publisher pwm_pub; public: ThrusterInterfaceROS(); diff --git a/motion/thruster_interface/src/thruster_interface.cpp b/motion/thruster_interface/src/thruster_interface.cpp index 971ad182..21be985b 100644 --- a/motion/thruster_interface/src/thruster_interface.cpp +++ b/motion/thruster_interface/src/thruster_interface.cpp @@ -49,8 +49,11 @@ float ThrusterInterface::interpolate(float force) { return pwm1; } - return std::round( - pwm1 + ((force - force1) * (pwm2 - pwm1)) / (force2 - force1) + 0.5); + int pwm_signal = std::round(pwm1 + ((force - force1) * (pwm2 - pwm1)) / (force2 - force1) + 0.5); + + int clipped_pwm_signal = std::min(std::max(pwm_signal, 1100), 1900); + + return clipped_pwm_signal; } std::vector diff --git a/motion/thruster_interface/src/thruster_interface_ros.cpp b/motion/thruster_interface/src/thruster_interface_ros.cpp index ba8d2322..62fd963d 100644 --- a/motion/thruster_interface/src/thruster_interface_ros.cpp +++ b/motion/thruster_interface/src/thruster_interface_ros.cpp @@ -3,6 +3,8 @@ ThrusterInterfaceROS::ThrusterInterfaceROS() { sub = nh.subscribe("/thrust/thruster_forces", 10, &ThrusterInterfaceROS::thrustCallback, this); + + pwm_pub = nh.advertise("/pwm", 10); } void ThrusterInterfaceROS::thrustCallback( @@ -16,5 +18,20 @@ void ThrusterInterfaceROS::thrustCallback( msg->thrust[2] * newton_to_gram_conversion_factor, msg->thrust[3] * newton_to_gram_conversion_factor}; - thrusterInterface.publish_thrust_to_escs(forces_in_grams); + std::vector pwm_values; + for (auto force : forces_in_grams) { + pwm_values.push_back(thrusterInterface.interpolate(force)); + } + + vortex_msgs::Pwm pwm_msg; + // TODO: Get mapping from rosparam + std::vector thruster_map = {0, 1, 2, 3}; + for(int i = 0; i < 4; i++) { + pwm_msg.positive_width_us.push_back(pwm_values[i]); + pwm_msg.pins.push_back(thruster_map[i]); + } + + pwm_pub.publish(pwm_msg); + + //thrusterInterface.publish_thrust_to_escs(forces_in_grams); } \ No newline at end of file From 186688cc86704efb4ffdc28362236fd09e02a581 Mon Sep 17 00:00:00 2001 From: Clang Robot Date: Sat, 5 Aug 2023 23:15:34 +0000 Subject: [PATCH 038/132] Committing clang-format changes --- .../include/thruster_interface/thruster_interface.hpp | 1 - .../include/thruster_interface/thruster_interface_ros.hpp | 2 +- motion/thruster_interface/src/thruster_interface.cpp | 3 ++- motion/thruster_interface/src/thruster_interface_ros.cpp | 6 +++--- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/motion/thruster_interface/include/thruster_interface/thruster_interface.hpp b/motion/thruster_interface/include/thruster_interface/thruster_interface.hpp index f0b2856d..1b9fbfd3 100644 --- a/motion/thruster_interface/include/thruster_interface/thruster_interface.hpp +++ b/motion/thruster_interface/include/thruster_interface/thruster_interface.hpp @@ -29,7 +29,6 @@ class ThrusterInterface { ThrusterInterface(std::string mapping_file); void publish_thrust_to_escs(std::vector forces); float interpolate(float force); - }; #endif // THRUSTER_INTERFACE_HPP diff --git a/motion/thruster_interface/include/thruster_interface/thruster_interface_ros.hpp b/motion/thruster_interface/include/thruster_interface/thruster_interface_ros.hpp index 707d0b27..4fa2bdb6 100644 --- a/motion/thruster_interface/include/thruster_interface/thruster_interface_ros.hpp +++ b/motion/thruster_interface/include/thruster_interface/thruster_interface_ros.hpp @@ -3,8 +3,8 @@ #include "thruster_interface/thruster_interface.hpp" -#include "vortex_msgs/ThrusterForces.h" #include "vortex_msgs/Pwm.h" +#include "vortex_msgs/ThrusterForces.h" #include #include diff --git a/motion/thruster_interface/src/thruster_interface.cpp b/motion/thruster_interface/src/thruster_interface.cpp index 21be985b..6011ef6d 100644 --- a/motion/thruster_interface/src/thruster_interface.cpp +++ b/motion/thruster_interface/src/thruster_interface.cpp @@ -49,7 +49,8 @@ float ThrusterInterface::interpolate(float force) { return pwm1; } - int pwm_signal = std::round(pwm1 + ((force - force1) * (pwm2 - pwm1)) / (force2 - force1) + 0.5); + int pwm_signal = std::round( + pwm1 + ((force - force1) * (pwm2 - pwm1)) / (force2 - force1) + 0.5); int clipped_pwm_signal = std::min(std::max(pwm_signal, 1100), 1900); diff --git a/motion/thruster_interface/src/thruster_interface_ros.cpp b/motion/thruster_interface/src/thruster_interface_ros.cpp index 62fd963d..c7d4e936 100644 --- a/motion/thruster_interface/src/thruster_interface_ros.cpp +++ b/motion/thruster_interface/src/thruster_interface_ros.cpp @@ -26,12 +26,12 @@ void ThrusterInterfaceROS::thrustCallback( vortex_msgs::Pwm pwm_msg; // TODO: Get mapping from rosparam std::vector thruster_map = {0, 1, 2, 3}; - for(int i = 0; i < 4; i++) { + for (int i = 0; i < 4; i++) { pwm_msg.positive_width_us.push_back(pwm_values[i]); pwm_msg.pins.push_back(thruster_map[i]); - } + } pwm_pub.publish(pwm_msg); - //thrusterInterface.publish_thrust_to_escs(forces_in_grams); + // thrusterInterface.publish_thrust_to_escs(forces_in_grams); } \ No newline at end of file From 5ee7abfc24b6fe75782bb94c3f890b99acc56f24 Mon Sep 17 00:00:00 2001 From: vortex git Date: Sat, 5 Aug 2023 23:15:41 +0000 Subject: [PATCH 039/132] Update allocator wrench values Signed-off-by: vortex git --- asv_setup/config/robots/naglfar.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/asv_setup/config/robots/naglfar.yaml b/asv_setup/config/robots/naglfar.yaml index 95328343..a943656d 100644 --- a/asv_setup/config/robots/naglfar.yaml +++ b/asv_setup/config/robots/naglfar.yaml @@ -48,7 +48,7 @@ propulsion: offset: [0, 0, 0, 0] # Disclose during thruster mapping command: wrench: - max: [33.9, 33.9, 48.0, 7.6, 3.2, 9.9] - scaling: [ 0.4, 0.4, 0.6, 0.3, 0.7, 0.4] + max: [150.0, 150.0, 150.0, 150.0, 150.0, 150.0] + scaling: [ 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] computer: "pc-debug" From 25bd582ad9582315ec0e74f12ac95db1c36c8d16 Mon Sep 17 00:00:00 2001 From: Clang Robot Date: Sat, 5 Aug 2023 23:17:23 +0000 Subject: [PATCH 040/132] Committing clang-format changes --- .../src/thruster_interface.cpp | 4 +- .../src/thruster_interface_ros.cpp | 1 - .../tests/thruster_interface_test.cpp | 57 ++++++++++--------- 3 files changed, 31 insertions(+), 31 deletions(-) diff --git a/motion/thruster_interface/src/thruster_interface.cpp b/motion/thruster_interface/src/thruster_interface.cpp index 11861572..9f64e46c 100644 --- a/motion/thruster_interface/src/thruster_interface.cpp +++ b/motion/thruster_interface/src/thruster_interface.cpp @@ -87,10 +87,10 @@ void ThrusterInterface::publish_thrust_to_escs(std::vector forces) { int data_size = pwm_bytes.size(); // DEBUG - //for (auto pwm : pwm_values) { + // for (auto pwm : pwm_values) { // std::cout << pwm << " "; //} - //std::cout << std::endl; + // std::cout << std::endl; int file = open(I2C_DEVICE, O_RDWR); if (file < 0) { diff --git a/motion/thruster_interface/src/thruster_interface_ros.cpp b/motion/thruster_interface/src/thruster_interface_ros.cpp index a8816457..19c4b632 100644 --- a/motion/thruster_interface/src/thruster_interface_ros.cpp +++ b/motion/thruster_interface/src/thruster_interface_ros.cpp @@ -35,4 +35,3 @@ void ThrusterInterfaceROS::thrustCallback( // thrusterInterface.publish_thrust_to_escs(forces_in_grams); } - diff --git a/motion/thruster_interface/tests/thruster_interface_test.cpp b/motion/thruster_interface/tests/thruster_interface_test.cpp index ba7fdec7..0c94bd20 100644 --- a/motion/thruster_interface/tests/thruster_interface_test.cpp +++ b/motion/thruster_interface/tests/thruster_interface_test.cpp @@ -104,34 +104,35 @@ int main() { return 1; } - for (int i = 0; i <= 10; i++){ - std::cout << i << ": "; - float desired_force_thr_1 = 0.0; // 12000 - 250*i; - float desired_force_thr_2 = 0.0; //-5000 + 500*i; //12000 - 250*i; - float desired_force_thr_3 = 0.0; //-5000 + 500*i; //0.0; //12000 - 250*i; - float desired_force_thr_4 = 0.0; //-5000 + 500 * i; // 12000 - 250*i; - - int pwm_thr_1 = interpolate(pwm_table, desired_force_thr_1); - int pwm_thr_2 = interpolate(pwm_table, desired_force_thr_2); - int pwm_thr_3 = interpolate(pwm_table, desired_force_thr_3); - int pwm_thr_4 = interpolate(pwm_table, desired_force_thr_4); - - std::vector pwm_values = {pwm_thr_1, pwm_thr_2, pwm_thr_3, pwm_thr_4}; - std::vector pwm_bytes = pwm_to_bytes(pwm_values); - - int data_size = pwm_bytes.size(); - - // Send the I2C message - auto write_feedback = write(file, pwm_bytes.data(), data_size); - if (write_feedback != data_size) { - std::cerr << "Feedback: " << write_feedback << " Data size: " << data_size << ". Error sending data, ignoring...\n"; + for (int i = 0; i <= 10; i++) { + std::cout << i << ": "; + float desired_force_thr_1 = 0.0; // 12000 - 250*i; + float desired_force_thr_2 = 0.0; //-5000 + 500*i; //12000 - 250*i; + float desired_force_thr_3 = 0.0; //-5000 + 500*i; //0.0; //12000 - 250*i; + float desired_force_thr_4 = 0.0; //-5000 + 500 * i; // 12000 - 250*i; + + int pwm_thr_1 = interpolate(pwm_table, desired_force_thr_1); + int pwm_thr_2 = interpolate(pwm_table, desired_force_thr_2); + int pwm_thr_3 = interpolate(pwm_table, desired_force_thr_3); + int pwm_thr_4 = interpolate(pwm_table, desired_force_thr_4); + + std::vector pwm_values = {pwm_thr_1, pwm_thr_2, pwm_thr_3, pwm_thr_4}; + std::vector pwm_bytes = pwm_to_bytes(pwm_values); + + int data_size = pwm_bytes.size(); + + // Send the I2C message + auto write_feedback = write(file, pwm_bytes.data(), data_size); + if (write_feedback != data_size) { + std::cerr << "Feedback: " << write_feedback << " Data size: " << data_size + << ". Error sending data, ignoring...\n"; + } else { + std::cout << "Feedback: " << write_feedback << " Data size: " << data_size + << " Data sent successfully!\n"; + } + + close(file); + std::this_thread::sleep_for(std::chrono::milliseconds(1000)); } - else{ - std::cout << "Feedback: " << write_feedback << " Data size: " << data_size << " Data sent successfully!\n"; - } - - close(file); -std::this_thread::sleep_for(std::chrono::milliseconds(1000)); -} return 0; } From be414a8063d7235c0525f890e27a187c5e315ae0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Sun, 6 Aug 2023 01:28:50 +0200 Subject: [PATCH 041/132] Add pwm offsets MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- motion/thruster_interface/src/thruster_interface_ros.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/motion/thruster_interface/src/thruster_interface_ros.cpp b/motion/thruster_interface/src/thruster_interface_ros.cpp index 19c4b632..e8d778fe 100644 --- a/motion/thruster_interface/src/thruster_interface_ros.cpp +++ b/motion/thruster_interface/src/thruster_interface_ros.cpp @@ -24,10 +24,12 @@ void ThrusterInterfaceROS::thrustCallback( } vortex_msgs::Pwm pwm_msg; - // TODO: Get mapping from rosparam + // TODO: Get mapping and offsets from rosparam std::vector thruster_map = {0, 1, 2, 3}; + std::vector pwm_offsets = {100, 100, 100, 100}; for (int i = 0; i < 4; i++) { - pwm_msg.positive_width_us.push_back(pwm_values[i]); + int pwm_clamped = std::min(std::max(pwm_values[i] + pwm_offsets[i], 1100), 1900); + pwm_msg.positive_width_us.push_back(); pwm_msg.pins.push_back(thruster_map[i]); } From d2018bb6abeed091466af8da66eb8674349b2d50 Mon Sep 17 00:00:00 2001 From: Clang Robot Date: Sat, 5 Aug 2023 23:29:17 +0000 Subject: [PATCH 042/132] Committing clang-format changes --- motion/thruster_interface/src/thruster_interface_ros.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/motion/thruster_interface/src/thruster_interface_ros.cpp b/motion/thruster_interface/src/thruster_interface_ros.cpp index e8d778fe..790bf6a9 100644 --- a/motion/thruster_interface/src/thruster_interface_ros.cpp +++ b/motion/thruster_interface/src/thruster_interface_ros.cpp @@ -28,7 +28,8 @@ void ThrusterInterfaceROS::thrustCallback( std::vector thruster_map = {0, 1, 2, 3}; std::vector pwm_offsets = {100, 100, 100, 100}; for (int i = 0; i < 4; i++) { - int pwm_clamped = std::min(std::max(pwm_values[i] + pwm_offsets[i], 1100), 1900); + int pwm_clamped = + std::min(std::max(pwm_values[i] + pwm_offsets[i], 1100), 1900); pwm_msg.positive_width_us.push_back(); pwm_msg.pins.push_back(thruster_map[i]); } From 684da9e4f7749eed311496d7f36ea8ad83b179b0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Sun, 6 Aug 2023 01:29:46 +0200 Subject: [PATCH 043/132] Add missing param for pwm push back MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- motion/thruster_interface/src/thruster_interface_ros.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/motion/thruster_interface/src/thruster_interface_ros.cpp b/motion/thruster_interface/src/thruster_interface_ros.cpp index e8d778fe..6be7f59e 100644 --- a/motion/thruster_interface/src/thruster_interface_ros.cpp +++ b/motion/thruster_interface/src/thruster_interface_ros.cpp @@ -29,7 +29,7 @@ void ThrusterInterfaceROS::thrustCallback( std::vector pwm_offsets = {100, 100, 100, 100}; for (int i = 0; i < 4; i++) { int pwm_clamped = std::min(std::max(pwm_values[i] + pwm_offsets[i], 1100), 1900); - pwm_msg.positive_width_us.push_back(); + pwm_msg.positive_width_us.push_back(pwm_clamped); pwm_msg.pins.push_back(thruster_map[i]); } From c13aee52bf0630aa9da626e081e7eef8992ff346 Mon Sep 17 00:00:00 2001 From: Clang Robot Date: Sat, 5 Aug 2023 23:30:35 +0000 Subject: [PATCH 044/132] Committing clang-format changes --- motion/thruster_interface/src/thruster_interface_ros.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/motion/thruster_interface/src/thruster_interface_ros.cpp b/motion/thruster_interface/src/thruster_interface_ros.cpp index 6be7f59e..ba1e646b 100644 --- a/motion/thruster_interface/src/thruster_interface_ros.cpp +++ b/motion/thruster_interface/src/thruster_interface_ros.cpp @@ -28,7 +28,8 @@ void ThrusterInterfaceROS::thrustCallback( std::vector thruster_map = {0, 1, 2, 3}; std::vector pwm_offsets = {100, 100, 100, 100}; for (int i = 0; i < 4; i++) { - int pwm_clamped = std::min(std::max(pwm_values[i] + pwm_offsets[i], 1100), 1900); + int pwm_clamped = + std::min(std::max(pwm_values[i] + pwm_offsets[i], 1100), 1900); pwm_msg.positive_width_us.push_back(pwm_clamped); pwm_msg.pins.push_back(thruster_map[i]); } From 953df815519dbc807fd638233d001cad3f565719 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Sun, 6 Aug 2023 03:53:12 +0200 Subject: [PATCH 045/132] Hotfix topic names MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- mission/joystick_interface/scripts/joystick_interface.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mission/joystick_interface/scripts/joystick_interface.py b/mission/joystick_interface/scripts/joystick_interface.py index 075f840a..e61784d4 100755 --- a/mission/joystick_interface/scripts/joystick_interface.py +++ b/mission/joystick_interface/scripts/joystick_interface.py @@ -50,10 +50,10 @@ def __init__(self): self.joystick_cb, queue_size=1) - self.force_pub = rospy.Publisher("/thrust/desired_force", + self.force_pub = rospy.Publisher("/thrust/force_input", Wrench, queue_size=1) - self.torque_pub = rospy.Publisher("/thrust/desired_torque", + self.torque_pub = rospy.Publisher("/thrust/torque_input", Wrench, queue_size=1) From ccf9b30245b7973b64c76ee2555d9f691b1596d9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Mon, 7 Aug 2023 00:11:40 +0200 Subject: [PATCH 046/132] Rename to control simulator and add python LQR MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- motion/control_simulator/CMakeLists.txt | 24 +++ motion/control_simulator/package.xml | 17 ++ motion/control_simulator/scripts/freya.py | 151 +++++++++++++++++ .../scripts/lqr_controller.py | 66 ++++++++ .../scripts/pid_controller.py | 48 ++++++ motion/control_simulator/scripts/simulator.py | 156 ++++++++++++++++++ motion/control_simulator/scripts/vessel.py | 39 +++++ 7 files changed, 501 insertions(+) create mode 100644 motion/control_simulator/CMakeLists.txt create mode 100644 motion/control_simulator/package.xml create mode 100644 motion/control_simulator/scripts/freya.py create mode 100644 motion/control_simulator/scripts/lqr_controller.py create mode 100644 motion/control_simulator/scripts/pid_controller.py create mode 100755 motion/control_simulator/scripts/simulator.py create mode 100755 motion/control_simulator/scripts/vessel.py diff --git a/motion/control_simulator/CMakeLists.txt b/motion/control_simulator/CMakeLists.txt new file mode 100644 index 00000000..238bf927 --- /dev/null +++ b/motion/control_simulator/CMakeLists.txt @@ -0,0 +1,24 @@ +cmake_minimum_required(VERSION 2.8.3) +project(control_simulator) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + rospy + geometry_msgs +) + + +catkin_package( +) + +## Your package locations should be listed before other locations +include_directories( +# include + + ${catkin_INCLUDE_DIRS} +) diff --git a/motion/control_simulator/package.xml b/motion/control_simulator/package.xml new file mode 100644 index 00000000..42dda3d6 --- /dev/null +++ b/motion/control_simulator/package.xml @@ -0,0 +1,17 @@ + + + control_simulator + 0.0.0 + The control_simulator package + Christopher Strøm + MIT + + catkin + + rospy + geometry_msgs + + rospy + geometry_msgs + + diff --git a/motion/control_simulator/scripts/freya.py b/motion/control_simulator/scripts/freya.py new file mode 100644 index 00000000..5b337912 --- /dev/null +++ b/motion/control_simulator/scripts/freya.py @@ -0,0 +1,151 @@ +import numpy as np +from scipy.linalg import expm + +# Constants +mp = 2.5 +rp = 0.075 +V_c = 1 +beta_c = 0.2 +n_max = 10000 +n_min = -10000 +k_pos = 0.005 +k_neg = 0.001 + + +# Skew-symmetric matrix +def Smtrx(vector): + return np.array([[0, -vector[2], vector[1]], [vector[2], 0, -vector[0]], + [-vector[1], vector[0], 0]]) + + +# Rotation matrix from Euler angles (zyx convention) +def Rzyx(phi, theta, psi): + return np.array([[ + np.cos(psi) * np.cos(theta), + np.cos(psi) * np.sin(theta) * np.sin(phi) - np.sin(psi) * np.cos(phi), + np.cos(psi) * np.sin(theta) * np.cos(phi) + np.sin(psi) * np.sin(phi) + ], + [ + np.sin(psi) * np.cos(theta), + np.sin(psi) * np.sin(theta) * np.sin(phi) + + np.cos(psi) * np.cos(phi), + np.sin(psi) * np.sin(theta) * np.cos(phi) - + np.cos(psi) * np.sin(phi) + ], + [ + -np.sin(theta), + np.cos(theta) * np.sin(phi), + np.cos(theta) * np.cos(phi) + ]]) + + +def model(x, tau): + # Ensure the input vectors are the correct size + assert len(x) == 12, 'x vector must have dimension 12!' + + # Vehicle dimensions + x_pont = 1.2 + y_pont = 1.0 + z_pont = 0.5 + + # Inertia Matrix + m = 11.0 # mass of the otter in kg + Ix = 1.0 # moment of inertia about x + Iy = 1.0 # moment of inertia about y + Iz = 1.0 # moment of inertia about z + I = np.diag([Ix, Iy, Iz]) + + # Rigid body mass matrix + M_RB = np.block([[m * np.eye(3), np.zeros((3, 3))], [np.zeros((3, 3)), I]]) + + # Added mass + X_du = 0 # Surge (kg) + Y_dv = 0 # Sway (kg) + Z_dw = 0 # Heave (kg) + K_dp = 0 # Roll (kg*m^2) + M_dq = 0 # Pitch (kg*m^2) + N_dr = 0 # Yaw (kg*m^2) + M_A = -np.diag([X_du, Y_dv, Z_dw, K_dp, M_dq, N_dr]) + + # Total mass matrix + M = M_RB + M_A + + # Damping coefficients + X_u = 2 # Linear damping - Surge (Ns/m) + Y_v = 2 # Linear damping - Sway (Ns/m) + Z_w = 5 # Linear damping - Heave (Ns/m) + K_p = 0.1 # Linear damping - Roll (Ns) + M_q = 0.1 # Linear damping - Pitch (Ns) + N_r = 0.1 # Linear damping - Yaw (Ns) + D_l = np.diag([X_u, Y_v, Z_w, K_p, M_q, N_r]) # Linear damping matrix + + X_uu = 0 # Quadratic damping - Surge (Ns^2/m^2) + Y_vv = 0 # Quadratic damping - Sway (Ns^2/m^2) + Z_ww = 0 # Quadratic damping - Heave (Ns^2/m^2) + K_pp = 0 # Quadratic damping - Roll (Ns) + M_qq = 0 # Quadratic damping - Pitch (Ns) + N_rr = 0.1 # Quadratic damping - Yaw (Ns) + D_q = np.diag([ + abs(X_uu * x[6]), + abs(Y_vv * x[7]), + abs(Z_ww * x[8]), + abs(K_pp * x[9]), + abs(M_qq * x[10]), + abs(N_rr * x[11]) + ]) # Quadratic damping matrix + + D = D_l + D_q # Damping matrix + + # Coriolis and centripetal matrix + CRB = m * np.block( + [[np.zeros((3, 3)), -Smtrx(np.array([x[6], x[7], x[8]]))], + [ + Smtrx(np.array([x[6], x[7], x[8]])), + -Smtrx(I.dot(np.array([x[9], x[10], x[11]]))) + ]]) + + CA = m * np.block([[ + np.zeros((3, 3)), -Smtrx(np.array([x[0], x[1], x[2]])) + ], [np.zeros((3, 3)), np.zeros((3, 3))]]) + + C = CRB + CA + + # Propeller forces + # n_prop = np.clip(n, n_min, n_max) + # T_pos = k_pos * n_prop * abs(n_prop) + # T_neg = k_neg * n_prop * abs(n_prop) + # T = np.where(n_prop > 0, T_pos, T_neg) + + #tau = np.array([T.sum(), 0, 0, 0, 0, (x_pont / 2) * (T[1] - T[0]) + (y_pont / 2) * (T[3] - T[2])]) + + # System matrices + eta = x[0:6] + nu = x[6:12] + + J = np.block([[np.eye(3), np.zeros((3, 3))], + [np.zeros((3, 3)), + Rzyx(eta[3], eta[4], eta[5])]]) + + M_inv = np.linalg.inv(M) + + # # tau is defined in world, move to body + yaw = eta[5] + c = np.cos(yaw) + s = np.sin(yaw) + + R = np.array(([c, -s, 0], [s, c, 0], [0, 0, 1])) + + # # nu is defined in world, move to body + nu[:3] = R @ nu[:3] + + tau = R @ tau + + tau_body_six = np.array((tau[0], tau[1], 0.0, 0.0, 0.0, tau[2])) + + # System model + etadot = J @ nu + nudot = M_inv @ (tau_body_six - C @ nu - D @ nu) + + xdot = np.concatenate((etadot, nudot)) + + return xdot diff --git a/motion/control_simulator/scripts/lqr_controller.py b/motion/control_simulator/scripts/lqr_controller.py new file mode 100644 index 00000000..bda18c13 --- /dev/null +++ b/motion/control_simulator/scripts/lqr_controller.py @@ -0,0 +1,66 @@ +import numpy as np +import scipy.linalg as la + +def ssa(angle): + return (angle + np.pi) % (2 * np.pi) - np.pi + +class LQRController: + + def __init__(self, M, D, Q, R, setpoint, actuator_limits=np.inf): + """ + An LQR controller based on a simplified mass-damper vessel model + + State vector: [x, y, psi, u, v, r, ix, iy] + """ + self.Q = np.diag(Q) + self.R = np.diag(R) + self.setpoint = np.array(setpoint) + self.M = M + self.D = D + + self.yaw_idx = 2 + self.integral_states = np.array([0.0, 0.0]) + + self.actuator_limits = actuator_limits + + def control(self, state, dt): + state_with_integral = np.concatenate((state, self.integral_states)) + + A, B = self.linearize(state_with_integral, dt) + K = self.lqr(A, B, self.Q, self.R) + + error = state_with_integral - np.concatenate((self.setpoint, [0, 0])) + error[self.yaw_idx] = ssa(error[self.yaw_idx]) + + tau_body = -K @ error + + if np.any(np.abs(tau_body) > self.actuator_limits): # Anti-windup + return np.ravel(tau_body) + + self.integral_states += (state[:2] - self.setpoint[:2]) * dt + + if not np.array_equal(np.sign(state[:2] - self.setpoint[:2]), np.sign(self.integral_states)): # Integral reset on sign change + self.integral_states = np.array([0.0, 0.0]) + + return np.ravel(tau_body) + + def linearize(self, state, dt): + A = np.eye(8) + A[3:6, 3:6] -= dt * np.linalg.inv(self.M) @ self.D + A[0:3, 3:6] = dt * np.array([ + [np.cos(state[self.yaw_idx]), -np.sin(state[self.yaw_idx]), 0], + [np.sin(state[self.yaw_idx]), np.cos(state[self.yaw_idx]), 0], + [0, 0, 1] + ]) + A[6, 0] = dt # add integral effect on x + A[7, 1] = dt # add integral effect on y + + B = np.block([[np.zeros((3, 3))], [dt * np.linalg.inv(self.M)], [np.zeros((2, 3))]]) + + return A, B + + def lqr(self, A, B, Q, R): + X = np.matrix(la.solve_discrete_are(A, B, Q, R)) + K = np.matrix(la.inv(R + B.T @ X @ B) @ (B.T @ X @ A)) + + return K diff --git a/motion/control_simulator/scripts/pid_controller.py b/motion/control_simulator/scripts/pid_controller.py new file mode 100644 index 00000000..1a5de49b --- /dev/null +++ b/motion/control_simulator/scripts/pid_controller.py @@ -0,0 +1,48 @@ +import numpy as np + +def ssa(angle): + return (angle + np.pi) % (2 * np.pi) - np.pi + +def RT(yaw): + return np.array([ + [np.cos(yaw), np.sin(yaw), 0], + [-np.sin(yaw), np.cos(yaw), 0], + [0, 0, 1] + ]) + +def saturation(control, min_value, max_value): + return np.clip(control, min_value, max_value) + +class MIMO3DOFNonlinearPID: + + def __init__(self, Kp, Ki, Kd, setpoint, min_output=-np.inf, max_output=np.inf): + self.Kp = np.diag(Kp) + self.Ki = np.diag(Ki) + self.Kd = np.diag(Kd) + self.setpoint = np.array(setpoint) + self.min_output = min_output + self.max_output = max_output + + self.integral_error = np.zeros(3) + self.previous_error = np.zeros(3) + self.output = np.zeros(3) + + def reset(self): + self.integral_error = np.zeros(3) + self.previous_error = np.zeros(3) + + def control(self, state, dt): + eta = state[3:] + eta_error = eta - self.setpoint + eta_error[2] = ssa(eta_error[2]) + + # calculate eta_dot + eta_dot = (eta_error - self.previous_error) / dt + + self.output = -self.Kp @ eta_error - self.Kd @ eta_dot - self.Ki @ self.integral_error + self.output = saturation(self.output, self.min_output, self.max_output) + self.previous_error = eta_error + + return RT(eta[2]) @ self.output + + diff --git a/motion/control_simulator/scripts/simulator.py b/motion/control_simulator/scripts/simulator.py new file mode 100755 index 00000000..f867a7e6 --- /dev/null +++ b/motion/control_simulator/scripts/simulator.py @@ -0,0 +1,156 @@ +#!/usr/bin/python3 + +import numpy as np + +import matplotlib.pyplot as plt +from matplotlib.animation import FuncAnimation + +from pid_controller import MIMO3DOFNonlinearPID, ssa +from lqr_controller import LQRController + +import vessel + +import rospy +from geometry_msgs.msg import Wrench + +DT = 0.1 + + +class VesselVisualizer: + + def __init__(self, vessel): + + rospy.init_node('vessel_simulator') + + rospy.Subscriber("/thrust/force_input", Wrench, self.wrench_callback) + self.vessel = vessel + + self.fig, self.axes = plt.subplots(nrows=3, ncols=2, figsize=(10, 10)) + self.ax_vessel = self.axes[0, 0] + self.ax_x = self.axes[0, 1] + self.ax_y = self.axes[1, 0] + self.ax_psi = self.axes[1, 1] + self.ax_vx = self.axes[2, 0] + self.ax_vy = self.axes[2, 1] + + x, y, psi, vx, vy, vpsi = self.vessel.state + self.external_control_signal = np.zeros(3) + self.brownian_motion_state = np.zeros(2) + + self.arrow = plt.Arrow(x, y, np.cos(psi), np.sin(psi), width=0.1) + self.ax_vessel.add_patch(self.arrow) + + # Initialize the path line + self.path, = self.ax_vessel.plot(x, y, color="red") + + self.ax_vessel.set_xlim(-5, 5) + self.ax_vessel.set_ylim(-5, 5) + self.ax_vessel.grid("on") + + self.x_line, = self.ax_x.plot(0, x) + self.y_line, = self.ax_y.plot(0, y) + self.psi_line, = self.ax_psi.plot(0, ssa(psi)) + self.vx_line, = self.ax_vx.plot(0, vx) + self.vy_line, = self.ax_vy.plot(0, vy) + + self.current_time = 0.0 + + def wrench_callback(self, data): + x_scale = 0.1 + y_scale = 0.1 + yaw_scale = 0.1 + self.external_control_signal = np.array((x_scale*data.force.x, y_scale*data.force.y, yaw_scale*data.torque.z)) + + + def update(self, frame): + self.update_time_and_motion_state() + u = lqr_controller.control(self.vessel.state, DT) + self.external_control_signal + + self.vessel.step(DT, u) + self.update_and_draw_arrow() + self.update_path_line() + self.update_and_plot_signals(frame) + self.update_legends_and_axes(frame) + + + def update_time_and_motion_state(self): + self.current_time += DT + self.brownian_motion_state += np.sqrt(DT) * np.random.normal(scale=1.0, size=2) + + + + def update_and_draw_arrow(self): + self.arrow.remove() + arrow_length = 1.0 + arrow_width = 1.0 + x, y, psi, vx, vy, vpsi = self.vessel.state + psi = ssa(psi) + + self.arrow = plt.Arrow(x, y, arrow_length * np.cos(psi), arrow_length * np.sin(psi), width=arrow_width) + self.ax_vessel.add_patch(self.arrow) + + + def update_path_line(self): + old_path = self.path.get_data() + new_path = (np.append(old_path[0], self.vessel.state[0]), np.append(old_path[1], self.vessel.state[1])) + self.path.set_data(new_path) + + + def update_and_plot_signals(self, frame): + signals = ['x', 'y', 'psi', 'vx', 'vy'] + for i, signal in enumerate(signals): + data = self.vessel.state[i] + line = getattr(self, f"{signal}_line") + + line.set_data(np.append(line.get_xdata(), frame), np.append(line.get_ydata(), data)) + getattr(self, f"ax_{signal}").axhline(y=lqr_controller.setpoint[i], color='r') + + + def update_legends_and_axes(self, frame): + signals = ['x', 'y', 'psi', 'vx', 'vy'] + labels = ['North', 'East', 'Heading', 'Surge Velocity', 'Sway Velocity'] + y_padding = 0.25 + window_size = 500 + + for signal, label in zip(signals, labels): + line = getattr(self, f"{signal}_line") + axis = getattr(self, f"ax_{signal}") + + line.set_label(label) + axis.set_xlim(max(0, frame - window_size), frame + 1) + axis.set_ylim( + min(line.get_ydata()) - y_padding, + max(max(line.get_ydata()), lqr_controller.setpoint[2]) + y_padding) + axis.legend() + + + + def animate(self): + NUMBER_OF_FRAMES = 2000 + TIME_BETWEEN_FRAMES_MS = 50 + anim = FuncAnimation(self.fig, + self.update, + frames=np.arange(0, NUMBER_OF_FRAMES, DT), + interval=TIME_BETWEEN_FRAMES_MS, + repeat=False) + plt.show() + + +if __name__ == '__main__': + # # Initiate the vessel + mass = 20.0 + damping = 2.0 + inertia = 1.0 + simulated_vessel = vessel.Vessel3DOF(mass, damping, inertia) + + setpoint = [1.0, 1.0, np.pi/2, 0, 0, 0] + + # Define the LQR controller + # x, y, psi, u, v, r + Q = [10.0, 10.0, 0.1, 0.001, 0.001, 0.001, 1.0, 1.0] # State cost weights + R = [0.01, 0.01, 0.01] # Control cost weight + lqr_controller = LQRController(simulated_vessel.M, simulated_vessel.D, Q, R, setpoint, actuator_limits=150.0) + + # Create a visualizer and animate + visualizer = VesselVisualizer(simulated_vessel) + visualizer.animate() diff --git a/motion/control_simulator/scripts/vessel.py b/motion/control_simulator/scripts/vessel.py new file mode 100755 index 00000000..37c20f34 --- /dev/null +++ b/motion/control_simulator/scripts/vessel.py @@ -0,0 +1,39 @@ +#!/usr/bin/python3 + +import numpy as np + + +class Vessel3DOF: + + def __init__(self, mass, damping, inertia): + # Mass and inertia matrix + self.M = np.diag([mass, mass, inertia]) + + # Damping matrix + self.D = np.diag([damping, damping, damping]) + + # State vector [u, v, r, x, y, psi], + # where u, v, r are velocities and x, y, psi are positions + self.state = np.zeros(6) + + def step(self, dt, u): + # Unpack state vector + x_pos, y_pos, psi_pos, u_vel, v_vel, r_vel = self.state + + # Body velocities + nu = np.array([u_vel, v_vel, r_vel]) + + # Newton's second law + nu_dot = np.linalg.inv(self.M) @ (u - self.D @ nu) + + # Position update - simple Euler integration + psi_dot = r_vel + x_dot = u_vel * np.cos(psi_pos) - v_vel * np.sin(psi_pos) + y_dot = u_vel * np.sin(psi_pos) + v_vel * np.cos(psi_pos) + eta_dot = np.array([x_dot, y_dot, psi_dot]) + + # Integrate forward in time + self.state[:3] += eta_dot * dt + self.state[3:] += nu_dot * dt + + return self.state.copy() From af885af37eaca445bc4b4f870dcd2da5f0ab7747 Mon Sep 17 00:00:00 2001 From: github-actions Date: Sun, 6 Aug 2023 22:12:07 +0000 Subject: [PATCH 047/132] Automated autoyapf fixes --- .../scripts/lqr_controller.py | 27 ++++++---- .../scripts/pid_controller.py | 21 +++++--- motion/control_simulator/scripts/simulator.py | 52 +++++++++++-------- 3 files changed, 60 insertions(+), 40 deletions(-) diff --git a/motion/control_simulator/scripts/lqr_controller.py b/motion/control_simulator/scripts/lqr_controller.py index bda18c13..89e82642 100644 --- a/motion/control_simulator/scripts/lqr_controller.py +++ b/motion/control_simulator/scripts/lqr_controller.py @@ -1,9 +1,11 @@ import numpy as np import scipy.linalg as la + def ssa(angle): return (angle + np.pi) % (2 * np.pi) - np.pi + class LQRController: def __init__(self, M, D, Q, R, setpoint, actuator_limits=np.inf): @@ -19,7 +21,7 @@ def __init__(self, M, D, Q, R, setpoint, actuator_limits=np.inf): self.D = D self.yaw_idx = 2 - self.integral_states = np.array([0.0, 0.0]) + self.integral_states = np.array([0.0, 0.0]) self.actuator_limits = actuator_limits @@ -34,28 +36,31 @@ def control(self, state, dt): tau_body = -K @ error - if np.any(np.abs(tau_body) > self.actuator_limits): # Anti-windup + if np.any(np.abs(tau_body) > self.actuator_limits): # Anti-windup return np.ravel(tau_body) - + self.integral_states += (state[:2] - self.setpoint[:2]) * dt - if not np.array_equal(np.sign(state[:2] - self.setpoint[:2]), np.sign(self.integral_states)): # Integral reset on sign change - self.integral_states = np.array([0.0, 0.0]) + if not np.array_equal( + np.sign(state[:2] - self.setpoint[:2]), + np.sign( + self.integral_states)): # Integral reset on sign change + self.integral_states = np.array([0.0, 0.0]) return np.ravel(tau_body) def linearize(self, state, dt): A = np.eye(8) A[3:6, 3:6] -= dt * np.linalg.inv(self.M) @ self.D - A[0:3, 3:6] = dt * np.array([ - [np.cos(state[self.yaw_idx]), -np.sin(state[self.yaw_idx]), 0], - [np.sin(state[self.yaw_idx]), np.cos(state[self.yaw_idx]), 0], - [0, 0, 1] - ]) + A[0:3, 3:6] = dt * np.array([[ + np.cos(state[self.yaw_idx]), -np.sin(state[self.yaw_idx]), 0 + ], [np.sin(state[self.yaw_idx]), + np.cos(state[self.yaw_idx]), 0], [0, 0, 1]]) A[6, 0] = dt # add integral effect on x A[7, 1] = dt # add integral effect on y - B = np.block([[np.zeros((3, 3))], [dt * np.linalg.inv(self.M)], [np.zeros((2, 3))]]) + B = np.block([[np.zeros((3, 3))], [dt * np.linalg.inv(self.M)], + [np.zeros((2, 3))]]) return A, B diff --git a/motion/control_simulator/scripts/pid_controller.py b/motion/control_simulator/scripts/pid_controller.py index 1a5de49b..ff88876e 100644 --- a/motion/control_simulator/scripts/pid_controller.py +++ b/motion/control_simulator/scripts/pid_controller.py @@ -1,21 +1,28 @@ import numpy as np + def ssa(angle): return (angle + np.pi) % (2 * np.pi) - np.pi + def RT(yaw): - return np.array([ - [np.cos(yaw), np.sin(yaw), 0], - [-np.sin(yaw), np.cos(yaw), 0], - [0, 0, 1] - ]) + return np.array([[np.cos(yaw), np.sin(yaw), 0], + [-np.sin(yaw), np.cos(yaw), 0], [0, 0, 1]]) + def saturation(control, min_value, max_value): return np.clip(control, min_value, max_value) + class MIMO3DOFNonlinearPID: - def __init__(self, Kp, Ki, Kd, setpoint, min_output=-np.inf, max_output=np.inf): + def __init__(self, + Kp, + Ki, + Kd, + setpoint, + min_output=-np.inf, + max_output=np.inf): self.Kp = np.diag(Kp) self.Ki = np.diag(Ki) self.Kd = np.diag(Kd) @@ -44,5 +51,3 @@ def control(self, state, dt): self.previous_error = eta_error return RT(eta[2]) @ self.output - - diff --git a/motion/control_simulator/scripts/simulator.py b/motion/control_simulator/scripts/simulator.py index f867a7e6..b2e11133 100755 --- a/motion/control_simulator/scripts/simulator.py +++ b/motion/control_simulator/scripts/simulator.py @@ -59,25 +59,25 @@ def wrench_callback(self, data): x_scale = 0.1 y_scale = 0.1 yaw_scale = 0.1 - self.external_control_signal = np.array((x_scale*data.force.x, y_scale*data.force.y, yaw_scale*data.torque.z)) - + self.external_control_signal = np.array( + (x_scale * data.force.x, y_scale * data.force.y, + yaw_scale * data.torque.z)) def update(self, frame): self.update_time_and_motion_state() - u = lqr_controller.control(self.vessel.state, DT) + self.external_control_signal + u = lqr_controller.control(self.vessel.state, + DT) + self.external_control_signal self.vessel.step(DT, u) self.update_and_draw_arrow() self.update_path_line() self.update_and_plot_signals(frame) self.update_legends_and_axes(frame) - def update_time_and_motion_state(self): self.current_time += DT - self.brownian_motion_state += np.sqrt(DT) * np.random.normal(scale=1.0, size=2) - - + self.brownian_motion_state += np.sqrt(DT) * np.random.normal(scale=1.0, + size=2) def update_and_draw_arrow(self): self.arrow.remove() @@ -86,32 +86,38 @@ def update_and_draw_arrow(self): x, y, psi, vx, vy, vpsi = self.vessel.state psi = ssa(psi) - self.arrow = plt.Arrow(x, y, arrow_length * np.cos(psi), arrow_length * np.sin(psi), width=arrow_width) + self.arrow = plt.Arrow(x, + y, + arrow_length * np.cos(psi), + arrow_length * np.sin(psi), + width=arrow_width) self.ax_vessel.add_patch(self.arrow) - def update_path_line(self): old_path = self.path.get_data() - new_path = (np.append(old_path[0], self.vessel.state[0]), np.append(old_path[1], self.vessel.state[1])) + new_path = (np.append(old_path[0], self.vessel.state[0]), + np.append(old_path[1], self.vessel.state[1])) self.path.set_data(new_path) - def update_and_plot_signals(self, frame): signals = ['x', 'y', 'psi', 'vx', 'vy'] for i, signal in enumerate(signals): data = self.vessel.state[i] line = getattr(self, f"{signal}_line") - - line.set_data(np.append(line.get_xdata(), frame), np.append(line.get_ydata(), data)) - getattr(self, f"ax_{signal}").axhline(y=lqr_controller.setpoint[i], color='r') + line.set_data(np.append(line.get_xdata(), frame), + np.append(line.get_ydata(), data)) + getattr(self, f"ax_{signal}").axhline(y=lqr_controller.setpoint[i], + color='r') def update_legends_and_axes(self, frame): signals = ['x', 'y', 'psi', 'vx', 'vy'] - labels = ['North', 'East', 'Heading', 'Surge Velocity', 'Sway Velocity'] + labels = [ + 'North', 'East', 'Heading', 'Surge Velocity', 'Sway Velocity' + ] y_padding = 0.25 window_size = 500 - + for signal, label in zip(signals, labels): line = getattr(self, f"{signal}_line") axis = getattr(self, f"ax_{signal}") @@ -120,11 +126,10 @@ def update_legends_and_axes(self, frame): axis.set_xlim(max(0, frame - window_size), frame + 1) axis.set_ylim( min(line.get_ydata()) - y_padding, - max(max(line.get_ydata()), lqr_controller.setpoint[2]) + y_padding) + max(max(line.get_ydata()), lqr_controller.setpoint[2]) + + y_padding) axis.legend() - - def animate(self): NUMBER_OF_FRAMES = 2000 TIME_BETWEEN_FRAMES_MS = 50 @@ -143,13 +148,18 @@ def animate(self): inertia = 1.0 simulated_vessel = vessel.Vessel3DOF(mass, damping, inertia) - setpoint = [1.0, 1.0, np.pi/2, 0, 0, 0] + setpoint = [1.0, 1.0, np.pi / 2, 0, 0, 0] # Define the LQR controller # x, y, psi, u, v, r Q = [10.0, 10.0, 0.1, 0.001, 0.001, 0.001, 1.0, 1.0] # State cost weights R = [0.01, 0.01, 0.01] # Control cost weight - lqr_controller = LQRController(simulated_vessel.M, simulated_vessel.D, Q, R, setpoint, actuator_limits=150.0) + lqr_controller = LQRController(simulated_vessel.M, + simulated_vessel.D, + Q, + R, + setpoint, + actuator_limits=150.0) # Create a visualizer and animate visualizer = VesselVisualizer(simulated_vessel) From fba43083065d6e42e2711ca8bd814ca134dda020 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Mon, 7 Aug 2023 01:53:27 +0200 Subject: [PATCH 048/132] Remove DP controller MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- motion/dp_controller/CMakeLists.txt | 78 ---- motion/dp_controller/README.md | 40 -- motion/dp_controller/cfg/Controller.cfg | 19 - .../include/dp_controller/control_modes.h | 49 --- .../include/dp_controller/controller_ros.h | 176 --------- .../include/dp_controller/eigen_helper.h | 143 ------- .../include/dp_controller/eigen_typedefs.h | 11 - .../dp_controller/quaternion_pd_controller.h | 215 ----------- motion/dp_controller/package.xml | 32 -- motion/dp_controller/src/controller_node.cpp | 9 - motion/dp_controller/src/controller_ros.cpp | 351 ------------------ .../src/quaternion_pd_controller.cpp | 160 -------- motion/dp_controller/test/controller_test.cpp | 79 ---- .../dp_controller/test/controller_test.test | 28 -- 14 files changed, 1390 deletions(-) delete mode 100644 motion/dp_controller/CMakeLists.txt delete mode 100644 motion/dp_controller/README.md delete mode 100755 motion/dp_controller/cfg/Controller.cfg delete mode 100644 motion/dp_controller/include/dp_controller/control_modes.h delete mode 100644 motion/dp_controller/include/dp_controller/controller_ros.h delete mode 100644 motion/dp_controller/include/dp_controller/eigen_helper.h delete mode 100644 motion/dp_controller/include/dp_controller/eigen_typedefs.h delete mode 100644 motion/dp_controller/include/dp_controller/quaternion_pd_controller.h delete mode 100644 motion/dp_controller/package.xml delete mode 100644 motion/dp_controller/src/controller_node.cpp delete mode 100644 motion/dp_controller/src/controller_ros.cpp delete mode 100644 motion/dp_controller/src/quaternion_pd_controller.cpp delete mode 100644 motion/dp_controller/test/controller_test.cpp delete mode 100644 motion/dp_controller/test/controller_test.test diff --git a/motion/dp_controller/CMakeLists.txt b/motion/dp_controller/CMakeLists.txt deleted file mode 100644 index 33719266..00000000 --- a/motion/dp_controller/CMakeLists.txt +++ /dev/null @@ -1,78 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(dp_controller) - -add_definitions(-std=c++11) - -find_package(catkin REQUIRED COMPONENTS - actionlib - move_base_msgs - dynamic_reconfigure - eigen_conversions - nav_msgs - geometry_msgs - roscpp - std_msgs - vortex_msgs - roslint -) - -find_package(Eigen3 REQUIRED) -find_package(Boost REQUIRED COMPONENTS) - -set(ROSLINT_CPP_OPTS "--filter=-legal/copyright") -roslint_cpp() - -generate_dynamic_reconfigure_options( - cfg/Controller.cfg -) - -catkin_package( - INCLUDE_DIRS include - CATKIN_DEPENDS - move_base_msgs - dynamic_reconfigure - eigen_conversions - nav_msgs - geometry_msgs - roscpp - std_msgs - vortex_msgs -) - -include_directories( - include - ${catkin_INCLUDE_DIRS} - ${Boost_INCLUDE_DIRS} - ${EIGEN_INCLUDE_DIRS} - ${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake -) - -add_executable(${PROJECT_NAME}_node - src/controller_node.cpp - src/controller_ros.cpp - src/quaternion_pd_controller.cpp -) - -add_dependencies(${PROJECT_NAME}_node - ${${PROJECT_NAME}_EXPORTED_TARGETS} - ${catkin_EXPORTED_TARGETS} -) - -target_link_libraries(${PROJECT_NAME}_node - ${catkin_LIBRARIES} -) - -if(CATKIN_ENABLE_TESTING) - find_package(rostest REQUIRED) - - add_rostest_gtest(${PROJECT_NAME}-test - test/controller_test.test - test/controller_test.cpp - ) - - target_link_libraries(${PROJECT_NAME}-test - ${catkin_LIBRARIES} - ) - - roslint_add_test() -endif() diff --git a/motion/dp_controller/README.md b/motion/dp_controller/README.md deleted file mode 100644 index eaf6dbd3..00000000 --- a/motion/dp_controller/README.md +++ /dev/null @@ -1,40 +0,0 @@ -## ASV note -This is a tried and tested node, but is made for full 6DOF control. We will not need to use quaternions, or care about anything other than DOF 1,2 and 6. We can either rewrite this code, or use it as a reference to write a new DP controller entirely. - -## DP controller - -#### Subscribes to: -* /odometry/filtered - -#### Publishes to: -* /auv/thruster_manager/input -* controller/mode -* debug/controlstates - -#### Servers: -* Dynamic reconfigure -* Move base action server -* Control mode service server - - -This package provices an implementation of _Fjellstad & Fossen 1994: Quaternion Feedback Regulation of Underwater Vehicles_, -a nonlinear PD position and orientation controller, which in this implementation has been expanded with integral effect. -It provides the AUV with the ability to hold fixed setpoints in pose, heading, or a combination of these. - -The core of the technical implementation lies in quaternion_pd_controller. controller_ros implements the interface layer between -the controller implementation with the rest of the ROS-based system. - -The following control modes are available, which can be set using convenience functions in dp_client in the finite_state_machine package: -* Open loop -* Pose hold -* Heading hold -* Pose+Heading hold - -Always set control mode to open loop before switching to a different controller, such as LOS - -The controller parameters can be changed during runtime because of the dynamic reconfigure server that is present -in the controller_ros file. The parameters can be und under /cfg/Controller.cfg. To reconfigure the parameters, use -``` -rosrun rqt_reconfigure rqt_reconfigure -``` -and select the /dp node from the list of reconfigurable nodes. diff --git a/motion/dp_controller/cfg/Controller.cfg b/motion/dp_controller/cfg/Controller.cfg deleted file mode 100755 index e5898382..00000000 --- a/motion/dp_controller/cfg/Controller.cfg +++ /dev/null @@ -1,19 +0,0 @@ -#! /usr/bin/env python - -PACKAGE = 'dp_controller' -import roslib - -roslib.load_manifest(PACKAGE) - -from dynamic_reconfigure.parameter_generator_catkin import * - -gen = ParameterGenerator() -gains = gen.add_group("Gains") - -# Name Type Level Description Default Min Max -gains.add("velocity_gain", double_t, 0, "Velocity gain", 3.5, 0.0, 10.0) -gains.add("position_gain", double_t, 0, "Position gain", 30.5, 0.0, 40.0) -gains.add("attitude_gain", double_t, 0, "Attitude gain", 1.3, 0.0, 10.0) -gains.add("integral_gain", double_t, 0, "Integral gain", 0.024, 0.0, 2.0) - -exit(gen.generate(PACKAGE, "dp_controller", "VortexController")) diff --git a/motion/dp_controller/include/dp_controller/control_modes.h b/motion/dp_controller/include/dp_controller/control_modes.h deleted file mode 100644 index 79d8890e..00000000 --- a/motion/dp_controller/include/dp_controller/control_modes.h +++ /dev/null @@ -1,49 +0,0 @@ -#ifndef VORTEX_CONTROLLER_CONTROL_MODES_H -#define VORTEX_CONTROLLER_CONTROL_MODES_H - -#include - -namespace ControlModes { -enum ControlMode { - OPEN_LOOP = 0, - POSITION_HOLD = 1, - HEADING_HOLD = 2, - POSE_HOLD = 3, - CONTROL_MODE_END = 4 -}; -} // namespace ControlModes -typedef ControlModes::ControlMode ControlMode; - -/** - * @brief Convert controlMode to a string representation - * - * @param control_mode the control mode to be converted to a string - * - */ -inline std::string controlModeString(ControlMode control_mode) { - std::string s; - switch (control_mode) { - case ControlModes::OPEN_LOOP: - s = "OPEN LOOP"; - break; - - case ControlModes::POSITION_HOLD: - s = "POSITION HOLD"; - break; - - case ControlModes::HEADING_HOLD: - s = "HEADING HOLD"; - break; - - case ControlModes::POSE_HOLD: - s = "POSE HOLD"; - break; - - default: - s = "INVALID CONTROL MODE"; - break; - } - return s; -} - -#endif // VORTEX_CONTROLLER_CONTROL_MODES_H diff --git a/motion/dp_controller/include/dp_controller/controller_ros.h b/motion/dp_controller/include/dp_controller/controller_ros.h deleted file mode 100644 index e0514eeb..00000000 --- a/motion/dp_controller/include/dp_controller/controller_ros.h +++ /dev/null @@ -1,176 +0,0 @@ -/** - * @file - * @brief A ROS wrapper layer for the quaternion PID controller - * - */ -#ifndef VORTEX_CONTROLLER_CONTROLLER_ROS_H -#define VORTEX_CONTROLLER_CONTROLLER_ROS_H - -#include - -#include "ros/ros.h" -#include - -#include "dp_controller/control_modes.h" -#include "eigen_typedefs.h" -#include "geometry_msgs/Pose.h" -#include "nav_msgs/Odometry.h" -#include "vortex_msgs/ControlMode.h" //service -#include "vortex_msgs/Debug.h" -#include "vortex_msgs/PropulsionCommand.h" -#include "vortex_msgs/RovState.h" -#include - -#include "dp_controller/quaternion_pd_controller.h" - -// Action server -#include -#include - -// typedef so you dont have to write out definition every time -typedef actionlib::SimpleActionServer - MoveBaseActionServer; - -enum PoseIndex { SURGE = 0, SWAY = 1, HEAVE = 2, ROLL = 3, PITCH = 4, YAW = 5 }; - -/** - * @brief the Controller class - * - * This class serves as a wrapper for the lower-level controller implementation - * @see quaternion_pd_controller.h - * - */ -class Controller { - -public: - /** - * @brief Controller class constructor - * - * @param nh ROS nodehandle - */ - explicit Controller(ros::NodeHandle nh); - - /** - * @brief Callback for the state subscriber - * - * If the orientation given in @p msg is invalid, this function returns early. - * Else it publishes the calculated feedback through the action server. It - * also returns "success" if the setpoint is within the circle of acceptance. - * - * @param msg A nav_msg::Odometry message containing state data about the - * AUV. - */ - void stateCallback(const nav_msgs::Odometry &msg); - - /** - * @brief Callback for the dynamic reconfigure server - * - * @param config A VortexControllerConfig object used to store parameters - * @param level Unused integer - * - * This function sets the controller gains for the @p config and passes these - * to the @c setGains() command in the controller. - */ - void configCallback(const dp_controller::VortexControllerConfig &config, - uint32_t level); - - /** - * @brief Service server callback for setting control mode - * - * @param req The requested control mode - * @param res The server respose to the @p req - * - * @return Always returns true if function execution makes it to - * the end of the function - */ - bool controlModeCallback(vortex_msgs::ControlMode::Request &req, - vortex_msgs::ControlMode::Response &res); - - /** - * @brief Action server; goal - * - * Called when a new goal is set, and simply accepts the new goal. - * - */ - void actionGoalCallBack(); - - /** - * @brief Action server; preemptive goal - * - * Called whenever external applications like rviz sends a simple goal. - */ - void preemptCallBack(); - - /** - * @brief class wrapper for the usual ros::spin() command - * - * for each spinOnce, this function gets the newest state - * and newest setpoints, and calculates a force vector - * depending on the current control mode. - */ - void spin(); - -private: - ros::NodeHandle m_nh; - - ros::Subscriber m_state_sub; - - ros::Publisher m_wrench_pub; - ros::Publisher m_debug_pub; - - dynamic_reconfigure::Server m_dr_srv; - - ControlMode m_control_mode; /** Current control mode */ - int m_frequency; /** Update frequency for controller (ros rate) */ - bool m_debug_mode = true; - const double c_normalized_force_deadzone = 0.01; - const double c_max_quat_norm_deviation = 0.1; - bool m_goal_reached; - - std::unique_ptr m_controller; - - // EIGEN CONVERSION INITIALIZE - Eigen::Vector3d position_state; /** Current position */ - Eigen::Quaterniond orientation_state; /** Current orientation */ - Eigen::Vector6d velocity_state; /** Current velocity */ - Eigen::Vector3d position_setpoint; /** Position setpoint */ - Eigen::Quaterniond orientation_setpoint; /** Orientation setpoint */ - - std::vector tau_command_max; - std::vector tau_command_scaling; - - bool isPositionInCOA(); - - bool isYawInCOA(); - - void reachedSetpoint(); - - /** - * @brief Publish a vortex_msgs Debug message containing current state and - * setpoint data - * - * @param position_state A 3d vector containing the current body - * position - * @param orientation_state A quaternion containing the current - * orientation - * @param velocity_state A 6d vector containing the current velocity - * - * @param position_setpoint A 3d vector containing the position setpoint - * @param orientation_setpoint A quaternion containing the orientation - * setpoint - */ - void publishDebugMsg(const Eigen::Vector3d &position_state, - const Eigen::Quaterniond &orientation_state, - const Eigen::Vector6d &velocity_state, - const Eigen::Vector3d &position_setpoint, - const Eigen::Quaterniond &orientation_setpoint); - -protected: - MoveBaseActionServer *mActionServer; /** Action server object */ - - ros::ServiceServer mControlModeService; /** Service server object */ - - float R; /** Radius of the circle of acceptance */ -}; - -#endif // VORTEX_CONTROLLER_CONTROLLER_ROS_H diff --git a/motion/dp_controller/include/dp_controller/eigen_helper.h b/motion/dp_controller/include/dp_controller/eigen_helper.h deleted file mode 100644 index 3451723b..00000000 --- a/motion/dp_controller/include/dp_controller/eigen_helper.h +++ /dev/null @@ -1,143 +0,0 @@ -/** - * @file - * @brief An extension of the eigen library containing useful - * functionality for matrix computation - */ - -#ifndef VORTEX_EIGEN_HELPER_H -#define VORTEX_EIGEN_HELPER_H - -#include "ros/ros.h" -#include "vortex_msgs/ThrusterForces.h" -#include - -#include -#include - -/** - * @brief check if a matrix is valid (no nan or inf entries) - * - * @param X The matrix to be checked - * - * @return true if X has any nan or inf elements, false otherwise - */ -template -inline bool isFucked(const Eigen::MatrixBase &X) { - bool has_nan = !(X.array() == X.array()).all(); - bool has_inf = !((X - X).array() == (X - X).array()).all(); - return has_nan || has_inf; -} - -/** - * @brief read a matrix from the ROS parameter server - * - * @param nh ROS NodeHandle - * @param name Parameter name of the matrix in the parameter server - * @param X The matrix that will be filled with the values read from the - * parameter server - * - * @return false if unsuccessful, true if successful - */ -inline bool getMatrixParam(ros::NodeHandle nh, std::string name, - Eigen::MatrixXd *X) { - XmlRpc::XmlRpcValue matrix; - nh.getParam(name, matrix); - - try { - const int rows = matrix.size(); - const int cols = matrix[0].size(); - X->setZero(rows, cols); - for (int i = 0; i < rows; ++i) - for (int j = 0; j < cols; ++j) - (*X)(i, j) = matrix[i][j]; - } catch (...) { - return false; - } - return true; -} - -/** - * @brief print Eigen matrix - * - * @param name Name of matrix - * @param X Matrix - */ -inline void printEigen(std::string name, const Eigen::MatrixXd &X) { - std::stringstream ss; - ss << std::endl << name << " = " << std::endl << X; - ROS_INFO_STREAM(ss.str()); -} - -/** - * @brief calculate pseudoinverse matrix - * - * @param X The matrix to be inverted - * @param X_pinv The inverted version of the @p X matrix - * - * @return false if the calculation fails, true otherwise - */ -inline bool pseudoinverse(const Eigen::MatrixXd &X, Eigen::MatrixXd *X_pinv) { - Eigen::MatrixXd copy = X.transpose() * (X * X.transpose()).inverse(); - - if (isFucked(copy)) { - return false; - } - *X_pinv = copy; - return true; -} - -/** - * @brief calculate a 3x3 skew-symmetric matrix - * - * @param v The vector from which the matrix is to be calculated - * - * @return the 3x3 skew-symmetric matrix of @p v - */ -inline Eigen::Matrix3d skew(const Eigen::Vector3d &v) { - Eigen::Matrix3d S; - S << 0, -v(2), v(1), v(2), 0, -v(0), -v(1), v(0), 0; - return S; -} - -/** - * @brief Convert a vector to a ThrusterForces vortex message - * - * @param u The Eigen::vector to be converted - * @param msg The vortex_msgs output message - * - */ -inline void arrayEigenToMsg(const Eigen::VectorXd &u, - vortex_msgs::ThrusterForces *msg) { - int r = u.size(); - std::vector u_vec(r); - for (int i = 0; i < r; ++i) - u_vec[i] = u(i); - msg->thrust = u_vec; -} - -/** - * @brief saturate a vector to a given range - * - * @param v The vector to be saturated - * @param min Lower saturation limit - * @param max Upper saturation limit - * - * @return true if all elements are in the [ @p min @p max ] range already - * false otherwise - * - */ -inline bool saturateVector(Eigen::VectorXd *v, double min, double max) { - bool vector_in_range = true; - for (int i = 0; i < v->size(); ++i) { - if ((*v)(i) > max) { - (*v)(i) = max; - vector_in_range = false; - } else if ((*v)(i) < min) { - (*v)(i) = min; - vector_in_range = false; - } - } - return vector_in_range; -} - -#endif // VORTEX_EIGEN_HELPER_H diff --git a/motion/dp_controller/include/dp_controller/eigen_typedefs.h b/motion/dp_controller/include/dp_controller/eigen_typedefs.h deleted file mode 100644 index 72dbc857..00000000 --- a/motion/dp_controller/include/dp_controller/eigen_typedefs.h +++ /dev/null @@ -1,11 +0,0 @@ -#ifndef VORTEX_EIGEN_TYPEDEFS_H -#define VORTEX_EIGEN_TYPEDEFS_H - -#include - -namespace Eigen { -typedef Eigen::Matrix Matrix6d; -typedef Eigen::Matrix Vector6d; -} // namespace Eigen - -#endif // VORTEX_EIGEN_TYPEDEFS_H diff --git a/motion/dp_controller/include/dp_controller/quaternion_pd_controller.h b/motion/dp_controller/include/dp_controller/quaternion_pd_controller.h deleted file mode 100644 index 2a12e22d..00000000 --- a/motion/dp_controller/include/dp_controller/quaternion_pd_controller.h +++ /dev/null @@ -1,215 +0,0 @@ -/** - * @file - * @brief A nonlinear PID controller for position and orientation - * - * An implementation of Fjellstad & Fossen 1994: Quaternion - * Feedback Regulation of Underwater Vehicles, a nonlinear PD - * position and orientation controller. All variables are named - * as they appear in the paper. - * - * Note that the PD controller as described in the paper has been - * expanded to a PID controller. - */ - -#ifndef VORTEX_CONTROLLER_QUATERNION_PD_CONTROLLER_H -#define VORTEX_CONTROLLER_QUATERNION_PD_CONTROLLER_H -#include "eigen_typedefs.h" -#include -#include -#include -#include -#include -using namespace Eigen; - -/** - * @brief A complete class for the nonlinear PID controller - */ -class QuaternionPdController { -public: - /** - * @brief Controller class constructor - * - * @param a Diagonal value for derivative gain matrix - * @param b Diagonal value for position gain matrix - * @param c Orientation gain - * @param i Scalar for orientation integral gain and diagonal value for - * integral gain matrix - * @param W Weight of drone - * @param B Buoyancy of drone - * @param r_G Center of gravity, expressed in body frame - * @param r_B Center of buoyancy, expressed in body frame - * - */ - QuaternionPdController(double a, double b, double c, double i, double W, - double B, const Eigen::Vector3d &r_G, - const Eigen::Vector3d &r_B); - - /** - * @brief set the gains of the controller - * - * @param a Diagonal value for derivative gain matrix - * @param b Diagonal value for position gain matrix - * @param c Orientation gain - * @param i Scalar for orientation integral gain and diagonal value for - * integral gain matrix - * - */ - void setGains(double a, double b, double c, double i); - - /** - * @brief a getter for the restoring forces vector. - * @see restoringForceVector() - * - * @param q A quaternion containing the AUV pose in the inertial/world frame - * - * @return the restoring forces vector - */ - Eigen::Vector6d getRestoring(const Eigen::Quaterniond &q); - - /** - * @brief a getter for the feedback vector - * - * @param x The current body position, as a 3d vector - * @param q The current attitude, in quaternion form - * - * @param nu Body fixed linear velocity and angular velocity in x,y,z - * - * @param x_d The desired body position, as a 3d vector - * @param q_d The desired attitude, in quaternion form - * - * @return Control vector without restoring forces - */ - Eigen::Vector6d getFeedback(const Eigen::Vector3d &x, - const Eigen::Quaterniond &q, - const Eigen::Vector6d &nu, - const Eigen::Vector3d &x_d, - const Eigen::Quaterniond &q_d); - - /** - * @brief Utilize a calculated reference model to find next desired body - * position - * - * @param x The current body position, as a 3d vector - * @param x_ref The body position reference, as a 3d vector - * - * @return Next desired body position - */ - Eigen::Vector3d referenceModel(const Eigen::Vector3d &x, - const Eigen::Vector3d &x_ref); - - /** - * @brief Check if desired position is within a defined radius of the current - * position - * - * @param x The current body position, as a 3d vector - * @param x_d The desired body position, as a 3d vector - * @param R The radius of the circle of acceptance - * - * @return true if inside circle of acceptance, false if not. - */ - bool circleOfAcceptanceXY(const Eigen::Vector3d &x, - const Eigen::Vector3d &x_d, const double R); - - bool circleOfAcceptanceYaw(const Eigen::Quaterniond orientation, - const Eigen::Quaterniond orientation_d, - const double R); - - Eigen::Vector6d integral = - Eigen::Vector6d::Zero(); /** Integral error vector */ - Eigen::Vector3d x_d_prev = - Eigen::Vector3d::Zero(); /** Previous desired body position */ - Eigen::Vector3d x_d_prev_prev = - Eigen::Vector3d::Zero(); /** Previous previous desired body position */ - Eigen::Vector3d x_ref_prev = - Eigen::Vector3d::Zero(); /** Previous reference body position */ - Eigen::Vector3d x_ref_prev_prev = - Eigen::Vector3d::Zero(); /** Previous previous reference body position */ - - EIGEN_MAKE_ALIGNED_OPERATOR_NEW - -private: - /** - * @brief Calculate the proportional gain matrix - * - * @param R Rotation matrix from inertial to body frame - * - * @return The calculated proportional gain matrix - */ - Eigen::Matrix6d proportionalGainMatrix(const Eigen::Matrix3d R); - - /** - * @brief Calculate the integral gain matrix - * - * @param R Rotation matrix from inertial to body frame - * - * @return The calculated integral gain matrix - */ - Eigen::Matrix6d integralGainMatrix(const Eigen::Matrix3d R); - - /** - * @brief Prevent integral windup - * - * Integrator anti-windup is needed in order to avoid that the integrator - * integrates up beyond the saturation limits of the actuators. - * - * @see getFeedback() where @p pose_lim and @p att_lim are defined - * - * @param vec The current integral gain - * @param pose_lim The maximum allowed pose gain - * @param att_lim The maximum allowed attitude gain - * - */ - void integralWindUp(Eigen::Vector6d &vec, double pose_lim, double att_lim); - - /** - * @brief Calculate error vector. - * - * The quaternion error is given by the product of desired state and - * current state. The position error meanwhile, is given by the difference - * between the desired position and the current position - * - * @param x The current body position, as a 3d vector - * @param x_d The desired body position, as a 3d vector - * - * @param q The current attitude, in quaternion form - * @param q_d The desired attitude, in quaternion form - * - * @return a 6x1 vector consisting of the error in position and attitudes. - */ - Eigen::Vector6d errorVector(const Eigen::Vector3d &x, - const Eigen::Vector3d &x_d, - const Eigen::Quaterniond &q, - const Eigen::Quaterniond &q_d); - - /** - * @brief calculate the restoring force vector - * - * @param R Rotation matrix from inertial to body frame - * - * @return The restoring force vector - */ - Eigen::Vector6d restoringForceVector(const Eigen::Matrix3d R); - - /** - * @brief The mathematical sign-operator - * - * @param x The value whos sign is to be determined - * - * @return -1 if @p x is negative, and 1 if @p x is zero or greater - * - */ - int sgn(double x); - - double m_c; /** Orientation gain */ - double m_c_i; /** Orientation integral gain */ - Eigen::Matrix6d m_K_d; /** Derivative gain matrix */ - Eigen::Matrix3d m_K_x; /** Position error gain matrix */ - Eigen::Matrix3d m_K_i; /** Integral gain matrix */ - - Eigen::Vector3d m_r_G; /** Center of gravity, expressed in body frame */ - Eigen::Vector3d m_r_B; /** Center of buoyancy, expressed in body frame */ - double m_W; /** [N] Weight of drone */ - double m_B; /** [N] Buoyancy of drone */ -}; - -#endif // VORTEX_CONTROLLER_QUATERNION_PD_CONTROLLER_H diff --git a/motion/dp_controller/package.xml b/motion/dp_controller/package.xml deleted file mode 100644 index d3612589..00000000 --- a/motion/dp_controller/package.xml +++ /dev/null @@ -1,32 +0,0 @@ - - - dp_controller - 0.0.0 - The dp_controller package - Kristoffer Rakstad Solberg - MIT - - catkin - - actionlib - move_base_msgs - dynamic_reconfigure - eigen_conversions - nav_msgs - geometry_msgs - roscpp - std_msgs - - vortex_msgs - roslint - - actionlib - move_base_msgs - dynamic_reconfigure - eigen_conversions - nav_msgs - geometry_msgs - roscpp - std_msgs - vortex_msgs - diff --git a/motion/dp_controller/src/controller_node.cpp b/motion/dp_controller/src/controller_node.cpp deleted file mode 100644 index 2b933b5a..00000000 --- a/motion/dp_controller/src/controller_node.cpp +++ /dev/null @@ -1,9 +0,0 @@ -#include "dp_controller/controller_ros.h" - -int main(int argc, char **argv) { - ros::init(argc, argv, "dp_controller"); - ros::NodeHandle nh; - Controller controller(nh); - controller.spin(); - return 0; -} diff --git a/motion/dp_controller/src/controller_ros.cpp b/motion/dp_controller/src/controller_ros.cpp deleted file mode 100644 index 6756cc31..00000000 --- a/motion/dp_controller/src/controller_ros.cpp +++ /dev/null @@ -1,351 +0,0 @@ -#include "dp_controller/controller_ros.h" -#include "dp_controller/eigen_helper.h" - -#include "std_msgs/String.h" -#include -#include - -#include -#include -#include -#include - -Controller::Controller(ros::NodeHandle nh) : m_nh(nh), m_frequency(10) { - - m_control_mode = ControlModes::OPEN_LOOP; - m_goal_reached = false; - // Subscribers - m_state_sub = - m_nh.subscribe("/pose_gt", 10, &Controller::stateCallback, this); - - // Publishers - std::string thrust_topic; - if (!m_nh.getParam("/controllers/dp/thrust_topic", thrust_topic)) { - thrust_topic = "/thrust/desired_forces"; - ROS_WARN("Failed to read parameter thrust_topic, defaulting to " - "/thrust/desired_forces"); - } - m_wrench_pub = m_nh.advertise(thrust_topic, 1); - m_debug_pub = m_nh.advertise("debug/controlstates", 10); - - // Launch file specifies .yaml as directory - if (!m_nh.getParam("/controllers/dp/frequency", m_frequency)) - ROS_WARN( - "Failed to read parameter controller frequency, defaulting to %i Hz.", - m_frequency); - - if (!m_nh.getParam("/controllers/dp/circleOfAcceptance", R)) { - ROS_WARN("Failed to read parameter circleOfAcceptance"); - } - - // Initialize the controller itself - double a, b, c, i; - if (!m_nh.getParam("/controllers/dp/velocity_gain", a)) - ROS_ERROR("Failed to read parameter velocity_gain."); - if (!m_nh.getParam("/controllers/dp/position_gain", b)) - ROS_ERROR("Failed to read parameter position_gain."); - if (!m_nh.getParam("/controllers/dp/attitude_gain", c)) - ROS_ERROR("Failed to read parameter attitude_gain."); - if (!m_nh.getParam("/controllers/dp/integral_gain", i)) - ROS_ERROR("Failed to read parameter integral_gain."); - - // Read center of gravity and buoyancy vectors from .yaml - std::vector r_G_vec, r_B_vec; - if (!m_nh.getParam("/physical/center_of_mass", r_G_vec)) - ROS_FATAL("Failed to read robot center of mass parameter."); - if (!m_nh.getParam("/physical/center_of_buoyancy", r_B_vec)) - ROS_FATAL("Failed to read robot center of buoyancy parameter."); - Eigen::Vector3d r_G(r_G_vec.data()); - Eigen::Vector3d r_B(r_B_vec.data()); - - // Read and calculate ASV weight and buoyancy from .yaml - double mass, displacement, acceleration_of_gravity, density_of_water; - if (!m_nh.getParam("/physical/mass_kg", mass)) - ROS_FATAL("Failed to read parameter mass."); - if (!m_nh.getParam("/physical/displacement_m3", displacement)) - ROS_FATAL("Failed to read parameter displacement."); - if (!m_nh.getParam("/gravity/acceleration", acceleration_of_gravity)) - ROS_FATAL("Failed to read parameter acceleration of gravity"); - if (!m_nh.getParam("/water/density", density_of_water)) - ROS_FATAL("Failed to read parameter density of water"); - double W = mass * acceleration_of_gravity; - double B = density_of_water * displacement * acceleration_of_gravity; - - m_controller.reset(new QuaternionPdController(a, b, c, i, W, B, r_G, r_B)); - - std::vector v; - if (!m_nh.getParam("/propulsion/command/wrench/max", v)) { - ROS_FATAL("Failed to read parameter max wrench command."); - tau_command_max = v; - } - if (!m_nh.getParam("/propulsion/command/wrench/scaling", v)) { - ROS_FATAL("Failed to read parameter scaling wrench command."); - tau_command_scaling = v; - } - - // Set up a dynamic reconfigure server - dynamic_reconfigure::Server< - dp_controller::VortexControllerConfig>::CallbackType dr_cb; - dr_cb = boost::bind(&Controller::configCallback, this, _1, _2); - m_dr_srv.setCallback(dr_cb); - - ROS_INFO("Initialized at %i Hz.", m_frequency); - - /* Action server */ - // ros::NodeHandle nodeHandle("move_base"); - mActionServer = new MoveBaseActionServer(m_nh, "move_base", false); - - // register the goal and feeback callbacks - mActionServer->registerGoalCallback( - boost::bind(&Controller::actionGoalCallBack, this)); - mActionServer->registerPreemptCallback( - boost::bind(&Controller::preemptCallBack, this)); - mActionServer->start(); - ROS_INFO("Started action server."); - mControlModeService = m_nh.advertiseService( - "control_mode_service", &Controller::controlModeCallback, this); - ROS_INFO("Started service server."); -} - -void Controller::spin() { - - ros::Rate rate(m_frequency); - - while (ros::ok()) { - - Eigen::Vector6d tau_command = Eigen::VectorXd::Zero(6); - - if (m_debug_mode) { - publishDebugMsg(position_state, orientation_state, velocity_state, - position_setpoint, orientation_setpoint); - } - - switch (m_control_mode) { - case ControlModes::OPEN_LOOP: { - tau_command(SURGE) = 0; - tau_command(SWAY) = 0; - tau_command(YAW) = 0; - break; - } - - case ControlModes::POSITION_HOLD: { - tau_command = m_controller->getFeedback( - position_state, Eigen::Quaterniond::Identity(), velocity_state, - position_setpoint, Eigen::Quaterniond::Identity()); - tau_command(YAW) = 0; - - if (!m_goal_reached && isPositionInCOA()) { - reachedSetpoint(); - } - break; - } - - case ControlModes::HEADING_HOLD: { - tau_command = m_controller->getFeedback( - Eigen::Vector3d::Zero(), orientation_state, velocity_state, - Eigen::Vector3d::Zero(), orientation_setpoint); - tau_command(SURGE) = 0; - tau_command(SWAY) = 0; - - if (!m_goal_reached && isYawInCOA()) { - reachedSetpoint(); - } - - break; - } - - case ControlModes::POSE_HOLD: { - tau_command = m_controller->getFeedback(position_state, orientation_state, - velocity_state, position_setpoint, - orientation_setpoint); - if (!m_goal_reached && isYawInCOA() && isPositionInCOA()) { - reachedSetpoint(); - } - break; - } - - default: { - ROS_ERROR("Default control mode reached."); - } - } - - tau_command(HEAVE) = 0; - tau_command(ROLL) = 0; - tau_command(PITCH) = 0; - - geometry_msgs::Wrench tau_msg; - tf::wrenchEigenToMsg(tau_command, tau_msg); - m_wrench_pub.publish(tau_msg); - - ros::spinOnce(); - rate.sleep(); - } -} - -bool Controller::isPositionInCOA() { - return m_controller->circleOfAcceptanceXY(position_state, position_setpoint, - R); -} - -bool Controller::isYawInCOA() { - return m_controller->circleOfAcceptanceYaw(orientation_state, - orientation_setpoint, 0.05); -} - -void Controller::reachedSetpoint() { - ROS_INFO("Reached setpoint!"); - mActionServer->setSucceeded(move_base_msgs::MoveBaseResult(), - "Goal reached."); - m_goal_reached = true; -} - -/* SERVICE SERVER */ -bool Controller::controlModeCallback(vortex_msgs::ControlMode::Request &req, - vortex_msgs::ControlMode::Response &res) { - - ControlMode new_control_mode = static_cast(req.controlMode); - if (new_control_mode != m_control_mode) { - m_control_mode = new_control_mode; - ROS_INFO_STREAM("Changing mode to " << controlModeString(m_control_mode) - << "."); - } - res.result = "success"; - return true; -} - -/* ACTION SERVER */ -void Controller::preemptCallBack() { - - // notify the ActionServer that we've successfully preempted - ROS_DEBUG_NAMED("move_base", "Move base preempting the current goal"); - - // set the action state to preempted - mActionServer->setPreempted(); -} - -void Controller::actionGoalCallBack() { - - // set current target position to previous position - m_controller->x_d_prev = position_state; - m_controller->x_d_prev_prev = position_state; - m_controller->x_ref_prev = position_state; - m_controller->x_ref_prev_prev = position_state; - - // Integral action reset - m_controller->integral = Eigen::Vector6d::Zero(); - - // accept the new goal - do I have to cancel a pre-existing one first? - geometry_msgs::PoseStamped new_goal = - mActionServer->acceptNewGoal()->target_pose; - - // Transform from Msg to Eigen - tf::pointMsgToEigen(new_goal.pose.position, position_setpoint); - tf::quaternionMsgToEigen(new_goal.pose.orientation, orientation_setpoint); - - Eigen::Vector3d euler = - orientation_setpoint.toRotationMatrix().eulerAngles(2, 1, 0); - ROS_INFO("Controller::actionGoalCallBack(): driving to %2.2f/%2.2f/%2.2f", - position_setpoint[0], position_setpoint[1], 180.0 / M_PI * euler[0]); - - m_goal_reached = false; -} - -/* DYNAMIC RECONFIGURE */ - -void Controller::configCallback( - const dp_controller::VortexControllerConfig &config, uint32_t level) { - ROS_INFO("DP controller reconfigure:"); - ROS_INFO("\t velocity_gain: %2.4f", config.velocity_gain); - ROS_INFO("\t position_gain: %2.4f", config.position_gain); - ROS_INFO("\t attitude_gain: %2.4f", config.attitude_gain); - ROS_INFO("\t integral_gain: %2.4f", config.integral_gain); - - m_controller->setGains(config.velocity_gain, config.position_gain, - config.attitude_gain, config.integral_gain); -} - -/* SUBSCRIBER CALLBACKS */ -void Controller::stateCallback(const nav_msgs::Odometry &msg) { - - // Convert to eigen for computation - tf::pointMsgToEigen(msg.pose.pose.position, position_state); - tf::quaternionMsgToEigen(msg.pose.pose.orientation, orientation_state); - tf::twistMsgToEigen(msg.twist.twist, velocity_state); - - bool orientation_invalid = - (abs(orientation_state.norm() - 1) > c_max_quat_norm_deviation); - if (isFucked(position_state) || isFucked(velocity_state) || - orientation_invalid) { - ROS_WARN_THROTTLE(1, "Invalid state estimate received, ignoring..."); - return; - } - - // geometry_msgs/PoseStamped Pose - if (!mActionServer->isActive()) - return; - - // return a feedback message to the client - move_base_msgs::MoveBaseFeedback feedback; - feedback.base_position.header.stamp = ros::Time::now(); - feedback.base_position.pose = msg.pose.pose; - mActionServer->publishFeedback(feedback); -} - -/* PUBLISH HELPERS */ -void Controller::publishDebugMsg( - const Eigen::Vector3d &position_state, - const Eigen::Quaterniond &orientation_state, - const Eigen::Vector6d &velocity_state, - const Eigen::Vector3d &position_setpoint, - const Eigen::Quaterniond &orientation_setpoint) { - vortex_msgs::Debug dbg_msg; - - // Estimated position - dbg_msg.state_position.x = position_state[0]; - dbg_msg.state_position.y = position_state[1]; - dbg_msg.state_position.z = position_state[2]; - - // Estimated linear velocity - dbg_msg.state_velocity.linear.x = velocity_state[0]; - dbg_msg.state_velocity.linear.y = velocity_state[1]; - dbg_msg.state_velocity.linear.z = velocity_state[2]; - - // Estimated angular velocity - dbg_msg.state_velocity.angular.x = velocity_state[3]; - dbg_msg.state_velocity.angular.y = velocity_state[4]; - dbg_msg.state_velocity.angular.z = velocity_state[5]; - - // Setpoint position - dbg_msg.setpoint_position.x = position_setpoint[0]; - dbg_msg.setpoint_position.y = position_setpoint[1]; - dbg_msg.setpoint_position.z = position_setpoint[2]; - - // Debub state euler orientation - Eigen::Vector3d dbg_state_orientation = - orientation_state.toRotationMatrix().eulerAngles(2, 1, 0); - Eigen::Vector3d dbg_setpoint_orientation = - orientation_setpoint.toRotationMatrix().eulerAngles(2, 1, 0); - - // Debug state orientation - dbg_msg.state_yaw = dbg_state_orientation[0]; - dbg_msg.state_pitch = dbg_state_orientation[1]; - dbg_msg.state_roll = dbg_state_orientation[2]; - - // Debug setpoint euler orientation - dbg_msg.setpoint_yaw = dbg_setpoint_orientation[0]; - dbg_msg.setpoint_pitch = dbg_setpoint_orientation[1]; - dbg_msg.setpoint_roll = dbg_setpoint_orientation[2]; - - /* - // tau body - Eigen::Vector6d tau_body = m_controller->getFeedback(position_state, - Eigen::Quaterniond::Identity(), velocity_state, position_setpoint, - Eigen::Quaterniond::Identity()); - - dbg_msg.tau_xb = tau_body[0]; - dbg_msg.tau_yb = tau_body[1]; - dbg_msg.tau_zb = tau_body[2]; */ - - // publish - m_debug_pub.publish(dbg_msg); -} diff --git a/motion/dp_controller/src/quaternion_pd_controller.cpp b/motion/dp_controller/src/quaternion_pd_controller.cpp deleted file mode 100644 index 76e31a87..00000000 --- a/motion/dp_controller/src/quaternion_pd_controller.cpp +++ /dev/null @@ -1,160 +0,0 @@ -/* Written by Kristoffer Rakstad Solberg, Student - Copyright (c) 2019 Manta AUV, Vortex NTNU. - All rights reserved. */ - -#include "dp_controller/quaternion_pd_controller.h" - -QuaternionPdController::QuaternionPdController(double a, double b, double c, - double i, double W, double B, - const Eigen::Vector3d &r_G, - const Eigen::Vector3d &r_B) - : m_r_G(r_G), m_r_B(r_B), m_W(W), m_B(B) { - setGains(a, b, c, i); -} - -void QuaternionPdController::setGains(double a, double b, double c, double i) { - m_c = c; - m_c_i = i * 0.1; // this should be chosen otherwise - m_K_d = a * Eigen::MatrixXd::Identity(6, 6); - m_K_x = b * Eigen::MatrixXd::Identity(3, 3); - m_K_i = i * Eigen::MatrixXd::Identity(3, 3); -} - -Eigen::Vector6d -QuaternionPdController::getRestoring(const Eigen::Quaterniond &q) { - // Rotate from inertial/world to body - Eigen::Matrix3d R = q.toRotationMatrix(); - return restoringForceVector(R); -} - -Eigen::Vector6d QuaternionPdController::getFeedback( - const Eigen::Vector3d &x, const Eigen::Quaterniond &q, - const Eigen::Vector6d &nu, const Eigen::Vector3d &x_d, - const Eigen::Quaterniond &q_d) { - // Rotate from inertial/world to body - Eigen::Matrix3d R = q.toRotationMatrix(); - Eigen::Matrix6d K_p = proportionalGainMatrix(R); - Eigen::Matrix6d K_i = integralGainMatrix(R); - - // Reference model - Eigen::Vector3d x_d_smooth = referenceModel(x, x_d); - - // Error Vector - Eigen::Vector6d z = errorVector(x, x_d_smooth, q, q_d); - Eigen::Vector6d g = restoringForceVector(R); - - // Integral - double maxPoseGain = 4.0; - double maxAttGain = 0.05; - integral += K_i * z; - integralWindUp(integral, maxPoseGain, maxAttGain); - - // gain - Eigen::Vector6d gain = -m_K_d * nu - K_p * z - integral + g; - - return (Eigen::Vector6d() << gain).finished(); -} - -Eigen::Matrix6d -QuaternionPdController::proportionalGainMatrix(const Eigen::Matrix3d R) { - return (Eigen::Matrix6d() << R.transpose() * m_K_x, - Eigen::MatrixXd::Zero(3, 3), Eigen::MatrixXd::Zero(3, 3), - m_c * Eigen::MatrixXd::Identity(3, 3)) - .finished(); -} - -Eigen::Matrix6d -QuaternionPdController::integralGainMatrix(const Eigen::Matrix3d R) { - return (Eigen::Matrix6d() << R.transpose() * m_K_i, - Eigen::MatrixXd::Zero(3, 3), Eigen::MatrixXd::Zero(3, 3), - m_c_i * Eigen::MatrixXd::Identity(3, 3)) - .finished(); -} - -void QuaternionPdController::integralWindUp(Eigen::Vector6d &vec, - double pose_lim, double att_lim) { - - for (int i = 0; i < 3; i++) { - if (vec(i) < -pose_lim || vec(i) > pose_lim) { - double k = copysign(pose_lim, vec(i)); - vec[i] = k; - } - } - - for (int i = 3; i < 6; i++) { - if (vec(i) < -att_lim || vec(i) > att_lim) { - double k = copysign(att_lim, vec(i)); - vec[i] = k; - } - } -} - -Eigen::Vector6d QuaternionPdController::errorVector( - const Eigen::Vector3d &x, const Eigen::Vector3d &x_d, - const Eigen::Quaterniond &q, const Eigen::Quaterniond &q_d) { - Eigen::Quaterniond q_tilde = q_d.conjugate() * q; - q_tilde.normalize(); - - Eigen::Vector3d error_body = x - x_d; - - return (Eigen::Vector6d() << error_body, sgn(q_tilde.w()) * q_tilde.vec()) - .finished(); -} - -Eigen::Vector6d -QuaternionPdController::restoringForceVector(const Eigen::Matrix3d R) { - Eigen::Vector3d f_G = R.transpose() * Eigen::Vector3d(0, 0, m_W); - Eigen::Vector3d f_B = R.transpose() * Eigen::Vector3d(0, 0, -m_B); - return (Eigen::Vector6d() << f_G + f_B, m_r_G.cross(f_G) + m_r_B.cross(f_B)) - .finished(); -} - -int QuaternionPdController::sgn(double x) { - if (x < 0) - return -1; - return 1; -} - -bool QuaternionPdController::circleOfAcceptanceXY(const Eigen::Vector3d &x, - const Eigen::Vector3d &x_d, - const double R) { - Eigen::Vector3d e = x_d - x; - double e_squared = pow(e[0], 2.0) + pow(e[1], 2.0); - double distance = sqrt(e_squared); - - return distance < R; -} - -bool QuaternionPdController::circleOfAcceptanceYaw( - const Eigen::Quaterniond orientation, - const Eigen::Quaterniond orientation_d, const double R) { - - Eigen::Vector3d euler = orientation.toRotationMatrix().eulerAngles(2, 1, 0); - Eigen::Vector3d euler_d = - orientation_d.toRotationMatrix().eulerAngles(2, 1, 0); - - double distance = euler[0] - euler_d[0]; - double ssa = fmod(distance + M_PI, 2 * M_PI) - M_PI; - - return abs(ssa) < R; -} - -Eigen::Vector3d -QuaternionPdController::referenceModel(const Eigen::Vector3d &x, - const Eigen::Vector3d &x_ref) { - - Eigen::Vector3d x_d; - - Eigen::Vector3d a_x(1, -1.990024937655860, 0.990049813123053); - Eigen::Vector3d b_x(6.218866798092052e-06, 1.243773359618410e-05, - 6.218866798092052e-06); - x_d = b_x(0) * x_ref + b_x(1) * x_ref_prev + b_x(2) * x_ref_prev_prev - - a_x(1) * x_d_prev - a_x(2) * x_d_prev_prev; - - // x_d[k] = x_d[k-1] - x_ref_prev_prev = x_ref_prev; - x_ref_prev = x_ref; - x_d_prev_prev = x_d_prev; - x_d_prev = x_d; - return x_d; -} diff --git a/motion/dp_controller/test/controller_test.cpp b/motion/dp_controller/test/controller_test.cpp deleted file mode 100644 index 4c215d94..00000000 --- a/motion/dp_controller/test/controller_test.cpp +++ /dev/null @@ -1,79 +0,0 @@ -#include "ros/ros.h" -#include -#include -#include -#include -#include - -#include "vortex_msgs/PropulsionCommand.h" - -class ControllerTest : public ::testing::Test { -public: - ControllerTest() { - cmdPub = - nh.advertise("propulsion_command", 10); - sub = nh.subscribe("rov_forces", 10, &ControllerTest::Callback, this); - message_received = false; - } - - void SetUp() { - while (!IsNodeReady()) - ros::spinOnce(); - } - - void PublishCommand(boost::array motion, - std::vector mode) { - vortex_msgs::PropulsionCommand msg; - msg.motion = motion; - msg.control_mode = mode; - cmdPub.publish(msg); - } - - void ExpectTauNear(std::vector arr) { - for (int i = 0; i < tau.size(); ++i) - EXPECT_NEAR(tau[i], arr[i], MAX_ERROR); - } - - void WaitForMessage() { - while (!message_received) - ros::spinOnce(); - } - - Eigen::Matrix tau; - const double MAX_ERROR = 0.0001; - -private: - ros::NodeHandle nh; - ros::Publisher cmdPub; - ros::Subscriber sub; - - bool message_received; - - void Callback(const geometry_msgs::Wrench &msg) { - tf::wrenchMsgToEigen(msg, tau); - message_received = true; - } - - bool IsNodeReady() { - return ((cmdPub.getNumSubscribers() > 0) && (sub.getNumPublishers() > 0)); - } -}; - -TEST_F(ControllerTest, CheckResponsiveness) { WaitForMessage(); } - -TEST_F(ControllerTest, OpenLoop) { - PublishCommand({1, 0, 0, 0, 0, 0}, {1, 0, 0, 0}); // NOLINT(whitespace/braces) - ros::Duration(0.5).sleep(); - WaitForMessage(); - - ExpectTauNear({48.895, 0, 0, 0, 0, 0}); // NOLINT(whitespace/braces) -} - -int main(int argc, char **argv) { - testing::InitGoogleTest(&argc, argv); - ros::init(argc, argv, "controller_test"); - - int ret = RUN_ALL_TESTS(); - ros::shutdown(); - return ret; -} diff --git a/motion/dp_controller/test/controller_test.test b/motion/dp_controller/test/controller_test.test deleted file mode 100644 index 1f849578..00000000 --- a/motion/dp_controller/test/controller_test.test +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - From 6745f19eb42c45a97d656c42fde8d6505b1e69a9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Mon, 7 Aug 2023 01:53:42 +0200 Subject: [PATCH 049/132] Add LQR MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- motion/lqr_controller/CMakeLists.txt | 19 +++ motion/lqr_controller/launch/lqr.launch | 3 + motion/lqr_controller/package.xml | 29 ++++ .../lqr_controller/scripts/lqr_controller.py | 74 +++++++++++ .../scripts/lqr_controller_node.py | 125 ++++++++++++++++++ motion/lqr_controller/scripts/vessel_model.py | 0 6 files changed, 250 insertions(+) create mode 100644 motion/lqr_controller/CMakeLists.txt create mode 100644 motion/lqr_controller/launch/lqr.launch create mode 100644 motion/lqr_controller/package.xml create mode 100644 motion/lqr_controller/scripts/lqr_controller.py create mode 100755 motion/lqr_controller/scripts/lqr_controller_node.py create mode 100644 motion/lqr_controller/scripts/vessel_model.py diff --git a/motion/lqr_controller/CMakeLists.txt b/motion/lqr_controller/CMakeLists.txt new file mode 100644 index 00000000..5be7e32a --- /dev/null +++ b/motion/lqr_controller/CMakeLists.txt @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 3.0.2) +project(lqr_controller) + +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + geometry_msgs + nav_msgs + tf +) + +catkin_package( + CATKIN_DEPENDS roscpp rospy std_msgs geometry_msgs nav_msgs tf +) + +include_directories( + ${catkin_INCLUDE_DIRS} +) \ No newline at end of file diff --git a/motion/lqr_controller/launch/lqr.launch b/motion/lqr_controller/launch/lqr.launch new file mode 100644 index 00000000..3ee5f168 --- /dev/null +++ b/motion/lqr_controller/launch/lqr.launch @@ -0,0 +1,3 @@ + + + diff --git a/motion/lqr_controller/package.xml b/motion/lqr_controller/package.xml new file mode 100644 index 00000000..f8a72693 --- /dev/null +++ b/motion/lqr_controller/package.xml @@ -0,0 +1,29 @@ + + + lqr_controller + 0.0.0 + The lqr_controller package + + Christopher Strøm + + MIT + + catkin + + roscpp + rospy + std_msgs + geometry_msgs + nav_msgs + tf + + roscpp + rospy + std_msgs + geometry_msgs + nav_msgs + tf + + + + \ No newline at end of file diff --git a/motion/lqr_controller/scripts/lqr_controller.py b/motion/lqr_controller/scripts/lqr_controller.py new file mode 100644 index 00000000..aad477a3 --- /dev/null +++ b/motion/lqr_controller/scripts/lqr_controller.py @@ -0,0 +1,74 @@ +import numpy as np +import scipy.linalg as la + +def ssa(angle): + return (angle + np.pi) % (2 * np.pi) - np.pi + +class LQRController: + + def __init__(self, M, D, Q, R, actuator_limits=np.inf): + """ + An LQR controller based on a simplified mass-damper vessel model + + State vector: [x, y, psi, u, v, r, ix, iy] + """ + self.Q = np.diag(Q) + self.R = np.diag(R) + self.setpoint = None + self.M = M + self.D = D + + self.yaw_idx = 2 + self.integral_states = np.array([0.0, 0.0]) + + self.actuator_limits = actuator_limits + + def set_setpoint(self, setpoint): + self.setpoint = setpoint + + def control(self, state, dt): + + if self.setpoint is None: + print("Setpoint not set! Returning zero tau...") + return np.zeros(3) + + state_with_integral = np.concatenate((state, self.integral_states)) + + A, B = self.linearize(state_with_integral, dt) + K = self.lqr(A, B, self.Q, self.R) + + error = state_with_integral - np.concatenate((self.setpoint, [0, 0])) + error[self.yaw_idx] = ssa(error[self.yaw_idx]) + + tau_body = -K @ error + + if np.any(np.abs(tau_body) > self.actuator_limits): # Anti-windup + return np.ravel(tau_body) + + self.integral_states += (state[:2] - self.setpoint[:2]) * dt + + if not np.array_equal(np.sign(state[:2] - self.setpoint[:2]), np.sign(self.integral_states)): # Integral reset on sign change + self.integral_states = np.array([0.0, 0.0]) + + return np.ravel(tau_body) + + def linearize(self, state, dt): + A = np.eye(8) + A[3:6, 3:6] -= dt * np.linalg.inv(self.M) @ self.D + A[0:3, 3:6] = dt * np.array([ + [np.cos(state[self.yaw_idx]), -np.sin(state[self.yaw_idx]), 0], + [np.sin(state[self.yaw_idx]), np.cos(state[self.yaw_idx]), 0], + [0, 0, 1] + ]) + A[6, 0] = dt # add integral effect on x + A[7, 1] = dt # add integral effect on y + + B = np.block([[np.zeros((3, 3))], [dt * np.linalg.inv(self.M)], [np.zeros((2, 3))]]) + + return A, B + + def lqr(self, A, B, Q, R): + X = np.matrix(la.solve_discrete_are(A, B, Q, R)) + K = np.matrix(la.inv(R + B.T @ X @ B) @ (B.T @ X @ A)) + + return K diff --git a/motion/lqr_controller/scripts/lqr_controller_node.py b/motion/lqr_controller/scripts/lqr_controller_node.py new file mode 100755 index 00000000..93093bda --- /dev/null +++ b/motion/lqr_controller/scripts/lqr_controller_node.py @@ -0,0 +1,125 @@ +#!/usr/bin/python3 + +import numpy as np + +import rospy +from nav_msgs.msg import Odometry +from geometry_msgs.msg import Wrench +from std_msgs.msg import Float64MultiArray, Bool +from tf.transformations import euler_from_quaternion + +from lqr_controller import LQRController + + + + +class LQRControllerNode: + + def __init__(self): + rospy.init_node("lqr_controller") + + # TODO: Get parameters from config, and use axis-specific damping + + mass = 50.0 + inertia = 5.0 + + damping_x = 5.0 + damping_y = 20.0 + damping_psi = 15.0 + + + # M = mass, mass, inertia + # D = damping x, y, yaw + M = np.diag([mass, mass, inertia]) + D = np.diag([damping_x, damping_y, damping_psi]) + + # State vector is : [x, y, psi, u, v, r] + Q = [10.0, 10.0, 0.1, 0.001, 0.001, 0.001, 1.0, 1.0] # State cost weights + R = [0.01, 0.01, 0.01] # Control cost weight + + self.setpoints = np.zeros(6) + + self.do_publish_tau = False + + self.lqr_controller = LQRController(M, D, Q, R, actuator_limits=150.0) + self.lqr_controller.set_setpoint(self.setpoints) + + # Whenever a state input is received, publish a control force + rospy.Subscriber("/odometry/filtered", Odometry, self.odometry_callback) + + rospy.Subscriber("/controller/lqr/enable", Bool, self.enable_callback) + rospy.Subscriber("/controller/lqr/setpoints", Float64MultiArray, self.setpoint_callback) + + self.tau_pub = rospy.Publisher("/thrust/force_input", Wrench, queue_size=10) + + self.last_time = rospy.get_time() + + def enable_callback(self, msg): + rospy.loginfo(f"Turning LQR {'on' if msg.data else 'off'}") + self.last_time = rospy.get_time() + self.do_publish_tau = msg.data + + def setpoint_callback(self, msg): + number_of_setpoints = len(msg.data) + if number_of_setpoints != 6: + rospy.logwarn(f"LQR setpoints must be an array of 6 elements, received {number_of_setpoints}. Setpoints not updated...") + return + + rospy.loginfo(f"Setting LQR setpoints to: {msg.data}") + self.lqr_controller.set_setpoint(msg.data) + rospy.loginfo(self.lqr_controller.setpoint) + + def odometry_callback(self, msg): + + if not self.do_publish_tau: + return + + # Extract the x and y position + x = msg.pose.pose.position.x + y = msg.pose.pose.position.y + + # Extract the orientation quaternion + orientation_q = msg.pose.pose.orientation + orientation_list = [orientation_q.x, orientation_q.y, orientation_q.z, orientation_q.w] + + # Convert quaternion to Euler angles + (roll, pitch, yaw) = euler_from_quaternion(orientation_list) + + # Extract the linear velocities + vx = msg.twist.twist.linear.x + vy = msg.twist.twist.linear.y + + # Extract the angular velocity (yaw rate) + vyaw = msg.twist.twist.angular.z + + # Combine all data into numpy array + state = np.array([x, y, yaw, vx, vy, vyaw]) + + current_time = rospy.get_time() + dt = current_time - self.last_time + self.last_time = current_time + + tau = self.lqr_controller.control(state, dt) + + wrench = Wrench() + wrench.force.x = tau[0] + wrench.force.y = tau[1] + wrench.force.z = 0.0 + wrench.torque.x = 0.0 + wrench.torque.y = 0.0 + wrench.torque.z = tau[2] + + # You can then publish this Wrench message + self.tau_pub.publish(wrench) + + + + +if __name__ == "__main__": + + lqr_controller = LQRControllerNode() + + rospy.spin() + + + diff --git a/motion/lqr_controller/scripts/vessel_model.py b/motion/lqr_controller/scripts/vessel_model.py new file mode 100644 index 00000000..e69de29b From 56fac9b67aa2058f3a62918149b656b6bb9311c1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Mon, 7 Aug 2023 01:54:14 +0200 Subject: [PATCH 050/132] Clean up control simulator MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- .../scripts/lqr_controller.py | 12 +- motion/control_simulator/scripts/simulator.py | 67 ++++-- motion/control_simulator/scripts/vessel.py | 5 +- .../control_simulator/src/lqr_controller.cpp | 168 +++++++++++++++ motion/control_simulator/src/main | Bin 0 -> 1868640 bytes motion/controller_testing/scripts/freya.py | 151 -------------- .../scripts/pid_controller.py | 37 ---- motion/controller_testing/scripts/vessel.py | 39 ---- .../controller_testing/scripts/visualizer.py | 193 ------------------ 9 files changed, 228 insertions(+), 444 deletions(-) create mode 100644 motion/control_simulator/src/lqr_controller.cpp create mode 100755 motion/control_simulator/src/main delete mode 100644 motion/controller_testing/scripts/freya.py delete mode 100644 motion/controller_testing/scripts/pid_controller.py delete mode 100755 motion/controller_testing/scripts/vessel.py delete mode 100755 motion/controller_testing/scripts/visualizer.py diff --git a/motion/control_simulator/scripts/lqr_controller.py b/motion/control_simulator/scripts/lqr_controller.py index bda18c13..aad477a3 100644 --- a/motion/control_simulator/scripts/lqr_controller.py +++ b/motion/control_simulator/scripts/lqr_controller.py @@ -6,7 +6,7 @@ def ssa(angle): class LQRController: - def __init__(self, M, D, Q, R, setpoint, actuator_limits=np.inf): + def __init__(self, M, D, Q, R, actuator_limits=np.inf): """ An LQR controller based on a simplified mass-damper vessel model @@ -14,7 +14,7 @@ def __init__(self, M, D, Q, R, setpoint, actuator_limits=np.inf): """ self.Q = np.diag(Q) self.R = np.diag(R) - self.setpoint = np.array(setpoint) + self.setpoint = None self.M = M self.D = D @@ -23,7 +23,15 @@ def __init__(self, M, D, Q, R, setpoint, actuator_limits=np.inf): self.actuator_limits = actuator_limits + def set_setpoint(self, setpoint): + self.setpoint = setpoint + def control(self, state, dt): + + if self.setpoint is None: + print("Setpoint not set! Returning zero tau...") + return np.zeros(3) + state_with_integral = np.concatenate((state, self.integral_states)) A, B = self.linearize(state_with_integral, dt) diff --git a/motion/control_simulator/scripts/simulator.py b/motion/control_simulator/scripts/simulator.py index f867a7e6..d5ac9cb0 100755 --- a/motion/control_simulator/scripts/simulator.py +++ b/motion/control_simulator/scripts/simulator.py @@ -11,7 +11,9 @@ import vessel import rospy -from geometry_msgs.msg import Wrench +from geometry_msgs.msg import Point, Quaternion, Twist, Vector3, Wrench +from nav_msgs.msg import Odometry +from tf.transformations import quaternion_from_euler DT = 0.1 @@ -35,6 +37,7 @@ def __init__(self, vessel): x, y, psi, vx, vy, vpsi = self.vessel.state self.external_control_signal = np.zeros(3) + self.u = np.zeros(3) self.brownian_motion_state = np.zeros(2) self.arrow = plt.Arrow(x, y, np.cos(psi), np.sin(psi), width=0.1) @@ -55,22 +58,35 @@ def __init__(self, vessel): self.current_time = 0.0 + self.odom_pub = rospy.Publisher("/odometry/filtered", Odometry, queue_size=10) + def wrench_callback(self, data): - x_scale = 0.1 - y_scale = 0.1 - yaw_scale = 0.1 - self.external_control_signal = np.array((x_scale*data.force.x, y_scale*data.force.y, yaw_scale*data.torque.z)) + x_scale = 1.0 + y_scale = 1.0 + yaw_scale = 1.0 + self.u = np.array((x_scale*data.force.x, y_scale*data.force.y, yaw_scale*data.torque.z)) def update(self, frame): self.update_time_and_motion_state() - u = lqr_controller.control(self.vessel.state, DT) + self.external_control_signal - self.vessel.step(DT, u) + self.vessel.step(DT, self.u) self.update_and_draw_arrow() self.update_path_line() self.update_and_plot_signals(frame) self.update_legends_and_axes(frame) + + odom = Odometry() + + # Assuming self.vessel.state is in the order: [x, y, yaw, vx, vy, vyaw] + odom.pose.pose.position = Point(self.vessel.state[0], self.vessel.state[1], 0) + quaternion = quaternion_from_euler(0, 0, self.vessel.state[2]) + odom.pose.pose.orientation = Quaternion(*quaternion) + odom.twist.twist = Twist(Vector3(self.vessel.state[3], self.vessel.state[4], 0), + Vector3(0, 0, self.vessel.state[5])) + + # Publish the message + self.odom_pub.publish(odom) def update_time_and_motion_state(self): @@ -103,7 +119,7 @@ def update_and_plot_signals(self, frame): line = getattr(self, f"{signal}_line") line.set_data(np.append(line.get_xdata(), frame), np.append(line.get_ydata(), data)) - getattr(self, f"ax_{signal}").axhline(y=lqr_controller.setpoint[i], color='r') + getattr(self, f"ax_{signal}").axhline(y=0, color='r') def update_legends_and_axes(self, frame): @@ -120,7 +136,7 @@ def update_legends_and_axes(self, frame): axis.set_xlim(max(0, frame - window_size), frame + 1) axis.set_ylim( min(line.get_ydata()) - y_padding, - max(max(line.get_ydata()), lqr_controller.setpoint[2]) + y_padding) + max(max(line.get_ydata()), 0) + y_padding) axis.legend() @@ -137,20 +153,33 @@ def animate(self): if __name__ == '__main__': + + rospy.init_node("vessel_simulator") # # Initiate the vessel - mass = 20.0 - damping = 2.0 - inertia = 1.0 - simulated_vessel = vessel.Vessel3DOF(mass, damping, inertia) + mass = 50.0 + inertia = 5.0 - setpoint = [1.0, 1.0, np.pi/2, 0, 0, 0] + damping_x = 5.0 + damping_y = 20.0 + damping_psi = 15.0 - # Define the LQR controller - # x, y, psi, u, v, r - Q = [10.0, 10.0, 0.1, 0.001, 0.001, 0.001, 1.0, 1.0] # State cost weights - R = [0.01, 0.01, 0.01] # Control cost weight - lqr_controller = LQRController(simulated_vessel.M, simulated_vessel.D, Q, R, setpoint, actuator_limits=150.0) + + # M = mass, mass, inertia + # D = damping x, y, yaw + M = np.diag([mass, mass, inertia]) + D = np.diag([damping_x, damping_y, damping_psi]) + simulated_vessel = vessel.Vessel3DOF(mass, damping_x, damping_y, damping_psi, inertia) + + # setpoint = [1.0, 1.0, np.pi/2, 0, 0, 0] + + # # Define the LQR controller + # # x, y, psi, u, v, r + # Q = [10.0, 10.0, 0.1, 0.001, 0.001, 0.001, 1.0, 1.0] # State cost weights + # R = [0.01, 0.01, 0.01] # Control cost weight + # lqr_controller = LQRController(simulated_vessel.M, simulated_vessel.D, Q, R, actuator_limits=150.0) + # lqr_controller.set_setpoint(setpoint) # Create a visualizer and animate visualizer = VesselVisualizer(simulated_vessel) visualizer.animate() + diff --git a/motion/control_simulator/scripts/vessel.py b/motion/control_simulator/scripts/vessel.py index 37c20f34..f11c3e4f 100755 --- a/motion/control_simulator/scripts/vessel.py +++ b/motion/control_simulator/scripts/vessel.py @@ -2,15 +2,14 @@ import numpy as np - class Vessel3DOF: - def __init__(self, mass, damping, inertia): + def __init__(self, mass, damping_x, damping_y, damping_psi, inertia): # Mass and inertia matrix self.M = np.diag([mass, mass, inertia]) # Damping matrix - self.D = np.diag([damping, damping, damping]) + self.D = np.diag([damping_x, damping_y, damping_psi]) # State vector [u, v, r, x, y, psi], # where u, v, r are velocities and x, y, psi are positions diff --git a/motion/control_simulator/src/lqr_controller.cpp b/motion/control_simulator/src/lqr_controller.cpp new file mode 100644 index 00000000..dfc3fecf --- /dev/null +++ b/motion/control_simulator/src/lqr_controller.cpp @@ -0,0 +1,168 @@ +// lqr_controller.hpp +#include +#include + +typedef Eigen::Matrix Vector6d; +typedef Eigen::Matrix Vector8d; + +class LQRController { + Eigen::Matrix3d M; + Eigen::Matrix3d D; + Eigen::Matrix Q; + Eigen::Matrix3d R; + Vector6d setpoint; + double actuator_limits; + + int yaw_idx; + Eigen::Vector2d integral_states; + +public: + LQRController(Eigen::Matrix3d M, Eigen::Matrix3d D, Eigen::VectorXd Q, Eigen::Vector3d R, Vector6d setpoint, double actuator_limits); + + Eigen::Vector3d control(Vector6d state, double dt); + + std::pair linearize(Vector8d state, double dt); + + Eigen::Matrix lqr(Eigen::MatrixXd A, Eigen::MatrixXd B, Eigen::Matrix Q, Eigen::Matrix3d R); +}; + +// // lqr_controller.cpp +// #include "lqr_controller.hpp" + +double ssa(double angle) { + return fmod((angle + M_PI), (2 * M_PI)) - M_PI; +} + +LQRController::LQRController(Eigen::Matrix3d M, Eigen::Matrix3d D, Eigen::VectorXd Q, Eigen::Vector3d R, Vector6d setpoint, double actuator_limits) { + this->Q = Q.asDiagonal(); + this->R = R.asDiagonal(); + this->setpoint = setpoint; + this->M = M; + this->D = D; + + this->yaw_idx = 2; + this->integral_states = Eigen::Vector2d::Zero(); + + this->actuator_limits = actuator_limits; +} + +Eigen::Vector3d LQRController::control(Vector6d state, double dt) { + Vector8d state_with_integral; + state_with_integral << state, integral_states; + + std::pair linearized = linearize(state_with_integral, dt); + Eigen::MatrixXd A = linearized.first; + Eigen::MatrixXd B = linearized.second; + Eigen::Matrix K = lqr(A, B, Q, R); + + Vector8d error = state_with_integral; + error.segment<6>(0) -= setpoint; // Subtract 'setpoint' from the first 6 elements of 'error' + error.segment<2>(6) -= Eigen::Vector2d(0, 0); // Subtract [0, 0] from the last 2 elements of 'error' + + error[yaw_idx] = ssa(error[yaw_idx]); + + Eigen::Vector3d tau_body = -K * error; + + if (tau_body.cwiseAbs().maxCoeff() > actuator_limits) { + return tau_body; + } + + integral_states += (state.head(2) - setpoint.head(2)) * dt; + + if ((state.head(2) - setpoint.head(2)).cwiseSign() != integral_states.cwiseSign()) { + integral_states = Eigen::Vector2d::Zero(); + } + + return tau_body; +} + +std::pair LQRController::linearize(Vector8d state, double dt) { + Eigen::MatrixXd A = Eigen::MatrixXd::Identity(8, 8); + Eigen::Matrix3d Minv = M.inverse(); + A.block<3, 3>(3, 3) -= dt * Minv * D; + A.block<3, 3>(0, 3) = dt * (Eigen::Matrix3d() << + std::cos(state[yaw_idx]), -std::sin(state[yaw_idx]), 0, + std::sin(state[yaw_idx]), std::cos(state[yaw_idx]), 0, + 0, 0, 1).finished(); + + A(6, 0) = dt; // add integral effect on x + A(7, 1) = dt; // add integral effect on y + + Eigen::MatrixXd B = Eigen::MatrixXd::Zero(8, 3); + B.block<3, 3>(3, 0) = dt * Minv; + + return {A, B}; +} + +Eigen::MatrixXd dareSolver(Eigen::MatrixXd A, Eigen::MatrixXd B, Eigen::MatrixXd Q, Eigen::MatrixXd R) { + Eigen::MatrixXd X = Q; + Eigen::MatrixXd X_prev; + + // Set a threshold for convergence of the algorithm + double threshold = 1e-9; + + // Maximum number of iterations to prevent endless loop + int max_iterations = 1000; + int i; + + // The Riccati equation solver + for (i = 0; i < max_iterations; i++) { + X_prev = X; + X = A.transpose() * X_prev * A - A.transpose() * X_prev * B * (R + B.transpose() * X_prev * B).inverse() * B.transpose() * X_prev * A + Q; + + // Check for convergence + if ((X - X_prev).norm() < threshold) { + break; + } + } + + // If the maximum number of iterations is reached, print a warning + if (i == max_iterations) { + std::cout << "Warning: Maximum number of iterations reached in DARE solver." << std::endl; + } + + return X; +} + +Eigen::Matrix LQRController::lqr(Eigen::MatrixXd A, Eigen::MatrixXd B, Eigen::Matrix Q, Eigen::Matrix3d R) { + Eigen::MatrixXd X = dareSolver(A, B, Q, R); + Eigen::MatrixXd K = (B.transpose() * X * B + R).inverse() * B.transpose() * X * A; + + return K; +} + +int main() { + Eigen::Matrix3d M = Eigen::Matrix3d::Identity(); + Eigen::Matrix3d D = Eigen::Matrix3d::Identity(); + Eigen::VectorXd Q(8); + Q << 0.1, 0.1,0.1,0.1,0.1,0.1,0.1,0.1; + Eigen::Vector3d R; + R << 1, 2, 3; + Vector6d setpoint; + setpoint << 1, 2, 3, 4, 5, 6; + double actuator_limits = 100.0; + + LQRController controller(M, D, Q, R, setpoint, actuator_limits); + + Vector6d state; + state << 0.1, 0.2, 0.3, 0.4, 0.5, 0.6; + double dt = 0.1; + + int num_steps = 100; + for (int i = 0; i < num_steps; i++) { + Eigen::Vector3d control_output = controller.control(state, dt); + + // Assume the control output is a force. Divide by mass to get acceleration. + // Assume mass = 1 for simplicity + double mass = 1.0; + Eigen::Vector3d acceleration = control_output / mass; + + // Update state based on acceleration + state.segment<3>(0) += dt * state.segment<3>(3); // Update position based on velocity + state.segment<3>(3) += dt * acceleration; // Update velocity based on acceleration + + std::cout << "Time: " << i * dt << ", state:\n" << state << "setpoint:\n" << setpoint <<"\n\n"; + } + + return 0; +} \ No newline at end of file diff --git a/motion/control_simulator/src/main b/motion/control_simulator/src/main new file mode 100755 index 0000000000000000000000000000000000000000..3422c083c2c3d60ee1d3d0023d295a51d8fb06be GIT binary patch literal 1868640 zcmeFa34B$>6+iw0M53aJ3yK@YJ%US6KyVG{(}#jaAxhl;L!rNNet$ znKNh3oNdl5ciwgJ(Wmyv%j+4_|9ZwwjOF3I_&}9Wrt^!xySILe#mZvCVmsjPezD@% zHpuOT|H^b}@Y&o$6}Zm=4aWvqub*x?_;g!ypQMTZ_+-6o|0eFDO5A6xNTpdXpRdLI zgMY>H*L$vbP)cL&)2t`$HL3Dg;Q8p&iW>K6)+2A6pKK=$Ils1_rMeSKG+MVF*~NMb 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-# Constants -mp = 2.5 -rp = 0.075 -V_c = 1 -beta_c = 0.2 -n_max = 10000 -n_min = -10000 -k_pos = 0.005 -k_neg = 0.001 - - -# Skew-symmetric matrix -def Smtrx(vector): - return np.array([[0, -vector[2], vector[1]], [vector[2], 0, -vector[0]], - [-vector[1], vector[0], 0]]) - - -# Rotation matrix from Euler angles (zyx convention) -def Rzyx(phi, theta, psi): - return np.array([[ - np.cos(psi) * np.cos(theta), - np.cos(psi) * np.sin(theta) * np.sin(phi) - np.sin(psi) * np.cos(phi), - np.cos(psi) * np.sin(theta) * np.cos(phi) + np.sin(psi) * np.sin(phi) - ], - [ - np.sin(psi) * np.cos(theta), - np.sin(psi) * np.sin(theta) * np.sin(phi) + - np.cos(psi) * np.cos(phi), - np.sin(psi) * np.sin(theta) * np.cos(phi) - - np.cos(psi) * np.sin(phi) - ], - [ - -np.sin(theta), - np.cos(theta) * np.sin(phi), - np.cos(theta) * np.cos(phi) - ]]) - - -def model(x, tau): - # Ensure the input vectors are the correct size - assert len(x) == 12, 'x vector must have dimension 12!' - - # Vehicle dimensions - x_pont = 1.2 - y_pont = 1.0 - z_pont = 0.5 - - # Inertia Matrix - m = 11.0 # mass of the otter in kg - Ix = 1.0 # moment of inertia about x - Iy = 1.0 # moment of inertia about y - Iz = 1.0 # moment of inertia about z - I = np.diag([Ix, Iy, Iz]) - - # Rigid body mass matrix - M_RB = np.block([[m * np.eye(3), np.zeros((3, 3))], [np.zeros((3, 3)), I]]) - - # Added mass - X_du = 0 # Surge (kg) - Y_dv = 0 # Sway (kg) - Z_dw = 0 # Heave (kg) - K_dp = 0 # Roll (kg*m^2) - M_dq = 0 # Pitch (kg*m^2) - N_dr = 0 # Yaw (kg*m^2) - M_A = -np.diag([X_du, Y_dv, Z_dw, K_dp, M_dq, N_dr]) - - # Total mass matrix - M = M_RB + M_A - - # Damping coefficients - X_u = 2 # Linear damping - Surge (Ns/m) - Y_v = 2 # Linear damping - Sway (Ns/m) - Z_w = 5 # Linear damping - Heave (Ns/m) - K_p = 0.1 # Linear damping - Roll (Ns) - M_q = 0.1 # Linear damping - Pitch (Ns) - N_r = 0.1 # Linear damping - Yaw (Ns) - D_l = np.diag([X_u, Y_v, Z_w, K_p, M_q, N_r]) # Linear damping matrix - - X_uu = 0 # Quadratic damping - Surge (Ns^2/m^2) - Y_vv = 0 # Quadratic damping - Sway (Ns^2/m^2) - Z_ww = 0 # Quadratic damping - Heave (Ns^2/m^2) - K_pp = 0 # Quadratic damping - Roll (Ns) - M_qq = 0 # Quadratic damping - Pitch (Ns) - N_rr = 0.1 # Quadratic damping - Yaw (Ns) - D_q = np.diag([ - abs(X_uu * x[6]), - abs(Y_vv * x[7]), - abs(Z_ww * x[8]), - abs(K_pp * x[9]), - abs(M_qq * x[10]), - abs(N_rr * x[11]) - ]) # Quadratic damping matrix - - D = D_l + D_q # Damping matrix - - # Coriolis and centripetal matrix - CRB = m * np.block( - [[np.zeros((3, 3)), -Smtrx(np.array([x[6], x[7], x[8]]))], - [ - Smtrx(np.array([x[6], x[7], x[8]])), - -Smtrx(I.dot(np.array([x[9], x[10], x[11]]))) - ]]) - - CA = m * np.block([[ - np.zeros((3, 3)), -Smtrx(np.array([x[0], x[1], x[2]])) - ], [np.zeros((3, 3)), np.zeros((3, 3))]]) - - C = CRB + CA - - # Propeller forces - # n_prop = np.clip(n, n_min, n_max) - # T_pos = k_pos * n_prop * abs(n_prop) - # T_neg = k_neg * n_prop * abs(n_prop) - # T = np.where(n_prop > 0, T_pos, T_neg) - - #tau = np.array([T.sum(), 0, 0, 0, 0, (x_pont / 2) * (T[1] - T[0]) + (y_pont / 2) * (T[3] - T[2])]) - - # System matrices - eta = x[0:6] - nu = x[6:12] - - J = np.block([[np.eye(3), np.zeros((3, 3))], - [np.zeros((3, 3)), - Rzyx(eta[3], eta[4], eta[5])]]) - - M_inv = np.linalg.inv(M) - - # # tau is defined in world, move to body - yaw = eta[5] - c = np.cos(yaw) - s = np.sin(yaw) - - R = np.array(([c, -s, 0], [s, c, 0], [0, 0, 1])) - - # # nu is defined in world, move to body - nu[:3] = R @ nu[:3] - - tau = R @ tau - - tau_body_six = np.array((tau[0], tau[1], 0.0, 0.0, 0.0, tau[2])) - - # System model - etadot = J @ nu - nudot = M_inv @ (tau_body_six - C @ nu - D @ nu) - - xdot = np.concatenate((etadot, nudot)) - - return xdot diff --git a/motion/controller_testing/scripts/pid_controller.py b/motion/controller_testing/scripts/pid_controller.py deleted file mode 100644 index c4665b4c..00000000 --- a/motion/controller_testing/scripts/pid_controller.py +++ /dev/null @@ -1,37 +0,0 @@ -import numpy as np - - -def ssa(angle): - return (angle + np.pi) % (2 * np.pi) - np.pi - - -class PIDController3DOF: - - def __init__(self, Kp, Ki, Kd, setpoint): - self.Kp = np.array(Kp) - self.Ki = np.array(Ki) - self.Kd = np.array(Kd) - self.setpoint = np.array(setpoint) - - self.integral_error = np.zeros(3) - self.previous_error = np.zeros(3) - - def reset(self): - self.integral_error = np.zeros(3) - self.previous_error = np.zeros(3) - - def control(self, state, dt): - x_error = self.setpoint[0] - state[0] - y_error = self.setpoint[1] - state[1] - yaw_error = ssa(self.setpoint[2] - state[2]) - - error = np.array((x_error, y_error, yaw_error)) - - P = np.dot(self.Kp, error) - self.integral_error += error * dt - I = self.Ki * self.integral_error - D = self.Kd * (error - self.previous_error) / dt - - self.previous_error = error - - return P + I + D diff --git a/motion/controller_testing/scripts/vessel.py b/motion/controller_testing/scripts/vessel.py deleted file mode 100755 index c2e58466..00000000 --- a/motion/controller_testing/scripts/vessel.py +++ /dev/null @@ -1,39 +0,0 @@ -#!/usr/bin/python3 - -import numpy as np - - -class Vessel3DOF: - - def __init__(self, mass, damping, inertia): - # Mass and inertia matrix - self.M = np.diag([mass, mass, inertia]) - - # Damping matrix - self.D = np.diag([damping, damping, damping]) - - # State vector [u, v, r, x, y, psi], - # where u, v, r are velocities and x, y, psi are positions - self.state = np.zeros(6) - - def step(self, dt, u): - # Unpack state vector - u_vel, v_vel, r_vel, x_pos, y_pos, psi_pos = self.state - - # Body velocities - nu = np.array([u_vel, v_vel, r_vel]) - - # Newton's second law - nu_dot = np.linalg.inv(self.M) @ (u - self.D @ nu) - - # Position update - simple Euler integration - psi_dot = r_vel - x_dot = u_vel * np.cos(psi_pos) - v_vel * np.sin(psi_pos) - y_dot = u_vel * np.sin(psi_pos) + v_vel * np.cos(psi_pos) - eta_dot = np.array([x_dot, y_dot, psi_dot]) - - # Integrate forward in time - self.state[:3] += nu_dot * dt - self.state[3:] += eta_dot * dt - - return self.state.copy() diff --git a/motion/controller_testing/scripts/visualizer.py b/motion/controller_testing/scripts/visualizer.py deleted file mode 100755 index b389943d..00000000 --- a/motion/controller_testing/scripts/visualizer.py +++ /dev/null @@ -1,193 +0,0 @@ -#!/usr/bin/python3 - -import numpy as np - -import matplotlib.pyplot as plt -from matplotlib.animation import FuncAnimation - -from scipy.integrate import odeint - -#import freya -from pid_controller import PIDController3DOF - -import vessel - -DT = 0.25 - - -def get_2d_state(state): - x = state[0] - y = state[1] - psi = state[5] - vx = state[6] - vy = state[7] - return x, y, psi, vx, vy - - -class VesselVisualizer: - - def __init__(self, vessel): - self.vessel = vessel - - self.fig, self.axes = plt.subplots(nrows=3, ncols=2, figsize=(10, 10)) - self.ax_vessel = self.axes[0, 0] - self.ax_x = self.axes[0, 1] - self.ax_y = self.axes[1, 0] - self.ax_psi = self.axes[1, 1] - self.ax_vx = self.axes[2, 0] - self.ax_vy = self.axes[2, 1] - - vx, vy, vpsi, x, y, psi = self.vessel.state - - self.arrow = plt.Arrow(x, y, np.cos(psi), np.sin(psi), width=0.1) - self.ax_vessel.add_patch(self.arrow) - - # Initialize the path line - self.path, = self.ax_vessel.plot(x, y, color="red") - - # # Set the x and y axis limits - self.ax_vessel.set_xlim(-5, 5) - self.ax_vessel.set_ylim(-5, 5) - - # Initialize x, y, and psi plots - - self.x_line, = self.ax_x.plot(0, x) - self.y_line, = self.ax_y.plot(0, y) - self.psi_line, = self.ax_psi.plot(0, psi) - self.vx_line, = self.ax_vx.plot(0, vx) - self.vy_line, = self.ax_vy.plot(0, vy) - - self.current_time = 0.0 - - def update(self, frame): - self.current_time += DT - - # Clear the previous arrow - self.arrow.remove() - - u = pid_controller.control(self.vessel.state[3:], - 0.1) # assuming dt=0.1 - #u = np.array((0.1, 0, 0)) - self.vessel.step(DT, u) - - # Draw the new arrow - arrow_length = 1.0 - arrow_width = 1.0 - vx, vy, vpsi, x, y, psi = self.vessel.state - - print( - f"Time: {self.current_time} \n Setpoint: {pid_controller.setpoint} \n State: {x}, {y}, {psi} \n Control signal: {u} \n" - ) - - self.arrow = plt.Arrow(x, - y, - arrow_length * np.cos(psi), - arrow_length * np.sin(psi), - width=arrow_width) - self.ax_vessel.add_patch(self.arrow) - - # Update the path line - old_path = self.path.get_data() - new_path = (np.append(old_path[0], x), np.append(old_path[1], y)) - self.path.set_data(new_path) - - # Update x, y, and psi plots - x_y_data = np.append(self.x_line.get_ydata(), x) - y_y_data = np.append(self.y_line.get_ydata(), y) - psi_y_data = np.append(self.psi_line.get_ydata(), psi) - vx_y_data = np.append(self.vx_line.get_ydata(), vx) - vy_y_data = np.append(self.vy_line.get_ydata(), vy) - - self.x_line.set_data(np.append(self.x_line.get_xdata(), frame), - x_y_data) - self.y_line.set_data(np.append(self.y_line.get_xdata(), frame), - y_y_data) - self.psi_line.set_data(np.append(self.psi_line.get_xdata(), frame), - psi_y_data) - self.vx_line.set_data(np.append(self.vx_line.get_xdata(), frame), - vx_y_data) - self.vy_line.set_data(np.append(self.vy_line.get_xdata(), frame), - vy_y_data) - - self.x_line.set_label('North') - self.y_line.set_label('East') - self.psi_line.set_label('Heading') - self.vx_line.set_label('Surge Velocity') - self.vy_line.set_label('Sway Velocity') - - # Plot setpoints on x, y, and psi plots - self.ax_x.axhline(y=pid_controller.setpoint[0], color='r') - self.ax_y.axhline(y=pid_controller.setpoint[1], color='r') - self.ax_psi.axhline(y=pid_controller.setpoint[2], color='r') - - y_padding = 0.25 - window_size = 500 - - self.ax_x.set_xlim(max(0, frame - window_size), frame + 1) - self.ax_y.set_xlim(max(0, frame - window_size), frame + 1) - self.ax_psi.set_xlim(max(0, frame - window_size), frame + 1) - self.ax_vx.set_xlim(max(0, frame - window_size), frame + 1) - self.ax_vy.set_xlim(max(0, frame - window_size), frame + 1) - - self.ax_x.set_ylim( - min(x_y_data) - y_padding, - max(max(x_y_data), pid_controller.setpoint[0]) + y_padding) - self.ax_y.set_ylim( - min(y_y_data) - y_padding, - max(max(y_y_data), pid_controller.setpoint[1]) + y_padding) - self.ax_psi.set_ylim( - min(psi_y_data) - y_padding, - max(max(psi_y_data), pid_controller.setpoint[2]) + y_padding) - # self.ax_vx.set_ylim(min(vx_y_data) - y_padding, max(max(vx_y_data), pid_controller.setpoint[3]) + y_padding) - # self.ax_vy.set_ylim(min(vy_y_data) - y_padding, max(max(vy_y_data), pid_controller.setpoint[4]) + y_padding) - - self.ax_x.legend() - self.ax_y.legend() - self.ax_psi.legend() - self.ax_vx.legend() - self.ax_vy.legend() - - self.ax_x.set_ylim( - min(x_y_data) - y_padding, - max(max(x_y_data), pid_controller.setpoint[0]) + y_padding) - self.ax_y.set_ylim( - min(y_y_data) - y_padding, - max(max(y_y_data), pid_controller.setpoint[1]) + y_padding) - self.ax_psi.set_ylim( - min(psi_y_data) - y_padding, - max(max(psi_y_data), pid_controller.setpoint[2]) + y_padding) - - def animate(self): - NUMBER_OF_FRAMES = 2000 - TIME_BETWEEN_FRAMES_MS = 50 - anim = FuncAnimation(self.fig, - self.update, - frames=np.arange(0, NUMBER_OF_FRAMES, DT), - interval=TIME_BETWEEN_FRAMES_MS, - repeat=False) - plt.show() - - -if __name__ == '__main__': - # # Initiate the vessel - mass = 20.0 - damping = 2.0 - inertia = 1.0 - simulated_vessel = vessel.Vessel3DOF(mass, damping, inertia) - - N = 20 # prediction horizon - - # cost matrices - Q = np.diag([1, 1, 1, 1, 1, 1]) # state error cost - R = np.diag([0.1, 0.1, 0.1]) # control effort cost - - # Create the PID controller - Kp = [[0.1, 0, 0], [0, 1.0, 0], [0, 0, 0.25]] - Ki = [0.001, 0.001, 0.000] - Kd = [0.0, 0.0, 0.0] - setpoint = [1, 0, np.pi / 4] # Desired x, y and heading - pid_controller = PIDController3DOF(Kp, Ki, Kd, setpoint) - - # Create a visualizer and animate - visualizer = VesselVisualizer(simulated_vessel) - visualizer.animate() From 6d944ddf8d902ce462e5158d7548de157e1b0fd2 Mon Sep 17 00:00:00 2001 From: github-actions Date: Sun, 6 Aug 2023 23:56:19 +0000 Subject: [PATCH 051/132] Automated autoyapf fixes --- .../scripts/lqr_controller.py | 2 +- motion/control_simulator/scripts/simulator.py | 26 ++++++++------ motion/control_simulator/scripts/vessel.py | 1 + .../lqr_controller/scripts/lqr_controller.py | 29 ++++++++------- .../scripts/lqr_controller_node.py | 35 ++++++++++--------- 5 files changed, 52 insertions(+), 41 deletions(-) diff --git a/motion/control_simulator/scripts/lqr_controller.py b/motion/control_simulator/scripts/lqr_controller.py index 1778a445..e8c08b38 100644 --- a/motion/control_simulator/scripts/lqr_controller.py +++ b/motion/control_simulator/scripts/lqr_controller.py @@ -33,7 +33,7 @@ def control(self, state, dt): if self.setpoint is None: print("Setpoint not set! Returning zero tau...") return np.zeros(3) - + state_with_integral = np.concatenate((state, self.integral_states)) A, B = self.linearize(state_with_integral, dt) diff --git a/motion/control_simulator/scripts/simulator.py b/motion/control_simulator/scripts/simulator.py index 996fc726..b373bc8f 100755 --- a/motion/control_simulator/scripts/simulator.py +++ b/motion/control_simulator/scripts/simulator.py @@ -58,14 +58,16 @@ def __init__(self, vessel): self.current_time = 0.0 - self.odom_pub = rospy.Publisher("/odometry/filtered", Odometry, queue_size=10) + self.odom_pub = rospy.Publisher("/odometry/filtered", + Odometry, + queue_size=10) def wrench_callback(self, data): x_scale = 1.0 y_scale = 1.0 yaw_scale = 1.0 - self.u = np.array((x_scale*data.force.x, y_scale*data.force.y, yaw_scale*data.torque.z)) - + self.u = np.array((x_scale * data.force.x, y_scale * data.force.y, + yaw_scale * data.torque.z)) def update(self, frame): self.update_time_and_motion_state() @@ -79,15 +81,16 @@ def update(self, frame): odom = Odometry() # Assuming self.vessel.state is in the order: [x, y, yaw, vx, vy, vyaw] - odom.pose.pose.position = Point(self.vessel.state[0], self.vessel.state[1], 0) + odom.pose.pose.position = Point(self.vessel.state[0], + self.vessel.state[1], 0) quaternion = quaternion_from_euler(0, 0, self.vessel.state[2]) odom.pose.pose.orientation = Quaternion(*quaternion) - odom.twist.twist = Twist(Vector3(self.vessel.state[3], self.vessel.state[4], 0), - Vector3(0, 0, self.vessel.state[5])) + odom.twist.twist = Twist( + Vector3(self.vessel.state[3], self.vessel.state[4], 0), + Vector3(0, 0, self.vessel.state[5])) # Publish the message self.odom_pub.publish(odom) - def update_time_and_motion_state(self): self.current_time += DT @@ -119,8 +122,9 @@ def update_and_plot_signals(self, frame): for i, signal in enumerate(signals): data = self.vessel.state[i] line = getattr(self, f"{signal}_line") - - line.set_data(np.append(line.get_xdata(), frame), np.append(line.get_ydata(), data)) + + line.set_data(np.append(line.get_xdata(), frame), + np.append(line.get_ydata(), data)) getattr(self, f"ax_{signal}").axhline(y=0, color='r') line.set_data(np.append(line.get_xdata(), frame), @@ -173,9 +177,9 @@ def animate(self): # D = damping x, y, yaw M = np.diag([mass, mass, inertia]) D = np.diag([damping_x, damping_y, damping_psi]) - simulated_vessel = vessel.Vessel3DOF(mass, damping_x, damping_y, damping_psi, inertia) + simulated_vessel = vessel.Vessel3DOF(mass, damping_x, damping_y, + damping_psi, inertia) # Create a visualizer and animate visualizer = VesselVisualizer(simulated_vessel) visualizer.animate() - diff --git a/motion/control_simulator/scripts/vessel.py b/motion/control_simulator/scripts/vessel.py index f11c3e4f..131086b7 100755 --- a/motion/control_simulator/scripts/vessel.py +++ b/motion/control_simulator/scripts/vessel.py @@ -2,6 +2,7 @@ import numpy as np + class Vessel3DOF: def __init__(self, mass, damping_x, damping_y, damping_psi, inertia): diff --git a/motion/lqr_controller/scripts/lqr_controller.py b/motion/lqr_controller/scripts/lqr_controller.py index aad477a3..e8c08b38 100644 --- a/motion/lqr_controller/scripts/lqr_controller.py +++ b/motion/lqr_controller/scripts/lqr_controller.py @@ -1,9 +1,11 @@ import numpy as np import scipy.linalg as la + def ssa(angle): return (angle + np.pi) % (2 * np.pi) - np.pi + class LQRController: def __init__(self, M, D, Q, R, actuator_limits=np.inf): @@ -19,7 +21,7 @@ def __init__(self, M, D, Q, R, actuator_limits=np.inf): self.D = D self.yaw_idx = 2 - self.integral_states = np.array([0.0, 0.0]) + self.integral_states = np.array([0.0, 0.0]) self.actuator_limits = actuator_limits @@ -31,7 +33,7 @@ def control(self, state, dt): if self.setpoint is None: print("Setpoint not set! Returning zero tau...") return np.zeros(3) - + state_with_integral = np.concatenate((state, self.integral_states)) A, B = self.linearize(state_with_integral, dt) @@ -42,28 +44,31 @@ def control(self, state, dt): tau_body = -K @ error - if np.any(np.abs(tau_body) > self.actuator_limits): # Anti-windup + if np.any(np.abs(tau_body) > self.actuator_limits): # Anti-windup return np.ravel(tau_body) - + self.integral_states += (state[:2] - self.setpoint[:2]) * dt - if not np.array_equal(np.sign(state[:2] - self.setpoint[:2]), np.sign(self.integral_states)): # Integral reset on sign change - self.integral_states = np.array([0.0, 0.0]) + if not np.array_equal( + np.sign(state[:2] - self.setpoint[:2]), + np.sign( + self.integral_states)): # Integral reset on sign change + self.integral_states = np.array([0.0, 0.0]) return np.ravel(tau_body) def linearize(self, state, dt): A = np.eye(8) A[3:6, 3:6] -= dt * np.linalg.inv(self.M) @ self.D - A[0:3, 3:6] = dt * np.array([ - [np.cos(state[self.yaw_idx]), -np.sin(state[self.yaw_idx]), 0], - [np.sin(state[self.yaw_idx]), np.cos(state[self.yaw_idx]), 0], - [0, 0, 1] - ]) + A[0:3, 3:6] = dt * np.array([[ + np.cos(state[self.yaw_idx]), -np.sin(state[self.yaw_idx]), 0 + ], [np.sin(state[self.yaw_idx]), + np.cos(state[self.yaw_idx]), 0], [0, 0, 1]]) A[6, 0] = dt # add integral effect on x A[7, 1] = dt # add integral effect on y - B = np.block([[np.zeros((3, 3))], [dt * np.linalg.inv(self.M)], [np.zeros((2, 3))]]) + B = np.block([[np.zeros((3, 3))], [dt * np.linalg.inv(self.M)], + [np.zeros((2, 3))]]) return A, B diff --git a/motion/lqr_controller/scripts/lqr_controller_node.py b/motion/lqr_controller/scripts/lqr_controller_node.py index 93093bda..f314e260 100755 --- a/motion/lqr_controller/scripts/lqr_controller_node.py +++ b/motion/lqr_controller/scripts/lqr_controller_node.py @@ -11,8 +11,6 @@ from lqr_controller import LQRController - - class LQRControllerNode: def __init__(self): @@ -27,14 +25,14 @@ def __init__(self): damping_y = 20.0 damping_psi = 15.0 - # M = mass, mass, inertia # D = damping x, y, yaw M = np.diag([mass, mass, inertia]) D = np.diag([damping_x, damping_y, damping_psi]) # State vector is : [x, y, psi, u, v, r] - Q = [10.0, 10.0, 0.1, 0.001, 0.001, 0.001, 1.0, 1.0] # State cost weights + Q = [10.0, 10.0, 0.1, 0.001, 0.001, 0.001, 1.0, + 1.0] # State cost weights R = [0.01, 0.01, 0.01] # Control cost weight self.setpoints = np.zeros(6) @@ -45,12 +43,16 @@ def __init__(self): self.lqr_controller.set_setpoint(self.setpoints) # Whenever a state input is received, publish a control force - rospy.Subscriber("/odometry/filtered", Odometry, self.odometry_callback) + rospy.Subscriber("/odometry/filtered", Odometry, + self.odometry_callback) rospy.Subscriber("/controller/lqr/enable", Bool, self.enable_callback) - rospy.Subscriber("/controller/lqr/setpoints", Float64MultiArray, self.setpoint_callback) + rospy.Subscriber("/controller/lqr/setpoints", Float64MultiArray, + self.setpoint_callback) - self.tau_pub = rospy.Publisher("/thrust/force_input", Wrench, queue_size=10) + self.tau_pub = rospy.Publisher("/thrust/force_input", + Wrench, + queue_size=10) self.last_time = rospy.get_time() @@ -62,15 +64,17 @@ def enable_callback(self, msg): def setpoint_callback(self, msg): number_of_setpoints = len(msg.data) if number_of_setpoints != 6: - rospy.logwarn(f"LQR setpoints must be an array of 6 elements, received {number_of_setpoints}. Setpoints not updated...") + rospy.logwarn( + f"LQR setpoints must be an array of 6 elements, received {number_of_setpoints}. Setpoints not updated..." + ) return - + rospy.loginfo(f"Setting LQR setpoints to: {msg.data}") self.lqr_controller.set_setpoint(msg.data) rospy.loginfo(self.lqr_controller.setpoint) - + def odometry_callback(self, msg): - + if not self.do_publish_tau: return @@ -80,7 +84,9 @@ def odometry_callback(self, msg): # Extract the orientation quaternion orientation_q = msg.pose.pose.orientation - orientation_list = [orientation_q.x, orientation_q.y, orientation_q.z, orientation_q.w] + orientation_list = [ + orientation_q.x, orientation_q.y, orientation_q.z, orientation_q.w + ] # Convert quaternion to Euler angles (roll, pitch, yaw) = euler_from_quaternion(orientation_list) @@ -111,8 +117,6 @@ def odometry_callback(self, msg): # You can then publish this Wrench message self.tau_pub.publish(wrench) - - if __name__ == "__main__": @@ -120,6 +124,3 @@ def odometry_callback(self, msg): lqr_controller = LQRControllerNode() rospy.spin() - - - From 1846b81ea8fc59d1e8f9ab3dbbcf6d859e3c0336 Mon Sep 17 00:00:00 2001 From: Clang Robot Date: Sun, 6 Aug 2023 23:56:25 +0000 Subject: [PATCH 052/132] Committing clang-format changes --- .../control_simulator/src/lqr_controller.cpp | 264 ++++++++++-------- 1 file changed, 144 insertions(+), 120 deletions(-) diff --git a/motion/control_simulator/src/lqr_controller.cpp b/motion/control_simulator/src/lqr_controller.cpp index dfc3fecf..923557f8 100644 --- a/motion/control_simulator/src/lqr_controller.cpp +++ b/motion/control_simulator/src/lqr_controller.cpp @@ -1,168 +1,192 @@ // lqr_controller.hpp -#include #include +#include typedef Eigen::Matrix Vector6d; typedef Eigen::Matrix Vector8d; class LQRController { - Eigen::Matrix3d M; - Eigen::Matrix3d D; - Eigen::Matrix Q; - Eigen::Matrix3d R; - Vector6d setpoint; - double actuator_limits; + Eigen::Matrix3d M; + Eigen::Matrix3d D; + Eigen::Matrix Q; + Eigen::Matrix3d R; + Vector6d setpoint; + double actuator_limits; - int yaw_idx; - Eigen::Vector2d integral_states; + int yaw_idx; + Eigen::Vector2d integral_states; public: - LQRController(Eigen::Matrix3d M, Eigen::Matrix3d D, Eigen::VectorXd Q, Eigen::Vector3d R, Vector6d setpoint, double actuator_limits); + LQRController(Eigen::Matrix3d M, Eigen::Matrix3d D, Eigen::VectorXd Q, + Eigen::Vector3d R, Vector6d setpoint, double actuator_limits); - Eigen::Vector3d control(Vector6d state, double dt); + Eigen::Vector3d control(Vector6d state, double dt); - std::pair linearize(Vector8d state, double dt); + std::pair linearize(Vector8d state, + double dt); - Eigen::Matrix lqr(Eigen::MatrixXd A, Eigen::MatrixXd B, Eigen::Matrix Q, Eigen::Matrix3d R); + Eigen::Matrix lqr(Eigen::MatrixXd A, Eigen::MatrixXd B, + Eigen::Matrix Q, + Eigen::Matrix3d R); }; // // lqr_controller.cpp // #include "lqr_controller.hpp" -double ssa(double angle) { - return fmod((angle + M_PI), (2 * M_PI)) - M_PI; -} +double ssa(double angle) { return fmod((angle + M_PI), (2 * M_PI)) - M_PI; } -LQRController::LQRController(Eigen::Matrix3d M, Eigen::Matrix3d D, Eigen::VectorXd Q, Eigen::Vector3d R, Vector6d setpoint, double actuator_limits) { - this->Q = Q.asDiagonal(); - this->R = R.asDiagonal(); - this->setpoint = setpoint; - this->M = M; - this->D = D; +LQRController::LQRController(Eigen::Matrix3d M, Eigen::Matrix3d D, + Eigen::VectorXd Q, Eigen::Vector3d R, + Vector6d setpoint, double actuator_limits) { + this->Q = Q.asDiagonal(); + this->R = R.asDiagonal(); + this->setpoint = setpoint; + this->M = M; + this->D = D; - this->yaw_idx = 2; - this->integral_states = Eigen::Vector2d::Zero(); + this->yaw_idx = 2; + this->integral_states = Eigen::Vector2d::Zero(); - this->actuator_limits = actuator_limits; + this->actuator_limits = actuator_limits; } Eigen::Vector3d LQRController::control(Vector6d state, double dt) { - Vector8d state_with_integral; - state_with_integral << state, integral_states; - - std::pair linearized = linearize(state_with_integral, dt); - Eigen::MatrixXd A = linearized.first; - Eigen::MatrixXd B = linearized.second; - Eigen::Matrix K = lqr(A, B, Q, R); + Vector8d state_with_integral; + state_with_integral << state, integral_states; - Vector8d error = state_with_integral; - error.segment<6>(0) -= setpoint; // Subtract 'setpoint' from the first 6 elements of 'error' - error.segment<2>(6) -= Eigen::Vector2d(0, 0); // Subtract [0, 0] from the last 2 elements of 'error' + std::pair linearized = + linearize(state_with_integral, dt); + Eigen::MatrixXd A = linearized.first; + Eigen::MatrixXd B = linearized.second; + Eigen::Matrix K = lqr(A, B, Q, R); - error[yaw_idx] = ssa(error[yaw_idx]); + Vector8d error = state_with_integral; + error.segment<6>(0) -= + setpoint; // Subtract 'setpoint' from the first 6 elements of 'error' + error.segment<2>(6) -= Eigen::Vector2d( + 0, 0); // Subtract [0, 0] from the last 2 elements of 'error' - Eigen::Vector3d tau_body = -K * error; + error[yaw_idx] = ssa(error[yaw_idx]); - if (tau_body.cwiseAbs().maxCoeff() > actuator_limits) { - return tau_body; - } - - integral_states += (state.head(2) - setpoint.head(2)) * dt; - - if ((state.head(2) - setpoint.head(2)).cwiseSign() != integral_states.cwiseSign()) { - integral_states = Eigen::Vector2d::Zero(); - } + Eigen::Vector3d tau_body = -K * error; + if (tau_body.cwiseAbs().maxCoeff() > actuator_limits) { return tau_body; -} - -std::pair LQRController::linearize(Vector8d state, double dt) { - Eigen::MatrixXd A = Eigen::MatrixXd::Identity(8, 8); - Eigen::Matrix3d Minv = M.inverse(); - A.block<3, 3>(3, 3) -= dt * Minv * D; - A.block<3, 3>(0, 3) = dt * (Eigen::Matrix3d() << - std::cos(state[yaw_idx]), -std::sin(state[yaw_idx]), 0, - std::sin(state[yaw_idx]), std::cos(state[yaw_idx]), 0, - 0, 0, 1).finished(); + } - A(6, 0) = dt; // add integral effect on x - A(7, 1) = dt; // add integral effect on y + integral_states += (state.head(2) - setpoint.head(2)) * dt; - Eigen::MatrixXd B = Eigen::MatrixXd::Zero(8, 3); - B.block<3, 3>(3, 0) = dt * Minv; + if ((state.head(2) - setpoint.head(2)).cwiseSign() != + integral_states.cwiseSign()) { + integral_states = Eigen::Vector2d::Zero(); + } - return {A, B}; + return tau_body; } -Eigen::MatrixXd dareSolver(Eigen::MatrixXd A, Eigen::MatrixXd B, Eigen::MatrixXd Q, Eigen::MatrixXd R) { - Eigen::MatrixXd X = Q; - Eigen::MatrixXd X_prev; +std::pair +LQRController::linearize(Vector8d state, double dt) { + Eigen::MatrixXd A = Eigen::MatrixXd::Identity(8, 8); + Eigen::Matrix3d Minv = M.inverse(); + A.block<3, 3>(3, 3) -= dt * Minv * D; + A.block<3, 3>(0, 3) = + dt * (Eigen::Matrix3d() << std::cos(state[yaw_idx]), + -std::sin(state[yaw_idx]), 0, std::sin(state[yaw_idx]), + std::cos(state[yaw_idx]), 0, 0, 0, 1) + .finished(); - // Set a threshold for convergence of the algorithm - double threshold = 1e-9; + A(6, 0) = dt; // add integral effect on x + A(7, 1) = dt; // add integral effect on y - // Maximum number of iterations to prevent endless loop - int max_iterations = 1000; - int i; + Eigen::MatrixXd B = Eigen::MatrixXd::Zero(8, 3); + B.block<3, 3>(3, 0) = dt * Minv; - // The Riccati equation solver - for (i = 0; i < max_iterations; i++) { - X_prev = X; - X = A.transpose() * X_prev * A - A.transpose() * X_prev * B * (R + B.transpose() * X_prev * B).inverse() * B.transpose() * X_prev * A + Q; + return {A, B}; +} - // Check for convergence - if ((X - X_prev).norm() < threshold) { - break; - } +Eigen::MatrixXd dareSolver(Eigen::MatrixXd A, Eigen::MatrixXd B, + Eigen::MatrixXd Q, Eigen::MatrixXd R) { + Eigen::MatrixXd X = Q; + Eigen::MatrixXd X_prev; + + // Set a threshold for convergence of the algorithm + double threshold = 1e-9; + + // Maximum number of iterations to prevent endless loop + int max_iterations = 1000; + int i; + + // The Riccati equation solver + for (i = 0; i < max_iterations; i++) { + X_prev = X; + X = A.transpose() * X_prev * A - + A.transpose() * X_prev * B * + (R + B.transpose() * X_prev * B).inverse() * B.transpose() * + X_prev * A + + Q; + + // Check for convergence + if ((X - X_prev).norm() < threshold) { + break; } + } - // If the maximum number of iterations is reached, print a warning - if (i == max_iterations) { - std::cout << "Warning: Maximum number of iterations reached in DARE solver." << std::endl; - } + // If the maximum number of iterations is reached, print a warning + if (i == max_iterations) { + std::cout << "Warning: Maximum number of iterations reached in DARE solver." + << std::endl; + } - return X; + return X; } -Eigen::Matrix LQRController::lqr(Eigen::MatrixXd A, Eigen::MatrixXd B, Eigen::Matrix Q, Eigen::Matrix3d R) { - Eigen::MatrixXd X = dareSolver(A, B, Q, R); - Eigen::MatrixXd K = (B.transpose() * X * B + R).inverse() * B.transpose() * X * A; - - return K; +Eigen::Matrix LQRController::lqr(Eigen::MatrixXd A, + Eigen::MatrixXd B, + Eigen::Matrix Q, + Eigen::Matrix3d R) { + Eigen::MatrixXd X = dareSolver(A, B, Q, R); + Eigen::MatrixXd K = + (B.transpose() * X * B + R).inverse() * B.transpose() * X * A; + + return K; } int main() { - Eigen::Matrix3d M = Eigen::Matrix3d::Identity(); - Eigen::Matrix3d D = Eigen::Matrix3d::Identity(); - Eigen::VectorXd Q(8); - Q << 0.1, 0.1,0.1,0.1,0.1,0.1,0.1,0.1; - Eigen::Vector3d R; - R << 1, 2, 3; - Vector6d setpoint; - setpoint << 1, 2, 3, 4, 5, 6; - double actuator_limits = 100.0; - - LQRController controller(M, D, Q, R, setpoint, actuator_limits); - - Vector6d state; - state << 0.1, 0.2, 0.3, 0.4, 0.5, 0.6; - double dt = 0.1; - - int num_steps = 100; - for (int i = 0; i < num_steps; i++) { - Eigen::Vector3d control_output = controller.control(state, dt); - - // Assume the control output is a force. Divide by mass to get acceleration. - // Assume mass = 1 for simplicity - double mass = 1.0; - Eigen::Vector3d acceleration = control_output / mass; - - // Update state based on acceleration - state.segment<3>(0) += dt * state.segment<3>(3); // Update position based on velocity - state.segment<3>(3) += dt * acceleration; // Update velocity based on acceleration - - std::cout << "Time: " << i * dt << ", state:\n" << state << "setpoint:\n" << setpoint <<"\n\n"; - } - - return 0; + Eigen::Matrix3d M = Eigen::Matrix3d::Identity(); + Eigen::Matrix3d D = Eigen::Matrix3d::Identity(); + Eigen::VectorXd Q(8); + Q << 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1; + Eigen::Vector3d R; + R << 1, 2, 3; + Vector6d setpoint; + setpoint << 1, 2, 3, 4, 5, 6; + double actuator_limits = 100.0; + + LQRController controller(M, D, Q, R, setpoint, actuator_limits); + + Vector6d state; + state << 0.1, 0.2, 0.3, 0.4, 0.5, 0.6; + double dt = 0.1; + + int num_steps = 100; + for (int i = 0; i < num_steps; i++) { + Eigen::Vector3d control_output = controller.control(state, dt); + + // Assume the control output is a force. Divide by mass to get acceleration. + // Assume mass = 1 for simplicity + double mass = 1.0; + Eigen::Vector3d acceleration = control_output / mass; + + // Update state based on acceleration + state.segment<3>(0) += + dt * state.segment<3>(3); // Update position based on velocity + state.segment<3>(3) += + dt * acceleration; // Update velocity based on acceleration + + std::cout << "Time: " << i * dt << ", state:\n" + << state << "setpoint:\n" + << setpoint << "\n\n"; + } + + return 0; } \ No newline at end of file From 32e49de988ddcdce72053ad9e80d05bd86277f50 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Mon, 7 Aug 2023 20:25:25 +0200 Subject: [PATCH 053/132] Improve sim performance and add North/East plot MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- motion/control_simulator/scripts/simulator.py | 81 +++++++++++++------ 1 file changed, 57 insertions(+), 24 deletions(-) diff --git a/motion/control_simulator/scripts/simulator.py b/motion/control_simulator/scripts/simulator.py index b373bc8f..eb807a6b 100755 --- a/motion/control_simulator/scripts/simulator.py +++ b/motion/control_simulator/scripts/simulator.py @@ -5,8 +5,8 @@ import matplotlib.pyplot as plt from matplotlib.animation import FuncAnimation -from pid_controller import MIMO3DOFNonlinearPID, ssa -from lqr_controller import LQRController +from pid_controller import ssa +from std_msgs.msg import Float64MultiArray import vessel @@ -25,6 +25,8 @@ def __init__(self, vessel): rospy.init_node('vessel_simulator') rospy.Subscriber("/thrust/force_input", Wrench, self.wrench_callback) + rospy.Subscriber("/controller/lqr/setpoints", Float64MultiArray, + self.setpoint_callback) self.vessel = vessel self.fig, self.axes = plt.subplots(nrows=3, ncols=2, figsize=(10, 10)) @@ -40,12 +42,24 @@ def __init__(self, vessel): self.u = np.zeros(3) self.brownian_motion_state = np.zeros(2) - self.arrow = plt.Arrow(x, y, np.cos(psi), np.sin(psi), width=0.1) + psi_north = psi + np.pi/2 + + self.arrow = plt.Arrow(x, y, np.cos(psi_north), np.sin(psi_north), width=0.1) self.ax_vessel.add_patch(self.arrow) # Initialize the path line self.path, = self.ax_vessel.plot(x, y, color="red") + + self.setpoints = np.zeros(6) + self.sp_x_line, = self.ax_x.plot(0, self.setpoints[0], color="r") + self.sp_y_line, = self.ax_y.plot(0, self.setpoints[1], color="r") + self.sp_psi_line, = self.ax_psi.plot(0, self.setpoints[2], color="r") + self.sp_vx_line, = self.ax_vx.plot(0, self.setpoints[3], color="r") + self.sp_vy_line, = self.ax_vy.plot(0, self.setpoints[4], color="r") + + self.window_size = 50 + self.ax_vessel.set_xlim(-5, 5) self.ax_vessel.set_ylim(-5, 5) self.ax_vessel.grid("on") @@ -61,6 +75,14 @@ def __init__(self, vessel): self.odom_pub = rospy.Publisher("/odometry/filtered", Odometry, queue_size=10) + + def setpoint_callback(self, msg): + rospy.loginfo(f"Simulator received setpoints: {msg.data}") + number_of_setpoints = len(msg.data) + if number_of_setpoints != 6: + return + + self.setpoints = np.array(msg.data) def wrench_callback(self, data): x_scale = 1.0 @@ -104,17 +126,19 @@ def update_and_draw_arrow(self): x, y, psi, vx, vy, vpsi = self.vessel.state psi = ssa(psi) - self.arrow = plt.Arrow(x, - y, - arrow_length * np.cos(psi), - arrow_length * np.sin(psi), + + psi_north = ssa(psi + np.pi/2) + self.arrow = plt.Arrow(y, + x, + arrow_length * np.cos(psi_north), + arrow_length * np.sin(psi_north), width=arrow_width) self.ax_vessel.add_patch(self.arrow) def update_path_line(self): old_path = self.path.get_data() - new_path = (np.append(old_path[0], self.vessel.state[0]), - np.append(old_path[1], self.vessel.state[1])) + new_path = (np.append(old_path[0][-self.window_size:], self.vessel.state[1]), + np.append(old_path[1][-self.window_size:], self.vessel.state[0])) self.path.set_data(new_path) def update_and_plot_signals(self, frame): @@ -123,34 +147,43 @@ def update_and_plot_signals(self, frame): data = self.vessel.state[i] line = getattr(self, f"{signal}_line") - line.set_data(np.append(line.get_xdata(), frame), - np.append(line.get_ydata(), data)) - getattr(self, f"ax_{signal}").axhline(y=0, color='r') + # append the new data point and only keep the last 'self.window_size' points + x_data = np.append(line.get_xdata()[-self.window_size:], frame) + y_data = np.append(line.get_ydata()[-self.window_size:], data) - line.set_data(np.append(line.get_xdata(), frame), - np.append(line.get_ydata(), data)) - getattr(self, f"ax_{signal}").axhline(y=lqr_controller.setpoint[i], - color='r') + line.set_data(x_data, y_data) + + setpoint = self.setpoints[i] # Fetch the corresponding setpoint + + # Update the setpoint line with new data point + sp_line = getattr(self, f"sp_{signal}_line") + sp_x_data = np.append(sp_line.get_xdata()[-self.window_size:], frame) + sp_y_data = np.append(sp_line.get_ydata()[-self.window_size:], setpoint) + sp_line.set_data(sp_x_data, sp_y_data) def update_legends_and_axes(self, frame): signals = ['x', 'y', 'psi', 'vx', 'vy'] - labels = [ - 'North', 'East', 'Heading', 'Surge Velocity', 'Sway Velocity' - ] + labels = ['North', 'East', 'Heading', 'Surge Velocity', 'Sway Velocity'] y_padding = 0.25 - window_size = 500 - for signal, label in zip(signals, labels): + self.ax_vessel.set_ylabel("North [m]") + self.ax_vessel.set_xlabel("East [m]") + + for i, (signal, label) in enumerate(zip(signals, labels)): line = getattr(self, f"{signal}_line") axis = getattr(self, f"ax_{signal}") line.set_label(label) - axis.set_xlim(max(0, frame - window_size), frame + 1) + + axis.set_xlim(min(line.get_xdata()), max(line.get_xdata())) + axis.set_ylim( - min(line.get_ydata()) - y_padding, - max(max(line.get_ydata()), 0) + y_padding) + min(min(line.get_ydata()), self.setpoints[i]) - y_padding, + max(max(line.get_ydata()), self.setpoints[i]) + y_padding) + axis.legend() + def animate(self): NUMBER_OF_FRAMES = 2000 TIME_BETWEEN_FRAMES_MS = 50 From 9c9248773ce05486050a679f416c0c87fd9748c3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Mon, 7 Aug 2023 20:27:36 +0200 Subject: [PATCH 054/132] Thanos snap motion code MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- motion/heading_controller/CMakeLists.txt | 21 - .../cfg/headingController.cfg | 16 - motion/heading_controller/package.xml | 28 - .../scripts/heading_controller_node.py | 189 ------- motion/los_guidance/CMakeLists.txt | 210 -------- motion/los_guidance/README.md | 12 - motion/los_guidance/cfg/LOS.cfg | 12 - motion/los_guidance/package.xml | 33 -- .../los_guidance/scripts/los_guidance_node.py | 505 ------------------ .../scripts/old_los_guidance_euler.py | 440 --------------- motion/reference_model/CMakeLists.txt | 205 ------- motion/reference_model/README.md | 6 - motion/reference_model/package.xml | 20 - motion/reference_model/setup.py | 11 - .../src/reference_model/__init__.py | 0 .../src/reference_model/discrete_tustin.py | 110 ---- motion/speed_controller/CMakeLists.txt | 20 - .../speed_controller/cfg/speedController.cfg | 16 - motion/speed_controller/package.xml | 29 - .../scripts/speed_controller_node.py | 187 ------- 20 files changed, 2070 deletions(-) delete mode 100644 motion/heading_controller/CMakeLists.txt delete mode 100644 motion/heading_controller/cfg/headingController.cfg delete mode 100644 motion/heading_controller/package.xml delete mode 100755 motion/heading_controller/scripts/heading_controller_node.py delete mode 100644 motion/los_guidance/CMakeLists.txt delete mode 100644 motion/los_guidance/README.md delete mode 100755 motion/los_guidance/cfg/LOS.cfg delete mode 100644 motion/los_guidance/package.xml delete mode 100755 motion/los_guidance/scripts/los_guidance_node.py delete mode 100755 motion/los_guidance/scripts/old_los_guidance_euler.py delete mode 100644 motion/reference_model/CMakeLists.txt delete mode 100644 motion/reference_model/README.md delete mode 100644 motion/reference_model/package.xml delete mode 100644 motion/reference_model/setup.py delete mode 100644 motion/reference_model/src/reference_model/__init__.py delete mode 100755 motion/reference_model/src/reference_model/discrete_tustin.py delete mode 100644 motion/speed_controller/CMakeLists.txt delete mode 100644 motion/speed_controller/cfg/speedController.cfg delete mode 100644 motion/speed_controller/package.xml delete mode 100755 motion/speed_controller/scripts/speed_controller_node.py diff --git a/motion/heading_controller/CMakeLists.txt b/motion/heading_controller/CMakeLists.txt deleted file mode 100644 index 640c8ccc..00000000 --- a/motion/heading_controller/CMakeLists.txt +++ /dev/null @@ -1,21 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(heading_controller) - -find_package(catkin REQUIRED COMPONENTS - dynamic_reconfigure - geometry_msgs - rospy - vortex_msgs -) - -generate_dynamic_reconfigure_options( - cfg/headingController.cfg -) - - -catkin_package() - - -include_directories( - ${catkin_INCLUDE_DIRS} -) \ No newline at end of file diff --git a/motion/heading_controller/cfg/headingController.cfg b/motion/heading_controller/cfg/headingController.cfg deleted file mode 100644 index 45cab8a4..00000000 --- a/motion/heading_controller/cfg/headingController.cfg +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/env python3 - -PACKAGE = "heading_controller" - -from dynamic_reconfigure.parameter_generator_catkin import * - -gen = ParameterGenerator() -gains = gen.add_group("Gains") - -# Name Type Level Description Default Min Max -gains.add("PID_psi_p", double_t, 0, "Proportional gain", 10.0, 0.0, 50.0) -gains.add("PID_psi_i", double_t, 0, "Integral gain", 0.0024, 0.0, 50.0) -gains.add("PID_psi_d", double_t, 0, "Derivative gain", 3.5, 0.0, 50.0) -gains.add("PID_psi_sat", double_t, 0, "Saturation ", 3.0, 0.0, 3.0) - -exit(gen.generate(PACKAGE, "heading_controller", "headingController")) diff --git a/motion/heading_controller/package.xml b/motion/heading_controller/package.xml deleted file mode 100644 index e338f5e9..00000000 --- a/motion/heading_controller/package.xml +++ /dev/null @@ -1,28 +0,0 @@ - - - heading_controller - 0.0.0 - The heading_controller package - - ronja kræmer - - MIT - - catkin - dynamic_reconfigure - geometry_msgs - rospy - vortex_msgs - dynamic_reconfigure - geometry_msgs - rospy - vortex_msgs - dynamic_reconfigure - geometry_msgs - rospy - vortex_msgs - - - - - diff --git a/motion/heading_controller/scripts/heading_controller_node.py b/motion/heading_controller/scripts/heading_controller_node.py deleted file mode 100755 index a6860a66..00000000 --- a/motion/heading_controller/scripts/heading_controller_node.py +++ /dev/null @@ -1,189 +0,0 @@ -#!/usr/bin/python3 - -import rospy - -from geometry_msgs.msg import Wrench -from nav_msgs.msg import Odometry -from std_msgs.msg import Float64 -import tf - -from pid_controller import PIDRegulator -from heading_controller.cfg import headingControllerConfig - -from dynamic_reconfigure.server import Server - - -class HeadingControllerPID: - """ - Wrapper for the PID controller to make the heading_controller - code cleaner. - """ - - def __init__(self): - """ - Initialize the PID controller with fixed gains and saturation limit. - """ - - self.controller_psi = PIDRegulator(25, 0.024, 3.5, - 5.0) # Args: p, i, d, sat - - def update_gains(self, psi_p, psi_i, psi_d, psi_sat): - """ - Update the controller gains and saturation limit. - Args: - psi_p proportional gain for psi (heading) - psi_i integral gain for psi - psi_d derivative gain for psi - psi_sat saturation limit psi - """ - - self.controller_psi.p = psi_p - self.controller_psi.i = psi_i - self.controller_psi.d = psi_d - self.controller_psi.sat = psi_sat - - def heading_controller(self, psi_d, psi, t): - """ - Calculate force to maintain fixed heading. - Args: - psi_d desired heading - psi current heading - t time - Returns: - float: A restoring force output by the controller. - """ - - # error ENU - e_rot = psi_d - psi - - # regulate(err, t) - tau_psi = self.controller_psi.regulate(e_rot, t) - return tau_psi - - -class HeadingControllerROS: - """ - The ROS wrapper class for the HeadingControllerPID. - The heading_controller is made up - of a PID controller. - Nodes created: - heading_controller - Subscribes to topic: - /guidance/desired_heading - Publishes to topic: - "/thrust/torque_input" - """ - - def __init__(self): - """ - Initialize the heading_controller node, subscribers, publishers and the - objects for the PID controller. - """ - - rospy.init_node("heading_controller") - - self.psi = 0 - - # Create controller - self.PID = HeadingControllerPID() - - # Subscribers - self.heading_sub = rospy.Subscriber( - rospy.get_param("/guidance_interface/desired_heading"), - Float64, - self.heading_data_callback, - queue_size=1, - ) - - self.odometry_sub = rospy.Subscriber( - "/pose_gt", # change to /odometry/filtered - Odometry, - self.odometry_callback, - queue_size=1, - ) - - # Publisher - self.torque_pub = rospy.Publisher( - rospy.get_param("/asv/thruster_manager/torque"), - Wrench, - queue_size=1) - - # Dynamic reconfigure - self.config = {} - self.srv_reconfigure = Server(headingControllerConfig, - self.config_callback) - - def odometry_callback(self, odom_msg): - q = odom_msg.pose.pose.orientation - q_l = [q.x, q.y, q.z, q.w] - _, _, yaw = tf.transformations.euler_from_quaternion(q_l) - self.psi = yaw - - def heading_data_callback(self, msg): - """ - Handle guidance data - msg: the guidance data message - """ - - torque_msg = Wrench() - - # Desired heading message - torque_msg.torque.z = self.PID.heading_controller( - msg.data, self.psi, - rospy.Time.now().to_sec()) - self.torque_pub.publish(torque_msg) - - def config_callback(self, config, level): - """Handle updated configuration values. - - Args: - config The dynamic reconfigure server's Config type variable - level Ununsed variable - Returns: - A Config type containing the updated config argument. - """ - - # Old parameters for psi (heading) - psi_p_old = self.PID.controller_psi.p - psi_i_old = self.PID.controller_psi.i - psi_d_old = self.PID.controller_psi.d - psi_sat_old = self.PID.controller_psi.sat - - # Reconfigured PID parameters for psi - psi_p = config["PID_psi_p"] - psi_i = config["PID_psi_i"] - psi_d = config["PID_psi_d"] - psi_sat = config["PID_psi_sat"] - - rospy.loginfo("heading_controller reconfigure: ") - - self.log_value_if_updated("psi_p", psi_p_old, psi_p) - self.log_value_if_updated("psi_i", psi_i_old, psi_i) - self.log_value_if_updated("psi_d", psi_d_old, psi_d) - self.log_value_if_updated("psi_sat", psi_sat_old, psi_sat) - - # Update controller gains - self.PID.update_gains(psi_p, psi_i, psi_d, psi_sat) - - # update config - self.config = config - - return config - - def log_value_if_updated(self, name, old_value, new_value): - """ - A helper function for the config_callback() method - Args: - name The string name of the variable - old_value A real number - new_value A real number - """ - - if old_value != new_value: - rospy.loginfo("\t {:}: {:.4f} -> {:.4f}".format( - name, old_value, new_value)) - - -if __name__ == "__main__": - heading_controller = HeadingControllerROS() - rospy.spin() diff --git a/motion/los_guidance/CMakeLists.txt b/motion/los_guidance/CMakeLists.txt deleted file mode 100644 index 075eff49..00000000 --- a/motion/los_guidance/CMakeLists.txt +++ /dev/null @@ -1,210 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(los_guidance) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - nav_msgs - rospy - sensor_msgs - vortex_msgs - tf - dynamic_reconfigure - reference_model -) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# nav_msgs# sensor_msgs# vortex_msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -generate_dynamic_reconfigure_options( - cfg/LOS.cfg -) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES los_guidance -# CATKIN_DEPENDS nav_msgs rospy sensor_msgs vortex_msgs -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include - - ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/los_guidance.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/LOS_guidance_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_LOS_guidance.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/motion/los_guidance/README.md b/motion/los_guidance/README.md deleted file mode 100644 index 62f4cae3..00000000 --- a/motion/los_guidance/README.md +++ /dev/null @@ -1,12 +0,0 @@ -## Line-Of-Sight guidance module -The LOS guidance node is a guidance system that is utilized for the AUV to move along straight line segments. -The node takes in odometry data and a point in the global coordinate frame, and publishes data that the los_controller controller node will use to calculate control vectors. - - -The system parameters can be changed during runtime because of the dynamic reconfigure server that is present -in the los_guidance_backstepping script. The parameters can be found under /cfg/LOS.cfg. To reconfigure the parameters, use -``` -rosrun rqt_reconfigure rqt_reconfigure -``` -and select the /losnode from the list of reconfigurable nodes. - diff --git a/motion/los_guidance/cfg/LOS.cfg b/motion/los_guidance/cfg/LOS.cfg deleted file mode 100755 index 98548a55..00000000 --- a/motion/los_guidance/cfg/LOS.cfg +++ /dev/null @@ -1,12 +0,0 @@ -#!/usr/bin/env python -PACKAGE = "los_guidance" - -from dynamic_reconfigure.parameter_generator_catkin import * - -gen = ParameterGenerator() -gains = gen.add_group("Gains") - -# Name Type Level Description Default Min Max -gains.add("delta", double_t, 0, "Look-ahead distance", 3, 0.01, 10.0) - -exit(gen.generate(PACKAGE, "los_guidance", "LOS")) diff --git a/motion/los_guidance/package.xml b/motion/los_guidance/package.xml deleted file mode 100644 index 32afbb6a..00000000 --- a/motion/los_guidance/package.xml +++ /dev/null @@ -1,33 +0,0 @@ - - - los_guidance - 0.0.0 - The los_guidance package - kristoffer - MIT - - catkin - nav_msgs - rospy - sensor_msgs - vortex_msgs - tf - dynamic_reconfigure - reference_model - - nav_msgs - rospy - sensor_msgs - vortex_msgs - tf - reference_model - - nav_msgs - rospy - sensor_msgs - vortex_msgs - tf - dynamic_reconfigure - reference_model - - diff --git a/motion/los_guidance/scripts/los_guidance_node.py b/motion/los_guidance/scripts/los_guidance_node.py deleted file mode 100755 index 45a9ff4d..00000000 --- a/motion/los_guidance/scripts/los_guidance_node.py +++ /dev/null @@ -1,505 +0,0 @@ -#!/usr/bin/python3 -# Written by Kristoffer Rakstad Solberg, Student -# Documented by Christopher Strom and Jae Hyeong Hwang -# Copyright (c) 2020 Manta AUV, Vortex NTNU. -# All rights reserved. - -import rospy -import numpy as np -import math -from vortex_msgs.msg import GuidanceData -from nav_msgs.msg import Odometry -from geometry_msgs.msg import Wrench, PoseStamped, Pose -from tf.transformations import euler_from_quaternion, quaternion_from_euler - -# dynamic reconfigure -from dynamic_reconfigure.server import Server -from los_guidance.cfg import LOSConfig - -# action message -import actionlib -from vortex_msgs.msg import ( - LosPathFollowingAction, - LosPathFollowingGoal, - LosPathFollowingResult, - LosPathFollowingFeedback, -) - -# modules included in this package -from reference_model.discrete_tustin import ReferenceModel - - -class LOS: - """ - The Line-Of-Sight guidance class, with an imported controller. - Physical attributes referenced in the class: - x, y, z: surge, sway, heave (position) - u, v, w: surge, sway, heave (velocity) - alpha: The path-tangential angle - psi: Heading angle required to reach the LOS intersection - point. - R: sphere of acceptance. If the AUV is inside the sphere - defined by this radius and the setpoint, it will be - considered to have reached the setpoint. - """ - - def __init__(self): - - # update rate - self.h = 0.05 - self.u = 0.0 - - # current position - self.x = 0.0 - self.y = 0.0 - self.psi = 0 - - # previous waypoint - self.x_k = 0.0 - self.y_k = 0.0 - - # next waypoint - self.x_kp1 = 0.0 - self.y_kp1 = 0.0 - - # desired speed - self.speed = 0 - - # sphere of acceptance - self.R = 0.5 - - # look-ahead distance - Lpp = 0.7 - self.delta = 1.0 * Lpp - - def updateState(self, x, y, u, v, psi, r, time): - """ - Update all state values contained in the LOS class. - Args: - x Surge; position in the direction of the x-axis. - y Sway; position in the direction of the y-axis. - z Heave; position in the direction of the z-axis. - u Body fixed velocity in the x-direction. - v Body fixed velocity in the y-direction. - w Body fixed velocity in the z-direction. - psi Heading angle required to reach the LOS intersection - point. - r current angular velocity around the body-fixed z-axis - time A double with the current time - """ - - # Update position - self.x = x - self.y = y - - # Update velocities - self.u_dot = (u - self.u) / self.h - self.u = u - self.v = v - - self.psi = psi - self.r = r - self.t = time - - def setWayPoints(self, x_k, y_k, x_kp1, y_kp1): - """ - Set the previous and next waypoints - Args: - x_k x-component of the previous waypoint - y_k y-component of the previous waypoint - x_kp1 x-component of the next waypoint - y_kp1 y-component of the next waypoint - """ - - # previous waypoint - self.x_k = x_k - self.y_k = y_k - - # next waypoint - self.x_kp1 = x_kp1 - self.y_kp1 = y_kp1 - - def distance(self): - """ - Calculate straight line distance (2D) between the - current position and the setpoint position. - """ - - return np.sqrt((self.x_kp1 - self.x)**2 + (self.y_kp1 - self.y)**2) - - def sphereOfAcceptance(self): - """ - The sphere of acceptance is a sphere around the setpoint. - If the AUV is inside this sphere, it will be considered - as having reached the setpoint. - Returns: - bool: True if the current position is less than the - radius of the sphere of acceptance. False otherwise - """ - - return self.distance() < self.R - - def getEpsilonVector(self): - """ - Calculate the epsilon vector, which is the vector - that contains the coordinates of the AUV in the - path-fixed reference frame for a straight line going - from the reference point to the target position. - Returns: - float: The calculated epsilon vector - """ - - alpha = self.alpha - - # rotation matrix - R = np.array( - ((np.cos(alpha), -np.sin(alpha)), (np.sin(alpha), np.cos(alpha)))) - - # transpose - R_T = np.transpose(R) - - # position vector - p_t = np.array((self.x, self.y)) - p_k = np.array((self.x_k, self.y_k)) - - # epsilon (eq 10.56 Fossen) - epsilon = R_T.dot(p_t - p_k) - - return epsilon - - def quat2euler(self, msg): - """ - Calculate roll, pitch and yaw from the orientation - quaternion with the axis sequence xyzw - Args: - msg A nav_msgs/Odometry message - Returns: - float: The euler yaw angle calculated from the msg argument - """ - - global roll, pitch, yaw - orientation_q = msg.pose.pose.orientation - orientation_list = [ - orientation_q.x, - orientation_q.y, - orientation_q.z, - orientation_q.w, - ] - (roll, pitch, yaw) = euler_from_quaternion(orientation_list) - - return yaw - - def lookaheadBasedSteering(self): - """ - Calculate the desired heading angle. This angle is - the sum of the path-tangential angle and the velocity- - path relative angle. - Returns: - float: The desired heading angle chi_d - """ - - # straight-line path segment - self.y_delta = self.y_kp1 - self.y_k - self.x_delta = self.x_kp1 - self.x_k - - # angle - self.alpha = np.arctan2(self.y_delta, self.x_delta) - - # rotation matrix - epsilon = self.getEpsilonVector() - - # along track distance - self.s = epsilon[0] - - # cross-track error - self.e = epsilon[1] - - # path-tangential angle (eq 10.73 Fossen) - self.chi_p = self.alpha - - # velocity-path relative angle (eq 10.74 Fossen) - self.chi_r = np.arctan(-self.e / self.delta) - - # desired heading angle - self.chi_d = self.chi_p + self.chi_r - - return self.chi_d - - -class LosPathFollowing(object): - """ - This is the ROS wrapper class for the LOS class. - Attributes: - _feedback A vortex_msgs action that contains the distance to goal - _result A vortex_msgs action, true if a goal is set within the - sphereof acceptance, false if not - - Nodes created: - los - Subscribes to: - /pose_gt - - Publishes to: - /guidance/los_data - /asv/los_desired - """ - - # create messages that are used to send feedback/result - _feedback = LosPathFollowingFeedback() - _result = LosPathFollowingResult() - - def __init__(self): - """ - To initialize the ROS wrapper, the node, subscribers - and publishers are set up, as well as dynamic - reconfigure and action servers. - """ - """ - A flag to indicate whether or not a goal has not been reached. - True means that a goal is in progress of being completed. - False means that a goal has been completed (or not started - with any goal) - """ - self.publish_guidance_data = False - - rospy.init_node("los") - - # Subscribers - self.sub = rospy.Subscriber("/pose_gt", - Odometry, - self.callback, - queue_size=1) # 20hz - - # Publishers - self.pub_desired = rospy.Publisher("/asv/los_desired", - Odometry, - queue_size=1) - self.pub_data_los_controller = rospy.Publisher( - rospy.get_param("/guidance_interface/los_data"), - GuidanceData, - queue_size=1) - - # constructor object - self.los = LOS() - self.reference_model = ReferenceModel(np.array((0, 0)), self.los.h) - - # dynamic reconfigure - self.config = {} - self.srv_reconfigure = Server(LOSConfig, self.config_callback) - - # Action server, see https://github.com/strawlab/ros_common/blob/master/actionlib/src/actionlib/simple_action_server.py - self.action_server = actionlib.SimpleActionServer( - name="los_action_server", - ActionSpec=LosPathFollowingAction, - auto_start=False, - ) - self.action_server.register_goal_callback(self.goalCB) - self.action_server.register_preempt_callback(self.preemptCB) - self.action_server.start() - - def fixHeadingWrapping(self): - """ - The heading angle is obtained by the use of an arctangent - function, which is discontinuous at -pi and pi. This can - be problematic when the heading angle is fed into the - reference model. This function fixes this problem by - wrapping the angles around by 2pi. - """ - - e = self.psi - self.psi_ref - if e < -math.pi: - self.psi_ref = self.psi_ref - 2 * math.pi - if e > math.pi: - self.psi_ref = self.psi_ref + 2 * math.pi - - # reference model - x_d = self.reference_model.discreteTustinMSD( - np.array((self.los.speed, self.psi_ref))) - psi_d = x_d[2] - - e = self.psi - psi_d - if e > math.pi: - psi_d = psi_d - 2 * math.pi - self.reference_model = ReferenceModel( - np.array((self.los.u, self.los.psi)), self.los.h) - x_d = self.reference_model.discreteTustinMSD( - np.array((self.los.speed, psi_d))) - if e < -math.pi: - psi_d = psi_d + 2 * math.pi - self.reference_model = ReferenceModel( - np.array((self.los.u, self.los.psi)), self.los.h) - x_d = self.reference_model.discreteTustinMSD( - np.array((self.los.speed, psi_d))) - - return x_d - - def callback(self, msg): - """ - The callback used in the subscribed topic /pose_gt. - When called, position and velocity states are updated, and - a new current goal is set. - If the self.publish_guidance_data attribute is True, we have not yet reached a goal - and so a control force is published, alongside the desired - pose. - Args: - msg A nav_msgs/Odometry ROS message type - """ - - # update current position - self.psi = self.los.quat2euler(msg) - - # update position and velocities - self.los.updateState( - msg.pose.pose.position.x, - msg.pose.pose.position.y, - msg.twist.twist.linear.x, - msg.twist.twist.linear.y, - self.psi, - msg.twist.twist.angular.z, - msg.header.stamp.to_sec(), - ) - - # update current goal - self.psi_ref = self.los.lookaheadBasedSteering() - - if self.publish_guidance_data is True: - """ - Wrapping would have been avoided by using quaternions instead of Euler angles - if you don't care about wrapping, use this instead: - x_d = self.reference_model.discreteTustinMSD(np.array((self.los.speed,psi_d))) - """ - x_d = self.fixHeadingWrapping() - - u_d = x_d[0] - u_d_dot = x_d[1] - psi_d = x_d[2] - r_d = x_d[3] - r_d_dot = x_d[4] - - quat_d = quaternion_from_euler(0, 0, psi_d) - - # Publish the desired state - los_msg = Odometry() - - los_msg.header.stamp = rospy.Time.now() - - los_msg.pose.pose.position.z = msg.pose.pose.position.z - - los_msg.pose.pose.orientation.x = quat_d[0] - los_msg.pose.pose.orientation.y = quat_d[1] - los_msg.pose.pose.orientation.z = quat_d[2] - los_msg.pose.pose.orientation.w = quat_d[3] - - los_msg.twist.twist.linear.x = u_d - los_msg.twist.twist.angular.z = r_d - - self.pub_desired.publish(los_msg) - - # Publish guidance data for the controller - guidance_data = GuidanceData() - - guidance_data.u = self.los.u - guidance_data.u_d = u_d - - guidance_data.u_dot = self.los.u_dot - guidance_data.u_d_dot = u_d_dot - - guidance_data.psi = self.psi - guidance_data.psi_d = psi_d - - guidance_data.r = self.los.r - guidance_data.r_d = r_d - guidance_data.r_d_dot = r_d_dot - - guidance_data.v = self.los.v - guidance_data.t = self.los.t - - self.pub_data_los_controller.publish(guidance_data) - - # check if action goal succeeded - self.statusActionGoal() - - def statusActionGoal(self): - """ - Publish the current distance to target and check if the current - position is within the sphere of acceptance. If it is, the - attribute _result can be set to true, and the flag to false. - """ - - # feedback - self._feedback.distanceToGoal = self.los.distance() - self.action_server.publish_feedback(self._feedback) - - # succeeded - if self.los.sphereOfAcceptance(): - self._result.terminalSector = True - self.action_server.set_succeeded(self._result, - text="goal completed") - self.publish_guidance_data = False - rospy.loginfo("Waypoint reached!") - - def preemptCB(self): - """ - The preempt callback for the action server. - """ - - # check that preempt has not been requested by the client - if self.action_server.is_preempt_requested(): - rospy.loginfo("Preempted requested by los path client") - self.action_server.set_preempted() - self.publish_guidance_data = False - - def goalCB(self): - """ - The goal callback for the action server. - Once a goal has been recieved from the client, self.publish_guidance_data is set to True - This means that this node will start publishing data for the controller - """ - - self.publish_guidance_data = True - goal = self.action_server.accept_new_goal() - - # set goal - self.los.x_k = goal.waypoints[0].x - self.los.y_k = goal.waypoints[0].y - self.los.x_kp1 = goal.waypoints[1].x - self.los.y_kp1 = goal.waypoints[1].y - - # forward speed - self.los.speed = goal.forward_speed - - self.reference_model = ReferenceModel( - np.array((self.los.u, self.los.psi)), self.los.h) - - def config_callback(self, config, level): - """ - Handle updated configuration values. - - Args: - config The dynamic reconfigure server's config - level Ununsed variable - Returns: - The updated config argument. - """ - - delta = config["delta"] - - # Print reconfigure data with precision of 4 decimal points. - rospy.loginfo("los_guidance reconfigure:") - rospy.loginfo("\t delta: {:.4f} -> {:.4f}".format( - self.los.delta, delta)) - - # update look-ahead distance and config - self.los.delta = config["delta"] - self.config = config - - return config - - -if __name__ == "__main__": - try: - los_path_following = LosPathFollowing() - - rospy.spin() - except rospy.ROSInterruptException: - pass diff --git a/motion/los_guidance/scripts/old_los_guidance_euler.py b/motion/los_guidance/scripts/old_los_guidance_euler.py deleted file mode 100755 index bd84c5bf..00000000 --- a/motion/los_guidance/scripts/old_los_guidance_euler.py +++ /dev/null @@ -1,440 +0,0 @@ -#!/usr/bin/python3 -# Written by Kristoffer Rakstad Solberg, Student -# Documented by Christopher Strom and Jae Hyeong Hwang -# Copyright (c) 2020 Manta AUV, Vortex NTNU. -# All rights reserved. - -import rospy -import numpy as np -import math -from vortex_msgs.msg import PropulsionCommand -from nav_msgs.msg import Odometry -from geometry_msgs.msg import Wrench, PoseStamped, Pose -from tf.transformations import euler_from_quaternion, quaternion_from_euler - -# dynamic reconfigure -from dynamic_reconfigure.server import Server -from los_guidance.cfg import LOSControllerConfig - -# action message -import actionlib -from vortex_msgs.msg import ( - LosPathFollowingAction, - LosPathFollowingGoal, - LosPathFollowingResult, - LosPathFollowingFeedback, -) - -# modules included in this package -from los_controller.los_controller import LOSControllerPID -from reference_model.discrete_tustin import ReferenceModel - - -class LOS: - """ - The Line-Of-Sight guidance class, with an imported controller. - - Physical attributes referenced in the class: - x, y, z: surge, sway, heave (position) - u, v, w: surge, sway, heave (velocity) - - alpha: The path-tangential angle - psi: Heading angle required to reach the LOS intersection - point. - - R: sphere of acceptance. If the AUV is inside the sphere - defined by this radius and the setpoint, it will be - considered to have reached the setpoint. - """ - - def __init__(self): - - # current position - self.x = 0.0 - self.y = 0.0 - - # previous waypoint - self.x_k = 0.0 - self.y_k = 0.0 - - # next waypoint - self.x_kp1 = 0.0 - self.y_kp1 = 0.0 - - # sphere of acceptance - self.R = 0.5 - - # look-ahead distance - Lpp = 0.7 - self.delta = 1.0 * Lpp - - def updateState(self, x, y, z, u, v, w, psi, r, time): - """ - Update all state values contained in the LOS class. - - Args: - x Surge; position in the direction of the x-axis. - y Sway; position in the direction of the y-axis. - z Heave; position in the direction of the z-axis. - - u Body fixed velocity in the x-direction. - v Body fixed velocity in the y-direction. - w Body fixed velocity in the z-direction. - - psi Heading angle required to reach the LOS intersection - point. - r current angular velocity around the body-fixed z-axis - time A double with the current time - """ - - # Update position - self.x = x - self.y = y - self.z = z - - # Update velocities - self.u = u - self.v = v - self.w = w - - self.psi = psi - self.r = r - self.t = time - - def setWayPoints(self, x_k, y_k, x_kp1, y_kp1): - """ - Set the previous and next waypoints - - Args: - x_k x-component of the previous waypoint - y_k y-component of the previous waypoint - - x_kp1 x-component of the next waypoint - y_kp1 y-component of the next waypoint - """ - - # previous waypoint - self.x_k = x_k - self.y_k = y_k - - # next waypoint - self.x_kp1 = x_kp1 - self.y_kp1 = y_kp1 - - def distance(self): - """ - Calculate straight line distance (2D) between the - current position and the setpoint position. - """ - - return np.sqrt((self.x_kp1 - self.x)**2 + (self.y_kp1 - self.y)**2) - - def sphereOfAcceptance(self): - """ - The sphere of acceptance is a sphere around the setpoint. - If the AUV is inside this sphere, it will be considered - as having reached the setpoint. - - Returns: - bool: True if the current position is less than the - radius of the sphere of acceptance. False otherwise - """ - - return self.distance() < self.R - - def getEpsilonVector(self): - """ - Calculate the epsilon vector, which is the vector - that contains the coordinates of the AUV in the - path-fixed reference frame for a straight line going - from the reference point to the target position. - - Returns: - float: The calculated epsilon vector - - """ - - alpha = self.alpha - - # rotation matrix - R = np.array( - ((np.cos(alpha), -np.sin(alpha)), (np.sin(alpha), np.cos(alpha)))) - - # transpose - R_T = np.transpose(R) - - # position vector - p_t = np.array((self.x, self.y)) - p_k = np.array((self.x_k, self.y_k)) - - # epsilon (eq 10.56 Fossen) - epsilon = R_T.dot(p_t - p_k) - - return epsilon - - def quat2euler(self, msg): - """ - Calculate roll, pitch and yaw from the orientation - quaternion with the axis sequence xyzw - - Args: - msg A nav_msgs/Odometry message - - Returns: - float: The euler yaw angle calculated from the msg argument - """ - - global roll, pitch, yaw - orientation_q = msg.pose.pose.orientation - orientation_list = [ - orientation_q.x, - orientation_q.y, - orientation_q.z, - orientation_q.w, - ] - (roll, pitch, yaw) = euler_from_quaternion(orientation_list) - - return yaw - - def lookaheadBasedSteering(self): - """ - Calculate the desired heading angle. This angle is - the sum of the path-tangential angle and the velocity- - path relative angle. - - Returns: - float: The desired heading angle chi_d - """ - - # straight-line path segment - self.y_delta = self.y_kp1 - self.y_k - self.x_delta = self.x_kp1 - self.x_k - - # angle - self.alpha = np.arctan2(self.y_delta, self.x_delta) - - # rotation matrix - epsilon = self.getEpsilonVector() - - # along track distance - self.s = epsilon[0] - - # cross-track error - self.e = epsilon[1] - # print('\n cross-track error: ') - # print(self.e) - - # path-tangential angle (eq 10.73 Fossen) - self.chi_p = self.alpha - - # velocity-path relative angle (eq 10.74 Fossen) - self.chi_r = np.arctan(-self.e / self.delta) - - # desired heading angle - self.chi_d = self.chi_p + self.chi_r - - return self.chi_d - - -class LosPathFollowing(object): - """ - This is the ROS wrapper class for the LOS class. - - Attributes: - _feedback A vortex_msgs action that contains the distance to goal - _result A vortex_msgs action, true if a goal is set within the - sphereof acceptance, false if not - - Nodes created: - los_path_following - - Subscribes to: - /odometry/filtered - - Publishes to: - /manta/thruster_manager/input - /manta/los_desired - - """ - - # create messages that are used to send feedback/result - _feedback = LosPathFollowingFeedback() - _result = LosPathFollowingResult() - - def __init__(self): - """ - To initialize the ROS wrapper, the node, subscribers - and publishers are set up. The high-level guidance and - controller objects are also intialized. Lastly, dynamic - reconfigure and action servers are set up. - """ - """ - A flag to indicate whether or not a goal has not been reached. - True means that a goal is in progress of being completed. - False means that a goal has been completed (or not started - with any goal) - """ - self.flag = False - - rospy.init_node("los_path_following") - self.sub = rospy.Subscriber("/odometry/filtered", - Odometry, - self.callback, - queue_size=1) # 20hz - self.pub_thrust = rospy.Publisher("/manta/thruster_manager/input", - Wrench, - queue_size=1) - - # constructor object - self.los = LOS() - self.los_controller = LOSControllerPID() - self.reference_model = ReferenceModel(np.array((0, 0)), 0.05) - - # dynamic reconfigure - self.config = {} - self.srv_reconfigure = Server(LOSControllerConfig, - self.config_callback) - """ - action server guide - https://github.com/strawlab/ros_common/blob/master/actionlib/src/actionlib/simple_action_server.py - """ - self.action_server = actionlib.SimpleActionServer( - name="los_path", - ActionSpec=LosPathFollowingAction, - auto_start=False) - self.action_server.register_goal_callback(self.goalCB) - self.action_server.register_preempt_callback(self.preemptCB) - self.action_server.start() - - def callback(self, msg): - """ - The callback used in the subscribed topic /odometry/filtered. - When called, position and velocity states are updated, and - a new current goal is set. - - Args: - msg A nav_msgs/Odometry ROS message type - """ - - # update current position - self.psi = self.los.quat2euler(msg) - - # update position and velocities - self.los.updateState( - msg.pose.pose.position.x, - msg.pose.pose.position.y, - msg.pose.pose.position.z, - msg.twist.twist.linear.x, - msg.twist.twist.linear.y, - msg.twist.twist.linear.z, - self.psi, - msg.twist.twist.angular.z, - msg.header.stamp.to_sec(), - ) - - # update current goal - self.psi_d = self.los.lookaheadBasedSteering() - - # reference model - x_smooth = self.reference_model.discreteTustinMSD( - np.array((2.0, self.psi_d))) - print(x_smooth) - - # control force - tau_d_heading = self.los_controller.headingController( - self.psi_d, self.psi, self.los.t) - - # add speed controllers here - thrust_msg = Wrench() - thrust_msg.force.x = 1.0 - thrust_msg.torque.z = tau_d_heading # 2.0*self.error_ENU - - if self.flag is True: - # write to thrusters - self.pub_thrust.publish(thrust_msg) - - # check if action goal succeeded - self.statusActionGoal() - - def statusActionGoal(self): - """ - Publish the current distance to target and check if the current - position is within the sphere of acceptance. If it is, the - attribute _result can be set to true, and the flag to false. - """ - - # feedback - self._feedback.distanceToGoal = self.los.distance() - self.action_server.publish_feedback(self._feedback) - - # succeeded - if self.los.sphereOfAcceptance(): - self._result.terminalSector = True - self.action_server.set_succeeded(self._result) - - def preemptCB(self): - """ - The preempt callback for the action server. - """ - - # check that preempt has not been requested by the client - if self.action_server.is_preempt_requested(): - rospy.loginfo("Preempted requested by los path client") - self.action_server.set_preempted() - - def goalCB(self): - """ - The goal callback for the action server. - """ - - self.flag = True - _goal = self.action_server.accept_new_goal() - - # set goal - self.los.x_k = _goal.prev_waypoint.x - self.los.y_k = _goal.prev_waypoint.y - self.los.x_kp1 = _goal.next_waypoint.x - self.los.y_kp1 = _goal.next_waypoint.y - - # forward speed - self.speed = _goal.forward_speed.linear.x - - # sphere of acceptance - self.los.R = _goal.sphereOfAcceptance - - def config_callback(self, config, level): - """ - Handle updated configuration values. - - Args: - config The dynamic reconfigure server's config - level Ununsed variable - - Returns: - The updated config argument. - """ - - # Config has changed, reset PID controllers - rospy.loginfo( - """Reconfigure Request: {delta}, {p_rot}, {i_rot}, {d_rot}, {sat_rot} """ - .format(**config)) - - # update look-ahead distance - self.los.delta = config["delta"] - - # self.pid_lin = PIDRegulator(config['pos_p'], config['pos_i'], config['pos_d'], config['pos_sat']) - self.los_controller.updateGains(config["p_rot"], config["i_rot"], - config["d_rot"], config["sat_rot"]) - - # update config - self.config = config - - return config - - -if __name__ == "__main__": - try: - los_path_following = LosPathFollowing() - rospy.spin() - except rospy.ROSInterruptException: - pass diff --git a/motion/reference_model/CMakeLists.txt b/motion/reference_model/CMakeLists.txt deleted file mode 100644 index 69df9d3b..00000000 --- a/motion/reference_model/CMakeLists.txt +++ /dev/null @@ -1,205 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(reference_model) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - geometry_msgs - rospy -) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# geometry_msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES reference_model -# CATKIN_DEPENDS geometry_msgs rospy -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include - ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/reference_model.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/reference_model_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_reference_model.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/motion/reference_model/README.md b/motion/reference_model/README.md deleted file mode 100644 index ab304be4..00000000 --- a/motion/reference_model/README.md +++ /dev/null @@ -1,6 +0,0 @@ -## Reference model -An implementation of the bilinear transform (also called Tustin's method) for the continuous <-> discrete system transformation. -The reference model is imported in the LOS guidance system. - -### ASV note -The poles and zeros here need to be altered for the ASV. It might also be a good idea to integrate this code directly with the LOS code, since this is what is done for the DP controller. diff --git a/motion/reference_model/package.xml b/motion/reference_model/package.xml deleted file mode 100644 index 4c1c6f13..00000000 --- a/motion/reference_model/package.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - reference_model - 0.0.0 - The reference_model package - kristoffer - MIT - - catkin - - geometry_msgs - rospy - - geometry_msgs - rospy - - geometry_msgs - rospy - - diff --git a/motion/reference_model/setup.py b/motion/reference_model/setup.py deleted file mode 100644 index 64a511c3..00000000 --- a/motion/reference_model/setup.py +++ /dev/null @@ -1,11 +0,0 @@ -## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD - -from distutils.core import setup -from catkin_pkg.python_setup import generate_distutils_setup - -# fetch values from package.xml -setup_args = generate_distutils_setup(packages=["reference_model"], - package_dir={"": "src"}, - requires=["rospy"]) - -setup(**setup_args) diff --git a/motion/reference_model/src/reference_model/__init__.py b/motion/reference_model/src/reference_model/__init__.py deleted file mode 100644 index e69de29b..00000000 diff --git a/motion/reference_model/src/reference_model/discrete_tustin.py b/motion/reference_model/src/reference_model/discrete_tustin.py deleted file mode 100755 index 74757f9d..00000000 --- a/motion/reference_model/src/reference_model/discrete_tustin.py +++ /dev/null @@ -1,110 +0,0 @@ -#!/usr/bin/python3 -# Written by Kristoffer Rakstad Solberg, Student -# Copyright (c) 2020 Manta AUV, Vortex NTNU. -# All rights reserved. - -import rospy -import numpy as np -import time - - -class ReferenceModel: - - def __init__(self, x, h): - """ - x = [] - x_d[k] = b0*x_ref*[k] + b1*x_ref*[k - 1] + b2*x_ref*[k - 2] - a1*x_d*[k-1] - a_2*x_d*[k - 2] - """ - self.h = h - # determines position of poles - self.a0 = 1.0 - self.a1 = -1.9312 - self.a2 = 0.9324 - - # determine zeros - self.b0 = 2.9581e-04 - self.b1 = 5.9161e-04 - self.b2 = 2.9581e-04 - - # set intial values - self.x_ref_prev_prev = x # 2nd-to-last raw input value - self.x_ref_prev = x # last raw input value - self.x_ref = x # current raw input value - self.x_d_prev_prev = x # 2nd-to-last filtered (output) value - self.x_d_prev = x # last filtered (output) value - self.x_d = x # current filtered (output value) - - # set initial values for derivates - self.x_d_dot = 0 - self.x_d_dot_prev = 0 - self.x_d_dot_dot = 0 - - def resetFilter(self, x): - - # set intial values - self.x_ref_prev_prev = x # 2nd-to-last raw input value - self.x_ref_prev = x # last raw input value - self.x_ref = x # current raw input value - self.x_d_prev_prev = x # 2nd-to-last filtered (output) value - self.x_d_prev = x # last filtered (output) value - self.x_d = x # current filtered (output value) - - # set initial values for derivates - self.x_d_dot = 0 - self.x_d_dot_prev = 0 - self.x_d_dot_dot = 0 - - def computeDerivatives(self): - # new setpoint - # [u_d_dot, r_d] - self.x_d_dot = (self.x_d - self.x_d_prev) / self.h - - # [u_d_dot_dot, r_d_dot] - self.x_d_dot_dot = (self.x_d_dot - self.x_d_dot_prev) / self.h - - # update prev - self.x_d_dot_prev = self.x_d_dot - - # [u_d, u_d_dot, psi_d, r_d, r_d_dot] - x_output = np.array(( - self.x_d[0], - self.x_d_dot[0], - self.x_d[1], - self.x_d_dot[1], - self.x_d_dot_dot[1], - )) - return x_output - - def discreteTustinMSD(self, x_ref): - - self.x_ref = x_ref - - # new set point - self.x_d = (self.b0 * self.x_ref + self.b1 * self.x_ref_prev + - self.b2 * self.x_ref_prev_prev - self.a1 * self.x_d_prev - - self.a2 * self.x_d_prev_prev) - - # include velocities and accelerations - self.x_output = self.computeDerivatives() - - # update - self.x_ref_prev_prev = self.x_ref_prev - self.x_ref_prev = self.x_ref - self.x_d_prev_prev = self.x_d_prev - self.x_d_prev = self.x_d - - return self.x_output - - -if __name__ == "__main__": - - x = np.array((0.5, 0.0)) - x_ref = np.array((2.0, 1.57)) - - rm = ReferenceModel(x, 0.05) - count = 0 - - while count < 400: - time.sleep(0.05) - xd = rm.discreteTustinMSD(x_ref) - print(xd) diff --git a/motion/speed_controller/CMakeLists.txt b/motion/speed_controller/CMakeLists.txt deleted file mode 100644 index e4a29481..00000000 --- a/motion/speed_controller/CMakeLists.txt +++ /dev/null @@ -1,20 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(speed_controller) - -find_package(catkin REQUIRED COMPONENTS - dynamic_reconfigure - geometry_msgs - rospy - vortex_msgs -) - -generate_dynamic_reconfigure_options( - cfg/speedController.cfg -) - -catkin_package() - - -include_directories( - ${catkin_INCLUDE_DIRS} -) \ No newline at end of file diff --git a/motion/speed_controller/cfg/speedController.cfg b/motion/speed_controller/cfg/speedController.cfg deleted file mode 100644 index 7f9f070d..00000000 --- a/motion/speed_controller/cfg/speedController.cfg +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/env python3 - -PACKAGE = "speed_controller" - -from dynamic_reconfigure.parameter_generator_catkin import * - -gen = ParameterGenerator() -gains = gen.add_group("Gains") - -# Name Type Level Description Default Min Max -gains.add("PID_u_p", double_t, 0, "Proportional gain", 25.0, 0.0, 50.0) -gains.add("PID_u_i", double_t, 0, "Integral gain", 0.01, 0.0, 50.0) -gains.add("PID_u_d", double_t, 0, "Derivative gain", 3.5, 0.0, 50.0) -gains.add("PID_u_sat", double_t, 0, "Saturation ", 3.0, 0.0, 3.0) - -exit(gen.generate(PACKAGE, "speed_controller", "speedController")) diff --git a/motion/speed_controller/package.xml b/motion/speed_controller/package.xml deleted file mode 100644 index b745cebb..00000000 --- a/motion/speed_controller/package.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - speed_controller - 0.0.0 - The speed_controller package - - ronja kræmer - - MIT - - - catkin - dynamic_reconfigure - geometry_msgs - rospy - vortex_msgs - dynamic_reconfigure - geometry_msgs - rospy - vortex_msgs - dynamic_reconfigure - geometry_msgs - rospy - vortex_msgs - - - - - diff --git a/motion/speed_controller/scripts/speed_controller_node.py b/motion/speed_controller/scripts/speed_controller_node.py deleted file mode 100755 index 8545957a..00000000 --- a/motion/speed_controller/scripts/speed_controller_node.py +++ /dev/null @@ -1,187 +0,0 @@ -#!/usr/bin/python3 - -import rospy - -from geometry_msgs.msg import Wrench -from nav_msgs.msg import Odometry -from std_msgs.msg import Float64 - -from pid_controller import PIDRegulator -from speed_controller.cfg import speedControllerConfig - -from dynamic_reconfigure.server import Server - - -class SpeedControllerPID: - """ - Wrapper for the PID controller to make the speed_controller - code cleaner. - """ - - def __init__(self): - """ - Initialize the PID controller with fixed gains and saturation limit. - """ - - self.controller_u = PIDRegulator(25, 0.024, 3.5, - 5.0) # Args: p, i, d, sat - - def update_gains(self, u_p, u_i, u_d, u_sat): - """ - Update the controller gains and saturation limit. - Args: - u_p proportional gain for u (speed) - u_i integral gain for u - u_d derivative gain for u - u_sat saturation limit u - """ - - self.controller_u.p = u_p - self.controller_u.i = u_i - self.controller_u.d = u_d - self.controller_u.sat = u_sat - - def speed_controller(self, u_d, u, t): - """ - Calculate force to maintain fixed speed. - Args: - u_d desired speed - u current speed - t time - Returns: - float: A restoring force output by the controller. - """ - - # error ENU - - e_rot = u_d - u - - # regulate(err, t) - tau_u = self.controller_u.regulate(e_rot, t) - return tau_u - - -class SpeedControllerROS: - """ - The ROS wrapper class for the SpeedControllerPID. - The speed_controller is made up - of a PID controller. - Nodes created: - speed_controller - Subscribes to: - "/guidance_desired_speed" - Publishes to: - "/thrust/force_input" - - """ - - def __init__(self): - """ - Initialize the speed_controller node, subscribers, publishers and the - objects for the PID controller. - """ - - rospy.init_node("speed_controller") - - self.u = 0 - - # Create controller - self.PID = SpeedControllerPID() - - # Subscribers - self.guidance_sub = rospy.Subscriber( - rospy.get_param("/guidance_interface/desired_speed"), - Float64, - self.speed_data_callback, - queue_size=1, - ) - - self.odometry_sub = rospy.Subscriber( - "/pose_gt", # change to /odometry/filtered - Odometry, - self.odometry_callback, - queue_size=1, - ) - - # Publisher - self.force_pub = rospy.Publisher( - rospy.get_param("/asv/thruster_manager/force"), - Wrench, - queue_size=1) - - # Dynamic reconfigure - self.config = {} - self.srv_reconfigure = Server(speedControllerConfig, - self.config_callback) - - def odometry_callback(self, odom_msg): - self.u = odom_msg.twist.twist.linear.x - - def speed_data_callback(self, msg): - """ - Handle guidance data - msg: the guidance data message - """ - - force_msg = Wrench() - - # desired speed message - force_msg.force.x = self.PID.speed_controller( - 0.5, self.u, - rospy.Time.now().to_sec()) - self.force_pub.publish(force_msg) - - def config_callback(self, config, level): - """Handle updated configuration values. - - Args: - config The dynamic reconfigure server's Config type variable - level Ununsed variable - Returns: - A Config type containing the updated config argument. - """ - - # Old parameters for u (speed) - u_p_old = self.PID.controller_u.p - u_i_old = self.PID.controller_u.i - u_d_old = self.PID.controller_u.d - u_sat_old = self.PID.controller_u.sat - - # Reconfigured PID parameters for u - u_p = config["PID_u_p"] - u_i = config["PID_u_i"] - u_d = config["PID_u_d"] - u_sat = config["PID_u_sat"] - - rospy.loginfo("speed_controller reconfigure: ") - - self.log_value_if_updated("u_p", u_p_old, u_p) - self.log_value_if_updated("u_i", u_i_old, u_i) - self.log_value_if_updated("u_d", u_d_old, u_d) - self.log_value_if_updated("u_sat", u_sat_old, u_sat) - - # Update controller gains - self.PID.update_gains(u_p, u_i, u_d, u_sat) - - # update config - self.config = config - - return config - - def log_value_if_updated(self, name, old_value, new_value): - """ - A helper function for the config_callback() method - Args: - name The string name of the variable - old_value A real number - new_value A real number - """ - - if old_value != new_value: - rospy.loginfo("\t {:}: {:.4f} -> {:.4f}".format( - name, old_value, new_value)) - - -if __name__ == "__main__": - speed_controller = SpeedControllerROS() - rospy.spin() From 91389cce31e85ae2e6bcab047ba259aea8484da2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Mon, 7 Aug 2023 22:30:17 +0200 Subject: [PATCH 055/132] add lqr guidance scheme --- motion/lqr_guidance/CMakeLists.txt | 19 ++++ motion/lqr_guidance/package.xml | 29 ++++++ .../lqr_guidance/scripts/lqr_guidance_node.py | 93 +++++++++++++++++++ 3 files changed, 141 insertions(+) create mode 100644 motion/lqr_guidance/CMakeLists.txt create mode 100644 motion/lqr_guidance/package.xml create mode 100755 motion/lqr_guidance/scripts/lqr_guidance_node.py diff --git a/motion/lqr_guidance/CMakeLists.txt b/motion/lqr_guidance/CMakeLists.txt new file mode 100644 index 00000000..611d84e4 --- /dev/null +++ b/motion/lqr_guidance/CMakeLists.txt @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 3.0.2) +project(lqr_guidance) + +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + geometry_msgs + nav_msgs + tf +) + +catkin_package( + CATKIN_DEPENDS roscpp rospy std_msgs geometry_msgs nav_msgs tf +) + +include_directories( + ${catkin_INCLUDE_DIRS} +) \ No newline at end of file diff --git a/motion/lqr_guidance/package.xml b/motion/lqr_guidance/package.xml new file mode 100644 index 00000000..0a629a20 --- /dev/null +++ b/motion/lqr_guidance/package.xml @@ -0,0 +1,29 @@ + + + lqr_guidance + 0.0.0 + The lqr_guidance package + + Christopher Strøm + + MIT + + catkin + + roscpp + rospy + std_msgs + geometry_msgs + nav_msgs + tf + + roscpp + rospy + std_msgs + geometry_msgs + nav_msgs + tf + + + + \ No newline at end of file diff --git a/motion/lqr_guidance/scripts/lqr_guidance_node.py b/motion/lqr_guidance/scripts/lqr_guidance_node.py new file mode 100755 index 00000000..8f8c911a --- /dev/null +++ b/motion/lqr_guidance/scripts/lqr_guidance_node.py @@ -0,0 +1,93 @@ +#!/usr/bin/python3 +from dataclasses import dataclass + +from std_msgs.msg import Float64MultiArray, Bool, Empty +from nav_msgs.msg import Odometry +from geometry_msgs.msg import Point +import rospy +import numpy as np + +CONVERGENCE_RADIUS = 0.25 # the radius of convergence in x-y +CONVERGENCE_ANGLE = np.pi / 8 # the convergence range for heading in radians + + +@dataclass +# TODO: Add heading +class Waypoint: + north: float + east: float + heading: float + +class LQRGuidanceROS: + + def __init__(self): + rospy.init_node("lqr_guidance") + + self.waypoints = [] + self.current_waypoint_index = None + + # Subscriptions + rospy.Subscriber("/odometry/filtered", Odometry, + self.odometry_callback) + rospy.Subscriber("/guidance/lqr/clear_waypoints", Empty, + self.clear_waypoints_callback) + rospy.Subscriber("/guidance/lqr/add_waypoint", Point, + self.add_waypoint_callback) + + # Publishers + self.setpoint_pub = rospy.Publisher("/controller/lqr/setpoints", + Float64MultiArray, queue_size=10) + self.enable_pub = rospy.Publisher("/controller/lqr/enable", Bool, + queue_size=10) + + def odometry_callback(self, data): + """ Check if vessel is close to the waypoint and send the next one if so """ + if self.current_waypoint_index is not None: + waypoint = self.waypoints[self.current_waypoint_index] + dx = data.pose.pose.position.x - waypoint.north + dy = data.pose.pose.position.y - waypoint.east + if np.hypot(dx, dy) < CONVERGENCE_RADIUS: + rospy.loginfo(f"Reached waypoint {self.current_waypoint_index}") + self.send_waypoint(self.current_waypoint_index + 1) + + def publish_setpoint(self, waypoint): + + msg = Float64MultiArray() + msg.data = [waypoint.north, waypoint.east, waypoint.heading, 0, 0, 0] + + self.setpoint_pub.publish(msg) + + def send_waypoint(self, index): + """ Send the waypoint at the given index to the controller """ + if 0 <= index < len(self.waypoints): + self.current_waypoint_index = index + waypoint = self.waypoints[index] + rospy.loginfo(f"Sending waypoint {index}: {waypoint}") + self.publish_setpoint(waypoint) + + #self.enable_pub.publish(True) + else: + rospy.loginfo("Final waypoint reached!") + #self.enable_pub.publish(False) + + def clear_waypoints_callback(self, data): + """ Callback for the clear waypoints topic """ + self.waypoints = [] + rospy.loginfo("Waypoints cleared!") + + def add_waypoint_callback(self, data): + """ Callback for the add waypoint topic """ + waypoint = Waypoint(data.x, data.y, data.z) + self.waypoints.append(waypoint) + rospy.loginfo(f"Waypoint added: {waypoint}") + + # if it's the first waypoint, send it immediately + if len(self.waypoints) == 1: + self.send_waypoint(0) + + +if __name__ == "__main__": + + guidance_scheme = LQRGuidanceROS() + + rospy.spin() \ No newline at end of file From 7a5b5e54dbd1cdcea2a6a9cf7fd9c418316aca76 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Mon, 7 Aug 2023 22:30:58 +0200 Subject: [PATCH 056/132] Housekeeping --- mission/finite_state_machine/src/dp_client.py | 64 ------------------- .../finite_state_machine/src/los_client.py | 56 ---------------- motion/control_simulator/scripts/simulator.py | 13 ++-- motion/lqr_controller/launch/lqr.launch | 9 ++- .../scripts/lqr_controller_node.py | 3 +- 5 files changed, 17 insertions(+), 128 deletions(-) delete mode 100755 mission/finite_state_machine/src/dp_client.py delete mode 100755 mission/finite_state_machine/src/los_client.py diff --git a/mission/finite_state_machine/src/dp_client.py b/mission/finite_state_machine/src/dp_client.py deleted file mode 100755 index 948864e2..00000000 --- a/mission/finite_state_machine/src/dp_client.py +++ /dev/null @@ -1,64 +0,0 @@ -#!/usr/bin/python3 -# written by Viktor Naas and Ronja Kræmer - -import rospy -import actionlib -from geometry_msgs.msg import PoseStamped, Point, Quaternion -from rospy.core import rospydebug -from tf.transformations import euler_from_quaternion, quaternion_from_euler -from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal -from vortex_msgs.srv import ControlMode, ControlModeRequest, ControlModeResponse - -# ENUM -OPEN_LOOP = 0 -POSITION_HOLD = 1 -HEADING_HOLD = 2 -POSE_HOLD = 3 -CONTROL_MODE_END = 4 - - -def change_control_mode_client(requested_mode): - - rospy.loginfo("Waiting for server") - rospy.wait_for_service("/controllers/control_mode_service") - rospy.loginfo("server available") - try: - control_mode = rospy.ServiceProxy("/controllers/control_mode_service", - ControlMode) - response = control_mode(requested_mode) - return True - except rospy.ServiceException as e: - print("Service call failed: %s" % e) - - -def dp_move_base(x, y, yaw): - - # action client - action_client = actionlib.SimpleActionClient("/controllers/move_base", - MoveBaseAction) - action_client.wait_for_server() - rospy.loginfo("MoveBaseAction client made.\n") - goal = MoveBaseGoal() - rospy.loginfo("Created MoveBaseGoal") - - # create goal - goal.target_pose.pose.position = Point(x, y, 0) - rospy.loginfo("Set x,y coordinate") - goal.target_pose.pose.orientation = Quaternion( - *quaternion_from_euler(0, 0, yaw)) - rospy.loginfo("Set yaw") - action_client.send_goal(goal) - # wait for server to finish action - rospy.loginfo("waiting for result") - action_client.wait_for_result() - rospy.loginfo("action complete!") - return action_client.get_result() - - -if __name__ == "__main__": - try: - rospy.init_node("dp_move_base") - change_control_mode_client(POSITION_HOLD) - dp_move_base(2.0, 1.0, -1.0) - except rospy.ROSInternalException as e: - rospy.logerr(e) diff --git a/mission/finite_state_machine/src/los_client.py b/mission/finite_state_machine/src/los_client.py deleted file mode 100755 index de928870..00000000 --- a/mission/finite_state_machine/src/los_client.py +++ /dev/null @@ -1,56 +0,0 @@ -#!/usr/bin/python3 -# written by Ronja Kræmer, student - -import rospy -from geometry_msgs.msg import Pose, PoseStamped -from vortex_msgs.srv import Waypoint, WaypointRequest, WaypointResponse - - -class LosClient: - """ - Nodes created: - los_client - - Subscribes to: - - Publishes to: - - """ - - def __init__(self): - rospy.init_node("LosClient") - - def send_wp(self, waypoint_in): - wp = WaypointRequest() - wp.waypoint = waypoint_in - - response = WaypointResponse() - response.success = False - - try: - rospy.loginfo("Starting wait for service") - rospy.wait_for_service("/navigation/add_waypoint") - rospy.loginfo("Service server found") - waypoint_client = rospy.ServiceProxy("/navigation/add_waypoint", - Waypoint) - response = waypoint_client(wp) - except rospy.ServiceException as e: - print("Service call failed: {}".format(e)) - - if response.success: - rospy.loginfo(f"Waypoint {wp.waypoint} sent successfully!") - else: - rospy.logwarn(f"Waypoint {wp.waypoint} could not be set!") - - -if __name__ == "__main__": - try: - los_client = LosClient() - los_client.send_wp([0, 0]) - los_client.send_wp([5, 0]) - # los_client.send_wp([5, 5]) - # los_client.send_wp([0, 5]) - # los_client.send_wp([0, 0]) - rospy.spin() - except rospy.ROSInterruptException: - pass diff --git a/motion/control_simulator/scripts/simulator.py b/motion/control_simulator/scripts/simulator.py index eb807a6b..3f07e56b 100755 --- a/motion/control_simulator/scripts/simulator.py +++ b/motion/control_simulator/scripts/simulator.py @@ -77,7 +77,7 @@ def __init__(self, vessel): queue_size=10) def setpoint_callback(self, msg): - rospy.loginfo(f"Simulator received setpoints: {msg.data}") + #rospy.loginfo(f"Simulator received setpoints: {msg.data}") number_of_setpoints = len(msg.data) if number_of_setpoints != 6: return @@ -93,7 +93,7 @@ def wrench_callback(self, data): def update(self, frame): self.update_time_and_motion_state() - + #random_external_noise = np.append(self.brownian_motion_state, 0.0) self.vessel.step(DT, self.u) self.update_and_draw_arrow() self.update_path_line() @@ -127,7 +127,7 @@ def update_and_draw_arrow(self): psi = ssa(psi) - psi_north = ssa(psi + np.pi/2) + psi_north = ssa(-psi + np.pi/2) self.arrow = plt.Arrow(y, x, arrow_length * np.cos(psi_north), @@ -136,15 +136,18 @@ def update_and_draw_arrow(self): self.ax_vessel.add_patch(self.arrow) def update_path_line(self): + window_size = 1000 old_path = self.path.get_data() - new_path = (np.append(old_path[0][-self.window_size:], self.vessel.state[1]), - np.append(old_path[1][-self.window_size:], self.vessel.state[0])) + new_path = (np.append(old_path[0][-window_size:], self.vessel.state[1]), + np.append(old_path[1][-window_size:], self.vessel.state[0])) self.path.set_data(new_path) def update_and_plot_signals(self, frame): signals = ['x', 'y', 'psi', 'vx', 'vy'] for i, signal in enumerate(signals): data = self.vessel.state[i] + if signal == "psi": + data = ssa(data) line = getattr(self, f"{signal}_line") # append the new data point and only keep the last 'self.window_size' points diff --git a/motion/lqr_controller/launch/lqr.launch b/motion/lqr_controller/launch/lqr.launch index 3ee5f168..6e90d361 100644 --- a/motion/lqr_controller/launch/lqr.launch +++ b/motion/lqr_controller/launch/lqr.launch @@ -1,3 +1,10 @@ - + + + + + + + + diff --git a/motion/lqr_controller/scripts/lqr_controller_node.py b/motion/lqr_controller/scripts/lqr_controller_node.py index f314e260..c2b410bf 100755 --- a/motion/lqr_controller/scripts/lqr_controller_node.py +++ b/motion/lqr_controller/scripts/lqr_controller_node.py @@ -31,7 +31,7 @@ def __init__(self): D = np.diag([damping_x, damping_y, damping_psi]) # State vector is : [x, y, psi, u, v, r] - Q = [10.0, 10.0, 0.1, 0.001, 0.001, 0.001, 1.0, + Q = [10.0, 10.0, 1.0, 0.001, 0.001, 0.001, 1.0, 1.0] # State cost weights R = [0.01, 0.01, 0.01] # Control cost weight @@ -71,7 +71,6 @@ def setpoint_callback(self, msg): rospy.loginfo(f"Setting LQR setpoints to: {msg.data}") self.lqr_controller.set_setpoint(msg.data) - rospy.loginfo(self.lqr_controller.setpoint) def odometry_callback(self, msg): From 08a2aa549b82506c138a09678f944f93bd654e44 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Mon, 7 Aug 2023 22:31:11 +0200 Subject: [PATCH 057/132] Add box test with waypoint interpolation --- mission/finite_state_machine/CMakeLists.txt | 193 +----------------- .../launch/lqr_box_test.launch | 13 ++ mission/finite_state_machine/package.xml | 2 +- .../scripts/lqr_box_test.py | 88 ++++++++ 4 files changed, 103 insertions(+), 193 deletions(-) create mode 100644 mission/finite_state_machine/launch/lqr_box_test.launch create mode 100755 mission/finite_state_machine/scripts/lqr_box_test.py diff --git a/mission/finite_state_machine/CMakeLists.txt b/mission/finite_state_machine/CMakeLists.txt index 1f4a2dc6..46061824 100644 --- a/mission/finite_state_machine/CMakeLists.txt +++ b/mission/finite_state_machine/CMakeLists.txt @@ -1,12 +1,6 @@ cmake_minimum_required(VERSION 3.0.2) project(finite_state_machine) -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS sensor_msgs rospy @@ -17,194 +11,9 @@ find_package(catkin REQUIRED COMPONENTS ) -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs # Or other packages containing msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( -# INCLUDE_DIRS include -# LIBRARIES joystick_interface -# CATKIN_DEPENDS other_catkin_pkg -# DEPENDS system_lib ) -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations include_directories( -# include -# ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/joystick_interface.cpp -# ) -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/joystick_interface_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# catkin_install_python(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_joystick_interface.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +) diff --git a/mission/finite_state_machine/launch/lqr_box_test.launch b/mission/finite_state_machine/launch/lqr_box_test.launch new file mode 100644 index 00000000..a922d8c1 --- /dev/null +++ b/mission/finite_state_machine/launch/lqr_box_test.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/mission/finite_state_machine/package.xml b/mission/finite_state_machine/package.xml index 1222703f..ecc292aa 100644 --- a/mission/finite_state_machine/package.xml +++ b/mission/finite_state_machine/package.xml @@ -4,7 +4,7 @@ 0.0.0 The finite_state_machine package - Viktor Naas + Christopher Strøm MIT diff --git a/mission/finite_state_machine/scripts/lqr_box_test.py b/mission/finite_state_machine/scripts/lqr_box_test.py new file mode 100755 index 00000000..862a15ad --- /dev/null +++ b/mission/finite_state_machine/scripts/lqr_box_test.py @@ -0,0 +1,88 @@ +#!/usr/bin/python3 + +from dataclasses import dataclass + +import numpy as np + +import rospy +from std_msgs.msg import Bool +from geometry_msgs.msg import Point + +@dataclass +# TODO: Add heading +class Waypoint: + north: float + east: float + + +INTERPOLATION_STEP_SIZE = 1.0 + +class LQRControllerBoxTest: + + def __init__(self): + rospy.init_node("lqr_box_path_generator") + + self.add_waypoint_publisher = rospy.Publisher("/guidance/lqr/add_waypoint", Point, queue_size=10) + self.enable_controller_publisher = rospy.Publisher("/controller/lqr/enable", Bool, queue_size=10) + + north = 3 + east = 3 + + rospy.sleep(2) # TODO: wait for signal or smth + + self.generate_and_publish_box(north, east) + + def generate_and_publish_box(self, north, east): + waypoints = [ + Point(0.0, 0.0, 0.0), # Starting position + Point(north, east, -np.pi/2), # top_right + Point(north, -east, -np.pi), # top_left + Point(-north, -east, np.pi/2), # bottom_left + Point(-north, east, 0.0), # bottom_right + Point(north, east, -np.pi/2), # back to top_right + Point(north, -east, -np.pi), # top_left + Point(-north, -east, np.pi/2), # bottom_left + Point(-north, east, 0.0), # bottom_right + Point(north, east, -np.pi/2), # back to top_right + Point(north, -east, -np.pi), # top_left + Point(-north, -east, np.pi/2), # bottom_left + Point(-north, east, 0.0), # bottom_right + Point(north, east, -np.pi/2), # back to top_right + Point(north, -east, -np.pi), # top_left + Point(-north, -east, np.pi/2), # bottom_left + Point(-north, east, 0.0), # bottom_right + Point(north, east, -np.pi/2), # back to top_right + ] + + # Interpolate and publish waypoints + for i in range(len(waypoints) - 1): + self.interpolate_and_publish(waypoints[i], waypoints[i+1]) + + rospy.sleep(1.0) + self.enable_controller_publisher.publish(Bool(True)) + + def interpolate_and_publish(self, waypoint1, waypoint2): + """Interpolate between two waypoints and publish them.""" + dx = waypoint2.x - waypoint1.x + dy = waypoint2.y - waypoint1.y + distance = np.hypot(dx, dy) + + num_intermediate_points = int(np.ceil(distance / INTERPOLATION_STEP_SIZE)) + + for i in range(num_intermediate_points + 1): # +1 to include the endpoint + ratio = i / num_intermediate_points # this will be 1 for the endpoint + intermediate_point = Point( + waypoint1.x + ratio * dx, + waypoint1.y + ratio * dy, + waypoint1.z # assuming constant heading + ) + self.add_waypoint_publisher.publish(intermediate_point) + rospy.sleep(0.01) # you can adjust this delay as necessary + + + +if __name__ == "__main__": + + path_generator = LQRControllerBoxTest() + + rospy.spin() \ No newline at end of file From c69ef74ed74c541e4d4ceb92e120c70b37234ebb Mon Sep 17 00:00:00 2001 From: github-actions Date: Mon, 7 Aug 2023 20:31:41 +0000 Subject: [PATCH 058/132] Automated autoyapf fixes --- .../scripts/lqr_box_test.py | 63 ++++++++++--------- motion/control_simulator/scripts/simulator.py | 39 +++++++----- .../lqr_guidance/scripts/lqr_guidance_node.py | 18 +++--- 3 files changed, 68 insertions(+), 52 deletions(-) diff --git a/mission/finite_state_machine/scripts/lqr_box_test.py b/mission/finite_state_machine/scripts/lqr_box_test.py index 862a15ad..2b7a24d3 100755 --- a/mission/finite_state_machine/scripts/lqr_box_test.py +++ b/mission/finite_state_machine/scripts/lqr_box_test.py @@ -8,6 +8,7 @@ from std_msgs.msg import Bool from geometry_msgs.msg import Point + @dataclass # TODO: Add heading class Waypoint: @@ -17,59 +18,64 @@ class Waypoint: INTERPOLATION_STEP_SIZE = 1.0 + class LQRControllerBoxTest: def __init__(self): rospy.init_node("lqr_box_path_generator") - self.add_waypoint_publisher = rospy.Publisher("/guidance/lqr/add_waypoint", Point, queue_size=10) - self.enable_controller_publisher = rospy.Publisher("/controller/lqr/enable", Bool, queue_size=10) + self.add_waypoint_publisher = rospy.Publisher( + "/guidance/lqr/add_waypoint", Point, queue_size=10) + self.enable_controller_publisher = rospy.Publisher( + "/controller/lqr/enable", Bool, queue_size=10) north = 3 east = 3 - rospy.sleep(2) # TODO: wait for signal or smth + rospy.sleep(2) # TODO: wait for signal or smth self.generate_and_publish_box(north, east) def generate_and_publish_box(self, north, east): waypoints = [ - Point(0.0, 0.0, 0.0), # Starting position - Point(north, east, -np.pi/2), # top_right - Point(north, -east, -np.pi), # top_left - Point(-north, -east, np.pi/2), # bottom_left - Point(-north, east, 0.0), # bottom_right - Point(north, east, -np.pi/2), # back to top_right - Point(north, -east, -np.pi), # top_left - Point(-north, -east, np.pi/2), # bottom_left - Point(-north, east, 0.0), # bottom_right - Point(north, east, -np.pi/2), # back to top_right - Point(north, -east, -np.pi), # top_left - Point(-north, -east, np.pi/2), # bottom_left - Point(-north, east, 0.0), # bottom_right - Point(north, east, -np.pi/2), # back to top_right - Point(north, -east, -np.pi), # top_left - Point(-north, -east, np.pi/2), # bottom_left - Point(-north, east, 0.0), # bottom_right - Point(north, east, -np.pi/2), # back to top_right + Point(0.0, 0.0, 0.0), # Starting position + Point(north, east, -np.pi / 2), # top_right + Point(north, -east, -np.pi), # top_left + Point(-north, -east, np.pi / 2), # bottom_left + Point(-north, east, 0.0), # bottom_right + Point(north, east, -np.pi / 2), # back to top_right + Point(north, -east, -np.pi), # top_left + Point(-north, -east, np.pi / 2), # bottom_left + Point(-north, east, 0.0), # bottom_right + Point(north, east, -np.pi / 2), # back to top_right + Point(north, -east, -np.pi), # top_left + Point(-north, -east, np.pi / 2), # bottom_left + Point(-north, east, 0.0), # bottom_right + Point(north, east, -np.pi / 2), # back to top_right + Point(north, -east, -np.pi), # top_left + Point(-north, -east, np.pi / 2), # bottom_left + Point(-north, east, 0.0), # bottom_right + Point(north, east, -np.pi / 2), # back to top_right ] - + # Interpolate and publish waypoints for i in range(len(waypoints) - 1): - self.interpolate_and_publish(waypoints[i], waypoints[i+1]) + self.interpolate_and_publish(waypoints[i], waypoints[i + 1]) rospy.sleep(1.0) self.enable_controller_publisher.publish(Bool(True)) - + def interpolate_and_publish(self, waypoint1, waypoint2): """Interpolate between two waypoints and publish them.""" dx = waypoint2.x - waypoint1.x dy = waypoint2.y - waypoint1.y distance = np.hypot(dx, dy) - - num_intermediate_points = int(np.ceil(distance / INTERPOLATION_STEP_SIZE)) - for i in range(num_intermediate_points + 1): # +1 to include the endpoint + num_intermediate_points = int( + np.ceil(distance / INTERPOLATION_STEP_SIZE)) + + for i in range(num_intermediate_points + + 1): # +1 to include the endpoint ratio = i / num_intermediate_points # this will be 1 for the endpoint intermediate_point = Point( waypoint1.x + ratio * dx, @@ -80,9 +86,8 @@ def interpolate_and_publish(self, waypoint1, waypoint2): rospy.sleep(0.01) # you can adjust this delay as necessary - if __name__ == "__main__": path_generator = LQRControllerBoxTest() - rospy.spin() \ No newline at end of file + rospy.spin() diff --git a/motion/control_simulator/scripts/simulator.py b/motion/control_simulator/scripts/simulator.py index 3f07e56b..c5cfd876 100755 --- a/motion/control_simulator/scripts/simulator.py +++ b/motion/control_simulator/scripts/simulator.py @@ -26,7 +26,7 @@ def __init__(self, vessel): rospy.Subscriber("/thrust/force_input", Wrench, self.wrench_callback) rospy.Subscriber("/controller/lqr/setpoints", Float64MultiArray, - self.setpoint_callback) + self.setpoint_callback) self.vessel = vessel self.fig, self.axes = plt.subplots(nrows=3, ncols=2, figsize=(10, 10)) @@ -42,22 +42,25 @@ def __init__(self, vessel): self.u = np.zeros(3) self.brownian_motion_state = np.zeros(2) - psi_north = psi + np.pi/2 + psi_north = psi + np.pi / 2 - self.arrow = plt.Arrow(x, y, np.cos(psi_north), np.sin(psi_north), width=0.1) + self.arrow = plt.Arrow(x, + y, + np.cos(psi_north), + np.sin(psi_north), + width=0.1) self.ax_vessel.add_patch(self.arrow) # Initialize the path line self.path, = self.ax_vessel.plot(x, y, color="red") - self.setpoints = np.zeros(6) self.sp_x_line, = self.ax_x.plot(0, self.setpoints[0], color="r") self.sp_y_line, = self.ax_y.plot(0, self.setpoints[1], color="r") self.sp_psi_line, = self.ax_psi.plot(0, self.setpoints[2], color="r") self.sp_vx_line, = self.ax_vx.plot(0, self.setpoints[3], color="r") self.sp_vy_line, = self.ax_vy.plot(0, self.setpoints[4], color="r") - + self.window_size = 50 self.ax_vessel.set_xlim(-5, 5) @@ -75,7 +78,7 @@ def __init__(self, vessel): self.odom_pub = rospy.Publisher("/odometry/filtered", Odometry, queue_size=10) - + def setpoint_callback(self, msg): #rospy.loginfo(f"Simulator received setpoints: {msg.data}") number_of_setpoints = len(msg.data) @@ -126,8 +129,7 @@ def update_and_draw_arrow(self): x, y, psi, vx, vy, vpsi = self.vessel.state psi = ssa(psi) - - psi_north = ssa(-psi + np.pi/2) + psi_north = ssa(-psi + np.pi / 2) self.arrow = plt.Arrow(y, x, arrow_length * np.cos(psi_north), @@ -138,8 +140,10 @@ def update_and_draw_arrow(self): def update_path_line(self): window_size = 1000 old_path = self.path.get_data() - new_path = (np.append(old_path[0][-window_size:], self.vessel.state[1]), - np.append(old_path[1][-window_size:], self.vessel.state[0])) + new_path = (np.append(old_path[0][-window_size:], + self.vessel.state[1]), + np.append(old_path[1][-window_size:], + self.vessel.state[0])) self.path.set_data(new_path) def update_and_plot_signals(self, frame): @@ -160,13 +164,17 @@ def update_and_plot_signals(self, frame): # Update the setpoint line with new data point sp_line = getattr(self, f"sp_{signal}_line") - sp_x_data = np.append(sp_line.get_xdata()[-self.window_size:], frame) - sp_y_data = np.append(sp_line.get_ydata()[-self.window_size:], setpoint) + sp_x_data = np.append(sp_line.get_xdata()[-self.window_size:], + frame) + sp_y_data = np.append(sp_line.get_ydata()[-self.window_size:], + setpoint) sp_line.set_data(sp_x_data, sp_y_data) def update_legends_and_axes(self, frame): signals = ['x', 'y', 'psi', 'vx', 'vy'] - labels = ['North', 'East', 'Heading', 'Surge Velocity', 'Sway Velocity'] + labels = [ + 'North', 'East', 'Heading', 'Surge Velocity', 'Sway Velocity' + ] y_padding = 0.25 self.ax_vessel.set_ylabel("North [m]") @@ -179,13 +187,12 @@ def update_legends_and_axes(self, frame): line.set_label(label) axis.set_xlim(min(line.get_xdata()), max(line.get_xdata())) - + axis.set_ylim( min(min(line.get_ydata()), self.setpoints[i]) - y_padding, max(max(line.get_ydata()), self.setpoints[i]) + y_padding) - - axis.legend() + axis.legend() def animate(self): NUMBER_OF_FRAMES = 2000 diff --git a/motion/lqr_guidance/scripts/lqr_guidance_node.py b/motion/lqr_guidance/scripts/lqr_guidance_node.py index 8f8c911a..4701986e 100755 --- a/motion/lqr_guidance/scripts/lqr_guidance_node.py +++ b/motion/lqr_guidance/scripts/lqr_guidance_node.py @@ -18,6 +18,7 @@ class Waypoint: east: float heading: float + class LQRGuidanceROS: def __init__(self): @@ -29,15 +30,17 @@ def __init__(self): # Subscriptions rospy.Subscriber("/odometry/filtered", Odometry, self.odometry_callback) - rospy.Subscriber("/guidance/lqr/clear_waypoints", Empty, + rospy.Subscriber("/guidance/lqr/clear_waypoints", Empty, self.clear_waypoints_callback) - rospy.Subscriber("/guidance/lqr/add_waypoint", Point, + rospy.Subscriber("/guidance/lqr/add_waypoint", Point, self.add_waypoint_callback) # Publishers - self.setpoint_pub = rospy.Publisher("/controller/lqr/setpoints", - Float64MultiArray, queue_size=10) - self.enable_pub = rospy.Publisher("/controller/lqr/enable", Bool, + self.setpoint_pub = rospy.Publisher("/controller/lqr/setpoints", + Float64MultiArray, + queue_size=10) + self.enable_pub = rospy.Publisher("/controller/lqr/enable", + Bool, queue_size=10) def odometry_callback(self, data): @@ -47,7 +50,8 @@ def odometry_callback(self, data): dx = data.pose.pose.position.x - waypoint.north dy = data.pose.pose.position.y - waypoint.east if np.hypot(dx, dy) < CONVERGENCE_RADIUS: - rospy.loginfo(f"Reached waypoint {self.current_waypoint_index}") + rospy.loginfo( + f"Reached waypoint {self.current_waypoint_index}") self.send_waypoint(self.current_waypoint_index + 1) def publish_setpoint(self, waypoint): @@ -90,4 +94,4 @@ def add_waypoint_callback(self, data): guidance_scheme = LQRGuidanceROS() - rospy.spin() \ No newline at end of file + rospy.spin() From 162fe6c4a0664111630d7fef8ff73a890108bbc9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Mon, 7 Aug 2023 22:43:58 +0200 Subject: [PATCH 059/132] Remove unused code and move lqr guidance to lqr path following --- .../lqr_path_following}/CMakeLists.txt | 2 +- .../lqr_path_following}/package.xml | 4 +- .../scripts/lqr_path_following_node.py | 2 +- .../.github/ISSUE_TEMPLATE/bug_report.md | 30 - .../.github/ISSUE_TEMPLATE/feature_request.md | 16 - navigation/robot_localization/.gitignore | 4 - navigation/robot_localization/CHANGELOG.rst | 296 -- navigation/robot_localization/CMakeLists.txt | 356 -- navigation/robot_localization/LICENSE | 68 - navigation/robot_localization/README.md | 6 - .../doc/.templates/full_globaltoc.html | 10 - .../robot_localization/doc/CHANGELOG.rst | 1 - navigation/robot_localization/doc/Makefile | 216 -- navigation/robot_localization/doc/conf.py | 203 -- .../doc/configuring_robot_localization.rst | 117 - .../robot_localization/doc/images/figure2.png | Bin 83408 -> 0 bytes .../doc/images/navsat_transform_workflow.png | Bin 51063 -> 0 bytes .../doc/images/navsat_transform_workflow.tex | 49 - .../doc/images/rl_small.png | Bin 59361 -> 0 bytes navigation/robot_localization/doc/index.rst | 55 - .../doc/integrating_gps.rst | 165 - .../robot_localization/doc/manifest.yaml | 38 - .../doc/migrating_from_robot_pose_ekf.rst | 29 - .../doc/navsat_transform_node.rst | 75 - .../doc/preparing_sensor_data.rst | 104 - .../doc/robot_localization_ias13_revised.pdf | Bin 1182695 -> 0 bytes .../doc/state_estimation_nodes.rst | 336 -- .../doc/user_contributed_tutorials.rst | 13 - .../include/robot_localization/ekf.h | 85 - .../include/robot_localization/filter_base.h | 559 --- .../robot_localization/filter_common.h | 94 - .../robot_localization/filter_utilities.h | 72 - .../robot_localization/navsat_conversions.h | 220 -- .../robot_localization/navsat_transform.h | 401 --- .../robot_localization_estimator.h | 213 -- .../include/robot_localization/ros_filter.h | 786 ---- .../robot_localization/ros_filter_types.h | 47 - .../robot_localization/ros_filter_utilities.h | 135 - .../ros_robot_localization_listener.h | 181 - .../include/robot_localization/ukf.h | 137 - .../launch/dual_ekf_navsat_example.launch | 27 - .../launch/ekf_nodelet_template.launch | 38 - .../launch/ekf_template.launch | 11 - .../launch/navsat_transform_template.launch | 51 - .../launch/ukf_template.launch | 11 - .../robot_localization/nodelet_plugins.xml | 27 - navigation/robot_localization/package.xml | 54 - .../params/dual_ekf_navsat_example.yaml | 166 - .../params/ekf_template.yaml | 255 -- .../params/navsat_transform_template.yaml | 48 - .../params/ukf_template.yaml | 267 -- navigation/robot_localization/rosdoc.yaml | 6 - navigation/robot_localization/src/ekf.cpp | 417 --- .../src/ekf_localization_node.cpp | 50 - .../src/ekf_localization_nodelet.cpp | 61 - .../robot_localization/src/filter_base.cpp | 361 -- .../src/filter_utilities.cpp | 130 - .../src/navsat_transform.cpp | 878 ----- .../src/navsat_transform_node.cpp | 47 - .../src/navsat_transform_nodelet.cpp | 61 - .../src/robot_localization_estimator.cpp | 184 - .../src/robot_localization_listener_node.cpp | 92 - .../robot_localization/src/ros_filter.cpp | 3179 ----------------- .../src/ros_filter_utilities.cpp | 178 - .../src/ros_robot_localization_listener.cpp | 527 --- navigation/robot_localization/src/ukf.cpp | 472 --- .../src/ukf_localization_node.cpp | 56 - .../src/ukf_localization_nodelet.cpp | 68 - navigation/robot_localization/srv/FromLL.srv | 3 - .../robot_localization/srv/GetState.srv | 8 - .../robot_localization/srv/SetDatum.srv | 2 - navigation/robot_localization/srv/SetPose.srv | 2 - .../robot_localization/srv/SetUTMZone.srv | 4 - navigation/robot_localization/srv/ToLL.srv | 3 - .../srv/ToggleFilterProcessing.srv | 3 - .../test/record_all_stats.sh | 9 - .../robot_localization/test/stat_recorder.sh | 18 - navigation/robot_localization/test/test1.bag | Bin 1470835 -> 0 bytes navigation/robot_localization/test/test2.bag | Bin 533743 -> 0 bytes navigation/robot_localization/test/test3.bag | Bin 25667585 -> 0 bytes .../robot_localization/test/test_ekf.cpp | 118 - .../robot_localization/test/test_ekf.test | 7 - .../test/test_ekf_localization_node_bag1.test | 105 - .../test/test_ekf_localization_node_bag2.test | 85 - .../test/test_ekf_localization_node_bag3.test | 69 - .../test_ekf_localization_node_interfaces.cpp | 1065 ------ ...test_ekf_localization_node_interfaces.test | 68 - .../test_ekf_localization_nodelet_bag1.test | 104 - .../test/test_filter_base.cpp | 194 - ...est_filter_base_diagnostics_timestamps.cpp | 400 --- ...st_filter_base_diagnostics_timestamps.test | 44 - ...test_localization_node_bag_pose_tester.cpp | 102 - .../test/test_navsat_conversions.cpp | 70 - .../test/test_navsat_transform.cpp | 95 - .../test/test_navsat_transform.test | 9 - .../test_robot_localization_estimator.cpp | 170 - .../test_robot_localization_estimator.test | 7 - .../test_ros_robot_localization_listener.cpp | 132 - .../test_ros_robot_localization_listener.test | 68 - ..._robot_localization_listener_publisher.cpp | 120 - .../robot_localization/test/test_ukf.cpp | 125 - .../robot_localization/test/test_ukf.test | 7 - .../test/test_ukf_localization_node_bag1.test | 110 - .../test/test_ukf_localization_node_bag2.test | 91 - .../test/test_ukf_localization_node_bag3.test | 79 - .../test_ukf_localization_node_interfaces.cpp | 1069 ------ ...test_ukf_localization_node_interfaces.test | 73 - .../test_ukf_localization_nodelet_bag1.test | 111 - navigation/waypoint_manager/CMakeLists.txt | 13 - navigation/waypoint_manager/package.xml | 26 - .../scripts/waypoint_manager_node.py | 105 - sim_config.rviz | 169 - topic1.yaml | 0 113 files changed, 4 insertions(+), 17905 deletions(-) rename {motion/lqr_guidance => navigation/lqr_path_following}/CMakeLists.txt (90%) rename {motion/lqr_guidance => navigation/lqr_path_following}/package.xml (88%) rename motion/lqr_guidance/scripts/lqr_guidance_node.py => navigation/lqr_path_following/scripts/lqr_path_following_node.py (98%) delete mode 100644 navigation/robot_localization/.github/ISSUE_TEMPLATE/bug_report.md delete mode 100644 navigation/robot_localization/.github/ISSUE_TEMPLATE/feature_request.md delete mode 100644 navigation/robot_localization/.gitignore delete mode 100644 navigation/robot_localization/CHANGELOG.rst delete mode 100644 navigation/robot_localization/CMakeLists.txt delete mode 100644 navigation/robot_localization/LICENSE delete mode 100644 navigation/robot_localization/README.md delete mode 100644 navigation/robot_localization/doc/.templates/full_globaltoc.html delete mode 120000 navigation/robot_localization/doc/CHANGELOG.rst delete mode 100644 navigation/robot_localization/doc/Makefile 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delete mode 100755 navigation/waypoint_manager/scripts/waypoint_manager_node.py delete mode 100644 sim_config.rviz delete mode 100644 topic1.yaml diff --git a/motion/lqr_guidance/CMakeLists.txt b/navigation/lqr_path_following/CMakeLists.txt similarity index 90% rename from motion/lqr_guidance/CMakeLists.txt rename to navigation/lqr_path_following/CMakeLists.txt index 611d84e4..2ac6a7e2 100644 --- a/motion/lqr_guidance/CMakeLists.txt +++ b/navigation/lqr_path_following/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.0.2) -project(lqr_guidance) +project(lqr_path_following) find_package(catkin REQUIRED COMPONENTS roscpp diff --git a/motion/lqr_guidance/package.xml b/navigation/lqr_path_following/package.xml similarity index 88% rename from motion/lqr_guidance/package.xml rename to navigation/lqr_path_following/package.xml index 0a629a20..f6a991c4 100644 --- a/motion/lqr_guidance/package.xml +++ b/navigation/lqr_path_following/package.xml @@ -1,8 +1,8 @@ - lqr_guidance + lqr_path_following 0.0.0 - The lqr_guidance package + The lqr_path_following package Christopher Strøm diff --git a/motion/lqr_guidance/scripts/lqr_guidance_node.py b/navigation/lqr_path_following/scripts/lqr_path_following_node.py similarity index 98% rename from motion/lqr_guidance/scripts/lqr_guidance_node.py rename to navigation/lqr_path_following/scripts/lqr_path_following_node.py index 4701986e..0c59fb43 100755 --- a/motion/lqr_guidance/scripts/lqr_guidance_node.py +++ b/navigation/lqr_path_following/scripts/lqr_path_following_node.py @@ -10,9 +10,9 @@ CONVERGENCE_RADIUS = 0.25 # the radius of convergence in x-y CONVERGENCE_ANGLE = np.pi / 8 # the convergence range for heading in radians +# TODO: Add option to set path-dependent heading @dataclass -# TODO: Add heading class Waypoint: north: float east: float diff --git a/navigation/robot_localization/.github/ISSUE_TEMPLATE/bug_report.md b/navigation/robot_localization/.github/ISSUE_TEMPLATE/bug_report.md deleted file mode 100644 index 85d1156e..00000000 --- a/navigation/robot_localization/.github/ISSUE_TEMPLATE/bug_report.md +++ /dev/null @@ -1,30 +0,0 @@ ---- -name: Bug report -about: For filing confirmed bugs -title: '' -labels: bug -assignees: ayrton04 - ---- - - - -## Bug report - -**Required Info:** - -- Operating System: - - -- Installation type: - - -- Version or commit hash: - - - -#### Steps to reproduce issue - - -#### Expected behavior - -#### Actual behavior - -#### Additional information diff --git a/navigation/robot_localization/.github/ISSUE_TEMPLATE/feature_request.md b/navigation/robot_localization/.github/ISSUE_TEMPLATE/feature_request.md deleted file mode 100644 index 00937ffe..00000000 --- a/navigation/robot_localization/.github/ISSUE_TEMPLATE/feature_request.md +++ /dev/null @@ -1,16 +0,0 @@ ---- -name: Feature request -about: For requesting new features -title: '' -labels: feature request -assignees: ayrton04 - ---- - -## Feature request - -#### Feature description - - -#### Implementation considerations - diff --git a/navigation/robot_localization/.gitignore b/navigation/robot_localization/.gitignore deleted file mode 100644 index 581b015b..00000000 --- a/navigation/robot_localization/.gitignore +++ /dev/null @@ -1,4 +0,0 @@ -doc/html -*.cproject -*.project -*.settings diff --git a/navigation/robot_localization/CHANGELOG.rst b/navigation/robot_localization/CHANGELOG.rst deleted file mode 100644 index f1f4a4ac..00000000 --- a/navigation/robot_localization/CHANGELOG.rst +++ /dev/null @@ -1,296 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package robot_localization -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -2.7.3 (2021-07-23) ------------------- -* Prevent node from crashing on invalid UTM zone, but throw ROS_ERROR to notify user (`#682 `_) -* changed geographiclib to tag (`#684 `_) -* Small formatting and content change (`#677 `_) -* Fixed state transition for sigma points. The state transition function for each sigma point now uses its sigma point's posteriori state instead of always the posteriori state. (`#628 `_) - Co-authored-by: jola6897 -* Contributors: John Stechschulte, Jonas, MCFurry, Vivek Mhatre - -2.7.2 (2021-06-03) ------------------- -* Also test for gamma conversion (`#647 `_) -* fix: Transform gravitation vector to IMU frame before removing acceleration (`#639 `_) -* Fixed a typo in validate filter output error message. (`#646 `_) -* Stick to the global utm_zone\_ when transforming gps to UTM (`#627 `_) - * Stick to the global utm_zone\_ when transforming gps to UTM -* UTM conversions using geographiclib (`#626 `_) - * Use GeographicLib for UTMtoLL conversions -* SHARED linking for Geographiclib (`#624 `_) - * remove GeographicLib specific linking option -* Fixing lat-long to UTM conversion (`#620 `_) - Thanks again for the report. I'll get this into `noetic-devel` and the relevant ROS2 branches. -* Removing xmlrpcpp dependency -* yaml-cpp using find_package as backup (`#618 `_) -* Add ${GeographicLib_LIBRARIES} to navsat_transform (`#617 `_) -* Contributors: Achmad Fathoni, Leonardo Hemerly, Paul Verhoeckx, Tim Clephas, Tobias Fischer, Tom Moore - -2.7.0 (2020-12-17) ------------------- -* Making repeated state publication optional (`#595 `_) -* Fix sign error in dFY_dP part of transferFunctionJacobian\_ (`#592 `_) -* Fix typo in navsat_transform_node.rst (`#588 `_) -* Fix issue caused by starting on uneven terrain (`#582 `_) -* Local Cartesian Option (`#575 `_) -* Fix frame id of imu in differential mode, closes `#482 `_. (`#522 `_) -* navsat_transform diagram to address `#550 `_ (`#570 `_) -* Increasing the minimum CMake version (`#573 `_) -* Contributors: Aleksander Bojda, David Jensen, James Baxter, Jeffrey Kane Johnson, Mabel Zhang, Ronald Ensing, Tom Moore - -2.6.8 (2020-06-03) ------------------- -* Adding conditional build dependencies (`#572 `_) -* Contributors: Tom Moore - -2.6.7 (2020-06-01) ------------------- -* Parameterizing transform failure warnings -* [melodic] Fix Windows build break. (`#557 `_) -* Contributors: Sean Yen, Tom Moore, florianspy - -2.6.5 (2019-08-08) ------------------- -* fix: wall time used when `use_sim_time` is true -* Created service for converting to / from lat long -* Fix bug with tf_prefix -* Adding new contribution to doc -* Add missing undocumented params -* Update wiki location -* Contributors: Andrew Grindstaff, Axel Mousset, Charles Brian Quinn, Oswin So, Tom Moore - -2.6.4 (2019-02-15) ------------------- -* Meridian convergence adjustment added to navsat_transform. -* Documentation changes -* Add broadcast_utm_transform_as_parent_frame -* Enable build optimisations if no build type configured. -* Contributors: G.A. vd. Hoorn, Pavlo Kolomiiets, diasdm - -2.6.3 (2019-01-14) ------------------- -* Rename odomBaseLinkTrans to baseLinkOdomTrans - Adhere to the naming convention Trans used for worldBaseLinkTrans and mapOdomTrans. -* Add const& to catch values to prevent the error: catching polymorphic type ‘class tf2::TransformException’ by value - And ZoneNumber by 0x3fU to prevent error: directive output may be truncated writing between 1 and 11 bytes into a region of size 4 -* Enabling the user to override the output child_frame_id -* Fixing Euler body-to-world transformations -* Whitespace -* fixing no datum service in melodic -* Contributors: Alexis schad, Matthew Jones, Tom Moore, thallerod - -2.6.2 (2018-10-25) ------------------- -* Fixing tests -* Contributors: Tom Moore - -2.6.1 (2018-10-25) ------------------- -* Adding more output for measurement history failures -* Adding filter processing toggle service -* Waiting for valid ROS time before starting navsat_transform_node -* Contributors: Tom Moore, stevemacenski - -2.6.0 (2018-07-27) ------------------- -* Moving to C++14, adding error flags, and fixing all warnings -* Contributors: Tom Moore - -2.5.2 (2018-04-11) ------------------- -* Add published accel topic to documentation -* adding log statements for nans in the invertable matrix -* Fixing issue with potential seg fault -* Contributors: Oleg Kalachev, Tom Moore, stevemacenski - -2.5.1 (2018-01-03) ------------------- -* Fixing CMakeLists -* Contributors: Tom Moore - -2.5.0 (2017-12-15) ------------------- -* Fixing datum precision -* Fixing timing variable -* Fixing state history reversion -* Fixing critical bug with dynamic process noise covariance -* Fix typo in reading Mahalanobis thresholds. -* Zero out rotation in GPS to base_link transform -* Update xmlrpcpp includes for Indigo support -* Removing lastUpdateTime -* Fixing timestamps in map->odom transform -* Simplify enabledAtStartup logic -* Add std_srvs dependency -* Add enabling service -* Ensure all raw sensor input orientations are normalized even if messages are not -* Install params directory. -* Add robot localization estimator -* Adding nodelet support -* Contributors: Jacob Perron, Jacob Seibert, Jiri Hubacek, Mike Purvis, Miquel Massot, Pavlo Kolomiiets, Rein Appeldoorn, Rokus Ottervanger, Simon Gene Gottlieb, Tom Moore, stevemacenski - -2.4.0 (2017-06-12) ------------------- -* Updated documentation -* Added reset_on_time_jump option -* Added feature to optionally publish utm frame as parent in navsat_transform_node -* Moved global callback queue reset -* Added initial_state parameter and documentation -* Fixed ac/deceleration gains default logic -* Added gravity parameter -* Added delay and throttle if tf lookup fails -* Fixed UKF IMUTwistBasicIO test -* Added transform_timeout parameter -* Set gps_odom timestamp before tf2 lookuptransform -* Removed non-portable sincos calls -* Simplified logic to account for correlated error -* Added dynamic process noise covariance calculation -* Fixed catkin_package Eigen warning -* Added optional publication of acceleration state -* Contributors: Brian Gerkey, Enrique Fernandez, Jochen Sprickerhof, Rein Appeldoorn, Simon Gene Gottlieb, Tom Moore - -2.3.1 (2016-10-27) ------------------- -* Adding gitignore -* Adding remaining wiki pages -* Adding config and prep pages -* Adding navsat_transform_node documentation -* use_odometry_yaw fix for n_t_n -* Fixing issue with manual pose reset when history is not empty -* Getting inverse transform when looking up robot's pose. -* Sphinx documentation -* Removing forward slashes from navsat_transform input topics for template launch file -* Adding example launch and parameter files for a two-level EKF setup with navsat_transform_node -* Adding yaml file for navsat_transform_node, and moving parameter documentation to it. -* Updating EKF and UKF parameter templates with usage comments -* Contributors: Tom Moore, asimay - -2.3.0 (2016-07-28) ------------------- -* Fixed issues with datum usage and frame_ids -* Fixed comment for wait_for_datum -* Fixing issue with non-zero navsat sensor orientation offsets -* Fixing issue with base_link->gps transform wrecking the 'true' UTM position computation -* Using correct covariance for filtered GPS -* Fixed unitialized odometry covariance bug -* Added filter history and measurement queue behavior -* Changing output timestamp to more accurately use the time stamp of the most recently-processed measurement -* Added TcpNoDelay() -* Added parameter to make transform publishing optional -* Fixed differential handling for pose data so that it doesn't care about the message's frame_id -* Updated UKF config and launch -* Added a test case for the timestamp diagnostics -* Added reporting of bad timestamps via diagnostics -* Updated tests to match new method signatures -* Added control term -* Added smoothing capability for delayed measurements -* Making variables in navsat_transform conform to ROS coding standards -* Contributors: Adel Fakih, Ivor Wanders, Marc Essinger, Tobias Tueylue, Tom Moore - -2.2.3 (2016-04-24) ------------------- -* Cleaning up callback data structure and callbacks and updating doxygen comments in headers -* Removing MessageFilters -* Removing deprecated parameters -* Adding the ability to handle GPS offsets from the vehicle's origin -* Cleaning up navsat_transform.h -* Making variables in navsat_transform conform to ROS coding standards - -2.2.2 (2016-02-04) ------------------- -* Updating trig functions to use sincos for efficiency -* Updating licensing information and adding Eigen MPL-only flag -* Added state to imu frame transformation -* Using state orientation if imu orientation is missing -* Manually adding second spin for odometry and IMU data that is passed to message filters -* Reducing delay between measurement reception and filter output -* Zero altitute in intital transform too, when zero altitude param is set -* Fixing regression with conversion back to GPS coordinates -* Switched cropping of orientation data in inovationSubset with mahalanobis check to prevent excluding measurements with orientations bigger/smaller than ± PI -* Fix Jacobian for EKF. -* Removing warning about orientation variables when only their velocities are measured -* Checking for -1 in IMU covariances and ignoring relevant message data -* roslint and catkin_lint applied -* Adding base_link to datum specification, and fixing bug with order of measurement handling when a datum is specified. Also added check to make sure IMU data is transformable before using it. -* Contributors: Adnan Ademovic, Jit Ray Chowdhury, Philipp Tscholl, Tom Moore, ayrton04, kphil - -2.2.1 (2015-05-27) ------------------- -* Fixed handling of IMU data w.r.t. differential mode and relative mode - -2.2.0 (2015-05-22) ------------------- -* Added tf2-friendly tf_prefix appending -* Corrected for IMU orientation in navsat_transform -* Fixed issue with out-of-order measurements and pose resets -* Nodes now assume ENU standard for yaw data -* Removed gps_common dependency -* Adding option to navsat_transform_node that enables the use of the heading from the odometry message instead of an IMU. -* Changed frame_id used in setPoseCallback to be the world_frame -* Optimized Eigen arithmetic for signficiant performance boost -* Migrated to tf2 -* Code refactoring and reorganization -* Removed roll and pitch from navsat_transform calculations -* Fixed transform for IMU data to better support mounting IMUs in non-standard orientations -* Added feature to navsat_transform_node whereby filtered odometry data can be coverted back into navsat data -* Added a parameter to allow future dating the world_frame->base_link_frame transform. -* Removed deprecated differential setting handler -* Added relative mode -* Updated and improved tests -* Fixing source frame_id in pose data handling -* Added initial covariance parameter -* Fixed bug in covariance copyinh -* Added parameters for topic queue sizes -* Improved motion model's handling of angular velocities when robot has non-zero roll and pitch -* Changed the way differential measurements are handled -* Added diagnostics - -2.1.7 (2015-01-05) ------------------- -* Added some checks to eliminate unnecessary callbacks -* Updated launch file templates -* Added measurement outlier rejection -* Added failure callbacks for tf message filters -* Added optional broadcast of world_frame->utm transform for navsat_transform_node -* Bug fixes for differential mode and handling of Z acceleration in 2D mode - -2.1.6 (2014-11-06) ------------------- -* Added unscented Kalman filter (UKF) localization node -* Fixed map->odom tf calculation -* Acceleration data from IMUs is now used in computing the state estimate -* Added 2D mode - -2.1.5 (2014-10-07) ------------------- -* Changed initial estimate error covariance to be much smaller -* Fixed some debug output -* Added test suite -* Better compliance with REP-105 -* Fixed differential measurement handling -* Implemented message filters -* Added navsat_transform_node - -2.1.4 (2014-08-22) ------------------- -* Adding utm_transform_node to install targets - -2.1.3 (2014-06-22) ------------------- -* Some changes to ease GPS integration -* Addition of differential integration of pose data -* Some documentation cleanup -* Added UTM transform node and launch file -* Bug fixes - -2.1.2 (2014-04-11) ------------------- -* Updated covariance correction formulation to "Joseph form" to improve filter stability. -* Implemented new versioning scheme. - -2.1.1 (2014-04-11) ------------------- -* Added cmake_modules dependency for Eigen support, and added include to silence boost::signals warning from tf include - diff --git a/navigation/robot_localization/CMakeLists.txt b/navigation/robot_localization/CMakeLists.txt deleted file mode 100644 index 441ecf46..00000000 --- a/navigation/robot_localization/CMakeLists.txt +++ /dev/null @@ -1,356 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(robot_localization) - -if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE) - message("${PROJECT_NAME}: You did not request a specific build type: selecting 'RelWithDebInfo'.") - set(CMAKE_BUILD_TYPE RelWithDebInfo) -endif() - -find_package(catkin REQUIRED COMPONENTS - angles - diagnostic_msgs - diagnostic_updater - eigen_conversions - geographic_msgs - geometry_msgs - message_filters - message_generation - nav_msgs - nodelet - roscpp - roslint - sensor_msgs - std_msgs - std_srvs - tf2 - tf2_geometry_msgs - tf2_ros) - -find_package(PkgConfig REQUIRED) -pkg_check_modules(YAML_CPP yaml-cpp) -if(NOT YAML_CPP_FOUND) - find_package(yaml-cpp REQUIRED) -endif() - - -# Geographiclib installs FindGeographicLib.cmake to this non-standard location -set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "/usr/share/cmake/geographiclib/") -find_package(GeographicLib REQUIRED) - -# Attempt to find Eigen using its own CMake module. -# If that fails, fall back to cmake_modules package. -find_package(Eigen3) -set(EIGEN_PACKAGE EIGEN3) -if(NOT EIGEN3_FOUND) - find_package(cmake_modules REQUIRED) - find_package(Eigen REQUIRED) - set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) - set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) - set(EIGEN_PACKAGE Eigen) -endif() - -set(CMAKE_CXX_STANDARD 14) - -if(NOT MSVC) - set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Werror") -endif() -add_definitions(-DEIGEN_NO_DEBUG -DEIGEN_MPL2_ONLY) - -set(ROSLINT_CPP_OPTS "--filter=-build/c++11,-runtime/references") -roslint_cpp() - -################################### -## catkin specific configuration ## -################################### -add_service_files( - FILES - GetState.srv - SetDatum.srv - SetPose.srv - SetUTMZone.srv - ToggleFilterProcessing.srv - FromLL.srv - ToLL.srv -) - -generate_messages( - DEPENDENCIES - geographic_msgs - geometry_msgs - std_msgs -) - -catkin_package( - INCLUDE_DIRS - include - LIBRARIES - ekf - ekf_localization_nodelet - filter_base - filter_utilities - navsat_transform - navsat_transform_nodelet - ros_filter - ros_filter_utilities - robot_localization_estimator - ros_robot_localization_listener - ukf - ukf_localization_nodelet - CATKIN_DEPENDS - angles - cmake_modules - diagnostic_msgs - diagnostic_updater - eigen_conversions - geographic_msgs - geometry_msgs - message_filters - message_runtime - nav_msgs - roscpp - sensor_msgs - std_msgs - std_srvs - tf2 - tf2_geometry_msgs - tf2_ros - DEPENDS - ${EIGEN_PACKAGE} - GeographicLib - YAML_CPP -) - -########### -## Build ## -########### - -include_directories( - include - ${catkin_INCLUDE_DIRS} - ${EIGEN3_INCLUDE_DIRS} - ${YAML_CPP_INCLUDE_DIRS}) - -link_directories(${YAML_CPP_LIBRARY_DIRS}) - -# Library definitions -add_library(filter_utilities src/filter_utilities.cpp) -add_library(filter_base src/filter_base.cpp) -add_library(ekf src/ekf.cpp) -add_library(ukf src/ukf.cpp) -add_library(robot_localization_estimator src/robot_localization_estimator.cpp) -add_library(ros_robot_localization_listener src/ros_robot_localization_listener.cpp) -add_library(ros_filter_utilities src/ros_filter_utilities.cpp) -add_library(ros_filter src/ros_filter.cpp) -add_library(navsat_transform src/navsat_transform.cpp) -add_library(ekf_localization_nodelet src/ekf_localization_nodelet.cpp) -add_library(ukf_localization_nodelet src/ukf_localization_nodelet.cpp) -add_library(navsat_transform_nodelet src/navsat_transform_nodelet.cpp) - -# Executables -add_executable(ekf_localization_node src/ekf_localization_node.cpp) -add_executable(ukf_localization_node src/ukf_localization_node.cpp) -add_executable(navsat_transform_node src/navsat_transform_node.cpp) -add_executable(robot_localization_listener_node src/robot_localization_listener_node.cpp) - -# Dependencies -add_dependencies(filter_base ${PROJECT_NAME}_gencpp) -add_dependencies(navsat_transform ${PROJECT_NAME}_gencpp) -add_dependencies(robot_localization_listener_node ${PROJECT_NAME}_gencpp) - -# Linking -target_link_libraries(ros_filter_utilities ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES}) -target_link_libraries(filter_utilities ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES}) -target_link_libraries(filter_base filter_utilities ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES}) -target_link_libraries(ekf filter_base ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES}) -target_link_libraries(ukf filter_base ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES}) -target_link_libraries(ros_filter ekf ukf ros_filter_utilities ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES}) -target_link_libraries(robot_localization_estimator filter_utilities filter_base ekf ukf ${EIGEN3_LIBRARIES}) -target_link_libraries(ros_robot_localization_listener robot_localization_estimator ros_filter_utilities - ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES} ${YAML_CPP_LIBRARIES}) -target_link_libraries(robot_localization_listener_node ros_robot_localization_listener ${catkin_LIBRARIES}) -target_link_libraries(ekf_localization_node ros_filter ${catkin_LIBRARIES}) -target_link_libraries(ekf_localization_nodelet ros_filter ${catkin_LIBRARIES}) -target_link_libraries(ukf_localization_node ros_filter ${catkin_LIBRARIES}) -target_link_libraries(ukf_localization_nodelet ros_filter ${catkin_LIBRARIES}) -target_link_libraries(navsat_transform filter_utilities ros_filter_utilities ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES} ${GeographicLib_LIBRARIES}) -target_link_libraries(navsat_transform_node navsat_transform ${catkin_LIBRARIES} ${GeographicLib_LIBRARIES}) -target_link_libraries(navsat_transform_nodelet navsat_transform ${catkin_LIBRARIES} ${GeographicLib_LIBRARIES}) - -############# -## Install ## -############# - -## Mark executables and/or libraries for installation -install(TARGETS - ekf - ekf_localization_nodelet - filter_base - filter_utilities - navsat_transform - navsat_transform_nodelet - ros_filter - ros_filter_utilities - robot_localization_estimator - ros_robot_localization_listener - ukf - ukf_localization_nodelet - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) - -install(TARGETS - ekf_localization_node - navsat_transform_node - robot_localization_listener_node - ukf_localization_node - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) - -## Mark cpp header files for installation -install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.h" - PATTERN ".svn" EXCLUDE) - -install(DIRECTORY launch/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch - FILES_MATCHING PATTERN "*.launch") - -install(DIRECTORY params/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/params) - -install(FILES - LICENSE - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) -install(FILES nodelet_plugins.xml - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -############# -## Testing ## -############# - -if (CATKIN_ENABLE_TESTING) - - roslint_add_test() - - # Not really necessary, but it will cause the build to fail if it's - # missing, rather than failing once the tests are being executed - find_package(rosbag REQUIRED) - find_package(rostest REQUIRED) - - #### FILTER BASE TESTS #### - catkin_add_gtest(filter_base-test test/test_filter_base.cpp) - target_link_libraries(filter_base-test filter_base ${catkin_LIBRARIES}) - - # This test uses ekf_localization node for convenience. - add_rostest_gtest(test_filter_base_diagnostics_timestamps - test/test_filter_base_diagnostics_timestamps.test - test/test_filter_base_diagnostics_timestamps.cpp) - target_link_libraries(test_filter_base_diagnostics_timestamps ${catkin_LIBRARIES} ${rostest_LIBRARIES}) - add_dependencies(test_filter_base_diagnostics_timestamps ekf_localization_node) - - #### EKF TESTS ##### - add_rostest_gtest(test_ekf - test/test_ekf.test - test/test_ekf.cpp) - target_link_libraries(test_ekf ros_filter ekf ${catkin_LIBRARIES} ${rostest_LIBRARIES}) - - add_rostest_gtest(test_ekf_localization_node_interfaces - test/test_ekf_localization_node_interfaces.test - test/test_ekf_localization_node_interfaces.cpp) - target_link_libraries(test_ekf_localization_node_interfaces ros_filter ekf ${catkin_LIBRARIES} ${rostest_LIBRARIES}) - add_dependencies(test_ekf_localization_node_interfaces ekf_localization_node) - - add_rostest_gtest(test_ekf_localization_node_bag1 - test/test_ekf_localization_node_bag1.test - test/test_localization_node_bag_pose_tester.cpp) - target_link_libraries(test_ekf_localization_node_bag1 ${catkin_LIBRARIES} ${rostest_LIBRARIES}) - add_dependencies(test_ekf_localization_node_bag1 ekf_localization_node) - - add_rostest_gtest(test_ekf_localization_node_bag2 - test/test_ekf_localization_node_bag2.test - test/test_localization_node_bag_pose_tester.cpp) - target_link_libraries(test_ekf_localization_node_bag2 ${catkin_LIBRARIES} ${rostest_LIBRARIES}) - add_dependencies(test_ekf_localization_node_bag2 ekf_localization_node) - - add_rostest_gtest(test_ekf_localization_node_bag3 - test/test_ekf_localization_node_bag3.test - test/test_localization_node_bag_pose_tester.cpp) - target_link_libraries(test_ekf_localization_node_bag3 ${catkin_LIBRARIES} ${rostest_LIBRARIES}) - add_dependencies(test_ekf_localization_node_bag3 ekf_localization_node) - - add_rostest_gtest(test_ekf_localization_nodelet_bag1 - test/test_ekf_localization_nodelet_bag1.test - test/test_localization_node_bag_pose_tester.cpp) - target_link_libraries(test_ekf_localization_nodelet_bag1 ${catkin_LIBRARIES} ${rostest_LIBRARIES}) - add_dependencies(test_ekf_localization_nodelet_bag1 ekf_localization_nodelet) - - #### UKF TESTS ##### - add_rostest_gtest(test_ukf - test/test_ukf.test - test/test_ukf.cpp) - target_link_libraries(test_ukf ros_filter ukf ${catkin_LIBRARIES} ${rostest_LIBRARIES}) - - add_rostest_gtest(test_ukf_localization_node_interfaces - test/test_ukf_localization_node_interfaces.test - test/test_ukf_localization_node_interfaces.cpp) - target_link_libraries(test_ukf_localization_node_interfaces ${catkin_LIBRARIES} ${rostest_LIBRARIES}) - add_dependencies(test_ukf_localization_node_interfaces ukf_localization_node) - - add_rostest_gtest(test_ukf_localization_node_bag1 - test/test_ukf_localization_node_bag1.test - test/test_localization_node_bag_pose_tester.cpp) - target_link_libraries(test_ukf_localization_node_bag1 ${catkin_LIBRARIES} ${rostest_LIBRARIES}) - add_dependencies(test_ukf_localization_node_bag1 ukf_localization_node) - - add_rostest_gtest(test_ukf_localization_node_bag2 - test/test_ukf_localization_node_bag2.test - test/test_localization_node_bag_pose_tester.cpp) - target_link_libraries(test_ukf_localization_node_bag2 ${catkin_LIBRARIES} ${rostest_LIBRARIES}) - add_dependencies(test_ukf_localization_node_bag2 ukf_localization_node) - - add_rostest_gtest(test_ukf_localization_node_bag3 - test/test_ukf_localization_node_bag3.test - test/test_localization_node_bag_pose_tester.cpp) - target_link_libraries(test_ukf_localization_node_bag3 ${catkin_LIBRARIES} ${rostest_LIBRARIES}) - add_dependencies(test_ukf_localization_node_bag3 ukf_localization_node) - - add_rostest_gtest(test_ukf_localization_nodelet_bag1 - test/test_ukf_localization_nodelet_bag1.test - test/test_localization_node_bag_pose_tester.cpp) - target_link_libraries(test_ukf_localization_nodelet_bag1 ${catkin_LIBRARIES} ${rostest_LIBRARIES}) - add_dependencies(test_ukf_localization_nodelet_bag1 ukf_localization_nodelet) - - #### RLE/RLL TESTS ##### - add_rostest_gtest(test_robot_localization_estimator - test/test_robot_localization_estimator.test - test/test_robot_localization_estimator.cpp) - target_link_libraries(test_robot_localization_estimator - robot_localization_estimator - ${catkin_LIBRARIES} - ${rostest_LIBRARIES}) - - add_executable(test_ros_robot_localization_listener_publisher test/test_ros_robot_localization_listener_publisher.cpp) - target_link_libraries(test_ros_robot_localization_listener_publisher - ${catkin_LIBRARIES}) - - add_rostest_gtest(test_ros_robot_localization_listener - test/test_ros_robot_localization_listener.test - test/test_ros_robot_localization_listener.cpp) - target_link_libraries(test_ros_robot_localization_listener - ros_robot_localization_listener - ${catkin_LIBRARIES} - ${rostest_LIBRARIES}) - - #### NAVSAT CONVERSION TESTS #### - catkin_add_gtest(navsat_conversions-test test/test_navsat_conversions.cpp) - target_link_libraries(navsat_conversions-test navsat_transform ${catkin_LIBRARIES}) - - #### NAVSAT TRANSFORM TESTS #### - add_rostest_gtest(test_navsat_transform - test/test_navsat_transform.test - test/test_navsat_transform.cpp) - target_link_libraries(test_navsat_transform ${catkin_LIBRARIES} ${rostest_LIBRARIES}) - -endif() diff --git a/navigation/robot_localization/LICENSE b/navigation/robot_localization/LICENSE deleted file mode 100644 index 45521a4a..00000000 --- a/navigation/robot_localization/LICENSE +++ /dev/null @@ -1,68 +0,0 @@ -All code within the robot_localization package that was developed by Charles -River Analytics is released under the BSD license: - -Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -* Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -* Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -* Neither the name of the {organization} nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -========================================================================== - -The robot_localization package also makes use of code written by The University -of Texas at Austin. This code is released under a modified BSD license: - -Copyright (C) 2010 Austin Robot Technology, and others -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions -are met: - -* Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - -* Redistributions in binary form must reproduce the above - copyright notice, this list of conditions and the following - disclaimer in the documentation and/or other materials provided - with the distribution. - -* Neither the names of the University of Texas at Austin, nor - Austin Robot Technology, nor the names of other contributors may - be used to endorse or promote products derived from this - software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -POSSIBILITY OF SUCH DAMAGE. diff --git a/navigation/robot_localization/README.md b/navigation/robot_localization/README.md deleted file mode 100644 index 929fee34..00000000 --- a/navigation/robot_localization/README.md +++ /dev/null @@ -1,6 +0,0 @@ -robot_localization -================== - -robot_localization is a package of nonlinear state estimation nodes. The package was developed by Charles River Analytics, Inc. - -Please see documentation here: http://docs.ros.org/melodic/api/robot_localization/html/index.html diff --git a/navigation/robot_localization/doc/.templates/full_globaltoc.html b/navigation/robot_localization/doc/.templates/full_globaltoc.html deleted file mode 100644 index ba7226e6..00000000 --- a/navigation/robot_localization/doc/.templates/full_globaltoc.html +++ /dev/null @@ -1,10 +0,0 @@ -

    {{ _('Table Of Contents') }}

    -{{ toctree(includehidden=True) }} - -

    {{ _('Further Documentation') }}

    - - - diff --git a/navigation/robot_localization/doc/CHANGELOG.rst b/navigation/robot_localization/doc/CHANGELOG.rst deleted file mode 120000 index e22698ba..00000000 --- a/navigation/robot_localization/doc/CHANGELOG.rst +++ /dev/null @@ -1 +0,0 @@ -../CHANGELOG.rst \ No newline at end of file diff --git a/navigation/robot_localization/doc/Makefile b/navigation/robot_localization/doc/Makefile deleted file mode 100644 index 642efcf8..00000000 --- a/navigation/robot_localization/doc/Makefile +++ /dev/null @@ -1,216 +0,0 @@ -# Makefile for Sphinx documentation -# - -# You can set these variables from the command line. -SPHINXOPTS = -SPHINXBUILD = sphinx-build -PAPER = -BUILDDIR = .build - -# User-friendly check for sphinx-build -ifeq ($(shell which $(SPHINXBUILD) >/dev/null 2>&1; echo $$?), 1) -$(error The '$(SPHINXBUILD)' command was not found. 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This file should be a Windows icon file (.ico) being 16x16 or 32x32 -# pixels large. -# html_favicon = None - -# Add any paths that contain custom static files (such as style sheets) here, -# relative to this directory. They are copied after the builtin static files, -# so a file named "default.css" will overwrite the builtin "default.css". -# html_static_path = ['.static'] - -# Add any extra paths that contain custom files (such as robots.txt or -# .htaccess) here, relative to this directory. These files are copied -# directly to the root of the documentation. -# html_extra_path = [] - -# If not '', a 'Last updated on:' timestamp is inserted at every page bottom, -# using the given strftime format. -# html_last_updated_fmt = '%b %d, %Y' - -# If true, SmartyPants will be used to convert quotes and dashes to -# typographically correct entities. -# html_use_smartypants = True - -# Custom sidebar templates, maps document names to template names. -html_sidebars = { - "**": ["full_globaltoc.html", "sourcelink.html", "searchbox.html"], -} - -# Additional templates that should be rendered to pages, maps page names to -# template names. -# html_additional_pages = {} - -# If false, no module index is generated. -# html_domain_indices = True - -# If false, no index is generated. -# html_use_index = True - -# If true, the index is split into individual pages for each letter. -# html_split_index = False - -# If true, links to the reST sources are added to the pages. -# html_show_sourcelink = True - -# If true, "Created using Sphinx" is shown in the HTML footer. Default is True. -# html_show_sphinx = True - -# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True. -# html_show_copyright = True - -# If true, an OpenSearch description file will be output, and all pages will -# contain a tag referring to it. The value of this option must be the -# base URL from which the finished HTML is served. -# html_use_opensearch = '' - -# This is the file name suffix for HTML files (e.g. ".xhtml"). -# html_file_suffix = None - -# Language to be used for generating the HTML full-text search index. -# Sphinx supports the following languages: -# 'da', 'de', 'en', 'es', 'fi', 'fr', 'hu', 'it', 'ja' -# 'nl', 'no', 'pt', 'ro', 'ru', 'sv', 'tr' -# html_search_language = 'en' - -# A dictionary with options for the search language support, empty by default. -# Now only 'ja' uses this config value -# html_search_options = {'type': 'default'} - -# The name of a javascript file (relative to the configuration directory) that -# implements a search results scorer. If empty, the default will be used. -# html_search_scorer = 'scorer.js' - -# Output file base name for HTML help builder. -htmlhelp_basename = "robot_localizationdoc" - -# -- Options for LaTeX output --------------------------------------------- - -latex_elements = { - # The paper size ('letterpaper' or 'a4paper'). - #'papersize': 'letterpaper', - # The font size ('10pt', '11pt' or '12pt'). - #'pointsize': '10pt', - # Additional stuff for the LaTeX preamble. - #'preamble': '', - # Latex figure (float) alignment - #'figure_align': 'htbp', -} - -# Grouping the document tree into LaTeX files. List of tuples -# (source start file, target name, title, -# author, documentclass [howto, manual, or own class]). -latex_documents = [ - ( - master_doc, - "robot_localization.tex", - "robot\\_localization Documentation", - "Tom Moore", - "manual", - ), -] - -# The name of an image file (relative to this directory) to place at the top of -# the title page. -# latex_logo = None - -# For "manual" documents, if this is true, then toplevel headings are parts, -# not chapters. -# latex_use_parts = False - -# If true, show page references after internal links. -# latex_show_pagerefs = False - -# If true, show URL addresses after external links. -# latex_show_urls = False - -# Documents to append as an appendix to all manuals. -# latex_appendices = [] - -# If false, no module index is generated. -# latex_domain_indices = True - -# -- Options for manual page output --------------------------------------- - -# One entry per manual page. List of tuples -# (source start file, name, description, authors, manual section). -man_pages = [(master_doc, "robot_localization", - "robot_localization Documentation", [author], 1)] - -# If true, show URL addresses after external links. -# man_show_urls = False - -# -- Options for Texinfo output ------------------------------------------- - -# Grouping the document tree into Texinfo files. List of tuples -# (source start file, target name, title, author, -# dir menu entry, description, category) -texinfo_documents = [ - ( - master_doc, - "robot_localization", - "robot_localization Documentation", - author, - "robot_localization", - "One line description of project.", - "Miscellaneous", - ), -] - -# Documents to append as an appendix to all manuals. -# texinfo_appendices = [] - -# If false, no module index is generated. -# texinfo_domain_indices = True - -# How to display URL addresses: 'footnote', 'no', or 'inline'. -# texinfo_show_urls = 'footnote' - -# If true, do not generate a @detailmenu in the "Top" node's menu. -# texinfo_no_detailmenu = False - -# Example configuration for intersphinx: refer to the Python standard library. -intersphinx_mapping = {"https://docs.python.org/": None} diff --git a/navigation/robot_localization/doc/configuring_robot_localization.rst b/navigation/robot_localization/doc/configuring_robot_localization.rst deleted file mode 100644 index 5db5385c..00000000 --- a/navigation/robot_localization/doc/configuring_robot_localization.rst +++ /dev/null @@ -1,117 +0,0 @@ -.. _configuring_robot_localization: - -Configuring robot_localization -############################## - - -When incorporating sensor data into the position estimate of any of ``robot_localization``'s state estimation nodes, it is important to extract as much information as possible. This tutorial details the best practices for sensor integration. - -For additional information, users are encouraged to watch this `presentation `_ from ROSCon 2015. - -Sensor Configuration -******************** - -The configuration vector format is the same for all sensors, even if the message type in question doesn't contain some of the variables in the configuration vector (e.g., a <> lacks any pose data, but the configuration vector still has values for pose variables). Unused variables are simply ignored. - -Note that the configuration vector is given in the ``frame_id`` of the input message. For example, consider a velocity sensor that produces a `geometry_msgs/TwistWithCovarianceStamped `_ message with a ``frame_id`` of *velocity_sensor_frame*. In this example, we'll assume that a transform exists from *velocity_sensor_frame* to your robot's ``base_link_frame`` (e.g., *base_link*), and that the transform would convert :math:`X` velocity in the *velocity_sensor_frame* to :math:`Z` velocity in the ``base_link_frame``. To include the :math:`X` velocity data from the sensor into the filter, the configuration vector should set the :math:`X` velocity value to *true*, and **not** the :math:`\dot{Z}` velocity value: - -.. code-block:: xml - - [false, false, false, - false, false, false, - true, false, false, - false, false, false, - false, false, false] - -.. note:: The order of the boolean values are :math:`(X, Y, Z, roll, pitch, yaw, \dot{X}, \dot{Y}, \dot{Z}, \dot{roll}, \dot{pitch}, \dot{yaw}, \ddot{X}, \ddot{Y}, \ddot{Z})`. - -Operating in 2D? -**************** - -The first decision to make when configuring your sensors is whether or not your robot is operating in a planar environment, and you're comfortable with ignoring subtle effects of variations in the ground plane as might be reported from an IMU. If so, please set the ``two_d_mode`` parameter to *true*. This effectively zeros out the 3D pose variables in every measurement and forces them to be fused in the state estimate. - -Fusing Unmeasured Variables -*************************** - -Let's start with an example. Let's say you have a wheeled, nonholonomic robot that works in a planar environment. Your robot has some wheel encoders that are used to estimate instantaneous X velocity as well as absolute pose information. This information is reported in an `nav_msgs/Odometry `_ message. Additionally, your robot has an IMU that measures rotational velocity, vehicle attitude, and linear acceleration. Its data is reported in a `sensor_msgs/Imu `_ message. As we are operating in a planar environment, we set the ``two_d_mode`` parameter to *true*. This will automatically zero out all 3D variables, such as :math:`Z`, :math:`roll`, :math:`pitch`, their respective velocities, and :math:`Z` acceleration. We start with this configuration: - -.. code-block:: xml - - [true, true, false, - false, false, true, - true, false, false, - false, false, true, - false, false, false] - - [false, false, false, - false, false, true, - false, false, false, - false, false, true, - true, false, false] - -As a first pass, this makes sense, as a planar robot only needs to concern itself with :math:`X`, :math:`Y`, :math:`\dot{X}`, :math:`\dot{Y}`, :math:`\ddot{X}`, :math:`\ddot{Y}`, :math:`yaw`, and :math:`\dot{yaw}`. However, there are a few things to note here. - -1. For ``odom0``, we are including :math:`X` and :math:`Y` (reported in a world coordinate frame), :math:`yaw`, :math:`\dot{X}` (reported in the body frame), and :math:`\dot{yaw}`. However, unless your robot is internally using an IMU, it is most likely simply using wheel encoder data to generate the values in its measurements. Therefore, its velocity, heading, and position data are all generated from the same source. In that instance, we don't want to use all the values, as you're feeding duplicate information into the filter. Instead, it's best to just use the velocities: - -.. code-block:: xml - - [false, false, false, - false, false, false, - true, false, false, - false, false, true, - false, false, false] - - [false, false, false, - false, false, true, - false, false, false, - false, false, true, - true, false, false] - -2. Next, we note that we are not fusing :math:`\dot{Y}`. At first glance, this is the right choice, as our robot cannot move instantaneously sideways. However, if the `nav_msgs/Odometry `_ message reports a :math:`0` value for :math:`\dot{Y}` (and the :math:`\dot{Y}` covariance is NOT inflated to a large value), it's best to feed that value to the filter. As a :math:`0` measurement in this case indicates that the robot cannot ever move in that direction, it serves as a perfectly valid measurement: - -.. code-block:: xml - - [false, false, false, - false, false, false, - true, true, false, - false, false, true, - false, false, false] - - [false, false, false, - false, false, true, - false, false, false, - false, false, true, - true, false, false] - -You may wonder why did we not fuse :math:`\dot{Z}` velocity for the same reason. The answer is that we did when we set ``two_d_mode`` to *false*. If we hadn't, we could, in fact, fuse the :math:`0` measurement for :math:`\dot{Z}` velocity into the filter. - -3. Last, we come to the IMU. You may notice that we have set the :math:`\ddot{Y}` to *false*. This is due to the fact that many systems, including the hypothetical one we are discussing here, will not undergo instantaneous :math:`Y` acceleration. However, the IMU will likely report non-zero, noisy values for Y acceleration, which can cause your estimate to drift rapidly. - -The *differential* Parameters -***************************** - -The state estimation nodes in ''robot_localization'' allow users to fuse as many sensors as they like. This allows users to measure certain state vector variables - in particular, pose variables - using more than one source. For example, your robot may obtain absolute orientation information from multiple IMUs, or it may have multiple data sources providing an estimate its absolute position. In this case, users have two options: - -1. Fuse all the absolute position/orientation data as-is, e.g., - -.. code-block:: xml - - [false, false, false, - true, true, true, - false, false, false, - false, false, false, - false, false, false] - - [false, false, false, - true, true, true, - false, false, false, - false, false, false, - false, false, false] - -In this case, users should be **very** careful and ensure that the covariances on each measured orientation variable are set correctly. If each IMU advertises a yaw variance of, for example, :math:`0.1`, yet the delta between the IMUs' yaw measurements is :math:`> 0.1`, then the output of the filter will oscillate back and forth between the values provided by each sensor. Users should make sure that the noise distributions around each measurement overlap. - -2. Alternatively, users can make use of the ``_differential`` parameter. By setting this to *true* for a given sensor, all pose (position and orientation) data is converted to a velocity by calculating the change in the measurement value between two consecutive time steps. The data is then fused as a velocity. Again, though, users should take care: when measurements are fused absolutely (especially IMUs), if the measurement has a static or non-increasing variance for a given variable, then the variance in the estimate's covariance matrix will be bounded. If that information is converted to a velocity, then at each time step, the estimate will gain some small amount of error, and the variance for the variable in question will grow without bound. For position :math:`(X, Y, Z)` information, this isn't an issue, but for orientation data, it is a problem. For example, it is acceptable for a robot to move around its environment and accumulate :math:`1.5` meters of error in the :math:`X` direction after some time. If that same robot moves around and accumulates :math:`1.5` radians of error in yaw, then when the robot next drives forward, its position error will explode. - -The general rule of thumb for the ``_differential`` parameter is that if a give robot has only one source of orientation data, then the differential parameter should be set to *false*. If there are :math:`N` sources, users can set the ``_differential`` parameter to *true* for :math:`N-1` of them, or simply ensure that the covariance values are large enough to eliminate oscillations. - - diff --git a/navigation/robot_localization/doc/images/figure2.png b/navigation/robot_localization/doc/images/figure2.png deleted file mode 100644 index 0224d293f3aac3dc153611f78bf227be5fc02f26..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 83408 zcmZ6y1z1$k`aOIQ6{HPHT0t5F1f-=zKtM`B8YHBJOSp${;ukOW~ck_^Vf@)(+P8rq(vp(&FOOHg?v=?<|ZU$YnA~*+fNo zjY#NZ=1@#F$R|qHT8R*oT1hO}=U(_DCYoCWGC?%oCkPdrZc9pDC;R;^2t72^=QE)q z3(hC3ag0Tp)X)!UL7zI|bM9&8qqQf?J(p!;!Yg?PNu_-ljhHwwFSr!BeQ>hHC~yDy z(B9HEx5)O)7mL;gBET$tOJk3Chz6Z{2?{blXvC<8&|HSFF`-7egvQ6@fk^yyu{bR> zA3wB4hw!Jem_GNQXKtZlKcHvN(R`A=K2nChU5E6#3=I~bSFDg8z4!7E8pv!YKx(!#zx7|D^1LN zk4OKSe*81GU#@YaoW4)+{~UBf(6?|x@U{mCmtMSr-d>*2ay(tu^@f|s2L=WUmrH%Q zHqRhv&cSQol7+qWzK_67AIr;By6x+xI@sSFPlAn0@Sl}I-_|D84s1|+Bl-PH)x^Zo 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b/navigation/robot_localization/doc/images/navsat_transform_workflow.tex deleted file mode 100644 index 2dd0ab09..00000000 --- a/navigation/robot_localization/doc/images/navsat_transform_workflow.tex +++ /dev/null @@ -1,49 +0,0 @@ -\documentclass{standalone} -\usepackage{tikz} -\usetikzlibrary{positioning} - -\begin{document} - -\sffamily - -\begin{tikzpicture}[>=stealth, - node distance = 3cm, - box/.style={shape=rectangle,draw,rounded corners},] - % Nodes - \node (wheel) [box] {Wheel Odometry}; - \node (imu) [box, right =of wheel]{IMU}; - \node (ekfLocal) [box, below =of wheel]{EKF Local}; - \node (ekfGlobal) [box, below =of imu]{EKF Global}; - \node (navsat) [box, right =7cm of ekfGlobal]{navsat\_transform}; - \node (gps) [box, above =of navsat]{GPS}; - % Coordinates for edges pointing to empty space - \node (gpsF) [right =of navsat]{}; - \node (tfLocal) [below =of ekfLocal]{}; - \node (odomLocal) [left =of ekfLocal]{}; - \node (tfGlobal) [below =of ekfGlobal]{}; - % Edges - \draw[->] (wheel.270) -- (ekfLocal.90); - \draw[->] (wheel.315) -- (ekfGlobal.135) - node [fill=white, pos=0.2, align=center] {\ttfamily"/wheel/odometry"\\nav\_msgs/Odometry}; - \draw[->] (imu.225) -- (ekfLocal.45); - \draw[->] (imu.315) -- (navsat.135); - \draw[->] (imu.270) -- (ekfGlobal.90) - node [fill=white, pos=0.2, align=center] {\ttfamily"/imu/data"\\sensor\_msgs/Imu}; - \draw[->] (gps.270) -- (navsat.90) - node [fill=white, pos=0.2, align=center] {\ttfamily"/gps/fix"\\sensor\_msgs/NavSatFix}; - \draw[->, transform canvas={yshift=1mm}] (ekfGlobal) -- (navsat) - node [fill=white, above=1mm, pos=0.5, align=center] {\ttfamily"/odometry/filtered/global"\\nav\_msgs/Odometry}; - \draw[->, transform canvas={yshift=-1mm}] (navsat) -- (ekfGlobal) - node [fill=white, below=1mm, pos=0.5, align=center] {\ttfamily"/odometry/gps"\\nav\_msgs/Odometry}; - % Outputs not cycled back into the graph - \draw[->, dashed] (navsat) -- (gpsF) - node [fill=white, above=1mm, pos=1.0, align=center] {\ttfamily"/gps/filtered"\\sensor\_msgs/NavSatFix}; - \draw[->, dashed] (ekfLocal) -- (tfLocal) - node [fill=white, pos=0.7, align=center] {\ttfamily"/tf" odom -> base\\tf2\_msgs/TFMessage}; - \draw[->, dashed] (ekfLocal) -- (odomLocal) - node [fill=white, above=1mm, pos=1.0, align=center] {\ttfamily"/odometry/filtered/local"\\nav\_msgs/Odometry}; - \draw[->, dashed] (ekfGlobal) -- (tfGlobal) - node [fill=white, pos=0.7, align=center] {\ttfamily"/tf" map -> odom\\tf2\_msgs/TFMessage}; -\end{tikzpicture} - -\end{document} diff --git a/navigation/robot_localization/doc/images/rl_small.png b/navigation/robot_localization/doc/images/rl_small.png deleted file mode 100644 index 33a4d594a0a322feca72f5f1a62f5c9a14640a6c..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 59361 zcmV*4Ky|-~P)& zfPy+IDvqd_36d0=)Z~`fO?MMIR#$gdb>*si&)IvwKla+;+-gwgz4v+VGfvI4Ror{_ zIs5Fm_IG{PcafCR;(ves_ve3q{y+Os{tqDp00Qt_b8=VT`Op5A?}$IQ01;rD%Ml0` 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-*********************** - -``robot_localization`` is a collection of state estimation nodes, each of which is an implementation of a nonlinear state estimator for robots moving in 3D space. It contains two state estimation nodes, ``ekf_localization_node`` and ``ukf_localization_node``. In addition, ``robot_localization`` provides ``navsat_transform_node``, which aids in the integration of GPS data. - -.. toctree:: - :hidden: - - state_estimation_nodes - navsat_transform_node - preparing_sensor_data - configuring_robot_localization - migrating_from_robot_pose_ekf - integrating_gps - CHANGELOG - user_contributed_tutorials - -Features -======== - -All the state estimation nodes in ``robot_localization`` share common features, namely: - -* Fusion of an arbitrary number of sensors. The nodes do not restrict the number of input sources. If, for example, your robot has multiple IMUs or multiple sources of odometry information, the state estimation nodes within ``robot_localization`` can support all of them. -* Support for multiple ROS message types. All state estimation nodes in ``robot_localization`` can take in `nav_msgs/Odometry `_, `sensor_msgs/Imu `_, `geometry_msgs/PoseWithCovarianceStamped `_, or `geometry_msgs/TwistWithCovarianceStamped `_ messages. -* Per-sensor input customization. If a given sensor message contains data that you don't want to include in your state estimate, the state estimation nodes in ``robot_localization`` allow you to exclude that data on a per-sensor basis. -* Continuous estimation. Each state estimation node in ``robot_localization`` begins estimating the vehicle's state as soon as it receives a single measurement. If there is a holiday in the sensor data (i.e., a long period in which no data is received), the filter will continue to estimate the robot's state via an internal motion model. - -All state estimation nodes track the 15-dimensional state of the vehicle: :math:`(X, Y, Z, roll, pitch, yaw, \dot{X}, \dot{Y}, \dot{Z}, \dot{roll}, \dot{pitch}, \dot{yaw}, \ddot{X}, \ddot{Y}, \ddot{Z})`. - -Other Resources -=============== - -If you're new to ``robot_localization``, check out the `2015 ROSCon talk `_ for some pointers on getting started. - -Further details can be found in :download:`this paper `: - -.. code-block:: none - - @inproceedings{MooreStouchKeneralizedEkf2014, - author = {T. Moore and D. Stouch}, - title = {A Generalized Extended Kalman Filter Implementation for the Robot Operating System}, - year = {2014}, - month = {July}, - booktitle = {Proceedings of the 13th International Conference on Intelligent Autonomous Systems (IAS-13)}, - publisher = {Springer} - } - -Indices and tables -================== - -* :ref:`genindex` -* :ref:`search` - diff --git a/navigation/robot_localization/doc/integrating_gps.rst b/navigation/robot_localization/doc/integrating_gps.rst deleted file mode 100644 index 65a78509..00000000 --- a/navigation/robot_localization/doc/integrating_gps.rst +++ /dev/null @@ -1,165 +0,0 @@ -Integrating GPS Data -#################### - -Integration of GPS data is a common request from users. ``robot_localization`` contains a node, ``navsat_transform_node``, that transforms GPS data into a frame that is consistent with your robot's starting pose (position and orientation) in its world frame. This greatly simplifies fusion of GPS data. This tutorial explains how to use ``navsat_transform_node``, and delves into some of the math behind it. - -For additional information, users are encouraged to watch this `presentation `_ from ROSCon 2015. - -Notes on Fusing GPS Data -************************ - -Before beginning this tutorial, users should be sure to familiarize themselves with `REP-105 `_. It is important for users to realize that using a position estimate that includes GPS data will likely be unfit for use by navigation modules, owing to the fact that GPS data is subject to discrete discontinuities ("jumps"). If you want to fuse data from a GPS into your position estimate, one potential solution is to do the following: - -1. Run one instance of a ``robot_localization`` state estimation node that fuses only continuous data, such as odometry and IMU data. Set the ``world_frame`` parameter for this instance to the same value as the ``odom_frame`` parameter. Execute local path plans and motions in this frame. -2. Run another instance of a ``robot_localization`` state estimation node that fuses all sources of data, including the GPS. Set the ``world_frame`` parameter for this instance to the same value as the ``map_frame`` parameter. - -This is just a suggestion, however, and users are free to fuse the GPS data into a single instance of a ``robot_localization`` state estimation node. - -Using navsat_transform_node -*************************** - -The diagram below illustrates an example setup: - -.. image:: images/navsat_transform_workflow.png - :width: 800px - :align: center - :alt: navsat_transform workflow - - -Required Inputs -=============== - -``navsat_transform_node`` requires three sources of information: the robot's current pose estimate in its world frame, an earth-referenced heading, and a geographic coordinate expressed as a latitude/longitude pair (with optional altitude). - -These data can be obtained in three different ways: - -1. (Default behavior) The data can come entirely from the robot's sensors and pose estimation software. To enable this mode, make sure the ``wait_for_datum`` parameter is set to *false* (its default value). The required messages are: - - * A `sensor_msgs/NavSatFix `_ message with raw GPS coordinates in it. - * A `sensor_msgs/Imu `_ message with an absolute (earth-referenced) heading. - * A `nav_msgs/Odometry `_ message that contains the robot's current position estimate in the frame specified by its start location (typically the output of a ``robot_localization`` state estimation node). - -2. The datum (global frame origin) can be specified via the ``datum`` parameter. - - .. note:: In order to use this mode, the ``wait_for_datum`` parameter must be set to *true*. - - The ``datum`` parameter takes this form: - - .. code-block:: xml - - [55.944904, -3.186693, 0.0, map, base_link] - - The parameter order is ``latitude`` in decimal degrees, ``longitude`` in decimal degrees, ``heading`` in radians) the ``frame_id`` of your robot's world frame (i.e., the value of the ``world_frame`` parameter in a ``robot_localization`` state estimation node), and the ``frame_id`` of your robot's body frame (i.e., the value of the ``base_link_frame`` parameter in a ``robot_localization`` state estimation node). When this mode is used, the robot assumes that your robot's world frame origin is at the specified latitude and longitude and with a heading of :math:`0` (east). - -3. The datum can be set manually via the ``set_datum`` service and using the `robot_localization/SetDatum `_ service message. - - -GPS Data -^^^^^^^^ - -Please note that all development of ``navsat_transform_node`` was done using a Garmin 18x GPS unit, so there may be intricacies of the data generated by other units that need to be handled. - -The excellent `nmea_navsat_driver `_ package provides the required `sensor_msgs/NavSatFix `_ message. Here is the ``nmea_navsat_driver`` launch file we'll use for this tutorial: - - .. code-block:: xml - - - - - - -This information is only relevant if the user is not manually specifying the origin via the ``datum`` parameter or the ``set_datum`` service. - -IMU Data -^^^^^^^^ - -.. note:: Since version 2.2.1, ``navsat_transform_node`` has moved to a standard wherein all heading data is assumed to start with its zero point facing east. If your IMU does not conform to this standard and instead reports zero when facing north, you can still use the ``yaw_offset`` parameter to correct this. In this case, the value for ``yaw_offset`` would be :math:`\pi / 2` (approximately :math:`1.5707963`). - -Users should make sure their IMUs conform to `REP-105 `_. In particular, check that the signs of your orientation angles increase in the right direction. In addition, users should look up the `magnetic declination `_ for their robot's operating area, convert it to radians, and then use that value for the ``magnetic_declination_radians`` parameter. - -This information is only relevant if the user is not manually specifying the origin via the ``datum`` parameter or the ``set_datum`` service. - -Odometry Data -^^^^^^^^^^^^^ - -This should just be the output of whichever ``robot_localization`` state estimation node instance you are using to fuse GPS data. - -Configuring navsat_transform_node -================================= - -Below is the ``navsat_transform_node`` launch file we'll use for this tutorial: - -.. code-block:: xml - - - - - - - - - - - - - - - - - -These parameters are discussed on the :ref:`main page `. - -Configuring robot_localization -============================== - -Integration with ``robot_localization`` is straightforward at this point. Simply add this block to your state estimation node launch file: - -.. code-block:: xml - - - - [true, true, false, - false, false, false, - false, false, false, - false, false, false, - false, false, false] - - -Make sure to change ``odomN`` to whatever your odometry input values is (e.g., *odom1*, *odom2*, etc.). Also, if you wish to include altitude data, set ``odomN_config``'s third value to ``true``. - -.. note:: If you are operating in 2D don't have any sensor measuring Z or Z velocity, you can either: - - * Set ``navsat_transform_node's`` ``zero_altitude`` parameter to *true*, and then set ``odomN_config``'s third value to *true* - * Set ``two_d_mode`` to *true* in your ``robot_localization`` state estimation node - -You should have no need to modify the ``_differential`` setting within the state estimation node. The GPS is an absolute position sensor, and enabling differential integration defeats the purpose of using it. - -Details -======= - -We'll start with a picture. Consider a robot that starts at some latitude and longitude and with some heading. We assume in this tutorial that the heading comes from an IMU that reads 0 when facing east, and increases according to the ROS spec (i.e., counter-clockwise). The remainder of this tutorial will refer to Figure 2: - -.. image:: images/figure2.png - :width: 800px - :align: center - :alt: Figure 2 - - -`REP-105 `_ suggests four coordinate frames: *base_link*, *odom*, *map*, and *earth*. *base_link* is the coordinate frame that is rigidly attached to the vehicle. The *odom* and *map* frames are world-fixed frames and generally have their origins at the vehicle's start position and orientation. The *earth* frame is used as a common reference frame for multiple map frames, and is not yet supported by ``navsat_transform_node``. Note that in Figure 2, the robot has just started (``t = 0``), and so its *base_link*, *odom*, and *map* frames are aligned. We can also define a coordinate frame for the UTM grid, which we will call *utm*. For the purposes of this tutorial, we will refer to the UTM grid coordinate frame as *utm*. Therefore, what we want to do is create a *utm*->*map* transform. - -Referring to Figure 2, these ideas are (hopefully) made clear. The UTM origin is the :math:`(0_{UTM}, 0_{UTM})` point of the UTM zone that is associated with the robot's GPS location. The robot begins somewhere within the UTM zone at location :math:`(x_{UTM}, y_{UTM})`. The robot's initial orientation is some angle :math:`\theta` above the UTM grid's :math:`X`-axis. Our transform will therefore require that we know :math:`x_{UTM}, y_{UTM}` and :math:`\theta`. - -We now need to convert our latitude and longitude to UTM coordinates. The UTM grid assumes that the :math:`X`-axis faces east, the :math:`Y`-axis faces (true) north, and the :math:`Z`-axis points up out of the ground. This complies with the right-handed coordinate frame as dictated by `REP-105 `_. The REP also states that a yaw angle of :math:`0` means that we are facing straight down the :math:`X`-axis, and that the yaw increases counter-clockwise. ``navsat_transform_node`` assumes your heading data conforms to this standard. However, there are two factors that need to be considered: - -1. The IMU driver may not allow the user to apply the magnetic declination correction factor -2. The IMU driver may incorrectly report :math:`0` when facing north, and not when facing east (even though its headings increase and decrease correctly). Fortunately, ``navsat_transform_node`` exposes two parameters to adddress these possible shortcomings in IMU data: ``magnetic_declination_radians`` and ``yaw_offset``. Referring to Figure 2, for an IMU that is currently measuring a yaw value of ``imu_yaw``, - - :math:`yaw_{imu} = -\omega - offset_{yaw} + \theta` - - :math:`\theta = yaw_{imu} + \omega + offset_{yaw}` - -We now have a translation :math:`(x_{UTM}, y_{UTM})` and rotation :math:`\theta`, which we can use to create the required *utm* -> *map* transform. We use the transform to convert all future GPS positions into the robot's local coordinate frame. ``navsat_transform_node`` will also broadcast this transform if the ``broadcast_utm_transform`` parameter is set to *true*. - -If you have any questions about this tutorial, please feel free to ask questions on `answers.ros.org `_. - - diff --git a/navigation/robot_localization/doc/manifest.yaml b/navigation/robot_localization/doc/manifest.yaml deleted file mode 100644 index a0dc0c4f..00000000 --- a/navigation/robot_localization/doc/manifest.yaml +++ /dev/null @@ -1,38 +0,0 @@ -actions: [] -authors: Tom Moore -brief: '' -bugtracker: '' -depends: -- catkin -- eigen -- diagnostic_updater -- cmake_modules -- tf2 -- nav_msgs -- roscpp -- rostest -- tf2_ros -- message_generation -- message_filters -- tf2_geometry_msgs -- sensor_msgs -- message_runtime -- std_msgs -- roslint -- rosunit -- diagnostic_msgs -- geographic_msgs -- python-catkin-pkg -- geometry_msgs -- rosbag -description: The robot_localization package provides nonlinear state estimation through - sensor fusion of an abritrary number of sensors. -license: BSD -maintainers: Tom Moore -msgs: [] -package_type: package -repo_url: '' -srvs: -- SetPose -- SetDatum -url: http://ros.org/wiki/robot_localization diff --git a/navigation/robot_localization/doc/migrating_from_robot_pose_ekf.rst b/navigation/robot_localization/doc/migrating_from_robot_pose_ekf.rst deleted file mode 100644 index 8ffba576..00000000 --- a/navigation/robot_localization/doc/migrating_from_robot_pose_ekf.rst +++ /dev/null @@ -1,29 +0,0 @@ -.. _migrating_from_robot_pose_ekf: - -Migrating from robot_pose_ekf -############################# - -Migration from ``robot_pose_ekf`` is fairly straightforward. This page is meant to highlight relevant differences between the packages to facilitate rapid transitions. - -Covariances in Source Messages -============================== - -For ``robot_pose_ekf``, a common means of getting the filter to ignore measurements is to give it a massively inflated covariance, often on the order of 10^3. However, the state estimation nodes in ``robot_localization`` allow users to specify *which* variables from the measurement should be fused with the current state. If your sensor reports zero for a given variable and you don't want to fuse that value with your filter, or if the sensor is known to produce poor data for that field, then simply set its ``xxxx_config`` parameter value to false for the variable in question (see the main page for a description of this parameter). - -However, users should take care: sometimes platform constraints create implicit :math:`0` measurements of variables. For example, a differential drive robot that cannot move instantaneously in the :math:`Y` direction can safely fuse a :math:`0` measurement for :math:`\dot{Y}` with a small covariance value. - -The ''differential'' Parameter -============================== - -By default, ``robot_pose_ekf`` will take a pose measurement at time :math:`t`, determine the difference between it and the measurement at time :math:`t-1`, transform that difference into the current frame, and then integrate that measurement. This cleverly aids in cases where two sensors are measuring the same pose variable: as time progresses, the values reported by each sensor will start to diverge. If the covariances on at least one of these measurements do not grow appopriately, the filter will eventually start to oscillate between the measured values. By carrying out differential integration, this situation is avoided and measurements are always consistent with the current state. - -This situation can be avoided using three different methods for the ``robot_localization`` state estimation nodes: - -1. If fusing two different sources for the same pose data (e.g., two different sensors measuring :math:`Z` position), ensure that those sources accurately report their covariances. If the two sources begin to diverge, then their covariances should refect the growing error that must be occurring in at least one of them. - -2. If available, fuse velocity data instead of pose data. If you have two separate data sources measuring the same variable, fuse the most accurate one as pose data and the other as velocity. - -3. As an alternative to (2), if velocity data is unavailable for a given pose measurement, enable the ``_differential`` parameter for one of the sensors. This will cause it to be differentiated and fused as a velocity. - - - diff --git a/navigation/robot_localization/doc/navsat_transform_node.rst b/navigation/robot_localization/doc/navsat_transform_node.rst deleted file mode 100644 index 28f03593..00000000 --- a/navigation/robot_localization/doc/navsat_transform_node.rst +++ /dev/null @@ -1,75 +0,0 @@ -navsat_transform_node -********************* - -``navsat_transform_node`` takes as input a `nav_msgs/Odometry `_ message (usually the output of ``ekf_localization_node`` or ``ukf_localization_node``), a `sensor_msgs/Imu `_ containing an accurate estimate of your robot's heading, and a `sensor_msgs/NavSatFix `_ message containing GPS data. It produces an odometry message in coordinates that are consistent with your robot's world frame. This value can be directly fused into your state estimate. - -.. note:: If you fuse the output of this node with any of the state estimation nodes in ``robot_localization``, you should make sure that the ``odomN_differential`` setting is *false* for that input. - -Parameters -========== - -~frequency -^^^^^^^^^^ -The real-valued frequency, in Hz, at which ``navsat_transform_node`` checks for new `sensor_msgs/NavSatFix `_ messages, and publishes filtered `sensor_msgs/NavSatFix `_ when ``publish_filtered_gps`` is set to *true*. - -~delay -^^^^^^ -The time, in seconds, to wait before calculating the transform from GPS coordinates to your robot's world frame. - -~magnetic_declination_radians -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Enter the magnetic declination for your location. If you don't know it, see `http://www.ngdc.noaa.gov/geomag-web `_ (make sure to convert the value to radians). This parameter is needed if your IMU provides its orientation with respect to the magnetic north. - -~yaw_offset -^^^^^^^^^^^ -Your IMU should read 0 for yaw when facing east. If it doesn't, enter the offset here (desired_value = offset + sensor_raw_value). For example, if your IMU reports 0 when facing north, as most of them do, this parameter would be ``pi/2`` (~1.5707963). This parameter changed in version ``2.2.1``. Previously, ``navsat_transform_node`` assumed that IMUs read 0 when facing north, so yaw_offset was used acordingly. - -~zero_altitude -^^^^^^^^^^^^^^ -If this is *true*, the `nav_msgs/Odometry `_ message produced by this node has its pose Z value set to 0. - -~publish_filtered_gps -^^^^^^^^^^^^^^^^^^^^^ -If *true*, ``navsat_transform_node`` will also transform your robot's world frame (e.g., *map*) position back to GPS coordinates, and publish a `sensor_msgs/NavSatFix `_ message on the ``/gps/filtered`` topic. - -~broadcast_utm_transform -^^^^^^^^^^^^^^^^^^^^^^^^ -If this is *true*, ``navsat_transform_node`` will broadcast the transform between the UTM grid and the frame of the input odometry data. See Published Transforms below for more information. - -~use_odometry_yaw -^^^^^^^^^^^^^^^^^ -If *true*, ``navsat_transform_node`` will not get its heading from the IMU data, but from the input odometry message. Users should take care to only set this to true if your odometry message has orientation data specified in an earth-referenced frame, e.g., as produced by a magnetometer. Additionally, if the odometry source is one of the state estimation nodes in ``robot_localization``, the user should have at least one source of absolute orientation data being fed into the node, with the ``_differential`` and ``_relative`` parameters set to *false*. - -~wait_for_datum -^^^^^^^^^^^^^^^ -If *true*, ``navsat_transform_node`` will wait to get a datum from either: - -* The ``datum`` parameter -* The ``set_datum`` service - -~broadcast_utm_transform_as_parent_frame -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -If *true*, ``navsat_transform_node`` will publish the utm->world_frame transform instead of the world_frame->utm transform. -Note that for the transform to be published ``broadcast_utm_transform`` also has to be set to *true*. - -~transform_timeout -^^^^^^^^^^^^^^^^^^ -This parameter specifies how long we would like to wait if a transformation is not available yet. Defaults to 0 if not set. The value 0 means we just get us the latest available (see ``tf2`` implementation) transform. - -Subscribed Topics -================= -* ``imu/data`` A `sensor_msgs/Imu `_ message with orientation data - -* ``odometry/filtered`` A `nav_msgs/Odometry `_ message of your robot's current position. This is needed in the event that your first GPS reading comes after your robot has attained some non-zero pose. - -* ``gps/fix`` A `sensor_msgs/NavSatFix `_ message containing your robot's GPS coordinates - -Published Topics -================ -* ``odometry/gps`` A `nav_msgs/Odometry `_ message containing the GPS coordinates of your robot, transformed into its world coordinate frame. This message can be directly fused into ``robot_localization``'s state estimation nodes. - -* ``gps/filtered`` (optional) A `sensor_msgs/NavSatFix `_ message containing your robot's world frame position, transformed into GPS coordinates - -Published Transforms -==================== -* ``world_frame->utm`` (optional) - If the ``broadcast_utm_transform`` parameter is set to *true*, ``navsat_transform_node`` calculates a transform from the *utm* frame to the ``frame_id`` of the input odometry data. By default, the *utm* frame is published as a child of the odometry frame by using the inverse transform. With use of the ``broadcast_utm_transform_as_parent_frame`` parameter, the *utm* frame will be published as a parent of the odometry frame. This is useful if you have multiple robots within one TF tree. diff --git a/navigation/robot_localization/doc/preparing_sensor_data.rst b/navigation/robot_localization/doc/preparing_sensor_data.rst deleted file mode 100644 index 2d67e6c4..00000000 --- a/navigation/robot_localization/doc/preparing_sensor_data.rst +++ /dev/null @@ -1,104 +0,0 @@ -Preparing Your Data for Use with robot_localization -################################################### - -Before getting started with the state estimation nodes in ``robot_localization``, it is important that users ensure that their sensor data well-formed. There are various considerations for each class of sensor data, and users are encouraged to read this tutorial in its entirety before attempting to use ``robot_localization``. - -For additional information, users are encouraged to watch this `presentation `_ from ROSCon 2015. - -Adherence to ROS Standards -************************** - -The two most important ROS REPs to consider are: - -* `REP-103 `_ (Standard Units of Measure and Coordinate Conventions) -* `REP-105 `_ (Coordinate Frame Conventions). - -Users who are new to ROS or state estimation are encouraged to read over both REPs, as it will almost certainly aid you in preparing your sensor data. ``robot_localization`` attempts to adhere to these standards as much as possible. - -Also, it will likely benefit users to look over the specifications for each of the supported ROS message types: - -* `nav_msgs/Odometry `_ - -* `geometry_msgs/PoseWithCovarianceStamped `_ - -* `geometry_msgs/TwistWithCovarianceStamped `_ - -* `sensor_msgs/Imu `_ - -Coordinate Frames and Transforming Sensor Data -********************************************** - -`REP-105 `_ specifies four principal coordinate frames: *base_link*, *odom*, *map*, and *earth*. The *base_link* frame is rigidly affixed to the robot. The *map* and *odom* frames are world-fixed frames whose origins are typically aligned with the robot's start position. The *earth* frame is used to provide a common reference frame for multiple *map* frames (e.g., for robots distributed over a large area). The *earth* frame is not relevant to this tutorial. - -The state estimation nodes of ``robot_localization`` produce a state estimate whose pose is given in the *map* or *odom* frame and whose velocity is given in the *base_link* frame. All incoming data is transformed into one of these coordinate frames before being fused with the state. The data in each message type is transformed as follows: - -* `nav_msgs/Odometry `_ - All pose data (position and orientation) is transformed from the message header's ``frame_id`` into the coordinate frame specified by the ``world_frame`` parameter (typically *map* or *odom*). In the message itself, this specifically refers to everything contained within the ``pose`` property. All twist data (linear and angular velocity) is transformed from the ``child_frame_id`` of the message into the coordinate frame specified by the ``base_link_frame`` parameter (typically *base_link*). -* `geometry_msgs/PoseWithCovarianceStamped `_ - Handled in the same fashion as the pose data in the Odometry message. -* `geometry_msgs/TwistWithCovarianceStamped `_ - Handled in the same fashion as the twist data in the Odometry message. -* `sensor_msgs/Imu `_ - The IMU message is currently subject to some ambiguity, though this is being addressed by the ROS community. Most IMUs natively report orientation data in a world-fixed frame whose :math:`X` and :math:`Z` axes are defined by the vectors pointing to magnetic north and the center of the earth, respectively, with the Y axis facing east (90 degrees offset from the magnetic north vector). This frame is often referred to as NED (North, East, Down). However, `REP-103 `_ specifies an ENU (East, North, Up) coordinate frame for outdoor navigation. As of this writing, ``robot_localization`` assumes an ENU frame for all IMU data, and does not work with NED frame data. This may change in the future, but for now, users should ensure that data is transformed to the ENU frame before using it with any node in ``robot_localization``. - -The IMU may also be oriented on the robot in a position other than its "neutral" position. For example, the user may mount the IMU on its side, or rotate it so that it faces a direction other than the front of the robot. This offset is typically specified by a static transform from the ``base_link_frame`` parameter to the IMU message's ``frame_id``. The state estimation nodes in ``robot_localization`` will automatically correct for the orientation of the sensor so that its data aligns with the frame specified by the ``base_link_frame`` parameter. - -Handling tf_prefix -****************** - -With the migration to `tf2 `_ as of ROS Indigo, ``robot_localization`` still allows for the use of the ``tf_prefix`` parameter, but, in accordance with `tf2 `_, all ``frame_id`` values will have any leading '/' stripped. - -Considerations for Each Sensor Message Type -******************************************* - -Odometry -======== - -Many robot platforms come equipped with wheel encoders that provide instantaneous translational and rotational velocity. Many also internally integrate these velocities to generate a position estimate. If you are responsible for this data, or can edit it, keep the following in mind: - -1. **Velocities/Poses:** `robot_localization` can integrate velocities or absolute pose information. In general, the best practice is: - - * If the odometry provides both position and linear velocity, fuse the linear velocity. - * If the odometry provides both orientation and angular velocity, fuse the orientation. - - .. note:: If you have two sources of orientation data, then you'll want to be careful. If both produce orientations with accurate covariance matrices, it's safe to fuse the orientations. If, however, one or both under-reports its covariance, then you should only fuse the orientation data from the more accurate sensor. For the other sensor, use the angular velocity (if it's provided), or continue to fuse the absolute orientation data, but turn `_differential` mode on for that sensor. - -2. **frame_id:** See the section on coordinate frames and transforms above. - -3. **Covariance:** Covariance values **matter** to ``robot_localization``. `robot_pose_ekf `_ attempts to fuse all pose variables in an odometry message. Some robots' drivers have been written to accommodate its requirements. This means that if a given sensor does not produce a certain variable (e.g., a robot that doesn't report :math:`Z` position), then the only way to get ``robot_pose_ekf`` to ignore it is to inflate its variance to a very large value (on the order of :math:`1e3`) so that the variable in question is effectively ignored. This practice is both unnecessary and even detrimental to the performance of ``robot_localization``. The exception is the case where you have a second input source measuring the variable in question, in which case inflated covariances will work. - - .. note:: See :ref:`configuring_robot_localization` and :ref:`migrating_from_robot_pose_ekf` for more information. - -4. **Signs:** Adherence to `REP-103 `_ means that you need to ensure that the **signs** of your data are correct. For example, if you have a ground robot and turn it counter-clockwise, then its yaw angle should *increase*, and its yaw velocity should be *positive*. If you drive it *forward*, its X-position should *increase* and its X-velocity should be *positive*. - -5. **Transforms:** Broadcast of the *odom*->*base_link* transform. When the ``world_frame`` parameter is set to the value of the ``odom_frame`` parameter in the configuration file, ``robot_localization``'s state estimation nodes output both a position estimate in a `nav_msgs/Odometry `_ message and a transform from the frame specified by its ``odom_frame`` parameter to its ``base_link_frame`` parameter. However, some robot drivers also broadcast this transform along with their odometry message. If users want ``robot_localization`` to be responsible for this transform, then they need to disable the broadcast of that transform by their robot's driver. This is often exposed as a parameter. - -IMU -=== - -In addition to the following, be sure to read the above section regarding coordinate frames and transforms for IMU data. - -1. **Adherence to specifications:** As with odometry, be sure your data adheres to `REP-103 `_ and the `sensor_msgs/Imu `_ specification. Double-check the signs of your data, and make sure the ``frame_id`` values are correct. - -2. **Covariance:** Echoing the advice for odometry, make sure your covariances make sense. Do not use large values to get the filter to ignore a given variable. Set the configuration for the variable you'd like to ignore to *false*. - -3. **Acceleration:** Be careful with acceleration data. The state estimation nodes in ``robot_localization`` assume that an IMU that is placed in its neutral *right-side-up* position on a flat surface will: - - * Measure **+**:math:`9.81` meters per second squared for the :math:`Z` axis. - * If the sensor is rolled **+**:math:`90` degrees (left side up), the acceleration should be **+**:math:`9.81` meters per second squared for the :math:`Y` axis. - * If the sensor is pitched **+**:math:`90` degrees (front side down), it should read **-**:math:`9.81` meters per second squared for the :math:`X` axis. - -PoseWithCovarianceStamped -========================= - -See the section on odometry. - -TwistWithCovarianceStamped -========================== - -See the section on odometry. - -Common errors -************* - -* Input data doesn't adhere to `REP-103 `_. Make sure that all values (especially orientation angles) increase and decrease in the correct directions. -* Incorrect ``frame_id`` values. Velocity data should be reported in the frame given by the ``base_link_frame`` parameter, or a transform should exist between the ``frame_id`` of the velocity data and the ``base_link_frame``. -* Inflated covariances. The preferred method for ignoring variables in measurements is through the ``odomN_config`` parameter. -* Missing covariances. If you have configured a given sensor to fuse a given variable into the state estimation node, then the variance for that value (i.e., the covariance matrix value at position :math:`(i, i)`, where :math:`i` is the index of that variable) should **not** be :math:`0`. If a :math:`0` variance value is encountered for a variable that is being fused, the state estimation nodes will add a small epsilon value (:math:`1e^{-6}`) to that value. 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z-s;mZb}=d1dtOeYY3#RdH?7d)bWWsk?88yR8^)eYih6r3a5s%z+wM1>=d?nX=Vk83 zv42%58^)eWivHQk+tW05ZM)xiuF(oTR{3}u$1dGm&@lE4QgmZPzs9Dq>3a57>l&?a zXg{{GaqP~2Ol}x^HYw^_eap-=_FMNkt#D@PZ8PK8@)qQSdgRAwJ)cL4=H84Fzq8o1 z!hUCzV&mA;3&}ldO=B-4MJuEUG4CuktuSRpLX2_j4HfGe#$HB>wsy1^EY1CXocC==L(EtyLZ~(F!m}^ zG~`N$2Inz)?xgd);!WF4EA02%V3YHh)5qikndHZ4u6;p@_F4ZUxl^8TpVzkgjgN0y z;k5B*T#Va&==k}DvA-lm%be#Vn#O+X@un5}ocJ`+IQA2lTMc7xBt@;J_IY>f8m+K{ zTVIoPZC!uz0ax;4)aRQ>(MCbq@kkLjT9Z;yfnZx_FJ!O zw8FDXN&}4h{LhQ_4P);jMY~qdes}9Rt+1wGj>&rdS)fb z@$voE#~7_}yu~_^aqN`4 - -#include -#include - -using RobotLocalization::Ekf; -using RobotLocalization::RosEkf; -using RobotLocalization::STATE_SIZE; - -class RosEkfPassThrough : public RosEkf { -public: - RosEkfPassThrough() : RosEkf(ros::NodeHandle(), ros::NodeHandle("~")) {} - - Ekf &getFilter() { return filter_; } -}; - -TEST(EkfTest, Measurements) { - RosEkfPassThrough ekf; - - Eigen::MatrixXd initialCovar(15, 15); - initialCovar.setIdentity(); - initialCovar *= 0.5; - ekf.getFilter().setEstimateErrorCovariance(initialCovar); - - Eigen::VectorXd measurement(STATE_SIZE); - measurement.setIdentity(); - for (size_t i = 0; i < STATE_SIZE; ++i) { - measurement[i] = i * 0.01 * STATE_SIZE; - } - - Eigen::MatrixXd measurementCovariance(STATE_SIZE, STATE_SIZE); - measurementCovariance.setIdentity(); - for (size_t i = 0; i < STATE_SIZE; ++i) { - measurementCovariance(i, i) = 1e-9; - } - - std::vector updateVector(STATE_SIZE, true); - - // Ensure that measurements are being placed in the queue correctly - ros::Time time; - time.fromSec(1000); - ekf.enqueueMeasurement("odom0", measurement, measurementCovariance, - updateVector, std::numeric_limits::max(), - time); - - ekf.integrateMeasurements(ros::Time(1001)); - - EXPECT_EQ(ekf.getFilter().getState(), measurement); - EXPECT_EQ(ekf.getFilter().getEstimateErrorCovariance(), - measurementCovariance); - - ekf.getFilter().setEstimateErrorCovariance(initialCovar); - - // Now fuse another measurement and check the output. - // We know what the filter's state should be when - // this is complete, so we'll check the difference and - // make sure it's suitably small. - Eigen::VectorXd measurement2 = measurement; - - measurement2 *= 2.0; - - for (size_t i = 0; i < STATE_SIZE; ++i) { - measurementCovariance(i, i) = 1e-9; - } - - time.fromSec(1002); - ekf.enqueueMeasurement("odom0", measurement2, measurementCovariance, - updateVector, std::numeric_limits::max(), - time); - - ekf.integrateMeasurements(ros::Time(1003)); - - measurement = measurement2.eval() - ekf.getFilter().getState(); - for (size_t i = 0; i < STATE_SIZE; ++i) { - EXPECT_LT(::fabs(measurement[i]), 0.001); - } -} - -int main(int argc, char **argv) { - ros::init(argc, argv, "ekf"); - - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/navigation/robot_localization/test/test_ekf.test b/navigation/robot_localization/test/test_ekf.test deleted file mode 100644 index 92f82352..00000000 --- a/navigation/robot_localization/test/test_ekf.test +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/navigation/robot_localization/test/test_ekf_localization_node_bag1.test b/navigation/robot_localization/test/test_ekf_localization_node_bag1.test deleted file mode 100644 index 8d37e92d..00000000 --- a/navigation/robot_localization/test/test_ekf_localization_node_bag1.test +++ /dev/null @@ -1,105 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - [false, false, false, - false, false, false, - true, true, true, - false, false, false, - false, false, false] - - [false, false, false, - true, true, true, - false, false, false, - true, true, false, - true, true, true] - - - - - - - - - - - - - - - - - - [0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015] - - [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] - - - - - - - - - - - - - diff --git a/navigation/robot_localization/test/test_ekf_localization_node_bag2.test b/navigation/robot_localization/test/test_ekf_localization_node_bag2.test deleted file mode 100644 index 5ea32857..00000000 --- a/navigation/robot_localization/test/test_ekf_localization_node_bag2.test +++ /dev/null @@ -1,85 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - [false, false, false, - false, false, false, - true, true, true, - false, false, true, - false, false, false] - - [false, false, false, - true, true, true, - false, false, false, - true, true, true, - true, true, true] - - - - - - - [0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0.4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0.05, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.002, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.002, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.004, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01] - - [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] - - - - - - - - - - - - - diff --git a/navigation/robot_localization/test/test_ekf_localization_node_bag3.test b/navigation/robot_localization/test/test_ekf_localization_node_bag3.test deleted file mode 100644 index eb0c6bf4..00000000 --- a/navigation/robot_localization/test/test_ekf_localization_node_bag3.test +++ /dev/null @@ -1,69 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - [false, false, true, - false, false, false, - true, true, false, - false, false, true, - false, false, false] - - [false, false, false, - true, true, true, - false, false, false, - true, true, true, - false, false, false] - - - - - - - [0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.4, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.002, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.002, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.004, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01] - - - - - - - - - - - - - diff --git a/navigation/robot_localization/test/test_ekf_localization_node_interfaces.cpp b/navigation/robot_localization/test/test_ekf_localization_node_interfaces.cpp deleted file mode 100644 index dc988bf3..00000000 --- a/navigation/robot_localization/test/test_ekf_localization_node_interfaces.cpp +++ /dev/null @@ -1,1065 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/SetPose.h" - -#include -#include -#include -#include -#include - -#include -#include - -#include -#include - -nav_msgs::Odometry filtered_; - -bool stateUpdated_; - -void resetFilter() { - ros::NodeHandle nh; - ros::ServiceClient client = - nh.serviceClient("/set_pose"); - - robot_localization::SetPose setPose; - setPose.request.pose.pose.pose.orientation.w = 1; - setPose.request.pose.header.frame_id = "odom"; - for (size_t ind = 0; ind < 36; ind += 7) { - setPose.request.pose.pose.covariance[ind] = 1e-6; - } - - setPose.request.pose.header.stamp = ros::Time::now(); - client.call(setPose); - setPose.request.pose.header.seq++; - ros::spinOnce(); - ros::Duration(0.01).sleep(); - stateUpdated_ = false; - - double deltaX = 0.0; - double deltaY = 0.0; - double deltaZ = 0.0; - - while (!stateUpdated_ || - ::sqrt(deltaX * deltaX + deltaY * deltaY + deltaZ * deltaZ) > 0.1) { - ros::spinOnce(); - ros::Duration(0.01).sleep(); - - deltaX = filtered_.pose.pose.position.x - - setPose.request.pose.pose.pose.position.x; - deltaY = filtered_.pose.pose.position.y - - setPose.request.pose.pose.pose.position.y; - deltaZ = filtered_.pose.pose.position.z - - setPose.request.pose.pose.pose.position.z; - } - - EXPECT_LT(::sqrt(deltaX * deltaX + deltaY * deltaY + deltaZ * deltaZ), 0.1); -} - -void filterCallback(const nav_msgs::OdometryConstPtr &msg) { - filtered_ = *msg; - stateUpdated_ = true; -} - -TEST(InterfacesTest, OdomPoseBasicIO) { - stateUpdated_ = false; - - ros::NodeHandle nh; - ros::Publisher odomPub = nh.advertise("/odom_input0", 5); - ros::Subscriber filteredSub = - nh.subscribe("/odometry/filtered", 1, &filterCallback); - - nav_msgs::Odometry odom; - odom.pose.pose.position.x = 20.0; - odom.pose.pose.position.y = 10.0; - odom.pose.pose.position.z = -40.0; - - odom.pose.covariance[0] = 2.0; - odom.pose.covariance[7] = 2.0; - odom.pose.covariance[14] = 2.0; - - odom.header.frame_id = "odom"; - odom.child_frame_id = "base_link"; - - ros::Rate loopRate(50); - for (size_t i = 0; i < 50; ++i) { - odom.header.stamp = ros::Time::now(); - odomPub.publish(odom); - ros::spinOnce(); - - loopRate.sleep(); - - odom.header.seq++; - } - - // Now check the values from the callback - EXPECT_LT(::fabs(filtered_.pose.pose.position.x - odom.pose.pose.position.x), - 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y), - 0.01); // Configuration for this variable for this sensor is false - EXPECT_LT(::fabs(filtered_.pose.pose.position.z - odom.pose.pose.position.z), - 0.01); - - EXPECT_LT(filtered_.pose.covariance[0], 0.5); - EXPECT_LT(filtered_.pose.covariance[7], - 0.25); // Configuration for this variable for this sensor is false - EXPECT_LT(filtered_.pose.covariance[14], 0.5); - - resetFilter(); -} - -TEST(InterfacesTest, OdomTwistBasicIO) { - ros::NodeHandle nh; - ros::Publisher odomPub = nh.advertise("/odom_input2", 5); - ros::Subscriber filteredSub = - nh.subscribe("/odometry/filtered", 1, &filterCallback); - - nav_msgs::Odometry odom; - odom.twist.twist.linear.x = 5.0; - odom.twist.twist.linear.y = 0.0; - odom.twist.twist.linear.z = 0.0; - odom.twist.twist.angular.x = 0.0; - odom.twist.twist.angular.y = 0.0; - odom.twist.twist.angular.z = 0.0; - - for (size_t ind = 0; ind < 36; ind += 7) { - odom.twist.covariance[ind] = 1e-6; - } - - odom.header.frame_id = "odom"; - odom.child_frame_id = "base_link"; - - ros::Rate loopRate(20); - for (size_t i = 0; i < 400; ++i) { - odom.header.stamp = ros::Time::now(); - odomPub.publish(odom); - ros::spinOnce(); - - loopRate.sleep(); - - odom.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - odom.twist.twist.linear.x), - 0.1); - EXPECT_LT(::fabs(filtered_.pose.pose.position.x - 100.0), 2.0); - - resetFilter(); - - odom.twist.twist.linear.x = 0.0; - odom.twist.twist.linear.y = 5.0; - - loopRate = ros::Rate(20); - for (size_t i = 0; i < 200; ++i) { - odom.header.stamp = ros::Time::now(); - odomPub.publish(odom); - ros::spinOnce(); - - loopRate.sleep(); - - odom.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.twist.twist.linear.y - odom.twist.twist.linear.y), - 0.1); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y - 50.0), 1.0); - - resetFilter(); - - odom.twist.twist.linear.y = 0.0; - odom.twist.twist.linear.z = 5.0; - - loopRate = ros::Rate(20); - for (size_t i = 0; i < 100; ++i) { - odom.header.stamp = ros::Time::now(); - odomPub.publish(odom); - ros::spinOnce(); - - loopRate.sleep(); - - odom.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.twist.twist.linear.z - odom.twist.twist.linear.z), - 0.1); - EXPECT_LT(::fabs(filtered_.pose.pose.position.z - 25.0), 1.0); - - resetFilter(); - - odom.twist.twist.linear.z = 0.0; - odom.twist.twist.linear.x = 1.0; - odom.twist.twist.angular.z = (M_PI / 2) / (100.0 * 0.05); - - loopRate = ros::Rate(20); - for (size_t i = 0; i < 100; ++i) { - odom.header.stamp = ros::Time::now(); - odomPub.publish(odom); - ros::spinOnce(); - - loopRate.sleep(); - - odom.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - odom.twist.twist.linear.x), - 0.1); - EXPECT_LT( - ::fabs(filtered_.twist.twist.angular.z - odom.twist.twist.angular.z), - 0.1); - EXPECT_LT( - ::fabs(filtered_.pose.pose.position.x - filtered_.pose.pose.position.y), - 0.5); - - resetFilter(); - - odom.twist.twist.linear.x = 0.0; - odom.twist.twist.angular.z = 0.0; - odom.twist.twist.angular.x = -(M_PI / 2) / (100.0 * 0.05); - - // First, roll the vehicle on its side - loopRate = ros::Rate(20); - for (size_t i = 0; i < 100; ++i) { - odom.header.stamp = ros::Time::now(); - odomPub.publish(odom); - ros::spinOnce(); - - loopRate.sleep(); - - odom.header.seq++; - } - ros::spinOnce(); - - odom.twist.twist.angular.x = 0.0; - odom.twist.twist.angular.y = (M_PI / 2) / (100.0 * 0.05); - - // Now, pitch it down (positive pitch velocity in vehicle frame) - loopRate = ros::Rate(20); - for (size_t i = 0; i < 100; ++i) { - odom.header.stamp = ros::Time::now(); - odomPub.publish(odom); - ros::spinOnce(); - - loopRate.sleep(); - - odom.header.seq++; - } - ros::spinOnce(); - - odom.twist.twist.angular.y = 0.0; - odom.twist.twist.linear.x = 3.0; - - // We should now be on our side and facing -Y. Move forward in - // the vehicle frame X direction, and make sure Y decreases in - // the world frame. - loopRate = ros::Rate(20); - for (size_t i = 0; i < 100; ++i) { - odom.header.stamp = ros::Time::now(); - odomPub.publish(odom); - ros::spinOnce(); - - loopRate.sleep(); - - odom.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - odom.twist.twist.linear.x), - 0.1); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y + 15), 1.0); - - resetFilter(); -} - -TEST(InterfacesTest, PoseBasicIO) { - ros::NodeHandle nh; - ros::Publisher posePub = - nh.advertise("/pose_input0", 5); - ros::Subscriber filteredSub = - nh.subscribe("/odometry/filtered", 1, &filterCallback); - - geometry_msgs::PoseWithCovarianceStamped pose; - pose.pose.pose.position.x = 20.0; - pose.pose.pose.position.y = 10.0; - pose.pose.pose.position.z = -40.0; - pose.pose.pose.orientation.x = 0; - pose.pose.pose.orientation.y = 0; - pose.pose.pose.orientation.z = 0; - pose.pose.pose.orientation.w = 1; - - for (size_t ind = 0; ind < 36; ind += 7) { - pose.pose.covariance[ind] = 1e-6; - } - - pose.header.frame_id = "odom"; - - ros::Rate loopRate = ros::Rate(50); - for (size_t i = 0; i < 50; ++i) { - pose.header.stamp = ros::Time::now(); - posePub.publish(pose); - ros::spinOnce(); - - loopRate.sleep(); - - pose.header.seq++; - } - - // Now check the values from the callback - EXPECT_LT(::fabs(filtered_.pose.pose.position.x - pose.pose.pose.position.x), - 0.1); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y), - 0.1); // Configuration for this variable for this sensor is false - EXPECT_LT(::fabs(filtered_.pose.pose.position.z - pose.pose.pose.position.z), - 0.1); - - EXPECT_LT(filtered_.pose.covariance[0], 0.5); - EXPECT_LT(filtered_.pose.covariance[7], - 0.25); // Configuration for this variable for this sensor is false - EXPECT_LT(filtered_.pose.covariance[14], 0.5); - - resetFilter(); -} - -TEST(InterfacesTest, TwistBasicIO) { - ros::NodeHandle nh; - ros::Publisher twistPub = - nh.advertise("/twist_input0", - 5); - ros::Subscriber filteredSub = - nh.subscribe("/odometry/filtered", 1, &filterCallback); - - geometry_msgs::TwistWithCovarianceStamped twist; - twist.twist.twist.linear.x = 5.0; - twist.twist.twist.linear.y = 0; - twist.twist.twist.linear.z = 0; - twist.twist.twist.angular.x = 0; - twist.twist.twist.angular.y = 0; - twist.twist.twist.angular.z = 0; - - for (size_t ind = 0; ind < 36; ind += 7) { - twist.twist.covariance[ind] = 1e-6; - } - - twist.header.frame_id = "base_link"; - - ros::Rate loopRate = ros::Rate(20); - for (size_t i = 0; i < 400; ++i) { - twist.header.stamp = ros::Time::now(); - twistPub.publish(twist); - ros::spinOnce(); - - loopRate.sleep(); - - twist.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - twist.twist.twist.linear.x), - 0.1); - EXPECT_LT(::fabs(filtered_.pose.pose.position.x - 100.0), 2.0); - - resetFilter(); - - twist.twist.twist.linear.x = 0.0; - twist.twist.twist.linear.y = 5.0; - - loopRate = ros::Rate(20); - for (size_t i = 0; i < 200; ++i) { - twist.header.stamp = ros::Time::now(); - twistPub.publish(twist); - ros::spinOnce(); - - loopRate.sleep(); - - twist.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.twist.twist.linear.y - twist.twist.twist.linear.y), - 0.1); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y - 50.0), 1.0); - - resetFilter(); - - twist.twist.twist.linear.y = 0.0; - twist.twist.twist.linear.z = 5.0; - - loopRate = ros::Rate(20); - for (size_t i = 0; i < 100; ++i) { - twist.header.stamp = ros::Time::now(); - twistPub.publish(twist); - ros::spinOnce(); - - loopRate.sleep(); - - twist.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.twist.twist.linear.z - twist.twist.twist.linear.z), - 0.1); - EXPECT_LT(::fabs(filtered_.pose.pose.position.z - 25.0), 1.0); - - resetFilter(); - - twist.twist.twist.linear.z = 0.0; - twist.twist.twist.linear.x = 1.0; - twist.twist.twist.angular.z = (M_PI / 2) / (100.0 * 0.05); - - loopRate = ros::Rate(20); - for (size_t i = 0; i < 100; ++i) { - twist.header.stamp = ros::Time::now(); - twistPub.publish(twist); - ros::spinOnce(); - - loopRate.sleep(); - - twist.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - twist.twist.twist.linear.x), - 0.1); - EXPECT_LT( - ::fabs(filtered_.twist.twist.angular.z - twist.twist.twist.angular.z), - 0.1); - EXPECT_LT( - ::fabs(filtered_.pose.pose.position.x - filtered_.pose.pose.position.y), - 0.5); - - resetFilter(); - - twist.twist.twist.linear.x = 0.0; - twist.twist.twist.angular.z = 0.0; - twist.twist.twist.angular.x = -(M_PI / 2) / (100.0 * 0.05); - - // First, roll the vehicle on its side - loopRate = ros::Rate(20); - for (size_t i = 0; i < 100; ++i) { - twist.header.stamp = ros::Time::now(); - twistPub.publish(twist); - ros::spinOnce(); - - loopRate.sleep(); - - twist.header.seq++; - } - ros::spinOnce(); - - twist.twist.twist.angular.x = 0.0; - twist.twist.twist.angular.y = (M_PI / 2) / (100.0 * 0.05); - - // Now, pitch it down (positive pitch velocity in vehicle frame) - loopRate = ros::Rate(20); - for (size_t i = 0; i < 100; ++i) { - twist.header.stamp = ros::Time::now(); - twistPub.publish(twist); - ros::spinOnce(); - - loopRate.sleep(); - - twist.header.seq++; - } - ros::spinOnce(); - - twist.twist.twist.angular.y = 0.0; - twist.twist.twist.linear.x = 3.0; - - // We should now be on our side and facing -Y. Move forward in - // the vehicle frame X direction, and make sure Y decreases in - // the world frame. - loopRate = ros::Rate(20); - for (size_t i = 0; i < 100; ++i) { - twist.header.stamp = ros::Time::now(); - twistPub.publish(twist); - ros::spinOnce(); - - loopRate.sleep(); - - twist.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - twist.twist.twist.linear.x), - 0.1); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y + 15), 1.0); - - resetFilter(); -} - -TEST(InterfacesTest, ImuPoseBasicIO) { - ros::NodeHandle nh; - ros::Publisher imuPub = nh.advertise("/imu_input0", 5); - ros::Subscriber filteredSub = - nh.subscribe("/odometry/filtered", 1, &filterCallback); - - sensor_msgs::Imu imu; - tf2::Quaternion quat; - quat.setRPY(M_PI / 4, -M_PI / 4, M_PI / 2); - imu.orientation = tf2::toMsg(quat); - - for (size_t ind = 0; ind < 9; ind += 4) { - imu.orientation_covariance[ind] = 1e-6; - } - - imu.header.frame_id = "base_link"; - - // Make sure the pose reset worked. Test will timeout - // if this fails. - ros::Rate loopRate(50); - for (size_t i = 0; i < 50; ++i) { - imu.header.stamp = ros::Time::now(); - imuPub.publish(imu); - ros::spinOnce(); - - loopRate.sleep(); - - imu.header.seq++; - } - - // Now check the values from the callback - tf2::fromMsg(filtered_.pose.pose.orientation, quat); - tf2::Matrix3x3 mat(quat); - double r, p, y; - mat.getRPY(r, p, y); - EXPECT_LT(::fabs(r - M_PI / 4), 0.1); - EXPECT_LT(::fabs(p + M_PI / 4), 0.1); - EXPECT_LT(::fabs(y - M_PI / 2), 0.1); - - EXPECT_LT(filtered_.pose.covariance[21], 0.5); - EXPECT_LT(filtered_.pose.covariance[28], 0.25); - EXPECT_LT(filtered_.pose.covariance[35], 0.5); - - resetFilter(); - - // Test to see if the orientation data is ignored when we set the - // first covariance value to -1 - sensor_msgs::Imu imuIgnore; - imuIgnore.orientation.x = 0.1; - imuIgnore.orientation.y = 0.2; - imuIgnore.orientation.z = 0.3; - imuIgnore.orientation.w = 0.4; - imuIgnore.orientation_covariance[0] = -1; - - loopRate = ros::Rate(50); - for (size_t i = 0; i < 50; ++i) { - imuIgnore.header.stamp = ros::Time::now(); - imuPub.publish(imuIgnore); - loopRate.sleep(); - ros::spinOnce(); - - imuIgnore.header.seq++; - } - - tf2::fromMsg(filtered_.pose.pose.orientation, quat); - mat.setRotation(quat); - mat.getRPY(r, p, y); - EXPECT_LT(::fabs(r), 1e-3); - EXPECT_LT(::fabs(p), 1e-3); - EXPECT_LT(::fabs(y), 1e-3); - - resetFilter(); -} - -TEST(InterfacesTest, ImuTwistBasicIO) { - ros::NodeHandle nh; - ros::Publisher imuPub = nh.advertise("/imu_input1", 5); - ros::Subscriber filteredSub = - nh.subscribe("/odometry/filtered", 1, &filterCallback); - - sensor_msgs::Imu imu; - tf2::Quaternion quat; - imu.angular_velocity.x = (M_PI / 2.0); - - for (size_t ind = 0; ind < 9; ind += 4) { - imu.angular_velocity_covariance[ind] = 1e-6; - } - - imu.header.frame_id = "base_link"; - - ros::Rate loopRate(50); - for (size_t i = 0; i < 50; ++i) { - imu.header.stamp = ros::Time::now(); - imuPub.publish(imu); - loopRate.sleep(); - ros::spinOnce(); - - imu.header.seq++; - } - - // Now check the values from the callback - tf2::fromMsg(filtered_.pose.pose.orientation, quat); - tf2::Matrix3x3 mat(quat); - double r, p, y; - mat.getRPY(r, p, y); - - // Tolerances may seem loose, but the initial state covariances - // are tiny, so the filter is sluggish to accept velocity data - EXPECT_LT(::fabs(r - M_PI / 2.0), 0.7); - EXPECT_LT(::fabs(p), 0.1); - EXPECT_LT(::fabs(y), 0.1); - - EXPECT_LT(filtered_.twist.covariance[21], 1e-3); - EXPECT_LT(filtered_.pose.covariance[21], 0.1); - - resetFilter(); - - imu.angular_velocity.x = 0.0; - imu.angular_velocity.y = -(M_PI / 2.0); - - // Make sure the pose reset worked. Test will timeout - // if this fails. - loopRate = ros::Rate(50); - for (size_t i = 0; i < 50; ++i) { - imu.header.stamp = ros::Time::now(); - imuPub.publish(imu); - loopRate.sleep(); - ros::spinOnce(); - - imu.header.seq++; - } - - // Now check the values from the callback - tf2::fromMsg(filtered_.pose.pose.orientation, quat); - mat.setRotation(quat); - mat.getRPY(r, p, y); - EXPECT_LT(::fabs(r), 0.1); - EXPECT_LT(::fabs(p + M_PI / 2.0), 0.7); - EXPECT_LT(::fabs(y), 0.1); - - EXPECT_LT(filtered_.twist.covariance[28], 1e-3); - EXPECT_LT(filtered_.pose.covariance[28], 0.1); - - resetFilter(); - - imu.angular_velocity.y = 0; - imu.angular_velocity.z = M_PI / 4.0; - - // Make sure the pose reset worked. Test will timeout - // if this fails. - loopRate = ros::Rate(50); - for (size_t i = 0; i < 50; ++i) { - imu.header.stamp = ros::Time::now(); - imuPub.publish(imu); - loopRate.sleep(); - ros::spinOnce(); - - imu.header.seq++; - } - - // Now check the values from the callback - tf2::fromMsg(filtered_.pose.pose.orientation, quat); - mat.setRotation(quat); - mat.getRPY(r, p, y); - EXPECT_LT(::fabs(r), 0.1); - EXPECT_LT(::fabs(p), 0.1); - EXPECT_LT(::fabs(y - M_PI / 4.0), 0.7); - - EXPECT_LT(filtered_.twist.covariance[35], 1e-3); - EXPECT_LT(filtered_.pose.covariance[35], 0.1); - - resetFilter(); - - // Test to see if the angular velocity data is ignored when we set the - // first covariance value to -1 - sensor_msgs::Imu imuIgnore; - imuIgnore.angular_velocity.x = 100; - imuIgnore.angular_velocity.y = 100; - imuIgnore.angular_velocity.z = 100; - imuIgnore.angular_velocity_covariance[0] = -1; - - loopRate = ros::Rate(50); - for (size_t i = 0; i < 50; ++i) { - imuIgnore.header.stamp = ros::Time::now(); - imuPub.publish(imuIgnore); - loopRate.sleep(); - ros::spinOnce(); - - imuIgnore.header.seq++; - } - - tf2::fromMsg(filtered_.pose.pose.orientation, quat); - mat.setRotation(quat); - mat.getRPY(r, p, y); - EXPECT_LT(::fabs(r), 1e-3); - EXPECT_LT(::fabs(p), 1e-3); - EXPECT_LT(::fabs(y), 1e-3); - - resetFilter(); -} - -TEST(InterfacesTest, ImuAccBasicIO) { - ros::NodeHandle nh; - ros::Publisher imuPub = nh.advertise("/imu_input2", 5); - ros::Subscriber filteredSub = - nh.subscribe("/odometry/filtered", 1, &filterCallback); - - sensor_msgs::Imu imu; - imu.header.frame_id = "base_link"; - imu.linear_acceleration_covariance[0] = 1e-6; - imu.linear_acceleration_covariance[4] = 1e-6; - imu.linear_acceleration_covariance[8] = 1e-6; - - imu.linear_acceleration.x = 1; - imu.linear_acceleration.y = -1; - imu.linear_acceleration.z = 1; - - // Move with constant acceleration for 1 second, - // then check our velocity. - ros::Rate loopRate(50); - for (size_t i = 0; i < 50; ++i) { - imu.header.stamp = ros::Time::now(); - imuPub.publish(imu); - loopRate.sleep(); - ros::spinOnce(); - - imu.header.seq++; - } - - EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - 1.0), 0.4); - EXPECT_LT(::fabs(filtered_.twist.twist.linear.y + 1.0), 0.4); - EXPECT_LT(::fabs(filtered_.twist.twist.linear.z - 1.0), 0.4); - - imu.linear_acceleration.x = 0.0; - imu.linear_acceleration.y = 0.0; - imu.linear_acceleration.z = 0.0; - - // Now move for another second, and see where we - // end up - loopRate = ros::Rate(50); - for (size_t i = 0; i < 50; ++i) { - imu.header.stamp = ros::Time::now(); - imuPub.publish(imu); - loopRate.sleep(); - ros::spinOnce(); - - imu.header.seq++; - } - - EXPECT_LT(::fabs(filtered_.pose.pose.position.x - 1.2), 0.4); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y + 1.2), 0.4); - EXPECT_LT(::fabs(filtered_.pose.pose.position.z - 1.2), 0.4); - - resetFilter(); - - // Test to see if the linear acceleration data is ignored when we set the - // first covariance value to -1 - sensor_msgs::Imu imuIgnore; - imuIgnore.linear_acceleration.x = 1000; - imuIgnore.linear_acceleration.y = 1000; - imuIgnore.linear_acceleration.z = 1000; - imuIgnore.linear_acceleration_covariance[0] = -1; - - loopRate = ros::Rate(50); - for (size_t i = 0; i < 50; ++i) { - imuIgnore.header.stamp = ros::Time::now(); - imuPub.publish(imuIgnore); - loopRate.sleep(); - ros::spinOnce(); - - imuIgnore.header.seq++; - } - - EXPECT_LT(::fabs(filtered_.pose.pose.position.x), 1e-3); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y), 1e-3); - EXPECT_LT(::fabs(filtered_.pose.pose.position.z), 1e-3); - - resetFilter(); -} - -TEST(InterfacesTest, OdomDifferentialIO) { - ros::NodeHandle nh; - ros::Publisher odomPub = nh.advertise("/odom_input1", 5); - ros::Subscriber filteredSub = - nh.subscribe("/odometry/filtered", 1, &filterCallback); - - nav_msgs::Odometry odom; - odom.pose.pose.position.x = 20.0; - odom.pose.pose.position.y = 10.0; - odom.pose.pose.position.z = -40.0; - - odom.pose.pose.orientation.w = 1; - - odom.pose.covariance[0] = 2.0; - odom.pose.covariance[7] = 2.0; - odom.pose.covariance[14] = 2.0; - odom.pose.covariance[21] = 0.2; - odom.pose.covariance[28] = 0.2; - odom.pose.covariance[35] = 0.2; - - odom.header.frame_id = "odom"; - odom.child_frame_id = "base_link"; - - // No guaranteeing that the zero state - // we're expecting to see here isn't just - // a result of zeroing it out previously, - // so check 10 times in succession. - size_t zeroCount = 0; - while (zeroCount++ < 10) { - odom.header.stamp = ros::Time::now(); - odomPub.publish(odom); - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.pose.pose.position.x), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.position.z), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.orientation.x), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.orientation.y), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.orientation.z), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.orientation.w - 1), 0.01); - - ros::Duration(0.1).sleep(); - - odom.header.seq++; - } - - for (size_t ind = 0; ind < 36; ind += 7) { - odom.pose.covariance[ind] = 1e-6; - } - - // Slowly move the position, and hope that the - // differential position keeps up - ros::Rate loopRate(20); - for (size_t i = 0; i < 100; ++i) { - odom.pose.pose.position.x += 0.01; - odom.pose.pose.position.y += 0.02; - odom.pose.pose.position.z -= 0.03; - - odom.header.stamp = ros::Time::now(); - odomPub.publish(odom); - ros::spinOnce(); - - loopRate.sleep(); - - odom.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.pose.pose.position.x - 1), 0.2); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y - 2), 0.4); - EXPECT_LT(::fabs(filtered_.pose.pose.position.z + 3), 0.6); - - resetFilter(); -} - -TEST(InterfacesTest, PoseDifferentialIO) { - ros::NodeHandle nh; - ros::Publisher posePub = - nh.advertise("/pose_input1", 5); - ros::Subscriber filteredSub = - nh.subscribe("/odometry/filtered", 1, &filterCallback); - - geometry_msgs::PoseWithCovarianceStamped pose; - pose.pose.pose.position.x = 20.0; - pose.pose.pose.position.y = 10.0; - pose.pose.pose.position.z = -40.0; - - pose.pose.pose.orientation.w = 1; - - pose.pose.covariance[0] = 2.0; - pose.pose.covariance[7] = 2.0; - pose.pose.covariance[14] = 2.0; - pose.pose.covariance[21] = 0.2; - pose.pose.covariance[28] = 0.2; - pose.pose.covariance[35] = 0.2; - - pose.header.frame_id = "odom"; - - // No guaranteeing that the zero state - // we're expecting to see here isn't just - // a result of zeroing it out previously, - // so check 10 times in succession. - size_t zeroCount = 0; - while (zeroCount++ < 10) { - pose.header.stamp = ros::Time::now(); - posePub.publish(pose); - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.pose.pose.position.x), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.position.z), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.orientation.x), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.orientation.y), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.orientation.z), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.orientation.w - 1), 0.01); - - ros::Duration(0.1).sleep(); - - pose.header.seq++; - } - - // ...but only if we give the measurement a tiny covariance - for (size_t ind = 0; ind < 36; ind += 7) { - pose.pose.covariance[ind] = 1e-6; - } - - // Issue this location repeatedly, and see if we get - // a final reported position of (1, 2, -3) - ros::Rate loopRate(20); - for (size_t i = 0; i < 100; ++i) { - pose.pose.pose.position.x += 0.01; - pose.pose.pose.position.y += 0.02; - pose.pose.pose.position.z -= 0.03; - - pose.header.stamp = ros::Time::now(); - posePub.publish(pose); - ros::spinOnce(); - - loopRate.sleep(); - - pose.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.pose.pose.position.x - 1), 0.2); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y - 2), 0.4); - EXPECT_LT(::fabs(filtered_.pose.pose.position.z + 3), 0.6); - - resetFilter(); -} - -TEST(InterfacesTest, ImuDifferentialIO) { - ros::NodeHandle nh; - ros::Publisher imu0Pub = nh.advertise("/imu_input0", 5); - ros::Publisher imu1Pub = nh.advertise("/imu_input1", 5); - ros::Publisher imuPub = nh.advertise("/imu_input3", 5); - ros::Subscriber filteredSub = - nh.subscribe("/odometry/filtered", 1, &filterCallback); - - sensor_msgs::Imu imu; - imu.header.frame_id = "base_link"; - tf2::Quaternion quat; - const double roll = M_PI / 2.0; - const double pitch = -M_PI; - const double yaw = -M_PI / 4.0; - quat.setRPY(roll, pitch, yaw); - imu.orientation = tf2::toMsg(quat); - - imu.orientation_covariance[0] = 0.02; - imu.orientation_covariance[4] = 0.02; - imu.orientation_covariance[8] = 0.02; - - imu.angular_velocity_covariance[0] = 0.02; - imu.angular_velocity_covariance[4] = 0.02; - imu.angular_velocity_covariance[8] = 0.02; - - size_t setCount = 0; - while (setCount++ < 10) { - imu.header.stamp = ros::Time::now(); - imu0Pub.publish(imu); // Use this to move the absolute orientation - imu1Pub.publish(imu); // Use this to keep velocities at 0 - ros::spinOnce(); - - ros::Duration(0.1).sleep(); - - imu.header.seq++; - } - - size_t zeroCount = 0; - while (zeroCount++ < 10) { - imu.header.stamp = ros::Time::now(); - imuPub.publish(imu); - ros::spinOnce(); - - ros::Duration(0.1).sleep(); - - imu.header.seq++; - } - - double rollFinal = roll; - double pitchFinal = pitch; - double yawFinal = yaw; - - // Move the orientation slowly, and see if we - // can push it to 0 - ros::Rate loopRate(20); - for (size_t i = 0; i < 100; ++i) { - yawFinal -= 0.01 * (3.0 * M_PI / 4.0); - - quat.setRPY(rollFinal, pitchFinal, yawFinal); - - imu.orientation = tf2::toMsg(quat); - imu.header.stamp = ros::Time::now(); - imuPub.publish(imu); - ros::spinOnce(); - - loopRate.sleep(); - - imu.header.seq++; - } - ros::spinOnce(); - - // Move the orientation slowly, and see if we - // can push it to 0 - loopRate = ros::Rate(20); - for (size_t i = 0; i < 100; ++i) { - rollFinal += 0.01 * (M_PI / 2.0); - - quat.setRPY(rollFinal, pitchFinal, yawFinal); - - imu.orientation = tf2::toMsg(quat); - imu.header.stamp = ros::Time::now(); - imuPub.publish(imu); - ros::spinOnce(); - - loopRate.sleep(); - - imu.header.seq++; - } - ros::spinOnce(); - - tf2::fromMsg(filtered_.pose.pose.orientation, quat); - tf2::Matrix3x3 mat(quat); - mat.getRPY(rollFinal, pitchFinal, yawFinal); - EXPECT_LT(::fabs(rollFinal), 0.2); - EXPECT_LT(::fabs(pitchFinal), 0.2); - EXPECT_LT(::fabs(yawFinal), 0.2); - - resetFilter(); -} - -int main(int argc, char **argv) { - testing::InitGoogleTest(&argc, argv); - - ros::init(argc, argv, "ekf_navigation_node-test-interfaces"); - ros::Time::init(); - - // Give ekf_localization_node time to initialize - ros::Duration(2.0).sleep(); - - return RUN_ALL_TESTS(); -} diff --git a/navigation/robot_localization/test/test_ekf_localization_node_interfaces.test b/navigation/robot_localization/test/test_ekf_localization_node_interfaces.test deleted file mode 100644 index f440b924..00000000 --- a/navigation/robot_localization/test/test_ekf_localization_node_interfaces.test +++ /dev/null @@ -1,68 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - [true, false, true, false, false, false, false, false, false, false, false, false, false, false, false] - [true, true, true, true, true, true, false, false, false, false, false, false, false, false, false] - [false, false, false, false, false, false, true, true, true, true, true, true, false, false, false] - - [true, false, true, false, false, false, false, false, false, false, false, false, false, false, false] - [true, true, true, true, true, true, false, false, false, false, false, false, false, false, false] - - [false, false, false, false, false, false, true, true, true, true, true, true, false, false, false] - - [false, false, false, true, true, true, false, false, false, false, false, false, false, false, false] - [false, false, false, false, false, false, false, false, false, true, true, true, false, false, false] - [false, false, false, false, false, false, false, false, false, false, false, false, true, true, true] - [false, false, false, true, true, true, false, false, false, false, false, false, false, false, false] - - - - - - - - - - - [0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.4, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.002, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.002, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.004, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01] - - - - - - diff --git a/navigation/robot_localization/test/test_ekf_localization_nodelet_bag1.test b/navigation/robot_localization/test/test_ekf_localization_nodelet_bag1.test deleted file mode 100644 index b49c7fed..00000000 --- a/navigation/robot_localization/test/test_ekf_localization_nodelet_bag1.test +++ /dev/null @@ -1,104 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - [false, false, false, - false, false, false, - true, true, true, - false, false, false, - false, false, false] - - [false, false, false, - true, true, true, - false, false, false, - true, true, false, - true, true, true] - - - - - - - - - - - - - - - - - - [0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015] - - [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] - - - - - - - - - - - - - diff --git a/navigation/robot_localization/test/test_filter_base.cpp b/navigation/robot_localization/test/test_filter_base.cpp deleted file mode 100644 index ae007b7e..00000000 --- a/navigation/robot_localization/test/test_filter_base.cpp +++ /dev/null @@ -1,194 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/filter_base.h" -#include "robot_localization/filter_common.h" - -#include - -#include - -#include -#include -#include - -using RobotLocalization::Measurement; -using RobotLocalization::STATE_SIZE; - -namespace RobotLocalization { - -class FilterDerived : public FilterBase { -public: - double val; - - FilterDerived() : val(0) {} - - void correct(const Measurement &measurement) { - EXPECT_EQ(val, measurement.time_); - EXPECT_EQ(measurement.topicName_, "topic"); - - EXPECT_EQ(measurement.updateVector_.size(), 10u); - for (size_t i = 0; i < measurement.updateVector_.size(); ++i) { - EXPECT_EQ(measurement.updateVector_[i], true); - } - } - - void predict(const double refTime, const double delta) { val = delta; } -}; - -class FilterDerived2 : public FilterBase { -public: - FilterDerived2() {} - - void correct(const Measurement &measurement) {} - - void predict(const double refTime, const double delta) {} - - void processMeasurement(const Measurement &measurement) { - FilterBase::processMeasurement(measurement); - } -}; - -} // namespace RobotLocalization - -TEST(FilterBaseTest, MeasurementStruct) { - RobotLocalization::Measurement meas1; - RobotLocalization::Measurement meas2; - - EXPECT_EQ(meas1.topicName_, std::string("")); - EXPECT_EQ(meas1.time_, 0); - EXPECT_EQ(meas2.time_, 0); - - // Comparison test is true if the first - // argument is > the second, so should - // be false if they're equal. - EXPECT_EQ(meas1(meas1, meas2), false); - EXPECT_EQ(meas2(meas2, meas1), false); - - meas1.time_ = 100; - meas2.time_ = 200; - - EXPECT_EQ(meas1(meas1, meas2), false); - EXPECT_EQ(meas1(meas2, meas1), true); - EXPECT_EQ(meas2(meas1, meas2), false); - EXPECT_EQ(meas2(meas2, meas1), true); -} - -TEST(FilterBaseTest, DerivedFilterGetSet) { - using RobotLocalization::FilterDerived; - - FilterDerived derived; - - // With the ostream argument as NULL, - // the debug flag will remain false. - derived.setDebug(true); - - EXPECT_FALSE(derived.getDebug()); - - // Now set the stream and do it again - std::stringstream os; - derived.setDebug(true, &os); - - EXPECT_TRUE(derived.getDebug()); - - // Simple get/set checks - double timeout = 7.4; - derived.setSensorTimeout(timeout); - EXPECT_EQ(derived.getSensorTimeout(), timeout); - - double lastMeasTime = 3.83; - derived.setLastMeasurementTime(lastMeasTime); - EXPECT_EQ(derived.getLastMeasurementTime(), lastMeasTime); - - Eigen::MatrixXd pnCovar(STATE_SIZE, STATE_SIZE); - for (size_t i = 0; i < STATE_SIZE; ++i) { - for (size_t j = 0; j < STATE_SIZE; ++j) { - pnCovar(i, j) = static_cast(i * j); - } - } - derived.setProcessNoiseCovariance(pnCovar); - EXPECT_EQ(derived.getProcessNoiseCovariance(), pnCovar); - - Eigen::VectorXd state(STATE_SIZE); - state.setZero(); - derived.setState(state); - EXPECT_EQ(derived.getState(), state); - - EXPECT_EQ(derived.getInitializedStatus(), false); -} - -TEST(FilterBaseTest, MeasurementProcessing) { - using RobotLocalization::FilterDerived2; - - FilterDerived2 derived; - - Measurement meas; - - Eigen::VectorXd measurement(STATE_SIZE); - for (size_t i = 0; i < STATE_SIZE; ++i) { - measurement[i] = 0.1 * static_cast(i); - } - - Eigen::MatrixXd measurementCovariance(STATE_SIZE, STATE_SIZE); - for (size_t i = 0; i < STATE_SIZE; ++i) { - for (size_t j = 0; j < STATE_SIZE; ++j) { - measurementCovariance(i, j) = 0.1 * static_cast(i * j); - } - } - - meas.topicName_ = "odomTest"; - meas.measurement_ = measurement; - meas.covariance_ = measurementCovariance; - meas.updateVector_.resize(STATE_SIZE, true); - meas.time_ = 1000; - - // The filter shouldn't be initializedyet - EXPECT_FALSE(derived.getInitializedStatus()); - - derived.processMeasurement(meas); - - // Now it's initialized, and the entire filter state - // should be equal to the first state - EXPECT_TRUE(derived.getInitializedStatus()); - EXPECT_EQ(derived.getState(), measurement); - - // Process a measurement and make sure it updates the - // lastMeasurementTime variable - meas.time_ = 1002; - derived.processMeasurement(meas); - EXPECT_EQ(derived.getLastMeasurementTime(), meas.time_); -} - -int main(int argc, char **argv) { - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/navigation/robot_localization/test/test_filter_base_diagnostics_timestamps.cpp b/navigation/robot_localization/test/test_filter_base_diagnostics_timestamps.cpp deleted file mode 100644 index 470801c8..00000000 --- a/navigation/robot_localization/test/test_filter_base_diagnostics_timestamps.cpp +++ /dev/null @@ -1,400 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include -#include -#include -#include -#include - -#include "robot_localization/SetPose.h" -#include "robot_localization/filter_base.h" -#include "robot_localization/filter_common.h" - -#include - -#include - -#include - -namespace RobotLocalization { - -/* - Convenience functions to get valid messages. -*/ - -geometry_msgs::PoseWithCovarianceStamped getValidPose() { - geometry_msgs::PoseWithCovarianceStamped pose_msg; - pose_msg.header.frame_id = "base_link"; - pose_msg.pose.pose.position.x = 1; - pose_msg.pose.pose.orientation.w = 1; - for (size_t i = 0; i < 6; i++) { - pose_msg.pose.covariance[i * 6 + i] = 1; - } - return pose_msg; -} - -geometry_msgs::TwistWithCovarianceStamped getValidTwist() { - geometry_msgs::TwistWithCovarianceStamped twist_msg; - twist_msg.header.frame_id = "base_link"; - for (size_t i = 0; i < 6; i++) { - twist_msg.twist.covariance[i * 6 + i] = 1; - } - return twist_msg; -} - -sensor_msgs::Imu getValidImu() { - sensor_msgs::Imu imu_msg; - imu_msg.header.frame_id = "base_link"; - imu_msg.orientation.w = 1; - for (size_t i = 0; i < 3; i++) { - imu_msg.orientation_covariance[i * 3 + i] = 1; - imu_msg.angular_velocity_covariance[i * 3 + i] = 1; - imu_msg.linear_acceleration_covariance[i * 3 + i] = 1; - } - return imu_msg; -} - -nav_msgs::Odometry getValidOdometry() { - nav_msgs::Odometry odom_msg; - odom_msg.header.frame_id = "odom"; - odom_msg.child_frame_id = "base_link"; - odom_msg.pose = getValidPose().pose; - odom_msg.twist = getValidTwist().twist; - return odom_msg; -} - -/* - Helper class to handle the setup and message publishing for the testcases. - - It provides convenience to send valid messages with a specified timestamp. - - All diagnostic messages are stored into the public diagnostics attribute. -*/ -class DiagnosticsHelper { -private: - ros::Publisher odom_pub_; - ros::Publisher pose_pub_; - ros::Publisher twist_pub_; - ros::Publisher imu_pub_; - - geometry_msgs::PoseWithCovarianceStamped pose_msg_; - geometry_msgs::TwistWithCovarianceStamped twist_msg_; - nav_msgs::Odometry odom_msg_; - sensor_msgs::Imu imu_msg_; - - ros::Subscriber diagnostic_sub_; - ros::ServiceClient set_pose_; - -public: - std::vector diagnostics; - - DiagnosticsHelper() { - ros::NodeHandle nh; - ros::NodeHandle nhLocal("~"); - - // ready the valid messages. - pose_msg_ = getValidPose(); - twist_msg_ = getValidTwist(); - odom_msg_ = getValidOdometry(); - imu_msg_ = getValidImu(); - - // subscribe to diagnostics and create publishers for the odometry messages. - odom_pub_ = nh.advertise("example/odom", 10); - pose_pub_ = nh.advertise( - "example/pose", 10); - twist_pub_ = nh.advertise( - "example/twist", 10); - imu_pub_ = nh.advertise("example/imu/data", 10); - - diagnostic_sub_ = nh.subscribe( - "/diagnostics", 10, &DiagnosticsHelper::diagnosticCallback, this); - set_pose_ = nh.serviceClient("/set_pose"); - } - - void diagnosticCallback(const diagnostic_msgs::DiagnosticArrayPtr &msg) { - diagnostics.push_back(*msg); - } - - void publishMessages(ros::Time t) { - odom_msg_.header.stamp = t; - odom_msg_.header.seq++; - odom_pub_.publish(odom_msg_); - - pose_msg_.header.stamp = t; - pose_msg_.header.seq++; - pose_pub_.publish(pose_msg_); - - twist_msg_.header.stamp = t; - twist_msg_.header.seq++; - twist_pub_.publish(twist_msg_); - - imu_msg_.header.stamp = t; - imu_msg_.header.seq++; - imu_pub_.publish(imu_msg_); - } - - void setPose(ros::Time t) { - robot_localization::SetPose pose_; - pose_.request.pose = getValidPose(); - pose_.request.pose.header.stamp = t; - set_pose_.call(pose_); - } -}; - -} // namespace RobotLocalization - -/* - First test; we run for a bit; then send messagse with an empty timestamp. - Then we check if the diagnostics showed a warning. -*/ -TEST(FilterBaseDiagnosticsTest, EmptyTimestamps) { - RobotLocalization::DiagnosticsHelper dh_; - - // keep track of which diagnostic messages are detected. - bool received_warning_imu = false; - bool received_warning_odom = false; - bool received_warning_twist = false; - bool received_warning_pose = false; - - // For about a second, send correct messages. - ros::Rate loopRate(10); - for (size_t i = 0; i < 10; ++i) { - ros::spinOnce(); - dh_.publishMessages(ros::Time::now()); - loopRate.sleep(); - } - - ros::spinOnce(); - - // create an empty timestamp and send all messages with this empty timestamp. - ros::Time empty; - empty.fromSec(0); - - dh_.publishMessages(empty); - - ros::spinOnce(); - - // The filter runs and sends the diagnostics every second. - // Just run this for two seconds to ensure we get all the diagnostic message. - for (size_t i = 0; i < 20; ++i) { - ros::spinOnce(); - loopRate.sleep(); - } - - /* - Now the diagnostic messages have to be investigated to see whether they - contain our warning. - */ - for (size_t i = 0; i < dh_.diagnostics.size(); i++) { - for (size_t status_index = 0; - status_index < dh_.diagnostics[i].status.size(); status_index++) { - for (size_t key = 0; - key < dh_.diagnostics[i].status[status_index].values.size(); key++) { - diagnostic_msgs::KeyValue kv = - dh_.diagnostics[i].status[status_index].values[key]; - // Now the keys can be checked to see whether we found our warning. - - if (kv.key == "imu0_timestamp") { - received_warning_imu = true; - } - if (kv.key == "odom0_timestamp") { - received_warning_odom = true; - } - if (kv.key == "twist0_timestamp") { - received_warning_twist = true; - } - if (kv.key == "pose0_timestamp") { - received_warning_pose = true; - } - } - } - } - EXPECT_TRUE(received_warning_imu); - EXPECT_TRUE(received_warning_odom); - EXPECT_TRUE(received_warning_twist); - EXPECT_TRUE(received_warning_pose); -} - -TEST(FilterBaseDiagnosticsTest, TimestampsBeforeSetPose) { - RobotLocalization::DiagnosticsHelper dh_; - - // keep track of which diagnostic messages are detected. - bool received_warning_imu = false; - bool received_warning_odom = false; - bool received_warning_twist = false; - bool received_warning_pose = false; - - // For about a second, send correct messages. - ros::Rate loopRate(10); - for (size_t i = 0; i < 10; ++i) { - ros::spinOnce(); - dh_.publishMessages(ros::Time::now()); - loopRate.sleep(); - } - ros::spinOnce(); - - // Set the pose to the current timestamp. - dh_.setPose(ros::Time::now()); - ros::spinOnce(); - - // send messages from one second before that pose reset. - dh_.publishMessages(ros::Time::now() - ros::Duration(1)); - - // The filter runs and sends the diagnostics every second. - // Just run this for two seconds to ensure we get all the diagnostic message. - for (size_t i = 0; i < 20; ++i) { - ros::spinOnce(); - loopRate.sleep(); - } - - /* - Now the diagnostic messages have to be investigated to see whether they - contain our warning. - */ - for (size_t i = 0; i < dh_.diagnostics.size(); i++) { - for (size_t status_index = 0; - status_index < dh_.diagnostics[i].status.size(); status_index++) { - for (size_t key = 0; - key < dh_.diagnostics[i].status[status_index].values.size(); key++) { - diagnostic_msgs::KeyValue kv = - dh_.diagnostics[i].status[status_index].values[key]; - // Now the keys can be checked to see whether we found our warning. - - if (kv.key == "imu0_timestamp") { - received_warning_imu = true; - } - if (kv.key == "odom0_timestamp") { - received_warning_odom = true; - } - if (kv.key == "twist0_timestamp") { - received_warning_twist = true; - } - if (kv.key == "pose0_timestamp") { - received_warning_pose = true; - } - } - } - } - EXPECT_TRUE(received_warning_imu); - EXPECT_TRUE(received_warning_odom); - EXPECT_TRUE(received_warning_twist); - EXPECT_TRUE(received_warning_pose); -} - -TEST(FilterBaseDiagnosticsTest, TimestampsBeforePrevious) { - RobotLocalization::DiagnosticsHelper dh_; - - // keep track of which diagnostic messages are detected. - // we have more things to check here because the messages get split over - // various callbacks if they pass the check if they predate the set_pose time. - bool received_warning_imu_accel = false; - bool received_warning_imu_pose = false; - bool received_warning_imu_twist = false; - bool received_warning_odom_twist = false; - bool received_warning_twist = false; - bool received_warning_pose = false; - - // For two seconds send correct messages. - ros::Rate loopRate(10); - for (size_t i = 0; i < 20; ++i) { - ros::spinOnce(); - dh_.publishMessages(ros::Time::now()); - loopRate.sleep(); - } - ros::spinOnce(); - - // Send message that is one second in the past. - dh_.publishMessages(ros::Time::now() - ros::Duration(1)); - - // The filter runs and sends the diagnostics every second. - // Just run this for two seconds to ensure we get all the diagnostic message. - for (size_t i = 0; i < 20; ++i) { - ros::spinOnce(); - loopRate.sleep(); - } - - /* - Now the diagnostic messages have to be investigated to see whether they - contain our warning. - */ - for (size_t i = 0; i < dh_.diagnostics.size(); i++) { - for (size_t status_index = 0; - status_index < dh_.diagnostics[i].status.size(); status_index++) { - for (size_t key = 0; - key < dh_.diagnostics[i].status[status_index].values.size(); key++) { - diagnostic_msgs::KeyValue kv = - dh_.diagnostics[i].status[status_index].values[key]; - // Now the keys can be checked to see whether we found our warning. - - if (kv.key == "imu0_acceleration_timestamp") { - received_warning_imu_accel = true; - } - if (kv.key == "imu0_pose_timestamp") { - received_warning_imu_pose = true; - } - if (kv.key == "imu0_twist_timestamp") { - received_warning_imu_twist = true; - } - - if (kv.key == "odom0_twist_timestamp") { - received_warning_twist = true; - } - - if (kv.key == "pose0_timestamp") { - received_warning_pose = true; - } - if (kv.key == "twist0_timestamp") { - received_warning_odom_twist = true; - } - } - } - } - - EXPECT_TRUE(received_warning_imu_accel); - EXPECT_TRUE(received_warning_imu_pose); - EXPECT_TRUE(received_warning_imu_twist); - EXPECT_TRUE(received_warning_odom_twist); - EXPECT_TRUE(received_warning_pose); - EXPECT_TRUE(received_warning_twist); -} - -int main(int argc, char **argv) { - ros::init(argc, argv, "filter_base_diagnostics_timestamps-test-interfaces"); - ros::Time::init(); - - // Give ekf_localization_node time to initialize - ros::Duration(2.0).sleep(); - - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/navigation/robot_localization/test/test_filter_base_diagnostics_timestamps.test b/navigation/robot_localization/test/test_filter_base_diagnostics_timestamps.test deleted file mode 100644 index 40cf75bf..00000000 --- a/navigation/robot_localization/test/test_filter_base_diagnostics_timestamps.test +++ /dev/null @@ -1,44 +0,0 @@ - - - - - - - - - - - - [false, false, false, - false, false, false, - true, false, false, - false, false, false, - false, false, false] - - [true, true, false, - false, false, false, - false, false, false, - false, false, false, - false, false, false] - - [false, false, false, - false, false, false, - true, true, true, - true, true, true, - false, false, false] - - [false, false, false, - true, true, true, - false, false, false, - true, true, true, - true, true, true] - - - - - - - - diff --git a/navigation/robot_localization/test/test_localization_node_bag_pose_tester.cpp b/navigation/robot_localization/test/test_localization_node_bag_pose_tester.cpp deleted file mode 100644 index e4fc14c0..00000000 --- a/navigation/robot_localization/test/test_localization_node_bag_pose_tester.cpp +++ /dev/null @@ -1,102 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include -#include - -#include - -#include -#include -#include - -nav_msgs::Odometry filtered_; - -void filterCallback(const nav_msgs::OdometryConstPtr &msg) { filtered_ = *msg; } - -TEST(BagTest, PoseCheck) { - ros::NodeHandle nh; - ros::NodeHandle nhLocal("~"); - - double finalX = 0; - double finalY = 0; - double finalZ = 0; - double tolerance = 0; - bool outputFinalPosition = false; - std::string finalPositionFile; - - nhLocal.getParam("final_x", finalX); - nhLocal.getParam("final_y", finalY); - nhLocal.getParam("final_z", finalZ); - nhLocal.getParam("tolerance", tolerance); - nhLocal.param("output_final_position", outputFinalPosition, false); - nhLocal.param("output_location", finalPositionFile, std::string("test.txt")); - - ros::Subscriber filteredSub = - nh.subscribe("/odometry/filtered", 1, &filterCallback); - - while (ros::ok()) { - ros::spinOnce(); - ros::Duration(0.0333333).sleep(); - } - - if (outputFinalPosition) { - try { - std::ofstream posOut; - posOut.open(finalPositionFile.c_str(), std::ofstream::app); - posOut << filtered_.pose.pose.position.x << " " - << filtered_.pose.pose.position.y << " " - << filtered_.pose.pose.position.z << std::endl; - posOut.close(); - } catch (...) { - ROS_ERROR_STREAM("Unable to open output file.\n"); - } - } - - double xDiff = filtered_.pose.pose.position.x - finalX; - double yDiff = filtered_.pose.pose.position.y - finalY; - double zDiff = filtered_.pose.pose.position.z - finalZ; - - EXPECT_LT(::sqrt(xDiff * xDiff + yDiff * yDiff + zDiff * zDiff), tolerance); -} - -int main(int argc, char **argv) { - testing::InitGoogleTest(&argc, argv); - - ros::init(argc, argv, "localization_node-bag-pose-tester"); - ros::Time::init(); - - // Give ekf_localization_node time to initialize - ros::Duration(2.0).sleep(); - - return RUN_ALL_TESTS(); -} diff --git a/navigation/robot_localization/test/test_navsat_conversions.cpp b/navigation/robot_localization/test/test_navsat_conversions.cpp deleted file mode 100644 index 45dd172d..00000000 --- a/navigation/robot_localization/test/test_navsat_conversions.cpp +++ /dev/null @@ -1,70 +0,0 @@ -/* - * Copyright (c) 2021, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/navsat_conversions.h" - -#include - -#include - -void NavsatConversionsTest(const double lat, const double lon, - const double UTMNorthing, const double UTMEasting, - const std::string UTMZone, const double gamma) { - double UTMNorthing_new; - double UTMEasting_new; - std::string UTMZone_new; - double gamma_new; - RobotLocalization::NavsatConversions::LLtoUTM( - lat, lon, UTMNorthing_new, UTMEasting_new, UTMZone_new, gamma_new); - EXPECT_NEAR(UTMNorthing, UTMNorthing_new, 1e-2); - EXPECT_NEAR(UTMEasting, UTMEasting_new, 1e-2); - EXPECT_EQ(UTMZone, UTMZone_new); - EXPECT_NEAR(gamma, gamma_new, 1e-2); - double lat_new; - double lon_new; - RobotLocalization::NavsatConversions::UTMtoLL(UTMNorthing, UTMEasting, - UTMZone, lat_new, lon_new); - EXPECT_NEAR(lat_new, lat, 1e-5); - EXPECT_NEAR(lon_new, lon, 1e-5); -} - -TEST(NavsatConversionsTest, UtmTest) { - NavsatConversionsTest(51.423964, 5.494271, 5699924.709, 673409.989, "31U", - 1.950); - NavsatConversionsTest(-43.530955, 172.636645, 5178919.718, 632246.802, "59G", - -1.127); -} - -int main(int argc, char **argv) { - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/navigation/robot_localization/test/test_navsat_transform.cpp b/navigation/robot_localization/test/test_navsat_transform.cpp deleted file mode 100644 index 1e2044c2..00000000 --- a/navigation/robot_localization/test/test_navsat_transform.cpp +++ /dev/null @@ -1,95 +0,0 @@ -/* - * Copyright (c) 2021, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/navsat_transform.h" -#include -#include -#include - -#include - -#include - -TEST(NavSatTransformUTMJumpTest, UtmTest) { - ros::NodeHandle nh; - ros::ServiceClient set_datum_client = - nh.serviceClient("/datum"); - ros::ServiceClient from_ll_client = - nh.serviceClient("/fromLL"); - - EXPECT_TRUE(set_datum_client.waitForExistence(ros::Duration(5))); - - // Initialise the navsat_transform node to a UTM zone - robot_localization::SetDatum set_datum_srv; - set_datum_srv.request.geo_pose.position.latitude = 1; - set_datum_srv.request.geo_pose.position.longitude = 4; - set_datum_srv.request.geo_pose.orientation.w = 1; - EXPECT_TRUE(set_datum_client.call(set_datum_srv)); - - // Let the node figure out its transforms - ros::Duration(0.2).sleep(); - - // Request the GPS point of said point: - robot_localization::FromLL from_ll_srv; - from_ll_srv.request.ll_point.latitude = 10; - from_ll_srv.request.ll_point.longitude = 4.5; - EXPECT_TRUE(from_ll_client.call(from_ll_srv)); - auto initial_response = from_ll_srv.response; - - // Request GPS point also in that zone - from_ll_srv.request.ll_point.longitude = 5.5; - EXPECT_TRUE(from_ll_client.call(from_ll_srv)); - auto same_zone_response = from_ll_srv.response; - - // 1° of longitude is about 111 kilometers in length - EXPECT_NEAR(initial_response.map_point.x, same_zone_response.map_point.x, - 120e3); - EXPECT_NEAR(initial_response.map_point.y, same_zone_response.map_point.y, - 120e3); - - // Request GPS point from neighboring zone (zone crossing is at 6 degrees) - from_ll_srv.request.ll_point.longitude = 6.5; - from_ll_client.call(from_ll_srv); - auto neighbour_zone_response = from_ll_srv.response; - - EXPECT_NEAR(initial_response.map_point.x, neighbour_zone_response.map_point.x, - 2 * 120e3); - EXPECT_NEAR(initial_response.map_point.y, neighbour_zone_response.map_point.y, - 2 * 120e3); -} - -int main(int argc, char **argv) { - ros::init(argc, argv, "test_navsat_transform"); - - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/navigation/robot_localization/test/test_navsat_transform.test b/navigation/robot_localization/test/test_navsat_transform.test deleted file mode 100644 index d8873b2b..00000000 --- a/navigation/robot_localization/test/test_navsat_transform.test +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - - diff --git a/navigation/robot_localization/test/test_robot_localization_estimator.cpp b/navigation/robot_localization/test/test_robot_localization_estimator.cpp deleted file mode 100644 index 905fa18f..00000000 --- a/navigation/robot_localization/test/test_robot_localization_estimator.cpp +++ /dev/null @@ -1,170 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/robot_localization_estimator.h" - -#include -#include - -#include - -TEST(RLETest, StateBuffer) { - // Generate a few estimator states - std::vector states; - - for (int i = 0; i < 10; i++) { - /* - * t = i s; - * x = i m; - * vx = 1.0 m/s; - */ - RobotLocalization::EstimatorState state; - state.time_stamp = i; - state.state(RobotLocalization::StateMemberX) = i; - state.state(RobotLocalization::StateMemberY) = 0; - state.state(RobotLocalization::StateMemberZ) = 0; - - state.state(RobotLocalization::StateMemberRoll) = 0; - state.state(RobotLocalization::StateMemberPitch) = 0; - state.state(RobotLocalization::StateMemberYaw) = 0; - - state.state(RobotLocalization::StateMemberVx) = 1; - state.state(RobotLocalization::StateMemberVy) = 0; - state.state(RobotLocalization::StateMemberVz) = 0; - - state.state(RobotLocalization::StateMemberVroll) = 0; - state.state(RobotLocalization::StateMemberVpitch) = 0; - state.state(RobotLocalization::StateMemberVyaw) = 0; - - state.state(RobotLocalization::StateMemberAx) = 0; - state.state(RobotLocalization::StateMemberAy) = 0; - state.state(RobotLocalization::StateMemberAz) = 0; - states.push_back(state); - } - - // Instantiate a robot localization estimator with a buffer capacity of 5 - int buffer_capacity = 5; - Eigen::MatrixXd process_noise_covariance = Eigen::MatrixXd::Identity( - RobotLocalization::STATE_SIZE, RobotLocalization::STATE_SIZE); - RobotLocalization::RobotLocalizationEstimator estimator( - buffer_capacity, RobotLocalization::FilterTypes::EKF, - process_noise_covariance); - - RobotLocalization::EstimatorState state; - - // Add the states in chronological order - for (int i = 0; i < 6; i++) { - estimator.setState(states[i]); - - // Check that the state is added correctly - estimator.getState(states[i].time_stamp, state); - EXPECT_EQ(state.time_stamp, states[i].time_stamp); - } - - // We filled the buffer with more states that it can hold, so its size should - // now be equal to the capacity - EXPECT_EQ(static_cast(estimator.getSize()), buffer_capacity); - - // Clear the buffer and check if it's really empty afterwards - estimator.clearBuffer(); - EXPECT_EQ(estimator.getSize(), 0u); - - // Add states at time 1 through 3 inclusive to the buffer (buffer is not yet - // full) - for (int i = 1; i < 4; i++) { - estimator.setState(states[i]); - } - - // Now add a state at time 0, but let's change it a bit (set StateMemberY=12) - // so that we can inspect if it is correctly added to the buffer. - RobotLocalization::EstimatorState state_2 = states[0]; - state_2.state(RobotLocalization::StateMemberY) = 12; - estimator.setState(state_2); - EXPECT_EQ(RobotLocalization::EstimatorResults::Exact, - estimator.getState(states[0].time_stamp, state)); - - // Check if the state is correctly added - EXPECT_EQ(state.state, state_2.state); - - // Add some more states. State at t=0 should now be dropped, so we should get - // the prediction, which means y=0 - for (int i = 5; i < 8; i++) { - estimator.setState(states[i]); - } - EXPECT_EQ(RobotLocalization::EstimatorResults::ExtrapolationIntoPast, - estimator.getState(states[0].time_stamp, state)); - EXPECT_EQ(states[0].state, state.state); - - // Estimate a state that is not in the buffer, but can be determined by - // interpolation. The predicted state vector should be equal to the designed - // state at the requested time. - EXPECT_EQ(RobotLocalization::EstimatorResults::Interpolation, - estimator.getState(states[4].time_stamp, state)); - EXPECT_EQ(states[4].state, state.state); - - // Estimate a state that is not in the buffer, but can be determined by - // extrapolation into the future. The predicted state vector should be equal - // to the designed state at the requested time. - EXPECT_EQ(RobotLocalization::EstimatorResults::ExtrapolationIntoFuture, - estimator.getState(states[8].time_stamp, state)); - EXPECT_EQ(states[8].state, state.state); - - // Add missing state somewhere in the middle - estimator.setState(states[4]); - - // Overwrite state at t=3 (oldest state now in the buffer) and check if it's - // correctly overwritten. - state_2 = states[3]; - state_2.state(RobotLocalization::StateMemberVy) = -1.0; - estimator.setState(state_2); - EXPECT_EQ(RobotLocalization::EstimatorResults::Exact, - estimator.getState(states[3].time_stamp, state)); - EXPECT_EQ(state_2.state, state.state); - - // Add state that came too late - estimator.setState(states[0]); - - // Check if getState needed to do extrapolation into the past - EXPECT_EQ(estimator.getState(states[0].time_stamp, state), - RobotLocalization::EstimatorResults::ExtrapolationIntoPast); - - // Check state at t=0. This can only work correctly if the state at t=3 is - // overwritten and the state at zero is not in the buffer. - EXPECT_DOUBLE_EQ(3.0, state.state(RobotLocalization::StateMemberY)); -} - -int main(int argc, char **argv) { - ros::init(argc, argv, "test_robot_localization_estimator"); - - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/navigation/robot_localization/test/test_robot_localization_estimator.test b/navigation/robot_localization/test/test_robot_localization_estimator.test deleted file mode 100644 index ebd8db58..00000000 --- a/navigation/robot_localization/test/test_robot_localization_estimator.test +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/navigation/robot_localization/test/test_ros_robot_localization_listener.cpp b/navigation/robot_localization/test/test_ros_robot_localization_listener.cpp deleted file mode 100644 index a6d0353f..00000000 --- a/navigation/robot_localization/test/test_ros_robot_localization_listener.cpp +++ /dev/null @@ -1,132 +0,0 @@ -/* - * Copyright (c) 2016, TNO IVS, Helmond - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/filter_common.h" -#include "robot_localization/ros_robot_localization_listener.h" - -#include - -#include -#include - -#include - -RobotLocalization::RosRobotLocalizationListener *g_listener; - -TEST(LocalizationListenerTest, testGetStateOfBaseLink) { - ros::spinOnce(); - - ros::Time time2(1001); - - Eigen::VectorXd state(RobotLocalization::STATE_SIZE); - Eigen::MatrixXd covariance(RobotLocalization::STATE_SIZE, - RobotLocalization::STATE_SIZE); - - std::string base_frame("base_link"); - g_listener->getState(time2, base_frame, state, covariance); - - EXPECT_DOUBLE_EQ(1.0, state(RobotLocalization::StateMemberX)); - EXPECT_DOUBLE_EQ(0.0, state(RobotLocalization::StateMemberY)); - EXPECT_DOUBLE_EQ(0.0, state(RobotLocalization::StateMemberZ)); - - EXPECT_FLOAT_EQ(M_PI / 4, state(RobotLocalization::StateMemberRoll)); - EXPECT_FLOAT_EQ(0.0, state(RobotLocalization::StateMemberPitch)); - EXPECT_FLOAT_EQ(0.0, state(RobotLocalization::StateMemberYaw)); - - EXPECT_DOUBLE_EQ(M_PI / 4.0, state(RobotLocalization::StateMemberVroll)); - EXPECT_DOUBLE_EQ(0.0, state(RobotLocalization::StateMemberVpitch)); - EXPECT_DOUBLE_EQ(0.0, state(RobotLocalization::StateMemberVyaw)); -} - -TEST(LocalizationListenerTest, GetStateOfRelatedFrame) { - ros::spinOnce(); - - Eigen::VectorXd state(RobotLocalization::STATE_SIZE); - Eigen::MatrixXd covariance(RobotLocalization::STATE_SIZE, - RobotLocalization::STATE_SIZE); - - ros::Time time1(1000); - ros::Time time2(1001); - - std::string sensor_frame("sensor"); - - EXPECT_TRUE(g_listener->getState(time1, sensor_frame, state, covariance)); - - EXPECT_FLOAT_EQ(0.0, state(RobotLocalization::StateMemberX)); - EXPECT_FLOAT_EQ(1.0, state(RobotLocalization::StateMemberY)); - EXPECT_FLOAT_EQ(0.0, state(RobotLocalization::StateMemberZ)); - - EXPECT_FLOAT_EQ(0.0, state(RobotLocalization::StateMemberRoll)); - EXPECT_FLOAT_EQ(0.0, state(RobotLocalization::StateMemberPitch)); - EXPECT_FLOAT_EQ(M_PI / 2, state(RobotLocalization::StateMemberYaw)); - - EXPECT_TRUE(1e-12 > state(RobotLocalization::StateMemberVx)); - EXPECT_FLOAT_EQ(-1.0, state(RobotLocalization::StateMemberVy)); - EXPECT_FLOAT_EQ(M_PI / 4.0, state(RobotLocalization::StateMemberVz)); - - EXPECT_TRUE(1e-12 > state(RobotLocalization::StateMemberVroll)); - EXPECT_FLOAT_EQ(-M_PI / 4.0, state(RobotLocalization::StateMemberVpitch)); - EXPECT_FLOAT_EQ(0.0, state(RobotLocalization::StateMemberVyaw)); - - EXPECT_TRUE(g_listener->getState(time2, sensor_frame, state, covariance)); - - EXPECT_FLOAT_EQ(1.0, state(RobotLocalization::StateMemberX)); - EXPECT_FLOAT_EQ(sqrt(2) / 2.0, state(RobotLocalization::StateMemberY)); - EXPECT_FLOAT_EQ(sqrt(2) / 2.0, state(RobotLocalization::StateMemberZ)); - - EXPECT_TRUE(1e-12 > state(RobotLocalization::StateMemberRoll)); - EXPECT_TRUE(1e-12 > - fabs(-M_PI / 4.0 - state(RobotLocalization::StateMemberPitch))); - EXPECT_FLOAT_EQ(M_PI / 2, state(RobotLocalization::StateMemberYaw)); - - EXPECT_TRUE(1e-12 > state(RobotLocalization::StateMemberVx)); - EXPECT_FLOAT_EQ(-1.0, state(RobotLocalization::StateMemberVy)); - EXPECT_FLOAT_EQ(M_PI / 4, state(RobotLocalization::StateMemberVz)); - - EXPECT_TRUE(1e-12 > state(RobotLocalization::StateMemberVroll)); - EXPECT_FLOAT_EQ(-M_PI / 4.0, state(RobotLocalization::StateMemberVpitch)); - EXPECT_FLOAT_EQ(0, state(RobotLocalization::StateMemberVyaw)); -} - -int main(int argc, char **argv) { - ros::init(argc, argv, "test_robot_localization_estimator"); - - g_listener = new RobotLocalization::RosRobotLocalizationListener(); - - testing::InitGoogleTest(&argc, argv); - - int res = RUN_ALL_TESTS(); - - delete g_listener; - - return res; -} diff --git a/navigation/robot_localization/test/test_ros_robot_localization_listener.test b/navigation/robot_localization/test/test_ros_robot_localization_listener.test deleted file mode 100644 index e706abd0..00000000 --- a/navigation/robot_localization/test/test_ros_robot_localization_listener.test +++ /dev/null @@ -1,68 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - [true, false, true, false, false, false, false, false, false, false, false, false, false, false, false] - [true, true, true, true, true, true, false, false, false, false, false, false, false, false, false] - [false, false, false, false, false, false, true, true, true, true, true, true, false, false, false] - - [true, false, true, false, false, false, false, false, false, false, false, false, false, false, false] - [true, true, true, true, true, true, false, false, false, false, false, false, false, false, false] - - [false, false, false, false, false, false, true, true, true, true, true, true, false, false, false] - - [false, false, false, true, true, true, false, false, false, false, false, false, false, false, false] - [false, false, false, false, false, false, false, false, false, true, true, true, false, false, false] - [false, false, false, false, false, false, false, false, false, false, false, false, true, true, true] - [false, false, false, true, true, true, false, false, false, false, false, false, false, false, false] - - - - - - - - - - - [0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.4, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.002, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.002, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.004, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01] - - - - - - - diff --git a/navigation/robot_localization/test/test_ros_robot_localization_listener_publisher.cpp b/navigation/robot_localization/test/test_ros_robot_localization_listener_publisher.cpp deleted file mode 100644 index a1e2c18a..00000000 --- a/navigation/robot_localization/test/test_ros_robot_localization_listener_publisher.cpp +++ /dev/null @@ -1,120 +0,0 @@ -/* - * Copyright (c) 2016, TNO IVS, Helmond - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include -#include -#include - -#include -#include -#include - -int main(int argc, char **argv) { - ros::init(argc, argv, "test_robot_localization_listener_publisher"); - - ros::NodeHandle nh; - ros::Publisher odom_pub = - nh.advertise("odometry/filtered", 1); - ros::Publisher accel_pub = - nh.advertise("accel/filtered", - 1); - tf2_ros::StaticTransformBroadcaster transform_broadcaster; - - ros::Time end_time = ros::Time::now() + ros::Duration(10); - while (ros::ok() && ros::Time::now() < end_time) { - ros::Time time1(1000); - double x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, - az; - x = y = z = roll = pitch = yaw = vy = vz = vroll = vpitch = vyaw = ax = ay = - az = 0.0; - vx = 1.0; - vroll = M_PI / 4.0; - - tf2::Quaternion q; - q.setRPY(0, 0, 0); - - nav_msgs::Odometry odom_msg; - odom_msg.header.stamp = time1; - odom_msg.header.frame_id = "map"; - odom_msg.child_frame_id = "base_link"; - odom_msg.pose.pose.position.x = x; - odom_msg.pose.pose.position.y = y; - odom_msg.pose.pose.position.y = z; - odom_msg.pose.pose.orientation.x = q.x(); - odom_msg.pose.pose.orientation.y = q.y(); - odom_msg.pose.pose.orientation.z = q.z(); - odom_msg.pose.pose.orientation.w = q.w(); - - odom_msg.twist.twist.linear.x = vx; - odom_msg.twist.twist.linear.y = vy; - odom_msg.twist.twist.linear.z = vz; - odom_msg.twist.twist.angular.x = vroll; - odom_msg.twist.twist.angular.y = vpitch; - odom_msg.twist.twist.angular.z = vyaw; - - geometry_msgs::AccelWithCovarianceStamped accel_msg; - accel_msg.header.stamp = time1; - accel_msg.header.frame_id = "base_link"; - accel_msg.accel.accel.linear.x = ax; - accel_msg.accel.accel.linear.y = ay; - accel_msg.accel.accel.linear.z = az; - accel_msg.accel.accel.angular.x = 0; - accel_msg.accel.accel.angular.y = 0; - accel_msg.accel.accel.angular.z = 0; - - odom_pub.publish(odom_msg); - accel_pub.publish(accel_msg); - - geometry_msgs::TransformStamped transformStamped; - - transformStamped.header.stamp = ros::Time::now(); - transformStamped.header.frame_id = "base_link"; - transformStamped.child_frame_id = "sensor"; - transformStamped.transform.translation.x = 0.0; - transformStamped.transform.translation.y = 1.0; - transformStamped.transform.translation.z = 0.0; - { - tf2::Quaternion q; - q.setRPY(0, 0, M_PI / 2); - transformStamped.transform.rotation.x = q.x(); - transformStamped.transform.rotation.y = q.y(); - transformStamped.transform.rotation.z = q.z(); - transformStamped.transform.rotation.w = q.w(); - - transform_broadcaster.sendTransform(transformStamped); - } - - ros::Duration(0.1).sleep(); - } - - return 0; -} diff --git a/navigation/robot_localization/test/test_ukf.cpp b/navigation/robot_localization/test/test_ukf.cpp deleted file mode 100644 index 786ab30d..00000000 --- a/navigation/robot_localization/test/test_ukf.cpp +++ /dev/null @@ -1,125 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/ros_filter_types.h" - -#include - -#include -#include - -using RobotLocalization::RosUkf; -using RobotLocalization::STATE_SIZE; -using RobotLocalization::Ukf; - -class RosUkfPassThrough : public RosUkf { -public: - explicit RosUkfPassThrough(std::vector &args) - : RosUkf(ros::NodeHandle(), ros::NodeHandle("~"), args) {} - - Ukf &getFilter() { return filter_; } -}; - -TEST(UkfTest, Measurements) { - std::vector args; - args.push_back(0.001); - args.push_back(0); - args.push_back(2); - - RosUkfPassThrough ukf(args); - - Eigen::MatrixXd initialCovar(15, 15); - initialCovar.setIdentity(); - initialCovar *= 0.5; - ukf.getFilter().setEstimateErrorCovariance(initialCovar); - - EXPECT_EQ(ukf.getFilter().getEstimateErrorCovariance(), initialCovar); - - Eigen::VectorXd measurement(STATE_SIZE); - for (size_t i = 0; i < STATE_SIZE; ++i) { - measurement[i] = i * 0.01 * STATE_SIZE; - } - - Eigen::MatrixXd measurementCovariance(STATE_SIZE, STATE_SIZE); - measurementCovariance.setIdentity(); - for (size_t i = 0; i < STATE_SIZE; ++i) { - measurementCovariance(i, i) = 1e-9; - } - - std::vector updateVector(STATE_SIZE, true); - - // Ensure that measurements are being placed in the queue correctly - ros::Time time; - time.fromSec(1000); - ukf.enqueueMeasurement("odom0", measurement, measurementCovariance, - updateVector, std::numeric_limits::max(), - time); - - ukf.integrateMeasurements(ros::Time(1001)); - - EXPECT_EQ(ukf.getFilter().getState(), measurement); - EXPECT_EQ(ukf.getFilter().getEstimateErrorCovariance(), - measurementCovariance); - - ukf.getFilter().setEstimateErrorCovariance(initialCovar); - - // Now fuse another measurement and check the output. - // We know what the filter's state should be when - // this is complete, so we'll check the difference and - // make sure it's suitably small. - Eigen::VectorXd measurement2 = measurement; - - measurement2 *= 2.0; - - for (size_t i = 0; i < STATE_SIZE; ++i) { - measurementCovariance(i, i) = 1e-9; - } - - time.fromSec(1002); - ukf.enqueueMeasurement("odom0", measurement2, measurementCovariance, - updateVector, std::numeric_limits::max(), - time); - - ukf.integrateMeasurements(ros::Time(1003)); - - measurement = measurement2.eval() - ukf.getFilter().getState(); - for (size_t i = 0; i < STATE_SIZE; ++i) { - EXPECT_LT(::fabs(measurement[i]), 0.001); - } -} - -int main(int argc, char **argv) { - ros::init(argc, argv, "ukf"); - - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/navigation/robot_localization/test/test_ukf.test b/navigation/robot_localization/test/test_ukf.test deleted file mode 100644 index 211480ae..00000000 --- a/navigation/robot_localization/test/test_ukf.test +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/navigation/robot_localization/test/test_ukf_localization_node_bag1.test b/navigation/robot_localization/test/test_ukf_localization_node_bag1.test deleted file mode 100644 index 1592c655..00000000 --- a/navigation/robot_localization/test/test_ukf_localization_node_bag1.test +++ /dev/null @@ -1,110 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - [false, false, false, - false, false, false, - true, true, true, - false, false, false, - false, false, false] - - [false, false, false, - true, true, true, - false, false, false, - true, true, false, - true, true, true] - - - - - - - - - - - - - - - - - - [0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015] - - [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] - - - - - - - - - - - - - - - - - diff --git a/navigation/robot_localization/test/test_ukf_localization_node_bag2.test b/navigation/robot_localization/test/test_ukf_localization_node_bag2.test deleted file mode 100644 index 5fbbe160..00000000 --- a/navigation/robot_localization/test/test_ukf_localization_node_bag2.test +++ /dev/null @@ -1,91 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - [false, false, false, - false, false, false, - true, true, true, - false, false, true, - false, false, false] - - [false, false, false, - true, true, true, - false, false, false, - true, true, true, - true, true, true] - - - - - - - [0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0.4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0.05, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.002, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.002, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.004, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01] - - [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] - - - - - - - - - - - - - - - - - diff --git a/navigation/robot_localization/test/test_ukf_localization_node_bag3.test b/navigation/robot_localization/test/test_ukf_localization_node_bag3.test deleted file mode 100644 index d2c0e6af..00000000 --- a/navigation/robot_localization/test/test_ukf_localization_node_bag3.test +++ /dev/null @@ -1,79 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - [false, false, true, - false, false, false, - true, true, false, - false, false, true, - false, false, false] - - [false, false, false, - true, true, true, - false, false, false, - true, true, true, - false, false, false] - - - - - - - - - - - - - - - [0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.4, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.002, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.002, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.004, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01] - - - - - - - - - - - - - diff --git a/navigation/robot_localization/test/test_ukf_localization_node_interfaces.cpp b/navigation/robot_localization/test/test_ukf_localization_node_interfaces.cpp deleted file mode 100644 index 75e836ce..00000000 --- a/navigation/robot_localization/test/test_ukf_localization_node_interfaces.cpp +++ /dev/null @@ -1,1069 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/SetPose.h" - -#include -#include -#include -#include -#include - -#include -#include - -#include - -#include - -nav_msgs::Odometry filtered_; - -bool stateUpdated_; - -void resetFilter() { - ros::NodeHandle nh; - ros::ServiceClient client = - nh.serviceClient("/set_pose"); - - robot_localization::SetPose setPose; - setPose.request.pose.pose.pose.orientation.w = 1; - setPose.request.pose.header.frame_id = "odom"; - for (size_t ind = 0; ind < 36; ind += 7) { - setPose.request.pose.pose.covariance[ind] = 1e-6; - } - - setPose.request.pose.header.stamp = ros::Time::now(); - client.call(setPose); - setPose.request.pose.header.seq++; - ros::spinOnce(); - ros::Duration(0.01).sleep(); - stateUpdated_ = false; - - double deltaX = 0.0; - double deltaY = 0.0; - double deltaZ = 0.0; - - while (!stateUpdated_ || - ::sqrt(deltaX * deltaX + deltaY * deltaY + deltaZ * deltaZ) > 0.1) { - ros::spinOnce(); - ros::Duration(0.01).sleep(); - - deltaX = filtered_.pose.pose.position.x - - setPose.request.pose.pose.pose.position.x; - deltaY = filtered_.pose.pose.position.y - - setPose.request.pose.pose.pose.position.y; - deltaZ = filtered_.pose.pose.position.z - - setPose.request.pose.pose.pose.position.z; - } - - EXPECT_LT(::sqrt(deltaX * deltaX + deltaY * deltaY + deltaZ * deltaZ), 0.1); -} - -void filterCallback(const nav_msgs::OdometryConstPtr &msg) { - filtered_ = *msg; - stateUpdated_ = true; -} - -TEST(InterfacesTest, OdomPoseBasicIO) { - stateUpdated_ = false; - - ros::NodeHandle nh; - ros::Publisher odomPub = nh.advertise("/odom_input0", 5); - ros::Subscriber filteredSub = - nh.subscribe("/odometry/filtered", 1, &filterCallback); - - nav_msgs::Odometry odom; - odom.pose.pose.position.x = 20.0; - odom.pose.pose.position.y = 10.0; - odom.pose.pose.position.z = -40.0; - - odom.pose.covariance[0] = 2.0; - odom.pose.covariance[7] = 2.0; - odom.pose.covariance[14] = 2.0; - - odom.header.frame_id = "odom"; - odom.child_frame_id = "base_link"; - - ros::Rate loopRate(50); - for (size_t i = 0; i < 50; ++i) { - odom.header.stamp = ros::Time::now(); - odomPub.publish(odom); - ros::spinOnce(); - - loopRate.sleep(); - - odom.header.seq++; - } - - // Now check the values from the callback - EXPECT_LT(::fabs(filtered_.pose.pose.position.x - odom.pose.pose.position.x), - 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y), - 0.01); // Configuration for this variable for this sensor is false - EXPECT_LT(::fabs(filtered_.pose.pose.position.z - odom.pose.pose.position.z), - 0.01); - - EXPECT_LT(filtered_.pose.covariance[0], 0.5); - EXPECT_LT(filtered_.pose.covariance[7], - 0.25); // Configuration for this variable for this sensor is false - EXPECT_LT(filtered_.pose.covariance[14], 0.6); - - resetFilter(); -} - -TEST(InterfacesTest, OdomTwistBasicIO) { - ros::NodeHandle nh; - ros::Publisher odomPub = nh.advertise("/odom_input2", 5); - ros::Subscriber filteredSub = - nh.subscribe("/odometry/filtered", 1, &filterCallback); - - nav_msgs::Odometry odom; - odom.twist.twist.linear.x = 5.0; - odom.twist.twist.linear.y = 0.0; - odom.twist.twist.linear.z = 0.0; - odom.twist.twist.angular.x = 0.0; - odom.twist.twist.angular.y = 0.0; - odom.twist.twist.angular.z = 0.0; - - for (size_t ind = 0; ind < 36; ind += 7) { - odom.twist.covariance[ind] = 1e-6; - } - - odom.header.frame_id = "odom"; - odom.child_frame_id = "base_link"; - - ros::Rate loopRate(20); - for (size_t i = 0; i < 400; ++i) { - odom.header.stamp = ros::Time::now(); - odomPub.publish(odom); - ros::spinOnce(); - - loopRate.sleep(); - - odom.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - odom.twist.twist.linear.x), - 0.1); - EXPECT_LT(::fabs(filtered_.pose.pose.position.x - 100.0), 2.0); - - resetFilter(); - - odom.twist.twist.linear.x = 0.0; - odom.twist.twist.linear.y = 5.0; - - loopRate = ros::Rate(20); - for (size_t i = 0; i < 200; ++i) { - odom.header.stamp = ros::Time::now(); - odomPub.publish(odom); - ros::spinOnce(); - - loopRate.sleep(); - - odom.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.twist.twist.linear.y - odom.twist.twist.linear.y), - 0.1); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y - 50.0), 1.0); - - resetFilter(); - - odom.twist.twist.linear.y = 0.0; - odom.twist.twist.linear.z = 5.0; - - loopRate = ros::Rate(20); - for (size_t i = 0; i < 100; ++i) { - odom.header.stamp = ros::Time::now(); - odomPub.publish(odom); - ros::spinOnce(); - - loopRate.sleep(); - - odom.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.twist.twist.linear.z - odom.twist.twist.linear.z), - 0.1); - EXPECT_LT(::fabs(filtered_.pose.pose.position.z - 25.0), 1.0); - - resetFilter(); - - odom.twist.twist.linear.z = 0.0; - odom.twist.twist.linear.x = 1.0; - odom.twist.twist.angular.z = (M_PI / 2) / (100.0 * 0.05); - - loopRate = ros::Rate(20); - for (size_t i = 0; i < 100; ++i) { - odom.header.stamp = ros::Time::now(); - odomPub.publish(odom); - ros::spinOnce(); - - loopRate.sleep(); - - odom.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - odom.twist.twist.linear.x), - 0.1); - EXPECT_LT( - ::fabs(filtered_.twist.twist.angular.z - odom.twist.twist.angular.z), - 0.1); - EXPECT_LT( - ::fabs(filtered_.pose.pose.position.x - filtered_.pose.pose.position.y), - 0.5); - - resetFilter(); - - odom.twist.twist.linear.x = 0.0; - odom.twist.twist.angular.z = 0.0; - odom.twist.twist.angular.x = -(M_PI / 2) / (100.0 * 0.05); - - // First, roll the vehicle on its side - loopRate = ros::Rate(20); - for (size_t i = 0; i < 100; ++i) { - odom.header.stamp = ros::Time::now(); - odomPub.publish(odom); - ros::spinOnce(); - - loopRate.sleep(); - - odom.header.seq++; - } - ros::spinOnce(); - - odom.twist.twist.angular.x = 0.0; - odom.twist.twist.angular.y = (M_PI / 2) / (100.0 * 0.05); - - // Now, pitch it down (positive pitch velocity in vehicle frame) - loopRate = ros::Rate(20); - for (size_t i = 0; i < 100; ++i) { - odom.header.stamp = ros::Time::now(); - odomPub.publish(odom); - ros::spinOnce(); - - loopRate.sleep(); - - odom.header.seq++; - } - ros::spinOnce(); - - odom.twist.twist.angular.y = 0.0; - odom.twist.twist.linear.x = 3.0; - - // We should now be on our side and facing -Y. Move forward in - // the vehicle frame X direction, and make sure Y decreases in - // the world frame. - loopRate = ros::Rate(20); - for (size_t i = 0; i < 100; ++i) { - odom.header.stamp = ros::Time::now(); - odomPub.publish(odom); - ros::spinOnce(); - - loopRate.sleep(); - - odom.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - odom.twist.twist.linear.x), - 0.1); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y + 15), 1.0); - - resetFilter(); -} - -TEST(InterfacesTest, PoseBasicIO) { - ros::NodeHandle nh; - ros::Publisher posePub = - nh.advertise("/pose_input0", 5); - ros::Subscriber filteredSub = - nh.subscribe("/odometry/filtered", 1, &filterCallback); - - geometry_msgs::PoseWithCovarianceStamped pose; - pose.pose.pose.position.x = 20.0; - pose.pose.pose.position.y = 10.0; - pose.pose.pose.position.z = -40.0; - pose.pose.pose.orientation.x = 0; - pose.pose.pose.orientation.y = 0; - pose.pose.pose.orientation.z = 0; - pose.pose.pose.orientation.w = 1; - - for (size_t ind = 0; ind < 36; ind += 7) { - pose.pose.covariance[ind] = 1e-6; - } - - pose.header.frame_id = "odom"; - - ros::Rate loopRate = ros::Rate(50); - for (size_t i = 0; i < 50; ++i) { - pose.header.stamp = ros::Time::now(); - posePub.publish(pose); - ros::spinOnce(); - - loopRate.sleep(); - - pose.header.seq++; - } - - // Now check the values from the callback - EXPECT_LT(::fabs(filtered_.pose.pose.position.x - pose.pose.pose.position.x), - 0.1); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y), - 0.1); // Configuration for this variable for this sensor is false - EXPECT_LT(::fabs(filtered_.pose.pose.position.z - pose.pose.pose.position.z), - 0.1); - - EXPECT_LT(filtered_.pose.covariance[0], 0.5); - EXPECT_LT(filtered_.pose.covariance[7], - 0.25); // Configuration for this variable for this sensor is false - EXPECT_LT(filtered_.pose.covariance[14], 0.5); - - resetFilter(); -} - -TEST(InterfacesTest, TwistBasicIO) { - ros::NodeHandle nh; - ros::Publisher twistPub = - nh.advertise("/twist_input0", - 5); - ros::Subscriber filteredSub = - nh.subscribe("/odometry/filtered", 1, &filterCallback); - - geometry_msgs::TwistWithCovarianceStamped twist; - twist.twist.twist.linear.x = 5.0; - twist.twist.twist.linear.y = 0; - twist.twist.twist.linear.z = 0; - twist.twist.twist.angular.x = 0; - twist.twist.twist.angular.y = 0; - twist.twist.twist.angular.z = 0; - - for (size_t ind = 0; ind < 36; ind += 7) { - twist.twist.covariance[ind] = 1e-6; - } - - twist.header.frame_id = "base_link"; - - ros::Rate loopRate = ros::Rate(20); - for (size_t i = 0; i < 400; ++i) { - twist.header.stamp = ros::Time::now(); - twistPub.publish(twist); - ros::spinOnce(); - - loopRate.sleep(); - - twist.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - twist.twist.twist.linear.x), - 0.1); - EXPECT_LT(::fabs(filtered_.pose.pose.position.x - 100.0), 2.0); - - resetFilter(); - - twist.twist.twist.linear.x = 0.0; - twist.twist.twist.linear.y = 5.0; - - loopRate = ros::Rate(20); - for (size_t i = 0; i < 200; ++i) { - twist.header.stamp = ros::Time::now(); - twistPub.publish(twist); - ros::spinOnce(); - - loopRate.sleep(); - - twist.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.twist.twist.linear.y - twist.twist.twist.linear.y), - 0.1); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y - 50.0), 1.0); - - resetFilter(); - - twist.twist.twist.linear.y = 0.0; - twist.twist.twist.linear.z = 5.0; - - loopRate = ros::Rate(20); - for (size_t i = 0; i < 100; ++i) { - twist.header.stamp = ros::Time::now(); - twistPub.publish(twist); - ros::spinOnce(); - - loopRate.sleep(); - - twist.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.twist.twist.linear.z - twist.twist.twist.linear.z), - 0.1); - EXPECT_LT(::fabs(filtered_.pose.pose.position.z - 25.0), 1.0); - - resetFilter(); - - twist.twist.twist.linear.z = 0.0; - twist.twist.twist.linear.x = 1.0; - twist.twist.twist.angular.z = (M_PI / 2) / (100.0 * 0.05); - - loopRate = ros::Rate(20); - for (size_t i = 0; i < 100; ++i) { - twist.header.stamp = ros::Time::now(); - twistPub.publish(twist); - ros::spinOnce(); - - loopRate.sleep(); - - twist.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - twist.twist.twist.linear.x), - 0.1); - EXPECT_LT( - ::fabs(filtered_.twist.twist.angular.z - twist.twist.twist.angular.z), - 0.1); - EXPECT_LT( - ::fabs(filtered_.pose.pose.position.x - filtered_.pose.pose.position.y), - 0.5); - - resetFilter(); - - twist.twist.twist.linear.x = 0.0; - twist.twist.twist.angular.z = 0.0; - twist.twist.twist.angular.x = -(M_PI / 2) / (100.0 * 0.05); - - // First, roll the vehicle on its side - loopRate = ros::Rate(20); - for (size_t i = 0; i < 100; ++i) { - twist.header.stamp = ros::Time::now(); - twistPub.publish(twist); - ros::spinOnce(); - - loopRate.sleep(); - - twist.header.seq++; - } - ros::spinOnce(); - - twist.twist.twist.angular.x = 0.0; - twist.twist.twist.angular.y = (M_PI / 2) / (100.0 * 0.05); - - // Now, pitch it down (positive pitch velocity in vehicle frame) - loopRate = ros::Rate(20); - for (size_t i = 0; i < 100; ++i) { - twist.header.stamp = ros::Time::now(); - twistPub.publish(twist); - ros::spinOnce(); - - loopRate.sleep(); - - twist.header.seq++; - } - ros::spinOnce(); - - twist.twist.twist.angular.y = 0.0; - twist.twist.twist.linear.x = 3.0; - - // We should now be on our side and facing -Y. Move forward in - // the vehicle frame X direction, and make sure Y decreases in - // the world frame. - loopRate = ros::Rate(20); - for (size_t i = 0; i < 100; ++i) { - twist.header.stamp = ros::Time::now(); - twistPub.publish(twist); - ros::spinOnce(); - - loopRate.sleep(); - - twist.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - twist.twist.twist.linear.x), - 0.1); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y + 15), 1.0); - - resetFilter(); -} - -TEST(InterfacesTest, ImuPoseBasicIO) { - ros::NodeHandle nh; - ros::Publisher imuPub = nh.advertise("/imu_input0", 5); - ros::Subscriber filteredSub = - nh.subscribe("/odometry/filtered", 1, &filterCallback); - - sensor_msgs::Imu imu; - tf2::Quaternion quat; - quat.setRPY(M_PI / 4, -M_PI / 4, M_PI / 2); - imu.orientation = tf2::toMsg(quat); - - for (size_t ind = 0; ind < 9; ind += 4) { - imu.orientation_covariance[ind] = 1e-6; - } - - imu.header.frame_id = "base_link"; - - // Make sure the pose reset worked. Test will timeout - // if this fails. - ros::Rate loopRate(50); - for (size_t i = 0; i < 50; ++i) { - imu.header.stamp = ros::Time::now(); - imuPub.publish(imu); - ros::spinOnce(); - - loopRate.sleep(); - - imu.header.seq++; - } - - // Now check the values from the callback - tf2::fromMsg(filtered_.pose.pose.orientation, quat); - tf2::Matrix3x3 mat(quat); - double r, p, y; - mat.getRPY(r, p, y); - EXPECT_LT(::fabs(r - M_PI / 4), 0.1); - EXPECT_LT(::fabs(p + M_PI / 4), 0.1); - EXPECT_LT(::fabs(y - M_PI / 2), 0.1); - - EXPECT_LT(filtered_.pose.covariance[21], 0.5); - EXPECT_LT(filtered_.pose.covariance[28], 0.25); - EXPECT_LT(filtered_.pose.covariance[35], 0.5); - - resetFilter(); - - // Test to see if the orientation data is ignored when we set the - // first covariance value to -1 - sensor_msgs::Imu imuIgnore; - imuIgnore.orientation.x = 0.1; - imuIgnore.orientation.y = 0.2; - imuIgnore.orientation.z = 0.3; - imuIgnore.orientation.w = 0.4; - imuIgnore.orientation_covariance[0] = -1; - - loopRate = ros::Rate(50); - for (size_t i = 0; i < 50; ++i) { - imuIgnore.header.stamp = ros::Time::now(); - imuPub.publish(imuIgnore); - loopRate.sleep(); - ros::spinOnce(); - - imuIgnore.header.seq++; - } - - tf2::fromMsg(filtered_.pose.pose.orientation, quat); - mat.setRotation(quat); - mat.getRPY(r, p, y); - EXPECT_LT(::fabs(r), 1e-3); - EXPECT_LT(::fabs(p), 1e-3); - EXPECT_LT(::fabs(y), 1e-3); - - resetFilter(); -} - -TEST(InterfacesTest, ImuTwistBasicIO) { - ros::NodeHandle nh; - ros::Publisher imuPub = nh.advertise("/imu_input1", 5); - ros::Subscriber filteredSub = - nh.subscribe("/odometry/filtered", 1, &filterCallback); - - sensor_msgs::Imu imu; - tf2::Quaternion quat; - imu.angular_velocity.x = (M_PI / 2.0); - - for (size_t ind = 0; ind < 9; ind += 4) { - imu.angular_velocity_covariance[ind] = 1e-6; - } - - imu.header.frame_id = "base_link"; - - ros::Rate loopRate(50); - for (size_t i = 0; i < 50; ++i) { - imu.header.stamp = ros::Time::now(); - imuPub.publish(imu); - loopRate.sleep(); - ros::spinOnce(); - - imu.header.seq++; - } - - // Now check the values from the callback - tf2::fromMsg(filtered_.pose.pose.orientation, quat); - tf2::Matrix3x3 mat(quat); - double r, p, y; - mat.getRPY(r, p, y); - - // Tolerances may seem loose, but the initial state covariances - // are tiny, so the filter is sluggish to accept velocity data - EXPECT_LT(::fabs(r - M_PI / 2.0), 0.7); - EXPECT_LT(::fabs(p), 0.1); - EXPECT_LT(::fabs(y), 0.1); - - EXPECT_LT(filtered_.twist.covariance[21], 1e-3); - EXPECT_LT(filtered_.pose.covariance[21], 0.1); - - resetFilter(); - - imu.angular_velocity.x = 0.0; - imu.angular_velocity.y = -(M_PI / 2.0); - - // Make sure the pose reset worked. Test will timeout - // if this fails. - loopRate = ros::Rate(50); - for (size_t i = 0; i < 50; ++i) { - imu.header.stamp = ros::Time::now(); - imuPub.publish(imu); - loopRate.sleep(); - ros::spinOnce(); - - imu.header.seq++; - } - - // Now check the values from the callback - tf2::fromMsg(filtered_.pose.pose.orientation, quat); - - tf2::Quaternion expected_quat(tf2::Vector3(0., 1., 0.), -M_PI / 2.0); - - EXPECT_LT(std::abs(tf2Angle(expected_quat.getAxis(), quat.getAxis())), 0.1); - EXPECT_LT(std::abs(expected_quat.getAngle() - quat.getAngle()), 0.7); - - EXPECT_LT(filtered_.twist.covariance[28], 1e-3); - EXPECT_LT(filtered_.pose.covariance[28], 0.1); - - resetFilter(); - - imu.angular_velocity.y = 0; - imu.angular_velocity.z = M_PI / 4.0; - - // Make sure the pose reset worked. Test will timeout - // if this fails. - loopRate = ros::Rate(50); - for (size_t i = 0; i < 50; ++i) { - imu.header.stamp = ros::Time::now(); - imuPub.publish(imu); - loopRate.sleep(); - ros::spinOnce(); - - imu.header.seq++; - } - - // Now check the values from the callback - tf2::fromMsg(filtered_.pose.pose.orientation, quat); - mat.setRotation(quat); - mat.getRPY(r, p, y); - EXPECT_LT(::fabs(r), 0.1); - EXPECT_LT(::fabs(p), 0.1); - EXPECT_LT(::fabs(y - M_PI / 4.0), 0.7); - - EXPECT_LT(filtered_.twist.covariance[35], 1e-3); - EXPECT_LT(filtered_.pose.covariance[35], 0.1); - - resetFilter(); - - // Test to see if the angular velocity data is ignored when we set the - // first covariance value to -1 - sensor_msgs::Imu imuIgnore; - imuIgnore.angular_velocity.x = 100; - imuIgnore.angular_velocity.y = 100; - imuIgnore.angular_velocity.z = 100; - imuIgnore.angular_velocity_covariance[0] = -1; - - loopRate = ros::Rate(50); - for (size_t i = 0; i < 50; ++i) { - imuIgnore.header.stamp = ros::Time::now(); - imuPub.publish(imuIgnore); - loopRate.sleep(); - ros::spinOnce(); - - imuIgnore.header.seq++; - } - - tf2::fromMsg(filtered_.pose.pose.orientation, quat); - mat.setRotation(quat); - mat.getRPY(r, p, y); - EXPECT_LT(::fabs(r), 1e-3); - EXPECT_LT(::fabs(p), 1e-3); - EXPECT_LT(::fabs(y), 1e-3); - - resetFilter(); -} - -TEST(InterfacesTest, ImuAccBasicIO) { - ros::NodeHandle nh; - ros::Publisher imuPub = nh.advertise("/imu_input2", 5); - ros::Subscriber filteredSub = - nh.subscribe("/odometry/filtered", 1, &filterCallback); - - sensor_msgs::Imu imu; - imu.header.frame_id = "base_link"; - imu.linear_acceleration_covariance[0] = 1e-6; - imu.linear_acceleration_covariance[4] = 1e-6; - imu.linear_acceleration_covariance[8] = 1e-6; - - imu.linear_acceleration.x = 1; - imu.linear_acceleration.y = -1; - imu.linear_acceleration.z = 1; - - // Move with constant acceleration for 1 second, - // then check our velocity. - ros::Rate loopRate(50); - for (size_t i = 0; i < 50; ++i) { - imu.header.stamp = ros::Time::now(); - imuPub.publish(imu); - loopRate.sleep(); - ros::spinOnce(); - - imu.header.seq++; - } - - EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - 1.0), 0.4); - EXPECT_LT(::fabs(filtered_.twist.twist.linear.y + 1.0), 0.4); - EXPECT_LT(::fabs(filtered_.twist.twist.linear.z - 1.0), 0.4); - - imu.linear_acceleration.x = 0.0; - imu.linear_acceleration.y = 0.0; - imu.linear_acceleration.z = 0.0; - - // Now move for another second, and see where we - // end up - loopRate = ros::Rate(50); - for (size_t i = 0; i < 50; ++i) { - imu.header.stamp = ros::Time::now(); - imuPub.publish(imu); - loopRate.sleep(); - ros::spinOnce(); - - imu.header.seq++; - } - - EXPECT_LT(::fabs(filtered_.pose.pose.position.x - 1.2), 0.4); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y + 1.2), 0.4); - EXPECT_LT(::fabs(filtered_.pose.pose.position.z - 1.2), 0.4); - - resetFilter(); - - // Test to see if the linear acceleration data is ignored when we set the - // first covariance value to -1 - sensor_msgs::Imu imuIgnore; - imuIgnore.linear_acceleration.x = 1000; - imuIgnore.linear_acceleration.y = 1000; - imuIgnore.linear_acceleration.z = 1000; - imuIgnore.linear_acceleration_covariance[0] = -1; - - loopRate = ros::Rate(50); - for (size_t i = 0; i < 50; ++i) { - imuIgnore.header.stamp = ros::Time::now(); - imuPub.publish(imuIgnore); - loopRate.sleep(); - ros::spinOnce(); - - imuIgnore.header.seq++; - } - - EXPECT_LT(::fabs(filtered_.pose.pose.position.x), 1e-3); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y), 1e-3); - EXPECT_LT(::fabs(filtered_.pose.pose.position.z), 1e-3); - - resetFilter(); -} - -TEST(InterfacesTest, OdomDifferentialIO) { - ros::NodeHandle nh; - ros::Publisher odomPub = nh.advertise("/odom_input1", 5); - ros::Subscriber filteredSub = - nh.subscribe("/odometry/filtered", 1, &filterCallback); - - nav_msgs::Odometry odom; - odom.pose.pose.position.x = 20.0; - odom.pose.pose.position.y = 10.0; - odom.pose.pose.position.z = -40.0; - - odom.pose.pose.orientation.w = 1; - - odom.pose.covariance[0] = 2.0; - odom.pose.covariance[7] = 2.0; - odom.pose.covariance[14] = 2.0; - odom.pose.covariance[21] = 0.2; - odom.pose.covariance[28] = 0.2; - odom.pose.covariance[35] = 0.2; - - odom.header.frame_id = "odom"; - odom.child_frame_id = "base_link"; - - // No guaranteeing that the zero state - // we're expecting to see here isn't just - // a result of zeroing it out previously, - // so check 10 times in succession. - size_t zeroCount = 0; - while (zeroCount++ < 10) { - odom.header.stamp = ros::Time::now(); - odomPub.publish(odom); - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.pose.pose.position.x), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.position.z), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.orientation.x), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.orientation.y), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.orientation.z), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.orientation.w - 1), 0.01); - - ros::Duration(0.1).sleep(); - - odom.header.seq++; - } - - for (size_t ind = 0; ind < 36; ind += 7) { - odom.pose.covariance[ind] = 1e-6; - } - - // Slowly move the position, and hope that the - // differential position keeps up - ros::Rate loopRate(20); - for (size_t i = 0; i < 100; ++i) { - odom.pose.pose.position.x += 0.01; - odom.pose.pose.position.y += 0.02; - odom.pose.pose.position.z -= 0.03; - - odom.header.stamp = ros::Time::now(); - odomPub.publish(odom); - ros::spinOnce(); - - loopRate.sleep(); - - odom.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.pose.pose.position.x - 1), 0.2); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y - 2), 0.4); - EXPECT_LT(::fabs(filtered_.pose.pose.position.z + 3), 0.6); - - resetFilter(); -} - -TEST(InterfacesTest, PoseDifferentialIO) { - ros::NodeHandle nh; - ros::Publisher posePub = - nh.advertise("/pose_input1", 5); - ros::Subscriber filteredSub = - nh.subscribe("/odometry/filtered", 1, &filterCallback); - - geometry_msgs::PoseWithCovarianceStamped pose; - pose.pose.pose.position.x = 20.0; - pose.pose.pose.position.y = 10.0; - pose.pose.pose.position.z = -40.0; - - pose.pose.pose.orientation.w = 1; - - pose.pose.covariance[0] = 2.0; - pose.pose.covariance[7] = 2.0; - pose.pose.covariance[14] = 2.0; - pose.pose.covariance[21] = 0.2; - pose.pose.covariance[28] = 0.2; - pose.pose.covariance[35] = 0.2; - - pose.header.frame_id = "odom"; - - // No guaranteeing that the zero state - // we're expecting to see here isn't just - // a result of zeroing it out previously, - // so check 10 times in succession. - size_t zeroCount = 0; - while (zeroCount++ < 10) { - pose.header.stamp = ros::Time::now(); - posePub.publish(pose); - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.pose.pose.position.x), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.position.z), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.orientation.x), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.orientation.y), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.orientation.z), 0.01); - EXPECT_LT(::fabs(filtered_.pose.pose.orientation.w - 1), 0.01); - - ros::Duration(0.1).sleep(); - - pose.header.seq++; - } - - // ...but only if we give the measurement a tiny covariance - for (size_t ind = 0; ind < 36; ind += 7) { - pose.pose.covariance[ind] = 1e-6; - } - - // Issue this location repeatedly, and see if we get - // a final reported position of (1, 2, -3) - ros::Rate loopRate(20); - for (size_t i = 0; i < 100; ++i) { - pose.pose.pose.position.x += 0.01; - pose.pose.pose.position.y += 0.02; - pose.pose.pose.position.z -= 0.03; - - pose.header.stamp = ros::Time::now(); - posePub.publish(pose); - ros::spinOnce(); - - loopRate.sleep(); - - pose.header.seq++; - } - ros::spinOnce(); - - EXPECT_LT(::fabs(filtered_.pose.pose.position.x - 1), 0.2); - EXPECT_LT(::fabs(filtered_.pose.pose.position.y - 2), 0.4); - EXPECT_LT(::fabs(filtered_.pose.pose.position.z + 3), 0.6); - - resetFilter(); -} - -TEST(InterfacesTest, ImuDifferentialIO) { - ros::NodeHandle nh; - ros::Publisher imu0Pub = nh.advertise("/imu_input0", 5); - ros::Publisher imu1Pub = nh.advertise("/imu_input1", 5); - ros::Publisher imuPub = nh.advertise("/imu_input3", 5); - ros::Subscriber filteredSub = - nh.subscribe("/odometry/filtered", 1, &filterCallback); - - sensor_msgs::Imu imu; - imu.header.frame_id = "base_link"; - tf2::Quaternion quat; - const double roll = M_PI / 2.0; - const double pitch = -M_PI; - const double yaw = -M_PI / 4.0; - quat.setRPY(roll, pitch, yaw); - imu.orientation = tf2::toMsg(quat); - - imu.orientation_covariance[0] = 0.02; - imu.orientation_covariance[4] = 0.02; - imu.orientation_covariance[8] = 0.02; - - imu.angular_velocity_covariance[0] = 0.02; - imu.angular_velocity_covariance[4] = 0.02; - imu.angular_velocity_covariance[8] = 0.02; - - ros::Duration(0.1).sleep(); - ros::spinOnce(); - - size_t setCount = 0; - while (setCount++ < 1000) { - imu.header.stamp = ros::Time::now(); - imu0Pub.publish(imu); // Use this to move the absolute orientation - imu1Pub.publish(imu); // Use this to keep velocities at 0 - ros::spinOnce(); - - ros::Duration(0.001).sleep(); - - imu.header.seq++; - } - - size_t zeroCount = 0; - while (zeroCount++ < 10) { - imu.header.stamp = ros::Time::now(); - imuPub.publish(imu); - ros::spinOnce(); - - ros::Duration(0.1).sleep(); - - imu.header.seq++; - } - - double rollFinal = roll; - double pitchFinal = pitch; - double yawFinal = yaw; - - // Move the orientation slowly, and see if we - // can push it to 0 - ros::Rate loopRate(20); - for (size_t i = 0; i < 100; ++i) { - yawFinal -= 0.01 * (3.0 * M_PI / 4.0); - - quat.setRPY(rollFinal, pitchFinal, yawFinal); - - imu.orientation = tf2::toMsg(quat); - imu.header.stamp = ros::Time::now(); - imuPub.publish(imu); - ros::spinOnce(); - - loopRate.sleep(); - - imu.header.seq++; - } - ros::spinOnce(); - - // Move the orientation slowly, and see if we - // can push it to 0 - loopRate = ros::Rate(20); - for (size_t i = 0; i < 100; ++i) { - rollFinal += 0.01 * (M_PI / 2.0); - - quat.setRPY(rollFinal, pitchFinal, yawFinal); - - imu.orientation = tf2::toMsg(quat); - imu.header.stamp = ros::Time::now(); - imuPub.publish(imu); - ros::spinOnce(); - - loopRate.sleep(); - - imu.header.seq++; - } - ros::spinOnce(); - - tf2::fromMsg(filtered_.pose.pose.orientation, quat); - tf2::Matrix3x3 mat(quat); - mat.getRPY(rollFinal, pitchFinal, yawFinal); - EXPECT_LT(::fabs(rollFinal), 0.2); - EXPECT_LT(::fabs(pitchFinal), 0.2); - EXPECT_LT(::fabs(yawFinal), 0.2); - - resetFilter(); -} - -int main(int argc, char **argv) { - testing::InitGoogleTest(&argc, argv); - - ros::init(argc, argv, "ukf_navigation_node-test-interfaces"); - ros::Time::init(); - - // Give ukf_localization_node time to initialize - ros::Duration(2.0).sleep(); - - return RUN_ALL_TESTS(); -} diff --git a/navigation/robot_localization/test/test_ukf_localization_node_interfaces.test b/navigation/robot_localization/test/test_ukf_localization_node_interfaces.test deleted file mode 100644 index 8959361b..00000000 --- a/navigation/robot_localization/test/test_ukf_localization_node_interfaces.test +++ /dev/null @@ -1,73 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - [true, false, true, false, false, false, false, false, false, false, false, false, false, false, false] - [true, true, true, true, true, true, false, false, false, false, false, false, false, false, false] - [false, false, false, false, false, false, true, true, true, true, true, true, false, false, false] - - [true, false, true, false, false, false, false, false, false, false, false, false, false, false, false] - [true, true, true, true, true, true, false, false, false, false, false, false, false, false, false] - - [false, false, false, false, false, false, true, true, true, true, true, true, false, false, false] - - [false, false, false, true, true, true, false, false, false, false, false, false, false, false, false] - [false, false, false, false, false, false, false, false, false, true, true, true, false, false, false] - [false, false, false, false, false, false, false, false, false, false, false, false, true, true, true] - [false, false, false, true, true, true, false, false, false, false, false, false, false, false, false] - - - - - - - - - - - - [1e-6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 1e-6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 1e-6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 1e-6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 1e-6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 1e-6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.002, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.002, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.004, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01] - - - - - - - - - - diff --git a/navigation/robot_localization/test/test_ukf_localization_nodelet_bag1.test b/navigation/robot_localization/test/test_ukf_localization_nodelet_bag1.test deleted file mode 100644 index 546ad809..00000000 --- a/navigation/robot_localization/test/test_ukf_localization_nodelet_bag1.test +++ /dev/null @@ -1,111 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - [false, false, false, - false, false, false, - true, true, true, - false, false, false, - false, false, false] - - [false, false, false, - true, true, true, - false, false, false, - true, true, false, - true, true, true] - - - - - - - - - - - - - - - - - - [0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015] - - [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] - - - - - - - - - - - - - - - - - diff --git a/navigation/waypoint_manager/CMakeLists.txt b/navigation/waypoint_manager/CMakeLists.txt deleted file mode 100644 index 123dd242..00000000 --- a/navigation/waypoint_manager/CMakeLists.txt +++ /dev/null @@ -1,13 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(waypoint_manager) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED - vortex_msgs -) - diff --git a/navigation/waypoint_manager/package.xml b/navigation/waypoint_manager/package.xml deleted file mode 100644 index 4feee74d..00000000 --- a/navigation/waypoint_manager/package.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - waypoint_manager - 0.0.0 - The waypoint_manager package - - - Ronja Kræmer - - - - MIT - - - - catkin - vortex_msgs - vortex_msgs - - - - - - - - diff --git a/navigation/waypoint_manager/scripts/waypoint_manager_node.py b/navigation/waypoint_manager/scripts/waypoint_manager_node.py deleted file mode 100755 index f5679576..00000000 --- a/navigation/waypoint_manager/scripts/waypoint_manager_node.py +++ /dev/null @@ -1,105 +0,0 @@ -#!/usr/bin/python3 -# written by Ronja Kræmer, Student - -import rospy -import actionlib -from rospy.core import rospydebug -from vortex_msgs.msg import ( - LosPathFollowingAction, - LosPathFollowingGoal, - LosPathFollowingResult, - LosPathFollowingFeedback, -) -from vortex_msgs.srv import Waypoint, WaypointRequest, WaypointResponse -from nav_msgs.msg import Path -from geometry_msgs.msg import PoseStamped, Point - - -class WaypointManager: - """ - Nodes created: - WaypointManager - Subscribes to: - Publishes to: - """ - - def __init__(self): - rospy.init_node("WaypointManager") - self.waypoint_list = [] - - # Action client - self.action_client = actionlib.SimpleActionClient( - "/guidance/los_action_server", LosPathFollowingAction) - self.action_client.wait_for_server() - - # Services - self.add_waypoint_service = rospy.Service("add_waypoint", Waypoint, - self.add_waypoint_to_list) - self.remove_waypoint_service = rospy.Service( - "remove_waypoint", Waypoint, self.remove_waypoint_from_list) - - # nav_msgs Path to visualize LOS in Rviz - self.path_pub = rospy.Publisher("los_path", Path, queue_size=10) - self.path = Path() - self.path.header.frame_id = "world" - - def add_waypoint_to_list(self, req): - self.waypoint_list.append(req.waypoint) - rospy.loginfo("add waypoint to waypoint_list") - newpose = PoseStamped() - newpose.pose.position = Point(req.waypoint[0], req.waypoint[1], 0) - self.path.poses.append(newpose) - self.path_pub.publish(self.path) - - return WaypointResponse(True) - - def remove_waypoint_from_list(self, req): - self.waypoint_list.remove(req) - rospy.loginfo("remove waypoint from waypoint_list") - self.path.poses.reverse() - self.path.poses.pop() - self.path.poses.reverse() - self.path_pub.publish(self.path) - - def spin(self): - index_waypoint_k = 0 - while not rospy.is_shutdown(): - if len(self.waypoint_list) >= 2: - if index_waypoint_k < len(self.waypoint_list) - 1: - goal = LosPathFollowingGoal() - rospy.loginfo("define goal to send to los_guidance_node") - - goal.waypoints[0].x = self.waypoint_list[index_waypoint_k][ - 0] - goal.waypoints[0].y = self.waypoint_list[index_waypoint_k][ - 1] - goal.waypoints[1].x = self.waypoint_list[index_waypoint_k + - 1][0] - goal.waypoints[1].y = self.waypoint_list[index_waypoint_k + - 1][1] - rospy.loginfo("add waypoints to goal") - rospy.loginfo("current points are: \n(" + - str(goal.waypoints[0].x) + "," + - str(goal.waypoints[0].y) + ")\n" + "(" + - str(goal.waypoints[1].x) + "," + - str(goal.waypoints[1].y) + ")") - - self.action_client.send_goal(goal) - rospy.loginfo("send goal to los_guidance_node") - self.action_client.wait_for_result() - rospy.loginfo("receive result from los_guidance_node") - index_waypoint_k += 1 - else: - self.waypoint_list.clear() - self.path.poses.clear() - self.path_pub.publish(self.path) - rospy.loginfo("clear waypoint_list") - - -if __name__ == "__main__": - try: - waypoint_manager = WaypointManager() - - waypoint_manager.spin() - except rospy.ROSInterruptException: - pass diff --git a/sim_config.rviz b/sim_config.rviz deleted file mode 100644 index cb9b51e1..00000000 --- a/sim_config.rviz +++ /dev/null @@ -1,169 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 138 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - Splitter Ratio: 0.5 - Tree Height: 1537 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Class: rviz/Pose - Color: 255; 25; 0 - Enabled: true - Head Length: 0.30000001192092896 - Head Radius: 0.10000000149011612 - Name: DP goal - Shaft Length: 1 - Shaft Radius: 0.05000000074505806 - Shape: Arrow - Topic: /move_base_simple/goal - Unreliable: false - Value: true - - Angle Tolerance: 0.10000000149011612 - Class: rviz/Odometry - Covariance: - Orientation: - Alpha: 0.5 - Color: 255; 255; 127 - Color Style: Unique - Frame: Local - Offset: 1 - Scale: 1 - Value: true - Position: - Alpha: 0.30000001192092896 - Color: 204; 51; 204 - Scale: 1 - Value: true - Value: true - Enabled: true - Keep: 100 - Name: Pose gt - Position Tolerance: 0.10000000149011612 - Shape: - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Color: 255; 25; 0 - Head Length: 0.30000001192092896 - Head Radius: 0.10000000149011612 - Shaft Length: 1 - Shaft Radius: 0.05000000074505806 - Value: Arrow - Topic: /pose_gt - Unreliable: false - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: world - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 10 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.785398006439209 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.785398006439209 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 2049 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 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- Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1853 - X: 1987 - Y: 55 diff --git a/topic1.yaml b/topic1.yaml deleted file mode 100644 index e69de29b..00000000 From cb166570d1bd076678a002936664ff7902b21238 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Mon, 7 Aug 2023 22:49:01 +0200 Subject: [PATCH 060/132] Housekeeping, remove unused packages --- asv_setup/launch/freya.launch | 28 ++++++++++++------- mission/mission_launch/CMakeLists.txt | 10 ------- mission/mission_launch/launch/mission.launch | 4 --- mission/mission_launch/package.xml | 26 ----------------- motion/lqr_controller/launch/lqr.launch | 2 +- motion/motion_launch/CMakeLists.txt | 10 ------- motion/motion_launch/launch/motion.launch | 25 ----------------- motion/motion_launch/package.xml | 26 ----------------- navigation/navigation_launch/CMakeLists.txt | 10 ------- .../launch/navigation.launch | 13 --------- navigation/navigation_launch/package.xml | 26 ----------------- 11 files changed, 19 insertions(+), 161 deletions(-) delete mode 100644 mission/mission_launch/CMakeLists.txt delete mode 100644 mission/mission_launch/launch/mission.launch delete mode 100644 mission/mission_launch/package.xml delete mode 100644 motion/motion_launch/CMakeLists.txt delete mode 100644 motion/motion_launch/launch/motion.launch delete mode 100644 motion/motion_launch/package.xml delete mode 100644 navigation/navigation_launch/CMakeLists.txt delete mode 100644 navigation/navigation_launch/launch/navigation.launch delete mode 100644 navigation/navigation_launch/package.xml diff --git a/asv_setup/launch/freya.launch b/asv_setup/launch/freya.launch index 6abb8a7c..47f8b324 100644 --- a/asv_setup/launch/freya.launch +++ b/asv_setup/launch/freya.launch @@ -11,15 +11,23 @@ - - - - - - - - - - + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/mission/mission_launch/CMakeLists.txt b/mission/mission_launch/CMakeLists.txt deleted file mode 100644 index 21591fc2..00000000 --- a/mission/mission_launch/CMakeLists.txt +++ /dev/null @@ -1,10 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(mission_launch) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED) diff --git a/mission/mission_launch/launch/mission.launch b/mission/mission_launch/launch/mission.launch deleted file mode 100644 index 6a6b0690..00000000 --- a/mission/mission_launch/launch/mission.launch +++ /dev/null @@ -1,4 +0,0 @@ - - - - diff --git a/mission/mission_launch/package.xml b/mission/mission_launch/package.xml deleted file mode 100644 index 4b468a47..00000000 --- a/mission/mission_launch/package.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - mission_launch - 0.0.0 - The mission_launch package - - - - - Christopher Strøm - - - - - - MIT - - catkin - - - - - - - - diff --git a/motion/lqr_controller/launch/lqr.launch b/motion/lqr_controller/launch/lqr.launch index 6e90d361..4ef507c7 100644 --- a/motion/lqr_controller/launch/lqr.launch +++ b/motion/lqr_controller/launch/lqr.launch @@ -6,5 +6,5 @@ - + diff --git a/motion/motion_launch/CMakeLists.txt b/motion/motion_launch/CMakeLists.txt deleted file mode 100644 index e06d158d..00000000 --- a/motion/motion_launch/CMakeLists.txt +++ /dev/null @@ -1,10 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(motion_launch) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED) diff --git a/motion/motion_launch/launch/motion.launch b/motion/motion_launch/launch/motion.launch deleted file mode 100644 index 2e0e16aa..00000000 --- a/motion/motion_launch/launch/motion.launch +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/motion/motion_launch/package.xml b/motion/motion_launch/package.xml deleted file mode 100644 index d16af672..00000000 --- a/motion/motion_launch/package.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - motion_launch - 0.0.0 - The motion_launch package - - - - - Ronja Kræmer - - - - - - MIT - - catkin - - - - - - - - diff --git a/navigation/navigation_launch/CMakeLists.txt b/navigation/navigation_launch/CMakeLists.txt deleted file mode 100644 index 9d5083a1..00000000 --- a/navigation/navigation_launch/CMakeLists.txt +++ /dev/null @@ -1,10 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(navigation_launch) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED) diff --git a/navigation/navigation_launch/launch/navigation.launch b/navigation/navigation_launch/launch/navigation.launch deleted file mode 100644 index 2aff5f37..00000000 --- a/navigation/navigation_launch/launch/navigation.launch +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - - - - - - - diff --git a/navigation/navigation_launch/package.xml b/navigation/navigation_launch/package.xml deleted file mode 100644 index 2d884971..00000000 --- a/navigation/navigation_launch/package.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - navigation_launch - 0.0.0 - The navigation_launch package - - - - - Ronja Kræmer - - - - - - MIT - - catkin - - - - - - - - From a40525b418d34f61bb939ad1858d7868464db7e2 Mon Sep 17 00:00:00 2001 From: github-actions Date: Mon, 7 Aug 2023 20:49:27 +0000 Subject: [PATCH 061/132] Automated autoyapf fixes --- navigation/lqr_path_following/scripts/lqr_path_following_node.py | 1 + 1 file changed, 1 insertion(+) diff --git a/navigation/lqr_path_following/scripts/lqr_path_following_node.py b/navigation/lqr_path_following/scripts/lqr_path_following_node.py index 0c59fb43..91f6fc0a 100755 --- a/navigation/lqr_path_following/scripts/lqr_path_following_node.py +++ b/navigation/lqr_path_following/scripts/lqr_path_following_node.py @@ -12,6 +12,7 @@ # TODO: Add option to set path-dependent heading + @dataclass class Waypoint: north: float From 00b7ddadd6222f472ad4f7933b7996d841999ed3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Tue, 8 Aug 2023 20:29:18 +0200 Subject: [PATCH 062/132] Add Freya thruster map --- asv_setup/config/robots/naglfar.yaml | 2 +- motion/thruster_interface/src/thruster_interface_ros.cpp | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/asv_setup/config/robots/naglfar.yaml b/asv_setup/config/robots/naglfar.yaml index a943656d..b5ab8a64 100644 --- a/asv_setup/config/robots/naglfar.yaml +++ b/asv_setup/config/robots/naglfar.yaml @@ -43,7 +43,7 @@ propulsion: rate_of_change: max: 0 # Maximum rate of change in newton per second for a thruster - map: [0, 1, 2, 3] # Disclose during thruster mapping + thruster_to_pin_map: [1, 3, 2, 0] # I.e. if thruster_to_pin = [1, 3, 2, 0] then thruster 0 is pin 1 etc.. direction: [1, 1, 1, 1] # Disclose during thruster mapping offset: [0, 0, 0, 0] # Disclose during thruster mapping command: diff --git a/motion/thruster_interface/src/thruster_interface_ros.cpp b/motion/thruster_interface/src/thruster_interface_ros.cpp index ba1e646b..ef9ae2f0 100644 --- a/motion/thruster_interface/src/thruster_interface_ros.cpp +++ b/motion/thruster_interface/src/thruster_interface_ros.cpp @@ -25,13 +25,13 @@ void ThrusterInterfaceROS::thrustCallback( vortex_msgs::Pwm pwm_msg; // TODO: Get mapping and offsets from rosparam - std::vector thruster_map = {0, 1, 2, 3}; + std::vector thruster_to_pin_map = {1, 3, 2, 0}; std::vector pwm_offsets = {100, 100, 100, 100}; - for (int i = 0; i < 4; i++) { + for (int i = 0; i < 4; i++) { // Iterates through thruster 0 to 3, where 0 is front right, iterated clockwise int pwm_clamped = std::min(std::max(pwm_values[i] + pwm_offsets[i], 1100), 1900); pwm_msg.positive_width_us.push_back(pwm_clamped); - pwm_msg.pins.push_back(thruster_map[i]); + pwm_msg.pins.push_back(thruster_to_pin_map[i]); } pwm_pub.publish(pwm_msg); From 66a5d68b78e0c3a9c87035b4077c6aa81c58d1de Mon Sep 17 00:00:00 2001 From: Clang Robot Date: Tue, 8 Aug 2023 18:30:11 +0000 Subject: [PATCH 063/132] Committing clang-format changes --- motion/thruster_interface/src/thruster_interface_ros.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/motion/thruster_interface/src/thruster_interface_ros.cpp b/motion/thruster_interface/src/thruster_interface_ros.cpp index ef9ae2f0..f66c05f8 100644 --- a/motion/thruster_interface/src/thruster_interface_ros.cpp +++ b/motion/thruster_interface/src/thruster_interface_ros.cpp @@ -27,7 +27,8 @@ void ThrusterInterfaceROS::thrustCallback( // TODO: Get mapping and offsets from rosparam std::vector thruster_to_pin_map = {1, 3, 2, 0}; std::vector pwm_offsets = {100, 100, 100, 100}; - for (int i = 0; i < 4; i++) { // Iterates through thruster 0 to 3, where 0 is front right, iterated clockwise + for (int i = 0; i < 4; i++) { // Iterates through thruster 0 to 3, where 0 is + // front right, iterated clockwise int pwm_clamped = std::min(std::max(pwm_values[i] + pwm_offsets[i], 1100), 1900); pwm_msg.positive_width_us.push_back(pwm_clamped); From dad2a9f0e26f617623e134a5814027b357b4cd01 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Tue, 8 Aug 2023 20:49:50 +0200 Subject: [PATCH 064/132] Add thruster direction check --- motion/thruster_interface/src/thruster_interface_ros.cpp | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/motion/thruster_interface/src/thruster_interface_ros.cpp b/motion/thruster_interface/src/thruster_interface_ros.cpp index ef9ae2f0..5064f7d6 100644 --- a/motion/thruster_interface/src/thruster_interface_ros.cpp +++ b/motion/thruster_interface/src/thruster_interface_ros.cpp @@ -26,10 +26,17 @@ void ThrusterInterfaceROS::thrustCallback( vortex_msgs::Pwm pwm_msg; // TODO: Get mapping and offsets from rosparam std::vector thruster_to_pin_map = {1, 3, 2, 0}; + std::vector thruster_direction_map = {1, 1, 1, -1}; std::vector pwm_offsets = {100, 100, 100, 100}; + for (int i = 0; i < 4; i++) { // Iterates through thruster 0 to 3, where 0 is front right, iterated clockwise + + int center_pwm_value = 1500; + int offset_from_center_value = pwm_values[i] - center_pwm_value + pwm_offsets[i]; + int pwm_value_correct_direction = center_pwm_value + thruster_direction_map[i] * offset_from_center_value; + int pwm_clamped = - std::min(std::max(pwm_values[i] + pwm_offsets[i], 1100), 1900); + std::min(std::max(pwm_value_correct_direction + pwm_offsets[i], 1100), 1900); pwm_msg.positive_width_us.push_back(pwm_clamped); pwm_msg.pins.push_back(thruster_to_pin_map[i]); } From 3094c608b83def0baca8aa90a9a2256dd15e9442 Mon Sep 17 00:00:00 2001 From: Clang Robot Date: Tue, 8 Aug 2023 18:51:29 +0000 Subject: [PATCH 065/132] Committing clang-format changes --- .../src/thruster_interface_ros.cpp | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/motion/thruster_interface/src/thruster_interface_ros.cpp b/motion/thruster_interface/src/thruster_interface_ros.cpp index 5064f7d6..b0122bd7 100644 --- a/motion/thruster_interface/src/thruster_interface_ros.cpp +++ b/motion/thruster_interface/src/thruster_interface_ros.cpp @@ -29,14 +29,17 @@ void ThrusterInterfaceROS::thrustCallback( std::vector thruster_direction_map = {1, 1, 1, -1}; std::vector pwm_offsets = {100, 100, 100, 100}; - for (int i = 0; i < 4; i++) { // Iterates through thruster 0 to 3, where 0 is front right, iterated clockwise + for (int i = 0; i < 4; i++) { // Iterates through thruster 0 to 3, where 0 is + // front right, iterated clockwise int center_pwm_value = 1500; - int offset_from_center_value = pwm_values[i] - center_pwm_value + pwm_offsets[i]; - int pwm_value_correct_direction = center_pwm_value + thruster_direction_map[i] * offset_from_center_value; + int offset_from_center_value = + pwm_values[i] - center_pwm_value + pwm_offsets[i]; + int pwm_value_correct_direction = + center_pwm_value + thruster_direction_map[i] * offset_from_center_value; - int pwm_clamped = - std::min(std::max(pwm_value_correct_direction + pwm_offsets[i], 1100), 1900); + int pwm_clamped = std::min( + std::max(pwm_value_correct_direction + pwm_offsets[i], 1100), 1900); pwm_msg.positive_width_us.push_back(pwm_clamped); pwm_msg.pins.push_back(thruster_to_pin_map[i]); } From 57d15a8ece1cb4bb3ff68fe321110d6cfa8fadfc Mon Sep 17 00:00:00 2001 From: vortex git Date: Tue, 8 Aug 2023 18:51:57 +0000 Subject: [PATCH 066/132] Add pca launch to thruster interface test launchfiles Signed-off-by: vortex git --- .../thruster_and_allocator_interface.launch | 4 ++++ .../launch/thruster_interface.launch | 3 ++- motion/thruster_interface/tests/main | Bin 0 -> 82176 bytes 3 files changed, 6 insertions(+), 1 deletion(-) create mode 100755 motion/thruster_interface/tests/main diff --git a/motion/thruster_interface/launch/thruster_and_allocator_interface.launch b/motion/thruster_interface/launch/thruster_and_allocator_interface.launch index 5053301d..bd354bdb 100644 --- a/motion/thruster_interface/launch/thruster_and_allocator_interface.launch +++ b/motion/thruster_interface/launch/thruster_and_allocator_interface.launch @@ -8,5 +8,9 @@ + + + + diff --git a/motion/thruster_interface/launch/thruster_interface.launch b/motion/thruster_interface/launch/thruster_interface.launch index 108cb3b6..c3e675fb 100644 --- a/motion/thruster_interface/launch/thruster_interface.launch +++ b/motion/thruster_interface/launch/thruster_interface.launch @@ -1,6 +1,7 @@ - + + diff 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zb^h6|-FG+VErWN!S*f2BgVRQ|mn$uI4f_x}rb?y4aG literal 0 HcmV?d00001 From 86ab31d554dcbc73dcd9ef33df54f8418c7dc12f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Tue, 8 Aug 2023 20:54:42 +0200 Subject: [PATCH 067/132] Remove 2x pwm offset sum --- motion/thruster_interface/src/thruster_interface_ros.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/motion/thruster_interface/src/thruster_interface_ros.cpp b/motion/thruster_interface/src/thruster_interface_ros.cpp index b0122bd7..69bbc645 100644 --- a/motion/thruster_interface/src/thruster_interface_ros.cpp +++ b/motion/thruster_interface/src/thruster_interface_ros.cpp @@ -39,7 +39,7 @@ void ThrusterInterfaceROS::thrustCallback( center_pwm_value + thruster_direction_map[i] * offset_from_center_value; int pwm_clamped = std::min( - std::max(pwm_value_correct_direction + pwm_offsets[i], 1100), 1900); + std::max(pwm_value_correct_direction, 1100), 1900); pwm_msg.positive_width_us.push_back(pwm_clamped); pwm_msg.pins.push_back(thruster_to_pin_map[i]); } From 4518312c1d7b64add0596ca3af83cbb164dfa238 Mon Sep 17 00:00:00 2001 From: Clang Robot Date: Tue, 8 Aug 2023 18:55:04 +0000 Subject: [PATCH 068/132] Committing clang-format changes --- motion/thruster_interface/src/thruster_interface_ros.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/motion/thruster_interface/src/thruster_interface_ros.cpp b/motion/thruster_interface/src/thruster_interface_ros.cpp index 69bbc645..58cc26de 100644 --- a/motion/thruster_interface/src/thruster_interface_ros.cpp +++ b/motion/thruster_interface/src/thruster_interface_ros.cpp @@ -38,8 +38,8 @@ void ThrusterInterfaceROS::thrustCallback( int pwm_value_correct_direction = center_pwm_value + thruster_direction_map[i] * offset_from_center_value; - int pwm_clamped = std::min( - std::max(pwm_value_correct_direction, 1100), 1900); + int pwm_clamped = + std::min(std::max(pwm_value_correct_direction, 1100), 1900); pwm_msg.positive_width_us.push_back(pwm_clamped); pwm_msg.pins.push_back(thruster_to_pin_map[i]); } From 8f8764a333c8947c7d36464d913e489846671f8f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Thu, 10 Aug 2023 23:52:12 +0200 Subject: [PATCH 069/132] Add path dependent heading option and move interpolate to guidance node MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- .../scripts/lqr_box_test.py | 27 +----- .../scripts/lqr_controller_node.py | 2 +- .../scripts/lqr_path_following_node.py | 96 +++++++++++++++---- 3 files changed, 81 insertions(+), 44 deletions(-) diff --git a/mission/finite_state_machine/scripts/lqr_box_test.py b/mission/finite_state_machine/scripts/lqr_box_test.py index 2b7a24d3..b1e42421 100755 --- a/mission/finite_state_machine/scripts/lqr_box_test.py +++ b/mission/finite_state_machine/scripts/lqr_box_test.py @@ -38,7 +38,6 @@ def __init__(self): def generate_and_publish_box(self, north, east): waypoints = [ - Point(0.0, 0.0, 0.0), # Starting position Point(north, east, -np.pi / 2), # top_right Point(north, -east, -np.pi), # top_left Point(-north, -east, np.pi / 2), # bottom_left @@ -59,32 +58,12 @@ def generate_and_publish_box(self, north, east): ] # Interpolate and publish waypoints - for i in range(len(waypoints) - 1): - self.interpolate_and_publish(waypoints[i], waypoints[i + 1]) + for waypoint in waypoints: + self.add_waypoint_publisher.publish(waypoint) + rospy.sleep(0.1) - rospy.sleep(1.0) self.enable_controller_publisher.publish(Bool(True)) - def interpolate_and_publish(self, waypoint1, waypoint2): - """Interpolate between two waypoints and publish them.""" - dx = waypoint2.x - waypoint1.x - dy = waypoint2.y - waypoint1.y - distance = np.hypot(dx, dy) - - num_intermediate_points = int( - np.ceil(distance / INTERPOLATION_STEP_SIZE)) - - for i in range(num_intermediate_points + - 1): # +1 to include the endpoint - ratio = i / num_intermediate_points # this will be 1 for the endpoint - intermediate_point = Point( - waypoint1.x + ratio * dx, - waypoint1.y + ratio * dy, - waypoint1.z # assuming constant heading - ) - self.add_waypoint_publisher.publish(intermediate_point) - rospy.sleep(0.01) # you can adjust this delay as necessary - if __name__ == "__main__": diff --git a/motion/lqr_controller/scripts/lqr_controller_node.py b/motion/lqr_controller/scripts/lqr_controller_node.py index c2b410bf..10baf2c7 100755 --- a/motion/lqr_controller/scripts/lqr_controller_node.py +++ b/motion/lqr_controller/scripts/lqr_controller_node.py @@ -30,7 +30,7 @@ def __init__(self): M = np.diag([mass, mass, inertia]) D = np.diag([damping_x, damping_y, damping_psi]) - # State vector is : [x, y, psi, u, v, r] + # State vector is : [x, y, psi, u, v, r, integral_x, integral,y] Q = [10.0, 10.0, 1.0, 0.001, 0.001, 0.001, 1.0, 1.0] # State cost weights R = [0.01, 0.01, 0.01] # Control cost weight diff --git a/navigation/lqr_path_following/scripts/lqr_path_following_node.py b/navigation/lqr_path_following/scripts/lqr_path_following_node.py index 91f6fc0a..d3b4875e 100755 --- a/navigation/lqr_path_following/scripts/lqr_path_following_node.py +++ b/navigation/lqr_path_following/scripts/lqr_path_following_node.py @@ -8,9 +8,8 @@ import numpy as np CONVERGENCE_RADIUS = 0.25 # the radius of convergence in x-y -CONVERGENCE_ANGLE = np.pi / 8 # the convergence range for heading in radians +CONVERGENCE_ANGLE = np.pi / 4 # the convergence range for heading in radians -# TODO: Add option to set path-dependent heading @dataclass @@ -19,7 +18,6 @@ class Waypoint: east: float heading: float - class LQRGuidanceROS: def __init__(self): @@ -27,8 +25,13 @@ def __init__(self): self.waypoints = [] self.current_waypoint_index = None + self.INTERPOLATION_STEP_SIZE = 1.0 + + self.current_pose = np.zeros(3) + + self.use_path_dependent_heading = True + self.do_debug_print = False - # Subscriptions rospy.Subscriber("/odometry/filtered", Odometry, self.odometry_callback) rospy.Subscriber("/guidance/lqr/clear_waypoints", Empty, @@ -36,27 +39,48 @@ def __init__(self): rospy.Subscriber("/guidance/lqr/add_waypoint", Point, self.add_waypoint_callback) - # Publishers self.setpoint_pub = rospy.Publisher("/controller/lqr/setpoints", Float64MultiArray, queue_size=10) self.enable_pub = rospy.Publisher("/controller/lqr/enable", Bool, queue_size=10) + + + def ssa(self, angle): + return (angle + np.pi) % (2 * np.pi) - np.pi + + def quaternion_to_yaw(self, q): + x = q.x + y = q.y + z = q.z + w = q.w + siny_cosp = 2.0 * (w * z + x * y) + cosy_cosp = 1.0 - 2.0 * (y * y + z * z) + yaw = np.arctan2(siny_cosp, cosy_cosp) + + return yaw + def odometry_callback(self, data): - """ Check if vessel is close to the waypoint and send the next one if so """ + position = data.pose.pose.position + yaw = self.quaternion_to_yaw(data.pose.pose.orientation) + + self.current_pose = np.array((position.x, position.y, yaw)) + if self.current_waypoint_index is not None: waypoint = self.waypoints[self.current_waypoint_index] - dx = data.pose.pose.position.x - waypoint.north - dy = data.pose.pose.position.y - waypoint.east - if np.hypot(dx, dy) < CONVERGENCE_RADIUS: - rospy.loginfo( - f"Reached waypoint {self.current_waypoint_index}") + dx = position.x - waypoint.north + dy = position.y - waypoint.east + dyaw = np.abs(self.ssa(waypoint.heading - yaw)) + # TODO: Check for converged heading! + if np.hypot(dx, dy) < CONVERGENCE_RADIUS and dyaw < CONVERGENCE_ANGLE: + if self.do_debug_print: + rospy.loginfo( + f"Reached waypoint {self.current_waypoint_index}") self.send_waypoint(self.current_waypoint_index + 1) def publish_setpoint(self, waypoint): - msg = Float64MultiArray() msg.data = [waypoint.north, waypoint.east, waypoint.heading, 0, 0, 0] @@ -67,7 +91,8 @@ def send_waypoint(self, index): if 0 <= index < len(self.waypoints): self.current_waypoint_index = index waypoint = self.waypoints[index] - rospy.loginfo(f"Sending waypoint {index}: {waypoint}") + if self.do_debug_print: + rospy.loginfo(f"Sending waypoint {index}: {waypoint}") self.publish_setpoint(waypoint) #self.enable_pub.publish(True) @@ -78,18 +103,51 @@ def send_waypoint(self, index): def clear_waypoints_callback(self, data): """ Callback for the clear waypoints topic """ self.waypoints = [] + self.current_waypoint_index = None rospy.loginfo("Waypoints cleared!") def add_waypoint_callback(self, data): - """ Callback for the add waypoint topic """ - waypoint = Waypoint(data.x, data.y, data.z) - self.waypoints.append(waypoint) - rospy.loginfo(f"Waypoint added: {waypoint}") + new_waypoint = Waypoint(data.x, data.y, data.z) - # if it's the first waypoint, send it immediately - if len(self.waypoints) == 1: + starting_waypoint = None + if self.current_waypoint_index is None: # if this is the first waypoint, interpolate from where we are at: + starting_waypoint = Waypoint(self.current_pose[0], self.current_pose[1], self.current_pose[2]) + else: # if there are already existing waypoints, interpolate between the last one and the new one + starting_waypoint = self.waypoints[-1] + + self.interpolate_and_append_waypoints(starting_waypoint, new_waypoint) + + if self.do_debug_print: + rospy.loginfo(f"Waypoint added: {new_waypoint}") + + # once waypoints have been added, send the first one + if self.current_waypoint_index is None: self.send_waypoint(0) + def interpolate_and_append_waypoints(self, waypoint1, waypoint2): + dx = waypoint2.north - waypoint1.north + dy = waypoint2.east - waypoint1.east + distance = np.hypot(dx, dy) + + num_intermediate_points = int( + np.ceil(distance / self.INTERPOLATION_STEP_SIZE)) + + if self.use_path_dependent_heading: + heading = np.arctan2(dy, dx) + else: + heading = waypoint1.heading + + for i in range(num_intermediate_points + + 1): # +1 to include the endpoint + ratio = i / num_intermediate_points # this will be 1 for the endpoint + intermediate_point = Waypoint( + waypoint1.north + ratio * dx, + waypoint1.east + ratio * dy, + heading + ) + self.waypoints.append(intermediate_point) + + if __name__ == "__main__": From 9677b89e96b5e838f22ab3bc70ffb17a80e43a66 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Fri, 11 Aug 2023 00:10:54 +0200 Subject: [PATCH 070/132] Load params from config MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- motion/lqr_controller/launch/lqr.launch | 2 ++ motion/lqr_controller/params/config.yaml | 9 ++++++++ .../scripts/lqr_controller_node.py | 22 +++++++----------- .../lqr_path_following/params/config.yaml | 9 ++++++++ .../scripts/lqr_path_following_node.py | 23 ++++++++----------- 5 files changed, 38 insertions(+), 27 deletions(-) create mode 100644 motion/lqr_controller/params/config.yaml create mode 100644 navigation/lqr_path_following/params/config.yaml diff --git a/motion/lqr_controller/launch/lqr.launch b/motion/lqr_controller/launch/lqr.launch index 208ce74d..bbeb5ba8 100644 --- a/motion/lqr_controller/launch/lqr.launch +++ b/motion/lqr_controller/launch/lqr.launch @@ -3,9 +3,11 @@ + + diff --git a/motion/lqr_controller/params/config.yaml b/motion/lqr_controller/params/config.yaml new file mode 100644 index 00000000..6b936e16 --- /dev/null +++ b/motion/lqr_controller/params/config.yaml @@ -0,0 +1,9 @@ +lqr_controller: + mass: 50.0 + inertia: 5.0 + damping: + x: 5.0 + y: 20.0 + psi: 15.0 + Q: [10.0, 10.0, 1.0, 0.001, 0.001, 0.001, 1.0, 1.0] # State costs for [x, y, psi, u, v, r, integral_x, integral,y] + R: [0.01, 0.01, 0.01] # Control cost weight diff --git a/motion/lqr_controller/scripts/lqr_controller_node.py b/motion/lqr_controller/scripts/lqr_controller_node.py index 10baf2c7..ec48f703 100755 --- a/motion/lqr_controller/scripts/lqr_controller_node.py +++ b/motion/lqr_controller/scripts/lqr_controller_node.py @@ -16,25 +16,19 @@ class LQRControllerNode: def __init__(self): rospy.init_node("lqr_controller") - # TODO: Get parameters from config, and use axis-specific damping + mass = rospy.get_param("lqr_controller/mass", 50.0) + inertia = rospy.get_param("lqr_controller/inertia", 5.0) - mass = 50.0 - inertia = 5.0 + damping_x = rospy.get_param("lqr_controller/damping/x", 5.0) + damping_y = rospy.get_param("lqr_controller/damping/y", 20.0) + damping_psi = rospy.get_param("lqr_controller/damping/psi", 15.0) - damping_x = 5.0 - damping_y = 20.0 - damping_psi = 15.0 + Q = rospy.get_param("lqr_controller/Q", [10.0, 10.0, 1.0, 0.001, 0.001, 0.001, 1.0, 1.0]) + R = rospy.get_param("lqr_controller/R", [0.01, 0.01, 0.01]) - # M = mass, mass, inertia - # D = damping x, y, yaw - M = np.diag([mass, mass, inertia]) + M = np.diag([mass, mass, inertia]) D = np.diag([damping_x, damping_y, damping_psi]) - # State vector is : [x, y, psi, u, v, r, integral_x, integral,y] - Q = [10.0, 10.0, 1.0, 0.001, 0.001, 0.001, 1.0, - 1.0] # State cost weights - R = [0.01, 0.01, 0.01] # Control cost weight - self.setpoints = np.zeros(6) self.do_publish_tau = False diff --git a/navigation/lqr_path_following/params/config.yaml b/navigation/lqr_path_following/params/config.yaml new file mode 100644 index 00000000..2ea01260 --- /dev/null +++ b/navigation/lqr_path_following/params/config.yaml @@ -0,0 +1,9 @@ +lqr_guidance: + use_path_dependent_heading: true + interpolation_step_size: 1.0 + convergence: + radius: 0.25 # meters + angle: 0.785 # radians + + debug: + print: false \ No newline at end of file diff --git a/navigation/lqr_path_following/scripts/lqr_path_following_node.py b/navigation/lqr_path_following/scripts/lqr_path_following_node.py index d3b4875e..9ba2093f 100755 --- a/navigation/lqr_path_following/scripts/lqr_path_following_node.py +++ b/navigation/lqr_path_following/scripts/lqr_path_following_node.py @@ -7,11 +7,6 @@ import rospy import numpy as np -CONVERGENCE_RADIUS = 0.25 # the radius of convergence in x-y -CONVERGENCE_ANGLE = np.pi / 4 # the convergence range for heading in radians - - - @dataclass class Waypoint: north: float @@ -23,15 +18,18 @@ class LQRGuidanceROS: def __init__(self): rospy.init_node("lqr_guidance") + self.interpolation_step_size = rospy.get_param("lqr_guidance/interpolation_step_size", 1.0) + + self.convergence_radius = rospy.get_param("lqr_guidance/convergence/radius", 0.25) + self.convergence_angle = rospy.get_param("lqr_guidance/convergence/angle", np.pi / 4) + + self.use_path_dependent_heading = rospy.get_param("lqr_guidance/use_path_dependent_heading", True) + self.do_debug_print = rospy.get_param("lqr_guidance/debug/print", False) + self.waypoints = [] self.current_waypoint_index = None - self.INTERPOLATION_STEP_SIZE = 1.0 - self.current_pose = np.zeros(3) - self.use_path_dependent_heading = True - self.do_debug_print = False - rospy.Subscriber("/odometry/filtered", Odometry, self.odometry_callback) rospy.Subscriber("/guidance/lqr/clear_waypoints", Empty, @@ -73,8 +71,7 @@ def odometry_callback(self, data): dx = position.x - waypoint.north dy = position.y - waypoint.east dyaw = np.abs(self.ssa(waypoint.heading - yaw)) - # TODO: Check for converged heading! - if np.hypot(dx, dy) < CONVERGENCE_RADIUS and dyaw < CONVERGENCE_ANGLE: + if np.hypot(dx, dy) < convergence_radius and dyaw < convergence_angle: if self.do_debug_print: rospy.loginfo( f"Reached waypoint {self.current_waypoint_index}") @@ -130,7 +127,7 @@ def interpolate_and_append_waypoints(self, waypoint1, waypoint2): distance = np.hypot(dx, dy) num_intermediate_points = int( - np.ceil(distance / self.INTERPOLATION_STEP_SIZE)) + np.ceil(distance / self.interpolation_step_size)) if self.use_path_dependent_heading: heading = np.arctan2(dy, dx) From bff03c6b653541468219b4b8ad6214313e194655 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Fri, 11 Aug 2023 00:11:08 +0200 Subject: [PATCH 071/132] Housekeeping MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- motion/control_simulator/scripts/freya.py | 151 -------------- .../scripts/lqr_controller.py | 79 ------- .../scripts/pid_controller.py | 53 ----- motion/control_simulator/scripts/simulator.py | 3 +- .../control_simulator/src/lqr_controller.cpp | 192 ------------------ motion/control_simulator/src/main | Bin 1868640 -> 0 bytes 6 files changed, 2 insertions(+), 476 deletions(-) delete mode 100644 motion/control_simulator/scripts/freya.py delete mode 100644 motion/control_simulator/scripts/lqr_controller.py delete mode 100644 motion/control_simulator/scripts/pid_controller.py delete mode 100644 motion/control_simulator/src/lqr_controller.cpp delete mode 100755 motion/control_simulator/src/main diff --git a/motion/control_simulator/scripts/freya.py b/motion/control_simulator/scripts/freya.py deleted file mode 100644 index 5b337912..00000000 --- a/motion/control_simulator/scripts/freya.py +++ /dev/null @@ -1,151 +0,0 @@ -import numpy as np -from scipy.linalg import expm - -# Constants -mp = 2.5 -rp = 0.075 -V_c = 1 -beta_c = 0.2 -n_max = 10000 -n_min = -10000 -k_pos = 0.005 -k_neg = 0.001 - - -# Skew-symmetric matrix -def Smtrx(vector): - return np.array([[0, -vector[2], vector[1]], [vector[2], 0, -vector[0]], - [-vector[1], vector[0], 0]]) - - -# Rotation matrix from Euler angles (zyx convention) -def Rzyx(phi, theta, psi): - return np.array([[ - np.cos(psi) * np.cos(theta), - np.cos(psi) * np.sin(theta) * np.sin(phi) - np.sin(psi) * np.cos(phi), - np.cos(psi) * np.sin(theta) * np.cos(phi) + np.sin(psi) * np.sin(phi) - ], - [ - np.sin(psi) * np.cos(theta), - np.sin(psi) * np.sin(theta) * np.sin(phi) + - np.cos(psi) * np.cos(phi), - np.sin(psi) * np.sin(theta) * np.cos(phi) - - np.cos(psi) * np.sin(phi) - ], - [ - -np.sin(theta), - np.cos(theta) * np.sin(phi), - np.cos(theta) * np.cos(phi) - ]]) - - -def model(x, tau): - # Ensure the input vectors are the correct size - assert len(x) == 12, 'x vector must have dimension 12!' - - # Vehicle dimensions - x_pont = 1.2 - y_pont = 1.0 - z_pont = 0.5 - - # Inertia Matrix - m = 11.0 # mass of the otter in kg - Ix = 1.0 # moment of inertia about x - Iy = 1.0 # moment of inertia about y - Iz = 1.0 # moment of inertia about z - I = np.diag([Ix, Iy, Iz]) - - # Rigid body mass matrix - M_RB = np.block([[m * np.eye(3), np.zeros((3, 3))], [np.zeros((3, 3)), I]]) - - # Added mass - X_du = 0 # Surge (kg) - Y_dv = 0 # Sway (kg) - Z_dw = 0 # Heave (kg) - K_dp = 0 # Roll (kg*m^2) - M_dq = 0 # Pitch (kg*m^2) - N_dr = 0 # Yaw (kg*m^2) - M_A = -np.diag([X_du, Y_dv, Z_dw, K_dp, M_dq, N_dr]) - - # Total mass matrix - M = M_RB + M_A - - # Damping coefficients - X_u = 2 # Linear damping - Surge (Ns/m) - Y_v = 2 # Linear damping - Sway (Ns/m) - Z_w = 5 # Linear damping - Heave (Ns/m) - K_p = 0.1 # Linear damping - Roll (Ns) - M_q = 0.1 # Linear damping - Pitch (Ns) - N_r = 0.1 # Linear damping - Yaw (Ns) - D_l = np.diag([X_u, Y_v, Z_w, K_p, M_q, N_r]) # Linear damping matrix - - X_uu = 0 # Quadratic damping - Surge (Ns^2/m^2) - Y_vv = 0 # Quadratic damping - Sway (Ns^2/m^2) - Z_ww = 0 # Quadratic damping - Heave (Ns^2/m^2) - K_pp = 0 # Quadratic damping - Roll (Ns) - M_qq = 0 # Quadratic damping - Pitch (Ns) - N_rr = 0.1 # Quadratic damping - Yaw (Ns) - D_q = np.diag([ - abs(X_uu * x[6]), - abs(Y_vv * x[7]), - abs(Z_ww * x[8]), - abs(K_pp * x[9]), - abs(M_qq * x[10]), - abs(N_rr * x[11]) - ]) # Quadratic damping matrix - - D = D_l + D_q # Damping matrix - - # Coriolis and centripetal matrix - CRB = m * np.block( - [[np.zeros((3, 3)), -Smtrx(np.array([x[6], x[7], x[8]]))], - [ - Smtrx(np.array([x[6], x[7], x[8]])), - -Smtrx(I.dot(np.array([x[9], x[10], x[11]]))) - ]]) - - CA = m * np.block([[ - np.zeros((3, 3)), -Smtrx(np.array([x[0], x[1], x[2]])) - ], [np.zeros((3, 3)), np.zeros((3, 3))]]) - - C = CRB + CA - - # Propeller forces - # n_prop = np.clip(n, n_min, n_max) - # T_pos = k_pos * n_prop * abs(n_prop) - # T_neg = k_neg * n_prop * abs(n_prop) - # T = np.where(n_prop > 0, T_pos, T_neg) - - #tau = np.array([T.sum(), 0, 0, 0, 0, (x_pont / 2) * (T[1] - T[0]) + (y_pont / 2) * (T[3] - T[2])]) - - # System matrices - eta = x[0:6] - nu = x[6:12] - - J = np.block([[np.eye(3), np.zeros((3, 3))], - [np.zeros((3, 3)), - Rzyx(eta[3], eta[4], eta[5])]]) - - M_inv = np.linalg.inv(M) - - # # tau is defined in world, move to body - yaw = eta[5] - c = np.cos(yaw) - s = np.sin(yaw) - - R = np.array(([c, -s, 0], [s, c, 0], [0, 0, 1])) - - # # nu is defined in world, move to body - nu[:3] = R @ nu[:3] - - tau = R @ tau - - tau_body_six = np.array((tau[0], tau[1], 0.0, 0.0, 0.0, tau[2])) - - # System model - etadot = J @ nu - nudot = M_inv @ (tau_body_six - C @ nu - D @ nu) - - xdot = np.concatenate((etadot, nudot)) - - return xdot diff --git a/motion/control_simulator/scripts/lqr_controller.py b/motion/control_simulator/scripts/lqr_controller.py deleted file mode 100644 index e8c08b38..00000000 --- a/motion/control_simulator/scripts/lqr_controller.py +++ /dev/null @@ -1,79 +0,0 @@ -import numpy as np -import scipy.linalg as la - - -def ssa(angle): - return (angle + np.pi) % (2 * np.pi) - np.pi - - -class LQRController: - - def __init__(self, M, D, Q, R, actuator_limits=np.inf): - """ - An LQR controller based on a simplified mass-damper vessel model - - State vector: [x, y, psi, u, v, r, ix, iy] - """ - self.Q = np.diag(Q) - self.R = np.diag(R) - self.setpoint = None - self.M = M - self.D = D - - self.yaw_idx = 2 - self.integral_states = np.array([0.0, 0.0]) - - self.actuator_limits = actuator_limits - - def set_setpoint(self, setpoint): - self.setpoint = setpoint - - def control(self, state, dt): - - if self.setpoint is None: - print("Setpoint not set! Returning zero tau...") - return np.zeros(3) - - state_with_integral = np.concatenate((state, self.integral_states)) - - A, B = self.linearize(state_with_integral, dt) - K = self.lqr(A, B, self.Q, self.R) - - error = state_with_integral - np.concatenate((self.setpoint, [0, 0])) - error[self.yaw_idx] = ssa(error[self.yaw_idx]) - - tau_body = -K @ error - - if np.any(np.abs(tau_body) > self.actuator_limits): # Anti-windup - return np.ravel(tau_body) - - self.integral_states += (state[:2] - self.setpoint[:2]) * dt - - if not np.array_equal( - np.sign(state[:2] - self.setpoint[:2]), - np.sign( - self.integral_states)): # Integral reset on sign change - self.integral_states = np.array([0.0, 0.0]) - - return np.ravel(tau_body) - - def linearize(self, state, dt): - A = np.eye(8) - A[3:6, 3:6] -= dt * np.linalg.inv(self.M) @ self.D - A[0:3, 3:6] = dt * np.array([[ - np.cos(state[self.yaw_idx]), -np.sin(state[self.yaw_idx]), 0 - ], [np.sin(state[self.yaw_idx]), - np.cos(state[self.yaw_idx]), 0], [0, 0, 1]]) - A[6, 0] = dt # add integral effect on x - A[7, 1] = dt # add integral effect on y - - B = np.block([[np.zeros((3, 3))], [dt * np.linalg.inv(self.M)], - [np.zeros((2, 3))]]) - - return A, B - - def lqr(self, A, B, Q, R): - X = np.matrix(la.solve_discrete_are(A, B, Q, R)) - K = np.matrix(la.inv(R + B.T @ X @ B) @ (B.T @ X @ A)) - - return K diff --git a/motion/control_simulator/scripts/pid_controller.py b/motion/control_simulator/scripts/pid_controller.py deleted file mode 100644 index ff88876e..00000000 --- a/motion/control_simulator/scripts/pid_controller.py +++ /dev/null @@ -1,53 +0,0 @@ -import numpy as np - - -def ssa(angle): - return (angle + np.pi) % (2 * np.pi) - np.pi - - -def RT(yaw): - return np.array([[np.cos(yaw), np.sin(yaw), 0], - [-np.sin(yaw), np.cos(yaw), 0], [0, 0, 1]]) - - -def saturation(control, min_value, max_value): - return np.clip(control, min_value, max_value) - - -class MIMO3DOFNonlinearPID: - - def __init__(self, - Kp, - Ki, - Kd, - setpoint, - min_output=-np.inf, - max_output=np.inf): - self.Kp = np.diag(Kp) - self.Ki = np.diag(Ki) - self.Kd = np.diag(Kd) - self.setpoint = np.array(setpoint) - self.min_output = min_output - self.max_output = max_output - - self.integral_error = np.zeros(3) - self.previous_error = np.zeros(3) - self.output = np.zeros(3) - - def reset(self): - self.integral_error = np.zeros(3) - self.previous_error = np.zeros(3) - - def control(self, state, dt): - eta = state[3:] - eta_error = eta - self.setpoint - eta_error[2] = ssa(eta_error[2]) - - # calculate eta_dot - eta_dot = (eta_error - self.previous_error) / dt - - self.output = -self.Kp @ eta_error - self.Kd @ eta_dot - self.Ki @ self.integral_error - self.output = saturation(self.output, self.min_output, self.max_output) - self.previous_error = eta_error - - return RT(eta[2]) @ self.output diff --git a/motion/control_simulator/scripts/simulator.py b/motion/control_simulator/scripts/simulator.py index 3bbeadf3..1a3a724c 100755 --- a/motion/control_simulator/scripts/simulator.py +++ b/motion/control_simulator/scripts/simulator.py @@ -5,7 +5,6 @@ import matplotlib.pyplot as plt from matplotlib.animation import FuncAnimation -from pid_controller import ssa from std_msgs.msg import Float64MultiArray import vessel @@ -17,6 +16,8 @@ DT = 0.1 +def ssa(angle): + return (angle + np.pi) % (2 * np.pi) - np.pi class VesselVisualizer: diff --git a/motion/control_simulator/src/lqr_controller.cpp b/motion/control_simulator/src/lqr_controller.cpp deleted file mode 100644 index 923557f8..00000000 --- a/motion/control_simulator/src/lqr_controller.cpp +++ /dev/null @@ -1,192 +0,0 @@ -// lqr_controller.hpp -#include -#include - -typedef Eigen::Matrix Vector6d; -typedef Eigen::Matrix Vector8d; - -class LQRController { - Eigen::Matrix3d M; - Eigen::Matrix3d D; - Eigen::Matrix Q; - Eigen::Matrix3d R; - Vector6d setpoint; - double actuator_limits; - - int yaw_idx; - Eigen::Vector2d integral_states; - -public: - LQRController(Eigen::Matrix3d M, Eigen::Matrix3d D, Eigen::VectorXd Q, - Eigen::Vector3d R, Vector6d setpoint, double actuator_limits); - - Eigen::Vector3d control(Vector6d state, double dt); - - std::pair linearize(Vector8d state, - double dt); - - Eigen::Matrix lqr(Eigen::MatrixXd A, Eigen::MatrixXd B, - Eigen::Matrix Q, - Eigen::Matrix3d R); -}; - -// // lqr_controller.cpp -// #include "lqr_controller.hpp" - -double ssa(double angle) { return fmod((angle + M_PI), (2 * M_PI)) - M_PI; } - -LQRController::LQRController(Eigen::Matrix3d M, Eigen::Matrix3d D, - Eigen::VectorXd Q, Eigen::Vector3d R, - Vector6d setpoint, double actuator_limits) { - this->Q = Q.asDiagonal(); - this->R = R.asDiagonal(); - this->setpoint = setpoint; - this->M = M; - this->D = D; - - this->yaw_idx = 2; - this->integral_states = Eigen::Vector2d::Zero(); - - this->actuator_limits = actuator_limits; -} - -Eigen::Vector3d LQRController::control(Vector6d state, double dt) { - Vector8d state_with_integral; - state_with_integral << state, integral_states; - - std::pair linearized = - linearize(state_with_integral, dt); - Eigen::MatrixXd A = linearized.first; - Eigen::MatrixXd B = linearized.second; - Eigen::Matrix K = lqr(A, B, Q, R); - - Vector8d error = state_with_integral; - error.segment<6>(0) -= - setpoint; // Subtract 'setpoint' from the first 6 elements of 'error' - error.segment<2>(6) -= Eigen::Vector2d( - 0, 0); // Subtract [0, 0] from the last 2 elements of 'error' - - error[yaw_idx] = ssa(error[yaw_idx]); - - Eigen::Vector3d tau_body = -K * error; - - if (tau_body.cwiseAbs().maxCoeff() > actuator_limits) { - return tau_body; - } - - integral_states += (state.head(2) - setpoint.head(2)) * dt; - - if ((state.head(2) - setpoint.head(2)).cwiseSign() != - integral_states.cwiseSign()) { - integral_states = Eigen::Vector2d::Zero(); - } - - return tau_body; -} - -std::pair -LQRController::linearize(Vector8d state, double dt) { - Eigen::MatrixXd A = Eigen::MatrixXd::Identity(8, 8); - Eigen::Matrix3d Minv = M.inverse(); - A.block<3, 3>(3, 3) -= dt * Minv * D; - A.block<3, 3>(0, 3) = - dt * (Eigen::Matrix3d() << std::cos(state[yaw_idx]), - -std::sin(state[yaw_idx]), 0, std::sin(state[yaw_idx]), - std::cos(state[yaw_idx]), 0, 0, 0, 1) - .finished(); - - A(6, 0) = dt; // add integral effect on x - A(7, 1) = dt; // add integral effect on y - - Eigen::MatrixXd B = Eigen::MatrixXd::Zero(8, 3); - B.block<3, 3>(3, 0) = dt * Minv; - - return {A, B}; -} - -Eigen::MatrixXd dareSolver(Eigen::MatrixXd A, Eigen::MatrixXd B, - Eigen::MatrixXd Q, Eigen::MatrixXd R) { - Eigen::MatrixXd X = Q; - Eigen::MatrixXd X_prev; - - // Set a threshold for convergence of the algorithm - double threshold = 1e-9; - - // Maximum number of iterations to prevent endless loop - int max_iterations = 1000; - int i; - - // The Riccati equation solver - for (i = 0; i < max_iterations; i++) { - X_prev = X; - X = A.transpose() * X_prev * A - - A.transpose() * X_prev * B * - (R + B.transpose() * X_prev * B).inverse() * B.transpose() * - X_prev * A + - Q; - - // Check for convergence - if ((X - X_prev).norm() < threshold) { - break; - } - } - - // If the maximum number of iterations is reached, print a warning - if (i == max_iterations) { - std::cout << "Warning: Maximum number of iterations reached in DARE solver." - << std::endl; - } - - return X; -} - -Eigen::Matrix LQRController::lqr(Eigen::MatrixXd A, - Eigen::MatrixXd B, - Eigen::Matrix Q, - Eigen::Matrix3d R) { - Eigen::MatrixXd X = dareSolver(A, B, Q, R); - Eigen::MatrixXd K = - (B.transpose() * X * B + R).inverse() * B.transpose() * X * A; - - return K; -} - -int main() { - Eigen::Matrix3d M = Eigen::Matrix3d::Identity(); - Eigen::Matrix3d D = Eigen::Matrix3d::Identity(); - Eigen::VectorXd Q(8); - Q << 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1; - Eigen::Vector3d R; - R << 1, 2, 3; - Vector6d setpoint; - setpoint << 1, 2, 3, 4, 5, 6; - double actuator_limits = 100.0; - - LQRController controller(M, D, Q, R, setpoint, actuator_limits); - - Vector6d state; - state << 0.1, 0.2, 0.3, 0.4, 0.5, 0.6; - double dt = 0.1; - - int num_steps = 100; - for (int i = 0; i < num_steps; i++) { - Eigen::Vector3d control_output = controller.control(state, dt); - - // Assume the control output is a force. Divide by mass to get acceleration. - // Assume mass = 1 for simplicity - double mass = 1.0; - Eigen::Vector3d acceleration = control_output / mass; - - // Update state based on acceleration - state.segment<3>(0) += - dt * state.segment<3>(3); // Update position based on velocity - state.segment<3>(3) += - dt * acceleration; // Update velocity based on acceleration - - std::cout << "Time: " << i * dt << ", state:\n" - << state << "setpoint:\n" - << setpoint << "\n\n"; - } - - return 0; -} \ No newline at end of file diff --git a/motion/control_simulator/src/main b/motion/control_simulator/src/main deleted file mode 100755 index 3422c083c2c3d60ee1d3d0023d295a51d8fb06be..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 1868640 zcmeFa34B$>6+iw0M53aJ3yK@YJ%US6KyVG{(}#jaAxhl;L!rNNet$ znKNh3oNdl5ciwgJ(Wmyv%j+4_|9ZwwjOF3I_&}9Wrt^!xySILe#mZvCVmsjPezD@% zHpuOT|H^b}@Y&o$6}Zm=4aWvqub*x?_;g!ypQMTZ_+-6o|0eFDO5A6xNTpdXpRdLI 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+ - + + + - - - + - - + + + + + + - + + + + \ No newline at end of file From 17e82813c87d409319bd9bd44c5b279a2efaed36 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Fri, 11 Aug 2023 00:31:43 +0200 Subject: [PATCH 073/132] Move full sim launch to control sim pkg MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- .../scripts/lqr_box_test.py | 12 +++--- .../scripts/lqr_dp_test.py | 31 ++++++++++++++++ .../scripts/lqr_interface.py | 37 +++++++++++++++++++ 3 files changed, 74 insertions(+), 6 deletions(-) create mode 100755 mission/finite_state_machine/scripts/lqr_dp_test.py create mode 100644 mission/finite_state_machine/scripts/lqr_interface.py diff --git a/mission/finite_state_machine/scripts/lqr_box_test.py b/mission/finite_state_machine/scripts/lqr_box_test.py index b1e42421..0adeb611 100755 --- a/mission/finite_state_machine/scripts/lqr_box_test.py +++ b/mission/finite_state_machine/scripts/lqr_box_test.py @@ -8,6 +8,8 @@ from std_msgs.msg import Bool from geometry_msgs.msg import Point +from lqr_interface import LQRInterface + @dataclass # TODO: Add heading @@ -24,10 +26,8 @@ class LQRControllerBoxTest: def __init__(self): rospy.init_node("lqr_box_path_generator") - self.add_waypoint_publisher = rospy.Publisher( - "/guidance/lqr/add_waypoint", Point, queue_size=10) - self.enable_controller_publisher = rospy.Publisher( - "/controller/lqr/enable", Bool, queue_size=10) + self.lqr_interface = LQRInterface() + north = 3 east = 3 @@ -59,10 +59,10 @@ def generate_and_publish_box(self, north, east): # Interpolate and publish waypoints for waypoint in waypoints: - self.add_waypoint_publisher.publish(waypoint) + self.lqr_interface.add_point(waypoint) rospy.sleep(0.1) - self.enable_controller_publisher.publish(Bool(True)) + self.lqr_interface.turn_on_controller() if __name__ == "__main__": diff --git a/mission/finite_state_machine/scripts/lqr_dp_test.py b/mission/finite_state_machine/scripts/lqr_dp_test.py new file mode 100755 index 00000000..d6bc09e5 --- /dev/null +++ b/mission/finite_state_machine/scripts/lqr_dp_test.py @@ -0,0 +1,31 @@ +#!/usr/bin/python3 + +""" +DP mode requires that you set a point, and that you turn off path-dependent heading +""" + +import rospy +from geometry_msgs.msg import Point +from lqr_interface import LQRInterface + +class LQRControllerDPTest: + + def __init__(self): + rospy.init_node("lqr_dp_test") + + self.lqr_interface = LQRInterface() + + rospy.sleep(2) + + waypoint = Point(0.0, 0.0, 0.0) + + self.lqr_interface.add_point(waypoint, path_dependent_heading=True) + self.lqr_interface.set_path_dependent_heading(False) + self.lqr_interface.turn_on_controller() + + +if __name__ == "__main__": + + dp_test = LQRControllerDPTest() + + rospy.spin() diff --git a/mission/finite_state_machine/scripts/lqr_interface.py b/mission/finite_state_machine/scripts/lqr_interface.py new file mode 100644 index 00000000..66f98dbd --- /dev/null +++ b/mission/finite_state_machine/scripts/lqr_interface.py @@ -0,0 +1,37 @@ +#!/usr/bin/python3 + +import rospy +from std_msgs.msg import Bool +from geometry_msgs.msg import Point + +class LQRInterface: + + def __init__(self): + + self.add_waypoint_publisher = rospy.Publisher( + "/guidance/lqr/add_waypoint", Point, queue_size=10) + self.enable_controller_publisher = rospy.Publisher( + "/controller/lqr/enable", Bool, queue_size=10) + self.toggle_path_dependent_heading = rospy.Publisher("/guidance/lqr/toggle_path_dependent_heading", Bool, queue_size=10) + + def add_point(self, point, path_dependent_heading=False): + self.add_waypoint_publisher.publish(point) + + def move_to_point(self, point): + self.add_waypoint_publisher.publish(point) + self.enable_controller_publisher.publish(Bool(True)) + + def turn_on_controller(self): + self.enable_controller_publisher.publish(Bool(True)) + + def turn_off_controller(self): + self.enable_controller_publisher.publish(Bool(False)) + + def set_path_dependent_heading(self, data): + self.toggle_path_dependent_heading.publish(Bool(data)) + +if __name__ == "__main__": + + interface = LQRInterface() + + rospy.spin() From b2d90f4145f9a0f9a4f458edf206102b47b07bd3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Fri, 11 Aug 2023 00:32:11 +0200 Subject: [PATCH 074/132] Add interface to toggle path-dependent heading MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- .../lqr_path_following/scripts/lqr_path_following_node.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/navigation/lqr_path_following/scripts/lqr_path_following_node.py b/navigation/lqr_path_following/scripts/lqr_path_following_node.py index 9ba2093f..8bb575fa 100755 --- a/navigation/lqr_path_following/scripts/lqr_path_following_node.py +++ b/navigation/lqr_path_following/scripts/lqr_path_following_node.py @@ -36,6 +36,7 @@ def __init__(self): self.clear_waypoints_callback) rospy.Subscriber("/guidance/lqr/add_waypoint", Point, self.add_waypoint_callback) + rospy.Subscriber("/guidance/lqr/toggle_path_dependent_heading", Bool, self.toggle_path_dependent_heading) self.setpoint_pub = rospy.Publisher("/controller/lqr/setpoints", Float64MultiArray, @@ -71,7 +72,7 @@ def odometry_callback(self, data): dx = position.x - waypoint.north dy = position.y - waypoint.east dyaw = np.abs(self.ssa(waypoint.heading - yaw)) - if np.hypot(dx, dy) < convergence_radius and dyaw < convergence_angle: + if np.hypot(dx, dy) < self.convergence_radius and dyaw < self.convergence_angle: if self.do_debug_print: rospy.loginfo( f"Reached waypoint {self.current_waypoint_index}") @@ -144,6 +145,9 @@ def interpolate_and_append_waypoints(self, waypoint1, waypoint2): ) self.waypoints.append(intermediate_point) + def toggle_path_dependent_heading(self, msg): + self.use_path_dependent_heading = msg.data + if __name__ == "__main__": From 9857446df33c1f1b36bcd06e3d44850954736ee2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Fri, 11 Aug 2023 00:32:29 +0200 Subject: [PATCH 075/132] Add control sim launch MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- motion/control_simulator/launch/test_lqr.launch | 15 +++++++++++++++ 1 file changed, 15 insertions(+) create mode 100644 motion/control_simulator/launch/test_lqr.launch diff --git a/motion/control_simulator/launch/test_lqr.launch b/motion/control_simulator/launch/test_lqr.launch new file mode 100644 index 00000000..29fbccbe --- /dev/null +++ b/motion/control_simulator/launch/test_lqr.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + \ No newline at end of file From 9cebcae95d5db704e77c33d1e2fcd79476a04c8d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Fri, 11 Aug 2023 00:32:58 +0200 Subject: [PATCH 076/132] cleanup launch MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- motion/lqr_controller/launch/lqr.launch | 9 --------- 1 file changed, 9 deletions(-) diff --git a/motion/lqr_controller/launch/lqr.launch b/motion/lqr_controller/launch/lqr.launch index bbeb5ba8..2bf4b04e 100644 --- a/motion/lqr_controller/launch/lqr.launch +++ b/motion/lqr_controller/launch/lqr.launch @@ -1,15 +1,6 @@ - - - - - - - - - From b108a2a0db2be10841be6511c5ba706d46801452 Mon Sep 17 00:00:00 2001 From: github-actions Date: Thu, 10 Aug 2023 22:33:25 +0000 Subject: [PATCH 077/132] Automated autoyapf fixes --- .../scripts/lqr_box_test.py | 1 - .../scripts/lqr_dp_test.py | 2 +- .../scripts/lqr_interface.py | 7 ++- motion/control_simulator/scripts/simulator.py | 2 + .../scripts/lqr_controller_node.py | 5 +- .../scripts/lqr_path_following_node.py | 52 +++++++++++-------- 6 files changed, 40 insertions(+), 29 deletions(-) diff --git a/mission/finite_state_machine/scripts/lqr_box_test.py b/mission/finite_state_machine/scripts/lqr_box_test.py index 0adeb611..7e900b46 100755 --- a/mission/finite_state_machine/scripts/lqr_box_test.py +++ b/mission/finite_state_machine/scripts/lqr_box_test.py @@ -28,7 +28,6 @@ def __init__(self): self.lqr_interface = LQRInterface() - north = 3 east = 3 diff --git a/mission/finite_state_machine/scripts/lqr_dp_test.py b/mission/finite_state_machine/scripts/lqr_dp_test.py index d6bc09e5..2e627e10 100755 --- a/mission/finite_state_machine/scripts/lqr_dp_test.py +++ b/mission/finite_state_machine/scripts/lqr_dp_test.py @@ -1,5 +1,4 @@ #!/usr/bin/python3 - """ DP mode requires that you set a point, and that you turn off path-dependent heading """ @@ -8,6 +7,7 @@ from geometry_msgs.msg import Point from lqr_interface import LQRInterface + class LQRControllerDPTest: def __init__(self): diff --git a/mission/finite_state_machine/scripts/lqr_interface.py b/mission/finite_state_machine/scripts/lqr_interface.py index 66f98dbd..c93982f2 100644 --- a/mission/finite_state_machine/scripts/lqr_interface.py +++ b/mission/finite_state_machine/scripts/lqr_interface.py @@ -4,6 +4,7 @@ from std_msgs.msg import Bool from geometry_msgs.msg import Point + class LQRInterface: def __init__(self): @@ -12,7 +13,8 @@ def __init__(self): "/guidance/lqr/add_waypoint", Point, queue_size=10) self.enable_controller_publisher = rospy.Publisher( "/controller/lqr/enable", Bool, queue_size=10) - self.toggle_path_dependent_heading = rospy.Publisher("/guidance/lqr/toggle_path_dependent_heading", Bool, queue_size=10) + self.toggle_path_dependent_heading = rospy.Publisher( + "/guidance/lqr/toggle_path_dependent_heading", Bool, queue_size=10) def add_point(self, point, path_dependent_heading=False): self.add_waypoint_publisher.publish(point) @@ -23,13 +25,14 @@ def move_to_point(self, point): def turn_on_controller(self): self.enable_controller_publisher.publish(Bool(True)) - + def turn_off_controller(self): self.enable_controller_publisher.publish(Bool(False)) def set_path_dependent_heading(self, data): self.toggle_path_dependent_heading.publish(Bool(data)) + if __name__ == "__main__": interface = LQRInterface() diff --git a/motion/control_simulator/scripts/simulator.py b/motion/control_simulator/scripts/simulator.py index 1a3a724c..17cbaf25 100755 --- a/motion/control_simulator/scripts/simulator.py +++ b/motion/control_simulator/scripts/simulator.py @@ -16,9 +16,11 @@ DT = 0.1 + def ssa(angle): return (angle + np.pi) % (2 * np.pi) - np.pi + class VesselVisualizer: def __init__(self, vessel): diff --git a/motion/lqr_controller/scripts/lqr_controller_node.py b/motion/lqr_controller/scripts/lqr_controller_node.py index ec48f703..5cb4fb7e 100755 --- a/motion/lqr_controller/scripts/lqr_controller_node.py +++ b/motion/lqr_controller/scripts/lqr_controller_node.py @@ -23,10 +23,11 @@ def __init__(self): damping_y = rospy.get_param("lqr_controller/damping/y", 20.0) damping_psi = rospy.get_param("lqr_controller/damping/psi", 15.0) - Q = rospy.get_param("lqr_controller/Q", [10.0, 10.0, 1.0, 0.001, 0.001, 0.001, 1.0, 1.0]) + Q = rospy.get_param("lqr_controller/Q", + [10.0, 10.0, 1.0, 0.001, 0.001, 0.001, 1.0, 1.0]) R = rospy.get_param("lqr_controller/R", [0.01, 0.01, 0.01]) - M = np.diag([mass, mass, inertia]) + M = np.diag([mass, mass, inertia]) D = np.diag([damping_x, damping_y, damping_psi]) self.setpoints = np.zeros(6) diff --git a/navigation/lqr_path_following/scripts/lqr_path_following_node.py b/navigation/lqr_path_following/scripts/lqr_path_following_node.py index 8bb575fa..931d32ba 100755 --- a/navigation/lqr_path_following/scripts/lqr_path_following_node.py +++ b/navigation/lqr_path_following/scripts/lqr_path_following_node.py @@ -7,24 +7,31 @@ import rospy import numpy as np + @dataclass class Waypoint: north: float east: float heading: float + class LQRGuidanceROS: def __init__(self): rospy.init_node("lqr_guidance") - self.interpolation_step_size = rospy.get_param("lqr_guidance/interpolation_step_size", 1.0) - - self.convergence_radius = rospy.get_param("lqr_guidance/convergence/radius", 0.25) - self.convergence_angle = rospy.get_param("lqr_guidance/convergence/angle", np.pi / 4) + self.interpolation_step_size = rospy.get_param( + "lqr_guidance/interpolation_step_size", 1.0) - self.use_path_dependent_heading = rospy.get_param("lqr_guidance/use_path_dependent_heading", True) - self.do_debug_print = rospy.get_param("lqr_guidance/debug/print", False) + self.convergence_radius = rospy.get_param( + "lqr_guidance/convergence/radius", 0.25) + self.convergence_angle = rospy.get_param( + "lqr_guidance/convergence/angle", np.pi / 4) + + self.use_path_dependent_heading = rospy.get_param( + "lqr_guidance/use_path_dependent_heading", True) + self.do_debug_print = rospy.get_param("lqr_guidance/debug/print", + False) self.waypoints = [] self.current_waypoint_index = None @@ -36,7 +43,8 @@ def __init__(self): self.clear_waypoints_callback) rospy.Subscriber("/guidance/lqr/add_waypoint", Point, self.add_waypoint_callback) - rospy.Subscriber("/guidance/lqr/toggle_path_dependent_heading", Bool, self.toggle_path_dependent_heading) + rospy.Subscriber("/guidance/lqr/toggle_path_dependent_heading", Bool, + self.toggle_path_dependent_heading) self.setpoint_pub = rospy.Publisher("/controller/lqr/setpoints", Float64MultiArray, @@ -44,11 +52,10 @@ def __init__(self): self.enable_pub = rospy.Publisher("/controller/lqr/enable", Bool, queue_size=10) - def ssa(self, angle): return (angle + np.pi) % (2 * np.pi) - np.pi - + def quaternion_to_yaw(self, q): x = q.x y = q.y @@ -57,9 +64,8 @@ def quaternion_to_yaw(self, q): siny_cosp = 2.0 * (w * z + x * y) cosy_cosp = 1.0 - 2.0 * (y * y + z * z) yaw = np.arctan2(siny_cosp, cosy_cosp) - - return yaw + return yaw def odometry_callback(self, data): position = data.pose.pose.position @@ -72,7 +78,9 @@ def odometry_callback(self, data): dx = position.x - waypoint.north dy = position.y - waypoint.east dyaw = np.abs(self.ssa(waypoint.heading - yaw)) - if np.hypot(dx, dy) < self.convergence_radius and dyaw < self.convergence_angle: + if np.hypot( + dx, dy + ) < self.convergence_radius and dyaw < self.convergence_angle: if self.do_debug_print: rospy.loginfo( f"Reached waypoint {self.current_waypoint_index}") @@ -108,9 +116,11 @@ def add_waypoint_callback(self, data): new_waypoint = Waypoint(data.x, data.y, data.z) starting_waypoint = None - if self.current_waypoint_index is None: # if this is the first waypoint, interpolate from where we are at: - starting_waypoint = Waypoint(self.current_pose[0], self.current_pose[1], self.current_pose[2]) - else: # if there are already existing waypoints, interpolate between the last one and the new one + if self.current_waypoint_index is None: # if this is the first waypoint, interpolate from where we are at: + starting_waypoint = Waypoint(self.current_pose[0], + self.current_pose[1], + self.current_pose[2]) + else: # if there are already existing waypoints, interpolate between the last one and the new one starting_waypoint = self.waypoints[-1] self.interpolate_and_append_waypoints(starting_waypoint, new_waypoint) @@ -129,27 +139,23 @@ def interpolate_and_append_waypoints(self, waypoint1, waypoint2): num_intermediate_points = int( np.ceil(distance / self.interpolation_step_size)) - + if self.use_path_dependent_heading: heading = np.arctan2(dy, dx) else: - heading = waypoint1.heading + heading = waypoint1.heading for i in range(num_intermediate_points + 1): # +1 to include the endpoint ratio = i / num_intermediate_points # this will be 1 for the endpoint - intermediate_point = Waypoint( - waypoint1.north + ratio * dx, - waypoint1.east + ratio * dy, - heading - ) + intermediate_point = Waypoint(waypoint1.north + ratio * dx, + waypoint1.east + ratio * dy, heading) self.waypoints.append(intermediate_point) def toggle_path_dependent_heading(self, msg): self.use_path_dependent_heading = msg.data - if __name__ == "__main__": guidance_scheme = LQRGuidanceROS() From d539fba0463eae63eb8fa212527845edc63e7c18 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Fri, 11 Aug 2023 00:39:26 +0200 Subject: [PATCH 078/132] Add visualizer for waypoints MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- motion/control_simulator/launch/test_lqr.launch | 2 +- motion/control_simulator/scripts/simulator.py | 11 +++++++++++ 2 files changed, 12 insertions(+), 1 deletion(-) diff --git a/motion/control_simulator/launch/test_lqr.launch b/motion/control_simulator/launch/test_lqr.launch index 29fbccbe..95c1cf6f 100644 --- a/motion/control_simulator/launch/test_lqr.launch +++ b/motion/control_simulator/launch/test_lqr.launch @@ -10,6 +10,6 @@ - + \ No newline at end of file diff --git a/motion/control_simulator/scripts/simulator.py b/motion/control_simulator/scripts/simulator.py index 1a3a724c..deb81c32 100755 --- a/motion/control_simulator/scripts/simulator.py +++ b/motion/control_simulator/scripts/simulator.py @@ -28,6 +28,8 @@ def __init__(self, vessel): rospy.Subscriber("/thrust/force_input", Wrench, self.wrench_callback) rospy.Subscriber("/controller/lqr/setpoints", Float64MultiArray, self.setpoint_callback) + rospy.Subscriber("/guidance/lqr/add_waypoint", Point, + self.add_waypoint_callback) self.vessel = vessel self.fig, self.axes = plt.subplots(nrows=3, ncols=2, figsize=(10, 10)) @@ -80,6 +82,15 @@ def __init__(self, vessel): Odometry, queue_size=10) + def add_waypoint_callback(self, msg): + """ + Callback to add a waypoint to the ax_vessel plot + """ + north = msg.x + east = msg.y + self.ax_vessel.plot(east, north, 'rx') # Plotting the waypoint as a red cross + + def setpoint_callback(self, msg): #rospy.loginfo(f"Simulator received setpoints: {msg.data}") number_of_setpoints = len(msg.data) From f109990bc033dd2f0275dfa15a5a80bbf6ab3953 Mon Sep 17 00:00:00 2001 From: github-actions Date: Thu, 10 Aug 2023 22:39:54 +0000 Subject: [PATCH 079/132] Automated autoyapf fixes --- motion/control_simulator/scripts/simulator.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/motion/control_simulator/scripts/simulator.py b/motion/control_simulator/scripts/simulator.py index 07c49c32..1a36044f 100755 --- a/motion/control_simulator/scripts/simulator.py +++ b/motion/control_simulator/scripts/simulator.py @@ -31,7 +31,7 @@ def __init__(self, vessel): rospy.Subscriber("/controller/lqr/setpoints", Float64MultiArray, self.setpoint_callback) rospy.Subscriber("/guidance/lqr/add_waypoint", Point, - self.add_waypoint_callback) + self.add_waypoint_callback) self.vessel = vessel self.fig, self.axes = plt.subplots(nrows=3, ncols=2, figsize=(10, 10)) @@ -90,9 +90,9 @@ def add_waypoint_callback(self, msg): """ north = msg.x east = msg.y - self.ax_vessel.plot(east, north, 'rx') # Plotting the waypoint as a red cross + self.ax_vessel.plot(east, north, + 'rx') # Plotting the waypoint as a red cross - def setpoint_callback(self, msg): #rospy.loginfo(f"Simulator received setpoints: {msg.data}") number_of_setpoints = len(msg.data) From 5587e082e97dffdd68ec016f7be86fdbf5c28f3c Mon Sep 17 00:00:00 2001 From: Theo Martin Date: Sat, 12 Aug 2023 21:36:22 +0200 Subject: [PATCH 080/132] Changed to work on RPI --- .../scripts/failsafe_interface_node.py | 46 +++++++++++++------ 1 file changed, 33 insertions(+), 13 deletions(-) diff --git a/mission/failsafe_interface/scripts/failsafe_interface_node.py b/mission/failsafe_interface/scripts/failsafe_interface_node.py index e75bd9b2..d673be71 100644 --- a/mission/failsafe_interface/scripts/failsafe_interface_node.py +++ b/mission/failsafe_interface/scripts/failsafe_interface_node.py @@ -3,42 +3,58 @@ import rospy from std_msgs.msg import String +import RPi._GPIO as GPIO -from gpio_functions import * +#from gpio_functions import * class FailSafeInterface(object): def __init__( self, ): + GPIO.setmode(GPIO.BOARD) # Fetch the pin numbers from the ASV.yaml file self.gpioSoftWareKillSwitch = rospy.get_param( "/failsafe/gpio/gpioSoftWareKillSwitch" ) # Initialize the pin - init_pin(self.gpioSoftWareKillSwitch) + GPIO.setmode(self.gpioSoftWareKillSwitch, GPIO.OUT) + #init_pin(self.gpioSoftWareKillSwitch) + #Repeat process for the other pins self.gpioSoftWareOperationMode = rospy.get_param( "/failsafe/gpio/gpioSoftWareOperationMode" ) - init_pin(self.gpioSoftWareOperationMode) + + GPIO.setmode(self.gpioSoftWareOperationMode, GPIO.OUT) + + #init_pin(self.gpioSoftWareOperationMode) + #Repeat process for the other pins self.gpioFailSafeStatus = rospy.get_param("/failsafe/gpio/gpioFailSafeStatus") - init_pin(self.gpioFailSafeStatus) + GPIO.setmode(self.gpioFailSafeStatus, GPIO.IN) + + #init_pin(self.softWareOperationMode) + #Repeat process for the other pins self.gpioHardWareOperationMode = rospy.get_param( "/failsafe/gpio/gpioHardWareOperationMode" ) - init_pin(self.gpioHardWareOperationMode) + + + GPIO.setmode(self.gpioHardWareOperationMode, GPIO.IN) + #init_pin(self.gpioFailSafeStatus) + # Fetch topics topicFailSafeStatus = rospy.get_param("/failsafe/publishers/failSafeStatus") topicHardWareOperationMode = rospy.get_param( "/failsafe/publishers/hardwareOperationMode" ) + topicSoftWareKillSwitch = rospy.get_param( "/failsafe/subscribers/softWareKillSwitch" ) @@ -48,11 +64,11 @@ def __init__( ) # Set pins as inputs or outputs - set_pin_as_output(self.gpioSoftWareKillSwitch) - set_pin_as_output(self.gpioSoftWareOperationMode) + #set_pin_as_output(self.gpioSoftWareKillSwitch) + #set_pin_as_output(self.gpioSoftWareOperationMode) - set_pin_as_input(self.gpioFailSafeStatus) - set_pin_as_input(self.gpioHardWareOperationMode) + #set_pin_as_input(self.gpioFailSafeStatus) + #set_pin_as_input(self.gpioHardWareOperationMode) #Create publisher for the hardware fail safe self.pubFailSafeStatus = rospy.Publisher( @@ -76,8 +92,10 @@ def __init__( def readPins(self): # Read the pins - self.failSafeStatus = pin_read(self.gpioFailSafeStatus) - self.hardWareOperationMode = pin_read(self.gpioHardWareOperationMode) + self.failSafeStatus = GPIO.read(self.gpioFailSafeStatus) + self.hardwareOperationMode = GPIO.read(self.gpioHardWareOperationMode) + #self.failSafeStatus = pin_read(self.gpioFailSafeStatus) + #self.hardWareOperationMode = pin_read(self.gpioHardWareOperationMode) # Publish accordingly, need to make it into a string self.pubFailSafeStatus.publish(str(self.failSafeStatus)) @@ -88,12 +106,14 @@ def readPins(self): # Output software kill switch through pin def writeSoftwareKillSwitch(self, message): self.softWareKillSwitch = message.data - pin_write(self.gpioSoftWareKillSwitch, self.softWareKillSwitch) + GPIO.out(self.gpioSoftWareKillSwitch, self.softWareKillSwitch) + #pin_write(self.gpioSoftWareKillSwitch, self.softWareKillSwitch) # Output software operation mode through pin def writeSoftwareOperationMode(self, message): self.softWareOperationMode = message.data - pin_write(self.gpioSoftWareOperationMode, self.softWareOperationMode) + GPIO.out(self.gpioSoftWareOperationMode, self.softWareOperationMode) + #pin_write(self.gpioSoftWareOperationMode, self.softWareOperationMode) def FailSafeNodeSetup(): From fbe9dfa3f8decede56d320339075f481d1bdd078 Mon Sep 17 00:00:00 2001 From: Theo Martin Date: Sun, 13 Aug 2023 12:18:13 +0200 Subject: [PATCH 081/132] Changed pins, removed comments --- asv_setup/config/robots/ASV.yaml | 8 ++++---- .../scripts/failsafe_interface_node.py | 15 --------------- .../failsafe_interface/scripts/gpio_functions.py | 2 +- 3 files changed, 5 insertions(+), 20 deletions(-) diff --git a/asv_setup/config/robots/ASV.yaml b/asv_setup/config/robots/ASV.yaml index 7028e69c..e1b36b82 100644 --- a/asv_setup/config/robots/ASV.yaml +++ b/asv_setup/config/robots/ASV.yaml @@ -7,7 +7,7 @@ failsafe: softWareOperationMode: '/softWareOperationMode' gpio: - gpioSoftWareKillSwitch: 33 #pin 33 - gpioSoftWareOperationMode: 31 #pin 31 - gpioFailSafeStatus: 35 #pin 35 - gpioHardWareOperationMode: 29 #pin 29 \ No newline at end of file + gpioSoftWareKillSwitch: 13 #pin 33 + gpioSoftWareOperationMode: 18 #pin 31 + gpioFailSafeStatus: 15 #pin 35 + gpioHardWareOperationMode: 16 #pin 29 \ No newline at end of file diff --git a/mission/failsafe_interface/scripts/failsafe_interface_node.py b/mission/failsafe_interface/scripts/failsafe_interface_node.py index d673be71..2601b502 100644 --- a/mission/failsafe_interface/scripts/failsafe_interface_node.py +++ b/mission/failsafe_interface/scripts/failsafe_interface_node.py @@ -5,8 +5,6 @@ from std_msgs.msg import String import RPi._GPIO as GPIO -#from gpio_functions import * - class FailSafeInterface(object): def __init__( @@ -19,7 +17,6 @@ def __init__( ) # Initialize the pin GPIO.setmode(self.gpioSoftWareKillSwitch, GPIO.OUT) - #init_pin(self.gpioSoftWareKillSwitch) #Repeat process for the other pins @@ -29,14 +26,12 @@ def __init__( GPIO.setmode(self.gpioSoftWareOperationMode, GPIO.OUT) - #init_pin(self.gpioSoftWareOperationMode) #Repeat process for the other pins self.gpioFailSafeStatus = rospy.get_param("/failsafe/gpio/gpioFailSafeStatus") GPIO.setmode(self.gpioFailSafeStatus, GPIO.IN) - #init_pin(self.softWareOperationMode) #Repeat process for the other pins @@ -63,12 +58,6 @@ def __init__( "/failsafe/subscribers/softWareOperationMode" ) - # Set pins as inputs or outputs - #set_pin_as_output(self.gpioSoftWareKillSwitch) - #set_pin_as_output(self.gpioSoftWareOperationMode) - - #set_pin_as_input(self.gpioFailSafeStatus) - #set_pin_as_input(self.gpioHardWareOperationMode) #Create publisher for the hardware fail safe self.pubFailSafeStatus = rospy.Publisher( @@ -94,8 +83,6 @@ def readPins(self): # Read the pins self.failSafeStatus = GPIO.read(self.gpioFailSafeStatus) self.hardwareOperationMode = GPIO.read(self.gpioHardWareOperationMode) - #self.failSafeStatus = pin_read(self.gpioFailSafeStatus) - #self.hardWareOperationMode = pin_read(self.gpioHardWareOperationMode) # Publish accordingly, need to make it into a string self.pubFailSafeStatus.publish(str(self.failSafeStatus)) @@ -107,13 +94,11 @@ def readPins(self): def writeSoftwareKillSwitch(self, message): self.softWareKillSwitch = message.data GPIO.out(self.gpioSoftWareKillSwitch, self.softWareKillSwitch) - #pin_write(self.gpioSoftWareKillSwitch, self.softWareKillSwitch) # Output software operation mode through pin def writeSoftwareOperationMode(self, message): self.softWareOperationMode = message.data GPIO.out(self.gpioSoftWareOperationMode, self.softWareOperationMode) - #pin_write(self.gpioSoftWareOperationMode, self.softWareOperationMode) def FailSafeNodeSetup(): diff --git a/mission/failsafe_interface/scripts/gpio_functions.py b/mission/failsafe_interface/scripts/gpio_functions.py index d0ccb500..9b5dae6f 100644 --- a/mission/failsafe_interface/scripts/gpio_functions.py +++ b/mission/failsafe_interface/scripts/gpio_functions.py @@ -37,7 +37,7 @@ def set_pin_as_output(pin): def pin_write(pin, value): try: # With the /value file we set the output - sudoPassword = "rock" + sudoPassword = "" command = f'sudo sh -c "echo {value} > /sys/class/gpio/gpio{pin}/value"' p = os.system("echo %s|sudo -S %s" % (sudoPassword, command)) except: From d6405cf74f17cec4934d3dee9d312cf8df452b22 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Sun, 13 Aug 2023 12:57:07 +0200 Subject: [PATCH 082/132] Add signals for final waypoint status MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- .../lqr_path_following/scripts/lqr_path_following_node.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/navigation/lqr_path_following/scripts/lqr_path_following_node.py b/navigation/lqr_path_following/scripts/lqr_path_following_node.py index 931d32ba..fdd46f4a 100755 --- a/navigation/lqr_path_following/scripts/lqr_path_following_node.py +++ b/navigation/lqr_path_following/scripts/lqr_path_following_node.py @@ -52,6 +52,7 @@ def __init__(self): self.enable_pub = rospy.Publisher("/controller/lqr/enable", Bool, queue_size=10) + self.final_waypoint_reached_pub = rospy.Publisher("/controller/lqr/final_waypoint_reached", Bool, queue_size=10) def ssa(self, angle): return (angle + np.pi) % (2 * np.pi) - np.pi @@ -104,6 +105,7 @@ def send_waypoint(self, index): #self.enable_pub.publish(True) else: rospy.loginfo("Final waypoint reached!") + self.final_waypoint_reached_pub.publish(Bool(True)) #self.enable_pub.publish(False) def clear_waypoints_callback(self, data): @@ -113,6 +115,7 @@ def clear_waypoints_callback(self, data): rospy.loginfo("Waypoints cleared!") def add_waypoint_callback(self, data): + self.final_waypoint_reached_pub.publish(Bool(False)) new_waypoint = Waypoint(data.x, data.y, data.z) starting_waypoint = None From cd2aa2531302b1f31bdf38133853e4a81a6d5e4b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Sun, 13 Aug 2023 12:58:58 +0200 Subject: [PATCH 083/132] Add example sm (no smach) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- .../scripts/docking_task.py | 138 ++++++++++++++++++ 1 file changed, 138 insertions(+) create mode 100644 mission/finite_state_machine/scripts/docking_task.py diff --git a/mission/finite_state_machine/scripts/docking_task.py b/mission/finite_state_machine/scripts/docking_task.py new file mode 100644 index 00000000..4dd242fd --- /dev/null +++ b/mission/finite_state_machine/scripts/docking_task.py @@ -0,0 +1,138 @@ +#!/usr/bin/python3 + +import rospy + +from lqr_interface import LQRInterface + +from geometry_msgs.msg import Point + + +""" +DOCKING SEARCH + +Look for Aruco markers. + +Once a marker has been found, extract bearing. + +Find the PCL cluster centroid that is within some interval of this bearing. + +Convert centroid to world point. + +Return world point to DockingConverge. +""" + + +""" +DOCKING CONVERGE + +lqr_move_to_point to the world point. + +If closer than some predefined limit (i.e. 3m), move to execute with the current world point, + +else once halfway to world point, move back to DockingSearch. +""" + + +""" +DOCKING EXECUTE + +Use lqr_move_to_point, but use a much smaller Q matrix for slower convergence. +""" + + + +class states: + SEARCH = 0 + CONVERGE = 1 + EXECUTE = 2 + + + +class DockingTask: + + def __init__(self): + rospy.init_node("docking_task_node") + + aruco_pose_sub = rospy.Subscriber("/detector/aruco", self.aruco_pose_cb, queue_size=10) + waypoint_reached_signal = rospy.Subscriber("/controller/lqr/final_waypoint_reached", self.waypoint_reached_signal_cb, queue_size=10) + + self.lqr_controller_interface = LQRInterface() + + self.aruco_detection = None + self.waypoint_reached_signal = False + + + self.state = states.SEARCH + self.converge_entry_flag = False + + def closest_world_point_from_bearing(self, bearing: float) -> Point: + #Find the PCL cluster centroid that is within some interval of this bearing. + + #Convert centroid to world point. + + return Point(3.0, 1.0, 0.0) + + def get_halfway_point(world_point: Point) -> Point: + # Calculate the point halfway between us and the world_point. + pass + + def bearing_from_aruco_detection(self): + # Convert aruco detection to bearing + pass + + + def aruco_pose_cb(self, detection): + if self.state == states.SEARCH: + # We only update the detection we keep when we are in search mode + self.aruco_detection = detection + self.state = states.CONVERGE + self.converge_entry_flag = True + + def waypoint_reached_signal_cb(self, msg): + self.waypoint_reached_signal = msg.data + + + + def spin_once(self): + + if self.state == states.SEARCH: + # Simply wait for aruco detections + # Might need to do exploration if no marker is found from the current position of the ASV + return + + + # Here we assume to have a valid aruco detection + bearing = self.bearing_from_aruco_detection() + + world_point = self.closest_world_point_from_bearing(bearing) + + if self.state == states.CONVERGE: + if self.converge_entry_flag: + # Move to halfway point, only call move_to_point once + halfway_point = self.get_halfway_point(world_point) + self.lqr_controller_interface.move_to_point(halfway_point) + + self.converge_entry_flag = False + + if self.waypoint_reached_signal: + # We have reached halfway point + self.state = states.SEARCH + + return + + + + + + +if __name__ == "__main__": + + state_machine = DockingTask() + + rate = rospy.Rate(5) + + while not rospy.is_shutdown(): + state_machine.spin_once() + rate.sleep() + + From 8209ec58c930f1e3818d129266a0560262547d12 Mon Sep 17 00:00:00 2001 From: github-actions Date: Sun, 13 Aug 2023 10:59:23 +0000 Subject: [PATCH 084/132] Automated autoyapf fixes --- .../scripts/docking_task.py | 28 +++++-------------- .../scripts/lqr_path_following_node.py | 3 +- 2 files changed, 9 insertions(+), 22 deletions(-) diff --git a/mission/finite_state_machine/scripts/docking_task.py b/mission/finite_state_machine/scripts/docking_task.py index 4dd242fd..ddb03a05 100644 --- a/mission/finite_state_machine/scripts/docking_task.py +++ b/mission/finite_state_machine/scripts/docking_task.py @@ -5,8 +5,6 @@ from lqr_interface import LQRInterface from geometry_msgs.msg import Point - - """ DOCKING SEARCH @@ -20,8 +18,6 @@ Return world point to DockingConverge. """ - - """ DOCKING CONVERGE @@ -31,8 +27,6 @@ else once halfway to world point, move back to DockingSearch. """ - - """ DOCKING EXECUTE @@ -40,28 +34,30 @@ """ - class states: SEARCH = 0 CONVERGE = 1 EXECUTE = 2 - class DockingTask: def __init__(self): rospy.init_node("docking_task_node") - aruco_pose_sub = rospy.Subscriber("/detector/aruco", self.aruco_pose_cb, queue_size=10) - waypoint_reached_signal = rospy.Subscriber("/controller/lqr/final_waypoint_reached", self.waypoint_reached_signal_cb, queue_size=10) + aruco_pose_sub = rospy.Subscriber("/detector/aruco", + self.aruco_pose_cb, + queue_size=10) + waypoint_reached_signal = rospy.Subscriber( + "/controller/lqr/final_waypoint_reached", + self.waypoint_reached_signal_cb, + queue_size=10) self.lqr_controller_interface = LQRInterface() self.aruco_detection = None self.waypoint_reached_signal = False - self.state = states.SEARCH self.converge_entry_flag = False @@ -80,7 +76,6 @@ def bearing_from_aruco_detection(self): # Convert aruco detection to bearing pass - def aruco_pose_cb(self, detection): if self.state == states.SEARCH: # We only update the detection we keep when we are in search mode @@ -90,8 +85,6 @@ def aruco_pose_cb(self, detection): def waypoint_reached_signal_cb(self, msg): self.waypoint_reached_signal = msg.data - - def spin_once(self): @@ -99,7 +92,6 @@ def spin_once(self): # Simply wait for aruco detections # Might need to do exploration if no marker is found from the current position of the ASV return - # Here we assume to have a valid aruco detection bearing = self.bearing_from_aruco_detection() @@ -119,12 +111,8 @@ def spin_once(self): self.state = states.SEARCH return - - - - if __name__ == "__main__": state_machine = DockingTask() @@ -134,5 +122,3 @@ def spin_once(self): while not rospy.is_shutdown(): state_machine.spin_once() rate.sleep() - - diff --git a/navigation/lqr_path_following/scripts/lqr_path_following_node.py b/navigation/lqr_path_following/scripts/lqr_path_following_node.py index fdd46f4a..35a326b6 100755 --- a/navigation/lqr_path_following/scripts/lqr_path_following_node.py +++ b/navigation/lqr_path_following/scripts/lqr_path_following_node.py @@ -52,7 +52,8 @@ def __init__(self): self.enable_pub = rospy.Publisher("/controller/lqr/enable", Bool, queue_size=10) - self.final_waypoint_reached_pub = rospy.Publisher("/controller/lqr/final_waypoint_reached", Bool, queue_size=10) + self.final_waypoint_reached_pub = rospy.Publisher( + "/controller/lqr/final_waypoint_reached", Bool, queue_size=10) def ssa(self, angle): return (angle + np.pi) % (2 * np.pi) - np.pi From de7d83c5bb9118a5f9198ca45d7479c3616bb341 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Sun, 13 Aug 2023 13:44:34 +0200 Subject: [PATCH 085/132] Add waypoint clear to interface MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- mission/finite_state_machine/scripts/lqr_interface.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/mission/finite_state_machine/scripts/lqr_interface.py b/mission/finite_state_machine/scripts/lqr_interface.py index c93982f2..a7f29b64 100644 --- a/mission/finite_state_machine/scripts/lqr_interface.py +++ b/mission/finite_state_machine/scripts/lqr_interface.py @@ -1,7 +1,7 @@ #!/usr/bin/python3 import rospy -from std_msgs.msg import Bool +from std_msgs.msg import Bool, Empty from geometry_msgs.msg import Point @@ -15,6 +15,7 @@ def __init__(self): "/controller/lqr/enable", Bool, queue_size=10) self.toggle_path_dependent_heading = rospy.Publisher( "/guidance/lqr/toggle_path_dependent_heading", Bool, queue_size=10) + self.clear_waypoints_publisher = rospy.Publisher("/guidance/lqr/clear_waypoints", Empty, queue_size=10) def add_point(self, point, path_dependent_heading=False): self.add_waypoint_publisher.publish(point) @@ -32,6 +33,9 @@ def turn_off_controller(self): def set_path_dependent_heading(self, data): self.toggle_path_dependent_heading.publish(Bool(data)) + def clear_all_waypoints(self): + self.clear_waypoints_publisher.publish(Empty()) + if __name__ == "__main__": From 893bd9d3745359af026c7ee5b1c87eeef38bd9cc Mon Sep 17 00:00:00 2001 From: github-actions Date: Sun, 13 Aug 2023 11:45:07 +0000 Subject: [PATCH 086/132] Automated autoyapf fixes --- mission/finite_state_machine/scripts/lqr_interface.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/mission/finite_state_machine/scripts/lqr_interface.py b/mission/finite_state_machine/scripts/lqr_interface.py index a7f29b64..2480d286 100644 --- a/mission/finite_state_machine/scripts/lqr_interface.py +++ b/mission/finite_state_machine/scripts/lqr_interface.py @@ -15,7 +15,8 @@ def __init__(self): "/controller/lqr/enable", Bool, queue_size=10) self.toggle_path_dependent_heading = rospy.Publisher( "/guidance/lqr/toggle_path_dependent_heading", Bool, queue_size=10) - self.clear_waypoints_publisher = rospy.Publisher("/guidance/lqr/clear_waypoints", Empty, queue_size=10) + self.clear_waypoints_publisher = rospy.Publisher( + "/guidance/lqr/clear_waypoints", Empty, queue_size=10) def add_point(self, point, path_dependent_heading=False): self.add_waypoint_publisher.publish(point) From a935412b5f6a0487f6a65a03c4d7044bc5266c4d Mon Sep 17 00:00:00 2001 From: Theo Martin Date: Sun, 13 Aug 2023 14:32:43 +0200 Subject: [PATCH 087/132] Made it work finally, no use of .yaml file --- .../scripts/failsafe_interface_node.py | 100 +++++++++++------- 1 file changed, 63 insertions(+), 37 deletions(-) diff --git a/mission/failsafe_interface/scripts/failsafe_interface_node.py b/mission/failsafe_interface/scripts/failsafe_interface_node.py index 2601b502..719e833f 100644 --- a/mission/failsafe_interface/scripts/failsafe_interface_node.py +++ b/mission/failsafe_interface/scripts/failsafe_interface_node.py @@ -2,7 +2,7 @@ import rospy -from std_msgs.msg import String +from std_msgs.msg import String, Bool import RPi._GPIO as GPIO @@ -10,95 +10,122 @@ class FailSafeInterface(object): def __init__( self, ): + GPIO.setmode(GPIO.BOARD) + + #Temporary solution because .yaml file is non-cooperative + self.gpioSoftWareKillSwitch = 13 + # Fetch the pin numbers from the ASV.yaml file - self.gpioSoftWareKillSwitch = rospy.get_param( - "/failsafe/gpio/gpioSoftWareKillSwitch" - ) + #self.gpioSoftWareKillSwitch = rospy.get_param( + # "/failsafe/gpio/gpioSoftWareKillSwitch" + #) + # Initialize the pin - GPIO.setmode(self.gpioSoftWareKillSwitch, GPIO.OUT) + GPIO.setup(self.gpioSoftWareKillSwitch, GPIO.OUT) + self.gpioSoftWareOperationMode = 18 #Repeat process for the other pins - self.gpioSoftWareOperationMode = rospy.get_param( - "/failsafe/gpio/gpioSoftWareOperationMode" - ) + #self.gpioSoftWareOperationMode = rospy.get_param( + # "/failsafe/gpio/gpioSoftWareOperationMode" + #) - GPIO.setmode(self.gpioSoftWareOperationMode, GPIO.OUT) + GPIO.setup(self.gpioSoftWareOperationMode, GPIO.OUT) #Repeat process for the other pins - self.gpioFailSafeStatus = rospy.get_param("/failsafe/gpio/gpioFailSafeStatus") - GPIO.setmode(self.gpioFailSafeStatus, GPIO.IN) + + self.gpioFailSafeStatus = 15 + + #self.gpioFailSafeStatus = rospy.get_param("/failsafe/gpio/gpioFailSafeStatus") + GPIO.setup(self.gpioFailSafeStatus, GPIO.IN) #Repeat process for the other pins - self.gpioHardWareOperationMode = rospy.get_param( - "/failsafe/gpio/gpioHardWareOperationMode" - ) + + self.gpioHardWareOperationMode = 16 + + #self.gpioHardWareOperationMode = rospy.get_param( + # "/failsafe/gpio/gpioHardWareOperationMode" + #) - GPIO.setmode(self.gpioHardWareOperationMode, GPIO.IN) + GPIO.setup(self.gpioHardWareOperationMode, GPIO.IN) #init_pin(self.gpioFailSafeStatus) # Fetch topics - topicFailSafeStatus = rospy.get_param("/failsafe/publishers/failSafeStatus") - topicHardWareOperationMode = rospy.get_param( - "/failsafe/publishers/hardwareOperationMode" - ) + topicFailSafeStatus = '/failSafeStatus' + topicHardWareOperationMode = '/hardWareOperationMode' - topicSoftWareKillSwitch = rospy.get_param( - "/failsafe/subscribers/softWareKillSwitch" - ) + topicSoftWareKillSwitch = '/softWareKillSwtich' + topicSoftWareOperationMode = '/softWareOperationMode' - topicSoftWareOperationMode = rospy.get_param( - "/failsafe/subscribers/softWareOperationMode" - ) + #topicFailSafeStatus = rospy.get_param("/failsafe/publishers/failSafeStatus") + #topicHardWareOperationMode = rospy.get_param( + # "/failsafe/publishers/hardwareOperationMode" + #) + + #topicSoftWareKillSwitch = rospy.get_param( + # "/failsafe/subscribers/softWareKillSwitch" + #) + + #topicSoftWareOperationMode = rospy.get_param( + # "/failsafe/subscribers/softWareOperationMode" + #) #Create publisher for the hardware fail safe self.pubFailSafeStatus = rospy.Publisher( - topicFailSafeStatus, String, queue_size=10 + topicFailSafeStatus, Bool, queue_size=10 ) #Create publisher for the hardware operation mode self.pubHardWareOperationMode = rospy.Publisher( - topicHardWareOperationMode, String, queue_size=10 + topicHardWareOperationMode, Bool, queue_size=10 ) #Create subscriber for the software kill switch self.subSoftWareKillSwitch = rospy.Subscriber( - topicSoftWareKillSwitch, String, self.writeSoftwareKillSwitch + topicSoftWareKillSwitch, Bool, self.writeSoftwareKillSwitch ) #Create subscriber for the software operation mode self.subSoftWareOperationMode = rospy.Subscriber( - topicSoftWareOperationMode, String, self.writeSoftwareOperationMode + topicSoftWareOperationMode, Bool, self.writeSoftwareOperationMode ) def readPins(self): # Read the pins - self.failSafeStatus = GPIO.read(self.gpioFailSafeStatus) - self.hardwareOperationMode = GPIO.read(self.gpioHardWareOperationMode) + self.failSafeStatus = GPIO.input(self.gpioFailSafeStatus) + self.hardWareOperationMode = GPIO.input(self.gpioHardWareOperationMode) # Publish accordingly, need to make it into a string - self.pubFailSafeStatus.publish(str(self.failSafeStatus)) - self.pubHardWareOperationMode.publish(str(self.hardWareOperationMode)) + self.pubFailSafeStatus.publish(self.failSafeStatus) + self.pubHardWareOperationMode.publish(self.hardWareOperationMode) - rospy.loginfo("Received software kill status %s", self.failSafeStatus) + #rospy.loginfo("Received hardware kill status %s", self.failSafeStatus) # Output software kill switch through pin def writeSoftwareKillSwitch(self, message): + rospy.loginfo("softwarekill") self.softWareKillSwitch = message.data - GPIO.out(self.gpioSoftWareKillSwitch, self.softWareKillSwitch) + GPIO.output(self.gpioSoftWareKillSwitch, self.softWareKillSwitch) + rospy.loginfo("Outputting software killswitch %s", self.softWareKillSwitch) # Output software operation mode through pin def writeSoftwareOperationMode(self, message): + rospy.loginfo("softwareopmode") self.softWareOperationMode = message.data - GPIO.out(self.gpioSoftWareOperationMode, self.softWareOperationMode) + GPIO.output(self.gpioSoftWareOperationMode, self.softWareOperationMode) + rospy.loginfo("Outputting software operation mode %s", self.softWareOperationMode) + + + + def FailSafeNodeSetup(): @@ -107,7 +134,6 @@ def FailSafeNodeSetup(): failsafe = FailSafeInterface() while not rospy.is_shutdown(): - print("Got into the loop") failsafe.readPins() From ff8995771131456045021ca160ab9b97cfac808c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Sun, 13 Aug 2023 15:21:53 +0200 Subject: [PATCH 088/132] Add joystick connection to failsafe interface MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- .../scripts/joystick_interface.py | 100 ++++++++++++++++-- 1 file changed, 94 insertions(+), 6 deletions(-) diff --git a/mission/joystick_interface/scripts/joystick_interface.py b/mission/joystick_interface/scripts/joystick_interface.py index e61784d4..b92b7f9f 100755 --- a/mission/joystick_interface/scripts/joystick_interface.py +++ b/mission/joystick_interface/scripts/joystick_interface.py @@ -3,6 +3,12 @@ import rospy from sensor_msgs.msg import Joy from geometry_msgs.msg import Wrench +from std_msgs.msg import Bool + +class states: + XBOX_MODE = 1 + AUTONOMOUS_MODE = 2 + NO_GO = 3 # Do nothing class JoystickInterface: @@ -15,6 +21,10 @@ def __init__(self): rospy.init_node("joystick_interface") + self.last_button_press_time = 0 + self.debounce_duration = 0.25 + self.state = states.NO_GO + self.joystick_surge_scaling = rospy.get_param( "/joystick/scaling/surge") self.joystick_sway_scaling = rospy.get_param("/joystick/scaling/sway") @@ -56,10 +66,50 @@ def __init__(self): self.torque_pub = rospy.Publisher("/thrust/torque_input", Wrench, queue_size=1) + + self.software_killswitch_signal_publisher = rospy.Publisher("/softWareKillSwtich", Bool, queue_size=10) + self.operational_mode_signal_publisher = rospy.Publisher("/softWareOperationMode", Bool, queue_size=10) + self.enable_controller_publisher = rospy.Publisher("/controller/lqr/enable", Bool, queue_size=10) rospy.loginfo("Joystick interface is up and running") + self.software_killswitch_signal_publisher.publish(Bool(False)) # initially signal that we are blocking + self.operational_mode_signal_publisher.publish(Bool(True)) # Signal that we are not in autonomous mode + + def create_2d_wrench_message(self, x, y, yaw): + wrench_msg = Wrench() + wrench_msg.force.x = x + wrench_msg.force.y = y + wrench_msg.torque.z = yaw + return wrench_msg + + def publish_wrench_message(self, wrench): + self.force_pub.publish(wrench) + self.torque_pub.publish(wrench) + + + def transition_to_xbox_mode(self): + # We want to turn off controller when moving to xbox mode + self.enable_controller_publisher.publish(Bool(False)) + + self.operational_mode_signal_publisher.publish(Bool(True)) # signal that we enter xbox mode + + self.state = states.XBOX_MODE + + def transition_to_autonomous_mode(self): + # We want to publish zero force once when transitioning + wrench_msg = self.create_2d_wrench_message(0.0, 0.0, 0.0) + self.publish_wrench_message(wrench_msg) + + self.operational_mode_signal_publisher.publish(Bool(False)) # signal that we are turning on autonomous mode + + self.state = states.AUTONOMOUS_MODE + + + def joystick_cb(self, msg): + current_time = rospy.Time.now().to_sec() + buttons = {} axes = {} @@ -73,13 +123,51 @@ def joystick_cb(self, msg): sway = axes["horizontal_axis_left_stick"] * self.joystick_sway_scaling yaw = axes["horizontal_axis_right_stick"] * self.joystick_yaw_scaling - wrench_msg = Wrench() - wrench_msg.force.x = surge - wrench_msg.force.y = sway - wrench_msg.torque.z = yaw + software_control_mode_button = buttons["X"] + xbox_control_mode_button = buttons["A"] + software_killswitch_button = buttons["B"] + + # Debounce for the buttons + if current_time - self.last_button_press_time < self.debounce_duration: + software_control_mode_button = False + xbox_control_mode_button = False + software_killswitch_button = False + + # If any button is pressed, update the last button press time + if software_control_mode_button or xbox_control_mode_button or software_killswitch_button: + self.last_button_press_time = current_time + + if self.state == states.NO_GO and software_killswitch_button: # Toggle ks on and off + self.software_killswitch_signal_publisher.publish(Bool(True)) # signal that killswitch is not blocking + self.transition_to_xbox_mode() + return + + if software_killswitch_button: + rospy.loginfo("SW killswitch") + self.software_killswitch_signal_publisher.publish(Bool(False)) # signal that killswitch is blocking + self.enable_controller_publisher.publish(Bool(False)) # Turn off controller in sw killswitch + # Publish a zero wrench message when sw killing + wrench_msg = self.create_2d_wrench_message(0.0, 0.0, 0.0) + self.publish_wrench_message(wrench_msg) + self.state = states.NO_GO + return + + wrench_msg = self.create_2d_wrench_message(surge, sway, yaw) + + if self.state == states.XBOX_MODE: + rospy.loginfo("xbox mode") + self.publish_wrench_message(wrench_msg) + + if software_control_mode_button: + self.transition_to_autonomous_mode() + + + + if self.state == states.AUTONOMOUS_MODE: + rospy.loginfo("autonomous mode") - self.force_pub.publish(wrench_msg) - self.torque_pub.publish(wrench_msg) + if xbox_control_mode_button: + self.transition_to_xbox_mode() if __name__ == "__main__": From 88aceef9ff39823315f8835c01beef8555c4dba8 Mon Sep 17 00:00:00 2001 From: github-actions Date: Sun, 13 Aug 2023 13:22:22 +0000 Subject: [PATCH 089/132] Automated autoyapf fixes --- .../scripts/joystick_interface.py | 46 +++++++++++-------- 1 file changed, 26 insertions(+), 20 deletions(-) diff --git a/mission/joystick_interface/scripts/joystick_interface.py b/mission/joystick_interface/scripts/joystick_interface.py index b92b7f9f..cce4a384 100755 --- a/mission/joystick_interface/scripts/joystick_interface.py +++ b/mission/joystick_interface/scripts/joystick_interface.py @@ -5,10 +5,11 @@ from geometry_msgs.msg import Wrench from std_msgs.msg import Bool + class states: XBOX_MODE = 1 AUTONOMOUS_MODE = 2 - NO_GO = 3 # Do nothing + NO_GO = 3 # Do nothing class JoystickInterface: @@ -66,15 +67,20 @@ def __init__(self): self.torque_pub = rospy.Publisher("/thrust/torque_input", Wrench, queue_size=1) - - self.software_killswitch_signal_publisher = rospy.Publisher("/softWareKillSwtich", Bool, queue_size=10) - self.operational_mode_signal_publisher = rospy.Publisher("/softWareOperationMode", Bool, queue_size=10) - self.enable_controller_publisher = rospy.Publisher("/controller/lqr/enable", Bool, queue_size=10) + + self.software_killswitch_signal_publisher = rospy.Publisher( + "/softWareKillSwtich", Bool, queue_size=10) + self.operational_mode_signal_publisher = rospy.Publisher( + "/softWareOperationMode", Bool, queue_size=10) + self.enable_controller_publisher = rospy.Publisher( + "/controller/lqr/enable", Bool, queue_size=10) rospy.loginfo("Joystick interface is up and running") - self.software_killswitch_signal_publisher.publish(Bool(False)) # initially signal that we are blocking - self.operational_mode_signal_publisher.publish(Bool(True)) # Signal that we are not in autonomous mode + self.software_killswitch_signal_publisher.publish( + Bool(False)) # initially signal that we are blocking + self.operational_mode_signal_publisher.publish( + Bool(True)) # Signal that we are not in autonomous mode def create_2d_wrench_message(self, x, y, yaw): wrench_msg = Wrench() @@ -82,17 +88,17 @@ def create_2d_wrench_message(self, x, y, yaw): wrench_msg.force.y = y wrench_msg.torque.z = yaw return wrench_msg - + def publish_wrench_message(self, wrench): self.force_pub.publish(wrench) self.torque_pub.publish(wrench) - def transition_to_xbox_mode(self): # We want to turn off controller when moving to xbox mode self.enable_controller_publisher.publish(Bool(False)) - self.operational_mode_signal_publisher.publish(Bool(True)) # signal that we enter xbox mode + self.operational_mode_signal_publisher.publish( + Bool(True)) # signal that we enter xbox mode self.state = states.XBOX_MODE @@ -101,12 +107,11 @@ def transition_to_autonomous_mode(self): wrench_msg = self.create_2d_wrench_message(0.0, 0.0, 0.0) self.publish_wrench_message(wrench_msg) - self.operational_mode_signal_publisher.publish(Bool(False)) # signal that we are turning on autonomous mode + self.operational_mode_signal_publisher.publish( + Bool(False)) # signal that we are turning on autonomous mode self.state = states.AUTONOMOUS_MODE - - def joystick_cb(self, msg): current_time = rospy.Time.now().to_sec() @@ -137,21 +142,24 @@ def joystick_cb(self, msg): if software_control_mode_button or xbox_control_mode_button or software_killswitch_button: self.last_button_press_time = current_time - if self.state == states.NO_GO and software_killswitch_button: # Toggle ks on and off - self.software_killswitch_signal_publisher.publish(Bool(True)) # signal that killswitch is not blocking + if self.state == states.NO_GO and software_killswitch_button: # Toggle ks on and off + self.software_killswitch_signal_publisher.publish( + Bool(True)) # signal that killswitch is not blocking self.transition_to_xbox_mode() return if software_killswitch_button: rospy.loginfo("SW killswitch") - self.software_killswitch_signal_publisher.publish(Bool(False)) # signal that killswitch is blocking - self.enable_controller_publisher.publish(Bool(False)) # Turn off controller in sw killswitch + self.software_killswitch_signal_publisher.publish( + Bool(False)) # signal that killswitch is blocking + self.enable_controller_publisher.publish( + Bool(False)) # Turn off controller in sw killswitch # Publish a zero wrench message when sw killing wrench_msg = self.create_2d_wrench_message(0.0, 0.0, 0.0) self.publish_wrench_message(wrench_msg) self.state = states.NO_GO return - + wrench_msg = self.create_2d_wrench_message(surge, sway, yaw) if self.state == states.XBOX_MODE: @@ -161,8 +169,6 @@ def joystick_cb(self, msg): if software_control_mode_button: self.transition_to_autonomous_mode() - - if self.state == states.AUTONOMOUS_MODE: rospy.loginfo("autonomous mode") From 4d51c96c9727e6f2660d059ae0d7c697963eb0bb Mon Sep 17 00:00:00 2001 From: github-actions Date: Sun, 13 Aug 2023 13:25:14 +0000 Subject: [PATCH 090/132] Automated autoyapf fixes --- .../scripts/current_failsafe.py | 14 ++---- .../scripts/failsafe_interface_node.py | 47 +++++++------------ .../scripts/gpio_functions.py | 4 +- .../scripts/software_operation_mode.py | 21 ++++----- 4 files changed, 34 insertions(+), 52 deletions(-) diff --git a/mission/failsafe_interface/scripts/current_failsafe.py b/mission/failsafe_interface/scripts/current_failsafe.py index 102d52ad..0bc9c57e 100644 --- a/mission/failsafe_interface/scripts/current_failsafe.py +++ b/mission/failsafe_interface/scripts/current_failsafe.py @@ -7,7 +7,6 @@ import RPi.GPIO as GPIO - # Pin number to control FS_PIN = 33 @@ -24,20 +23,17 @@ # to read voltage and current from ADC on PDB through I2C i2c_adress = 0x69 - # init of I2C bus communication +# init of I2C bus communication bus = smbus.SMBus(1) - psm_to_battery_voltage = 11.0 # V/V psm_to_battery_current_scale_factor = 37.8788 # A/V psm_to_battery_current_offset = 0.330 # V upper_current_threshold = 100 -channel_current = MCP342x(bus, - i2c_adress, - channel=1, - resolution=18) # current +channel_current = MCP342x(bus, i2c_adress, channel=1, resolution=18) # current + # Function to control the pin based on the current def current_fs(value): @@ -54,7 +50,7 @@ def current_fs(value): else: GPIO.output(FS_PIN, GPIO.HIGH) + while True: - - current_fs(channel_current) \ No newline at end of file + current_fs(channel_current) diff --git a/mission/failsafe_interface/scripts/failsafe_interface_node.py b/mission/failsafe_interface/scripts/failsafe_interface_node.py index 719e833f..8bfeedbe 100644 --- a/mission/failsafe_interface/scripts/failsafe_interface_node.py +++ b/mission/failsafe_interface/scripts/failsafe_interface_node.py @@ -7,9 +7,8 @@ class FailSafeInterface(object): - def __init__( - self, - ): + + def __init__(self, ): GPIO.setmode(GPIO.BOARD) @@ -25,16 +24,14 @@ def __init__( GPIO.setup(self.gpioSoftWareKillSwitch, GPIO.OUT) self.gpioSoftWareOperationMode = 18 - + #Repeat process for the other pins #self.gpioSoftWareOperationMode = rospy.get_param( # "/failsafe/gpio/gpioSoftWareOperationMode" #) - - GPIO.setup(self.gpioSoftWareOperationMode, GPIO.OUT) + GPIO.setup(self.gpioSoftWareOperationMode, GPIO.OUT) - #Repeat process for the other pins self.gpioFailSafeStatus = 15 @@ -42,8 +39,6 @@ def __init__( #self.gpioFailSafeStatus = rospy.get_param("/failsafe/gpio/gpioFailSafeStatus") GPIO.setup(self.gpioFailSafeStatus, GPIO.IN) - - #Repeat process for the other pins self.gpioHardWareOperationMode = 16 @@ -52,11 +47,9 @@ def __init__( # "/failsafe/gpio/gpioHardWareOperationMode" #) - GPIO.setup(self.gpioHardWareOperationMode, GPIO.IN) #init_pin(self.gpioFailSafeStatus) - # Fetch topics topicFailSafeStatus = '/failSafeStatus' topicHardWareOperationMode = '/hardWareOperationMode' @@ -77,26 +70,22 @@ def __init__( # "/failsafe/subscribers/softWareOperationMode" #) - #Create publisher for the hardware fail safe - self.pubFailSafeStatus = rospy.Publisher( - topicFailSafeStatus, Bool, queue_size=10 - ) - + self.pubFailSafeStatus = rospy.Publisher(topicFailSafeStatus, + Bool, + queue_size=10) + #Create publisher for the hardware operation mode self.pubHardWareOperationMode = rospy.Publisher( - topicHardWareOperationMode, Bool, queue_size=10 - ) - + topicHardWareOperationMode, Bool, queue_size=10) + #Create subscriber for the software kill switch self.subSoftWareKillSwitch = rospy.Subscriber( - topicSoftWareKillSwitch, Bool, self.writeSoftwareKillSwitch - ) - + topicSoftWareKillSwitch, Bool, self.writeSoftwareKillSwitch) + #Create subscriber for the software operation mode self.subSoftWareOperationMode = rospy.Subscriber( - topicSoftWareOperationMode, Bool, self.writeSoftwareOperationMode - ) + topicSoftWareOperationMode, Bool, self.writeSoftwareOperationMode) def readPins(self): # Read the pins @@ -114,18 +103,16 @@ def writeSoftwareKillSwitch(self, message): rospy.loginfo("softwarekill") self.softWareKillSwitch = message.data GPIO.output(self.gpioSoftWareKillSwitch, self.softWareKillSwitch) - rospy.loginfo("Outputting software killswitch %s", self.softWareKillSwitch) + rospy.loginfo("Outputting software killswitch %s", + self.softWareKillSwitch) # Output software operation mode through pin def writeSoftwareOperationMode(self, message): rospy.loginfo("softwareopmode") self.softWareOperationMode = message.data GPIO.output(self.gpioSoftWareOperationMode, self.softWareOperationMode) - rospy.loginfo("Outputting software operation mode %s", self.softWareOperationMode) - - - - + rospy.loginfo("Outputting software operation mode %s", + self.softWareOperationMode) def FailSafeNodeSetup(): diff --git a/mission/failsafe_interface/scripts/gpio_functions.py b/mission/failsafe_interface/scripts/gpio_functions.py index 9b5dae6f..b40e463e 100644 --- a/mission/failsafe_interface/scripts/gpio_functions.py +++ b/mission/failsafe_interface/scripts/gpio_functions.py @@ -3,7 +3,6 @@ # In short, to work with the GPIO pins we need to work with files. # We go to /sys/class/gpio/ and we get a folder (gpio133 for example) for each initalized pin - import os import time @@ -57,7 +56,8 @@ def pin_read(pin): try: # With the /value file we read the input command = f'sudo sh -c "cat /sys/class/gpio/gpio{pin}/value"' - output_str = os.popen("echo %s|sudo -S %s" % (sudoPassword, command)).read() + output_str = os.popen("echo %s|sudo -S %s" % + (sudoPassword, command)).read() output_int = int(output_str) return output_int diff --git a/mission/failsafe_interface/scripts/software_operation_mode.py b/mission/failsafe_interface/scripts/software_operation_mode.py index cd844cd1..3e6d6847 100644 --- a/mission/failsafe_interface/scripts/software_operation_mode.py +++ b/mission/failsafe_interface/scripts/software_operation_mode.py @@ -4,36 +4,35 @@ class FailSafeInterface(object): - def __init__( - self, - ): + + def __init__(self, ): #Repeat process for the other pins self.gpioSoftWareOperationMode = rospy.get_param( - "/failsafe/gpio/gpioSoftWareOperationMode" - ) + "/failsafe/gpio/gpioSoftWareOperationMode") GPIO.setmode(self.gpioSoftWareOperationMode) - + topicSoftWareOperationMode = rospy.get_param( - "/failsafe/subscribers/softWareOperationMode" - ) + "/failsafe/subscribers/softWareOperationMode") #Create subscriber for the software operation mode self.subSoftWareOperationMode = rospy.Subscriber( - topicSoftWareOperationMode, String, self.writeSoftwareOperationMode - ) + topicSoftWareOperationMode, String, + self.writeSoftwareOperationMode) # Output software operation mode through pin def writeSoftwareOperationMode(self, message): self.softWareOperationMode = message.data GPIO.write(self.gpioSoftWareOperationMode, self.softWareOperationMode) + def FailSafeNodeSetup(): rospy.init_node("failsafe_interface_node", anonymous=True) print("Set up the node") failsafe = FailSafeInterface() while not rospy.is_shutdown(): - failsafe.writeSoftwareOperationMode(FailSafeInterface,) + failsafe.writeSoftwareOperationMode(FailSafeInterface, ) + if __name__ == "__main__": try: From 493ed36b4f46d8ea5427870e517a9070f811f303 Mon Sep 17 00:00:00 2001 From: Sigurdvb Date: Sun, 13 Aug 2023 15:48:19 +0200 Subject: [PATCH 091/132] Object Nav&Man added to njord branch code --- mission/BouysTasksNjord/CMakeLists.txt | 22 ++ mission/BouysTasksNjord/Interface.md | 13 + mission/BouysTasksNjord/bouys_tasks.py | 354 ++++++++++++++++++ mission/BouysTasksNjord/bouys_tasks_FSM.py | 82 ++++ mission/BouysTasksNjord/closest_bouy_node.py | 116 ++++++ mission/BouysTasksNjord/package.xml | 71 ++++ mission/BouysTasksNjord/setup.py | 13 + .../BouysTasksNjord/update_objects_data.py | 211 +++++++++++ 8 files changed, 882 insertions(+) create mode 100644 mission/BouysTasksNjord/CMakeLists.txt create mode 100644 mission/BouysTasksNjord/Interface.md create mode 100644 mission/BouysTasksNjord/bouys_tasks.py create mode 100644 mission/BouysTasksNjord/bouys_tasks_FSM.py create mode 100644 mission/BouysTasksNjord/closest_bouy_node.py create mode 100644 mission/BouysTasksNjord/package.xml create mode 100644 mission/BouysTasksNjord/setup.py create mode 100644 mission/BouysTasksNjord/update_objects_data.py diff --git a/mission/BouysTasksNjord/CMakeLists.txt b/mission/BouysTasksNjord/CMakeLists.txt new file mode 100644 index 00000000..d2a0f862 --- /dev/null +++ b/mission/BouysTasksNjord/CMakeLists.txt @@ -0,0 +1,22 @@ +cmake_minimum_required(VERSION 3.0.2) +project(njord_fsm) + +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + vortex_msgs + # smach + # smach_ros +) + + +catkin_python_setup() + +catkin_package( + #CATKIN_DEPENDS rospy smach smach_ros # Add smach and smach_ros as catkin dependencies +) + + +include_directories( + #${catkin_INCLUDE_DIRS} +) \ No newline at end of file diff --git a/mission/BouysTasksNjord/Interface.md b/mission/BouysTasksNjord/Interface.md new file mode 100644 index 00000000..f7453870 --- /dev/null +++ b/mission/BouysTasksNjord/Interface.md @@ -0,0 +1,13 @@ +Perceptions node; + +Object containing all arrays with updated objects(bouys and markers) info on topic "bouys_and_markers" + +Arrays contain all bouys we know/have seen the past 3 seconds. + +Whenever we append and update elements in the array, update timestamp corresponding to objects in array. Objects in array are deleted after 3 seconds. + +If we detect a new bouy in an array we get from point cloud, loop through our array, and update alle the position estimates with the new one. We update a value in the array when a estimate from point cloud array is less than x distance from a object we already have in our array. If there is a new object from point cloud array that is not close (more than x distace away) to the objects we have in our array, apped it to our array. + +(Obs, do not want timestamps in the message published on topic) + +Message type is now defined in vortex_msgs as DetectedObject.msg and DetectedObjectArray! diff --git a/mission/BouysTasksNjord/bouys_tasks.py b/mission/BouysTasksNjord/bouys_tasks.py new file mode 100644 index 00000000..cb3330ef --- /dev/null +++ b/mission/BouysTasksNjord/bouys_tasks.py @@ -0,0 +1,354 @@ +#!/usr/bin/python3 +#Written by Sigurd von Brandis, Student + +import rospy +import smach +import math +from vortex_msgs.srv import Waypoint, WaypointRequest, WaypointResponse +from nav_msgs.msg import Odometry +from std_msgs.msg import Float64 +from tf.transformations import euler_from_quaternion +from vortex_msgs.msg import DetectedObjectArray, DetectedObject +from update_objects_data import DetectedObjectsData, UpdateDataNode +from ../finite_state_machine/scripts/lqr_interface.py import LQRInterface + + + + +class Idle(smach.State): + # TODO: Idle must stop the vessel before entering search state. + def __init__(self): + smach.State.__init__( + self, + outcomes=['detectedObjectsNavigation', 'search', 'stop'], + input_keys=['closest_object', 'object_search_attempts']) + + def execute(self, userdata): + rospy.loginfo('Executing Idle') + + if userdata.closest_object[2] == '': + if userdata.object_search_attempts >= 5: + return 'stop' + else: + #while not standing still: + # try to stand still + return 'search' + else: + userdata.object_search_attempts = 0 + return 'detectedObjectsNavigation' + + +class Search(smach.State): + + def __init__(self): + smach.State.__init__(self, + outcomes=['detectedObjectsNavigation'], + input_keys=['object_search_attempts'], + output_keys=['object_search_attempts']) + + self.task = "Buoy" + self.odom = Odometry() + self.rate = rospy.Rate(10) + + # Publisher to heading controller + self.heading_pub = rospy.Publisher( + "/guidance_interface/desired_heading", Float64, queue_size=1) + + rospy.Subscriber("/odometry/filtered", Odometry, self.odom_cb) + + def odom_cb(self, msg): + self.odom = msg + + # TODO: should be generalized and added to shared package + def within_acceptance_margins(self, setpoint, current): + error = abs(setpoint - current) + if error < 0.1: + return True + return False + + # Turns ASV by specified angle + def yaw_to_angle(self, angle): + # Find heading corresponding to the change in angle + orientation = self.odom.pose.pose.orientation + orientation_list = [ + orientation.x, orientation.y, orientation.z, orientation.w + ] + yaw = euler_from_quaternion(orientation_list)[2] + heading_goal = yaw + angle + + # publishes heading to heading controller, and waits until the new heading is reached + self.heading_pub.publish(heading_goal) + print(f"Searching for {self.task}, angle: ({angle}) ...") + while not self.within_acceptance_margins(heading_goal, yaw): + self.rate.sleep() + orientation = self.odom.pose.pose.orientation + orientation_list = [ + orientation.x, orientation.y, orientation.z, orientation.w + ] + yaw = euler_from_quaternion(orientation_list)[2] + + def execute(self, userdata): + rospy.loginfo('Executing Search') + + #Turns side to side + self.yaw_to_angle(45) + self.yaw_to_angle(-90) + self.yaw_to_angle(45) + + userdata.object_search_attempts += 1 + + return 'detectedObjectsNavigation' + + +class DetectedObjectsNavigation(smach.State): + + def __init__(self): + smach.State.__init__(self, + outcomes=['idle'], + output_keys=['closest_object']) + #self.enabled = rospy.get_param("/tasks/maneuvering_navigation_tasks") + self.data = DetectedObjectsData() + self.closest_object = (math.inf, math.inf, '') + self.second_closest_object = (math.inf, math.inf, '') + self.third_closest_object = (math.inf, math.inf, '') + self.fourth_closest_object = (math.inf, math.inf, '') + + self.DistanceRadius = 3 + self.DirectionWithLeia = True + self.ObjectSearchAttempts = 0 + + self.data_sub = rospy.Subscriber('detected_objects', + DetectedObjectArray, self.data_cb) + self.vessel_pos_sub = rospy.Subscriber('/odometry/filtered', Odometry, + self.odom_cb) + + def execute(self, userdata): + + while self.closest_object != '': # and self.enabled == True: + + self.find_closest_objects() + + #Make new path based on the two closest bouys beeing green and red. + if self.closest_object[2] == 'red' and self.second_closest_object[ + 2] == 'green' or self.closest_object[ + 2] == 'green' and self.second_closest_object[ + 2] == 'red': + midpoint = ( + (self.closest_object[0] + self.second_closest_object[0]) / + 2, + (self.closest_object[1] + self.second_closest_object[1]) / + 2) + LQRInterface.add_point(midpoint) + + #Add new waypoint to path based on third and fouth closest objects beeing green and red, or if we just have a third closest object. + if self.third_closest_object[ + 2] == 'red' and self.fourth_closest_object[ + 2] == 'green' or self.third_closest_object[ + 2] == 'green' and self.fourth_closest_object[ + 2] == 'red': + midpoint2 = ((self.third_closest_object[0] + + self.fourth_closest_object[0]) / 2, + (self.third_closest_object[1] + + self.fourth_closest_object[1]) / 2) + LQRInterface.add_point(midpoint2) + elif self.third_closest_object != '': + next_waypoint = self.NavAroundOneObject( + self.data.vessel_position, self.third_closest_object, + self.DistanceRadius, self.DirectionWithLeia) + LQRInterface.add_point(next_waypoint) + + #Make new path based on having a closest object and perheps also a second closest object (which is not green and red) + elif self.closest_object[2] != '': + next_waypoint = self.NavAroundOneObject( + self.data.vessel_position, self.closest_object, + self.DistanceRadius, self.DirectionWithLeia) + LQRInterface.clear_all_waypoints() + + if self.second_closest_object[ + 2] == 'red' and self.third_closest_object[ + 2] == 'green' or self.second_closest_object[ + 2] == 'green' and self.third_closest_object[ + 2] == 'red': + midpoint = ((self.second_closest_object[0] + + self.third_closest_object[0]) / 2, + (self.second_closest_object[1] + + self.third_closest_object[1]) / 2) + LQRInterface.add_point(midpoint) + elif self.second_closest_object != '': + next_waypoint = self.NavAroundOneObject( + self.data.vessel_position, self.second_closest_object, + self.DistanceRadius, self.DirectionWithLeia) + LQRInterface.add_point(next_waypoint) + + userdata['closest_object'] = self.closest_object + return 'idle' + + def data_cb(self, msg): + #TODO:Much duplication that should be switched out. + detected_objects = msg.detected_objects + + self.data.current_red_bouy = (detected_objects[0].x, + detected_objects[0].y, + detected_objects[0].type) + self.data.next_red_bouy = (detected_objects[1].x, + detected_objects[1].y, + detected_objects[1].type) + self.data.current_green_bouy = (detected_objects[2].x, + detected_objects[2].y, + detected_objects[2].type) + self.data.next_green_bouy = (detected_objects[3].x, + detected_objects[3].y, + detected_objects[3].type) + self.data.current_north_marker = (detected_objects[4].x, + detected_objects[4].y, + detected_objects[4].type) + self.data.current_south_marker = (detected_objects[5].x, + detected_objects[5].y, + detected_objects[5].type) + self.data.current_east_marker = (detected_objects[6].x, + detected_objects[6].y, + detected_objects[6].type) + self.data.current_west_marker = (detected_objects[7].x, + detected_objects[7].y, + detected_objects[7].type) + + def odom_cb(self, msg): + self.data.vessel_position = (msg.pose.pose.position.x, + msg.pose.pose.position.y) + + def find_closest_objects(self): + self.closest_object = (math.inf, math.inf, '') + self.second_closest_object = (math.inf, math.inf, '') + self.third_closest_object = (math.inf, math.inf, '') + self.fourth_closest_object = (math.inf, math.inf, '') + + for name, new_object in vars(self.data).items(): + if name.startswith('current') or (name.endswith('bouy') + or name.endswith('marker')): + #New object + new_obj_pos = (new_object[0], new_object[1]) + dist_to_new_obj = UpdateDataNode.distance( + self.data.vessel_position, new_obj_pos) + #Old closest object + old_closest_obj_pos = (self.closest_object[0], + self.closest_object[1]) + dist_to_old_closest_obj = UpdateDataNode.distance( + self.data.vessel_position, old_closest_obj_pos) + #Old second closest object + old_second_closest_obj_pos = (self.second_closest_object[0], + self.second_closest_object[1]) + dist_to_old_second_closest_obj = UpdateDataNode.distance( + self.data.vessel_position, old_second_closest_obj_pos) + #Old third closest object + old_third_closest_obj_pos = (self.third_closest_object[0], + self.third_closest_object[1]) + dist_to_old_third_closest_obj = UpdateDataNode.distance( + self.data.vessel_position, old_third_closest_obj_pos) + #Old fourth closest object + old_fourth_closest_obj_pos = (self.fourth_closest_object[0], + self.fourth_closest_object[1]) + dist_to_old_fourth_closest_obj = UpdateDataNode.distance( + self.data.vessel_position, old_fourth_closest_obj_pos) + #Update closest objects each iteration using new_object + if dist_to_new_obj < dist_to_old_closest_obj: + self.fourth_closest_object = self.third_closest_object + self.third_closest_object = self.second_closest_object + self.second_closest_object = self.closest_object + self.closest_object = new_object + elif dist_to_new_obj < dist_to_old_second_closest_obj: + self.fourth_closest_object = self.third_closest_object + self.third_closest_object = self.second_closest_object + self.second_closest_object = new_object + elif dist_to_new_obj < dist_to_old_third_closest_obj: + self.fourth_closest_object = self.third_closest_object + self.third_closest_object = new_object + elif dist_to_new_obj < dist_to_old_fourth_closest_obj: + self.fourth_closest_object = new_object + + def NavAroundOneObject(ASVPos, object, radius, directionWithLeia): + """ + object (B) + /| + / | + / | radius + / | + / | + / | + ASV (A)----(C) WP + + """ + objectType = object[2] + xWP = 0 + yWP = 0 + + if directionWithLeia == True: + # Calculate the coordinates of next waypoint. + xAC = ASVPos[0] - object[0] #xB - xA + yAC = ASVPos[1] - object[1] #yB - yA + AC_length = math.sqrt(xAC**2 + yAC**2) + xAC_normalized = xAC / AC_length + yAC_normalized = yAC / AC_length + if objectType == 'red' or objectType == 'west' or objectType == 'south': + # Adjust the sign of the vector AC for a reflex angle + if xAC_normalized > 0: + xAC_normalized *= -1 + if yAC_normalized > 0: + yAC_normalized *= -1 + xWP = object[0] + radius * xAC_normalized + yWP = object[1] + radius * yAC_normalized + else: + # Calculate the coordinates of next waypoint. + xAC = ASVPos[0] - object[0] #xB - xA + yAC = ASVPos[1] - object[1] #yB - yA + AC_length = math.sqrt(xAC**2 + yAC**2) + xAC_normalized = xAC / AC_length + yAC_normalized = yAC / AC_length + if objectType == 'green' or objectType == 'east' or objectType == 'north': + # Adjust the sign of the vector AC for a reflex angle + if xAC_normalized > 0: + xAC_normalized *= -1 + if yAC_normalized > 0: + yAC_normalized *= -1 + xWP = object[0] + radius * xAC_normalized + yWP = object[1] + radius * yAC_normalized + + return (xWP, yWP) + + # #Add single waypoint to current waypoint list + # def send_wp(waypoint_in): + # wp = WaypointRequest() + # wp.waypoint = waypoint_in + # response = WaypointResponse() + # response.success = False + # try: + # rospy.wait_for_service("/navigation/add_waypoint") + # waypoint_client = rospy.ServiceProxy("/navigation/add_waypoint", + # Waypoint) + # response = waypoint_client(wp) + # except rospy.ServiceException as e: + # print("Service call failed: {}".format(e)) + # if response.success: + # rospy.loginfo(f"Waypoint {wp.waypoint} sent successfully!") + # else: + # rospy.logwarn(f"Waypoint {wp.waypoint} could not be set!") + + # #Remove all waypoints, but not the last one, in waypointlist, and add a new waypoint. + # def overwrite_with_new_waypoint(waypoint_in): + # wp = WaypointRequest() + # wp.waypoint = waypoint_in + # response = WaypointResponse() + # response.success = False + # try: + # rospy.wait_for_service( + # "/navigation/overwrite_waypoint_list_with_new_waypoint") + # overwrite_waypoint_client = rospy.ServiceProxy( + # "/navigation/overwrite_waypoint_list_with_new_waypoint", + # Waypoint) + # response = overwrite_waypoint_client(wp) + # except rospy.ServiceException as e: + # print("Service call failed: {}".format(e)) + + # if response.success: + # rospy.loginfo(f"Waypoint {wp.waypoint} sent successfully!") + # else: + # rospy.logwarn(f"Waypoint {wp.waypoint} could not be set!") \ No newline at end of file diff --git a/mission/BouysTasksNjord/bouys_tasks_FSM.py b/mission/BouysTasksNjord/bouys_tasks_FSM.py new file mode 100644 index 00000000..c429d723 --- /dev/null +++ b/mission/BouysTasksNjord/bouys_tasks_FSM.py @@ -0,0 +1,82 @@ +#!/usr/bin/python3 +#Written by Sigurd von Brandis, Student + +import rospy +import smach +import smach_ros +import math +from bouys_tasks import Idle, Search, DetectedObjectsNavigation + + +class ManeuveringNavigationTasks: + + def __init__(self): + rospy.init_node('Bouys_tasks_fsm') + + def spin(self): + sm = smach.StateMachine(outcomes=['Stop']) + + with sm: + sm.userdata.closest_object = (math.inf, math.inf, '') + sm.userdata.object_search_attempts = 0 + smach.StateMachine.add('Idle', + Idle(), + transitions={ + 'detectedObjectsNavigation': + 'DetectedObjectsNavigation', + 'search': 'Search', + 'stop': 'Stop', + }, + remapping={ + 'closest_object': + 'closest_object', + 'object_search_attempts': + 'object_search_attempts', + }) + + smach.StateMachine.add('Search', + Search(), + transitions={ + 'detectedObjectsNavigation': + 'DetectedObjectsNavigation' + }, + remapping={ + 'object_search_attempts': + 'object_search_attempts', + }) + + smach.StateMachine.add('DetectedObjectsNavigation', + DetectedObjectsNavigation(), + transitions={'idle': 'Idle'}, + remapping={ + 'closest_object': 'closest_object', + }) + + # Start the state machine introspection server + sis = smach_ros.IntrospectionServer('state_machine', sm, '/SM_ROOT') + sis.start() + + while not rospy.is_shutdown(): + # To be updated + # self.enabled = rospy.get_param( + # "/tasks/maneuvering_navigation_tasks") + self.enabled = True #Remove this line when not testing + if not self.enabled: + print("Exiting because this fsm should be inactive.") + break + + ud = smach.UserData() + outcome = sm.execute(ud) + if outcome == 'STOP': + print("State machine stopped") + break + + sis.stop() + + +if __name__ == "__main__": + try: + fsm_node = ManeuveringNavigationTasks() + fsm_node.spin() + except rospy.ROSInterruptException: + pass \ No newline at end of file diff --git a/mission/BouysTasksNjord/closest_bouy_node.py b/mission/BouysTasksNjord/closest_bouy_node.py new file mode 100644 index 00000000..b921eed7 --- /dev/null +++ b/mission/BouysTasksNjord/closest_bouy_node.py @@ -0,0 +1,116 @@ +#!/usr/bin/env python3 +import rospy +from vortex_msgs.msg import DetectedObjectArray, DetectedObject +import time +import numpy as np + + +class Buoy: + + def __init__(self, x, y, type_): + """ + x: float + y: float + type_: str + """ + self.x = x + self.y = y + self.type_ = type_ + self.last_observed = time.time() + + def assert_type(self, other): + """ + other: Buoy + """ + if self.type_ != other.type_: + raise ValueError( + f"Expected same buoy type, got: '{self.type_}' and '{other.type_}'" + ) + + # Overloads + def __sub__(self, other): + """ + other: Buoy + """ + self.assert_type(other) + return Buoy(self.x - other.x, self.y - other.y, self.type_) + + def __abs__(self): + return np.sqrt(self.x**2 + self.y**2) + + +class UpdateBuoyMarkerNode: + + def __init__(self): + rospy.init_node('UpdateBuoyMarkerNode', anonymous=True) + + self.subscribeTo = rospy.Subscriber('bouys/all_buoys_in_world_frame', + DetectedObjectArray, + self.new_buoy_marker_callback) + self.pub = rospy.Publisher('bouys_and_markers', + DetectedObjectArray, + queue_size=10) + + self.buoys = [] + + self.dist_treshold = 1. # Threshold for updating buey position + self.time_treshold = 3. # Seconds that object is not seen + + def convert_topic_buoys(self, msg): + """ + Convert topic 'bueys/all_buoys_in_world_frame' to Buoy-type, then return array of all buoys. + """ + buoys = [] + for topic_element in msg.DetectedObjectArray: + buoys.append( + Buoy(topic_element.x, topic_element.y, topic_element.type)) + + return buoys + + def publish_buoys(self): + """ + Publish the internally stored buoys to topic as DetectedObjectArray type. + """ + msg = DetectedObjectArray() + + for buoy in self.buoys: + single_message = DetectedObject() + single_message.x = buoy.x + single_message.y = buoy.y + single_message.type = buoy.type_ + msg.DetectedObjectArray.append(single_message) + + self.pub.publish(msg) + + def new_buoy_marker_callback(self, msg): + """ + Callback function used to sort out buoys of interrest (?). + msg: DetectedObjectArray + """ + new_buoys = self.convert_topic_buoys(msg) + for i, buoy in enumerate(self.buoys): + # Delete buoys that have not been observed for a while + if time.time() - buoy.last_observed >= self.time_treshold: + self.buoys.pop(i) + break + + # Update buoy positions + for new_buoy in new_buoys: + if abs(new_buoy - buoy) <= self.dist_treshold: + self.buoys[i] = new_buoy + new_buoys.remove(new_buoy) + + break # This is assuming there are no topic-buoys within + # threshold proximity to each other. + # Add new bouys + self.buoys += new_buoys + self.publish_buoys() + + +if __name__ == "__main__": + try: + UpdateBuoyMarkerNode() + rospy.spin() + + except rospy.ROSInterruptException: + pass \ No newline at end of file diff --git a/mission/BouysTasksNjord/package.xml b/mission/BouysTasksNjord/package.xml new file mode 100644 index 00000000..38f56d2b --- /dev/null +++ b/mission/BouysTasksNjord/package.xml @@ -0,0 +1,71 @@ + + + njord_fsm + 0.0.0 + The Bouys_tasks_fsm package + + + + + sigurdvb + + + + + + MIT + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + roscpp + rospy + smach + smach_ros + vortex_msgs + + roscpp + rospy + smach + smach_ros + vortex_msgs + + + + + + + + \ No newline at end of file diff --git a/mission/BouysTasksNjord/setup.py b/mission/BouysTasksNjord/setup.py new file mode 100644 index 00000000..232b30bd --- /dev/null +++ b/mission/BouysTasksNjord/setup.py @@ -0,0 +1,13 @@ +#!/usr/bin/python3 + +from setuptools import setup, find_packages + +setup( + name="Bouys_tasks_config", + version="0.0.0", + description= + "Contains a fsm for maneuvering and navigation (bouys) tasks in Njord.", + author="Sigurd von Brandis", + author_email="sigurdvbrandis@gmail.com", + packages=find_packages(), +) \ No newline at end of file diff --git a/mission/BouysTasksNjord/update_objects_data.py b/mission/BouysTasksNjord/update_objects_data.py new file mode 100644 index 00000000..df809687 --- /dev/null +++ b/mission/BouysTasksNjord/update_objects_data.py @@ -0,0 +1,211 @@ +#!/usr/bin/python3 +#Written by Sigurd von Brandis, Student + +import rospy +from std_msgs.msg import String +from nav_msgs.msg import Odometry +import numpy as np +import math +from vortex_msgs.msg import DetectedObjectArray, DetectedObject +from std_msgs.msg import Header + + +class DetectedObjectsData: + #Latitude; x, Longitude; y + def __init__(self): # x, y, type + self.current_red_bouy = (0, 0, 'red') + self.next_red_bouy = (0, 0, 'red') + self.current_green_bouy = (0, 0, 'green') + self.next_green_bouy = (0, 0, 'green') + self.current_north_marker = (0, 0, 'north') + self.current_south_marker = (0, 0, 'south') + self.current_east_marker = (0, 0, 'east') + self.current_west_marker = (0, 0, 'west') + self.vessel_position = (0, 0, 'vessel') + + +class UpdateDataNode: + + def __init__(self): + # Initialize object data to be published + self.object_data = DetectedObjectsData() + + self.red_bouy_array = [] + self.green_bouy_array = [] + self.north_marker_array = [] + self.south_marker_array = [] + self.east_marker_array = [] + self.west_marker_array = [] + + # Initialize subscriber and Service to get all the necessary information + self.Obj_pos_sub = rospy.Subscriber('bouys_and_markers', + DetectedObjectArray, + self.obj_pos_cb) + self.Position_sub = rospy.Subscriber('/odometry/filtered', Odometry, + self.odom_cb) + + # Initialize publisher to data topic + self.pub = rospy.Publisher('detected_objects', + DetectedObjectArray, + queue_size=1) + + def spin(self): + #TODO:Much duplication that should be switched out. + + #Make sure all distances are calculated using same position + VesselPos = self.object_data.vessel_position + #Calculate current and next objects for each type + closest_object, second_closest_object = UpdateDataNode.find_two_closest_objects_in_array( + VesselPos, self.red_bouy_array) + if closest_object != None: + self.object_data.current_red_bouy = closest_object + if second_closest_object != None: + self.object_data.next_red_bouy = second_closest_object + + closest_object, second_closest_object = UpdateDataNode.find_two_closest_objects_in_array( + VesselPos, self.green_bouy_array) + if closest_object != None: + self.object_data.current_green_bouy = closest_object + if second_closest_object != None: + self.object_data.next_green_bouy = second_closest_object + + closest_object, second_closest_object = UpdateDataNode.find_two_closest_objects_in_array( + VesselPos, self.north_marker_array) + if closest_object != None: + self.object_data.current_north_marker = closest_object + + closest_object, second_closest_object = UpdateDataNode.find_two_closest_objects_in_array( + VesselPos, self.south_marker_array) + if closest_object != None: + self.object_data.current_south_marker = closest_object + + closest_object, second_closest_object = UpdateDataNode.find_two_closest_objects_in_array( + VesselPos, self.east_marker_array) + if closest_object != None: + self.object_data.current_east_marker = closest_object + + closest_object, second_closest_object = UpdateDataNode.find_two_closest_objects_in_array( + VesselPos, self.west_marker_array) + if closest_object != None: + self.object_data.current_west_marker = closest_object + + #Make a message to be published + msg = DetectedObjectArray() + msg.header = Header() + msg.header.stamp = rospy.Time.now() + + red_bouy = DetectedObject() + red_bouy.x = self.object_data.current_red_bouy[0] + red_bouy.y = self.object_data.current_red_bouy[1] + red_bouy.type = self.object_data.current_red_bouy[2] + msg.detected_objects.append(red_bouy) + + next_red_bouy = DetectedObject() + next_red_bouy.x = self.object_data.next_red_bouy[0] + next_red_bouy.y = self.object_data.next_red_bouy[1] + next_red_bouy.type = self.object_data.next_red_bouy[2] + msg.detected_objects.append(next_red_bouy) + + green_bouy = DetectedObject() + green_bouy.x = self.object_data.current_green_bouy[0] + green_bouy.y = self.object_data.current_green_bouy[1] + green_bouy.type = self.object_data.current_green_bouy[2] + msg.detected_objects.append(green_bouy) + + next_green_bouy = DetectedObject() + next_green_bouy.x = self.object_data.next_green_bouy[0] + next_green_bouy.y = self.object_data.next_green_bouy[1] + next_green_bouy.type = self.object_data.next_green_bouy[2] + msg.detected_objects.append(next_green_bouy) + + north_marker = DetectedObject() + north_marker.x = self.object_data.current_north_marker[0] + north_marker.y = self.object_data.current_north_marker[1] + north_marker.type = self.object_data.current_north_marker[2] + msg.detected_objects.append(north_marker) + + south_marker = DetectedObject() + south_marker.x = self.object_data.current_south_marker[0] + south_marker.y = self.object_data.current_south_marker[1] + south_marker.type = self.object_data.current_south_marker[2] + msg.detected_objects.append(south_marker) + + east_marker = DetectedObject() + east_marker.x = self.object_data.current_east_marker[0] + east_marker.y = self.object_data.current_east_marker[1] + east_marker.type = self.object_data.current_east_marker[2] + msg.detected_objects.append(east_marker) + + west_marker = DetectedObject() + west_marker.x = self.object_data.current_west_marker[0] + west_marker.y = self.object_data.current_west_marker[1] + west_marker.type = self.object_data.current_west_marker[2] + msg.detected_objects.append(west_marker) + + self.pub.publish(msg) + + def odom_cb(self, msg): + self.object_data.vessel_position = (msg.pose.pose.position.x, + msg.pose.pose.position.y, 'vessel') + + #Update arrays with new inforamtion from topic. + def obj_pos_cb(self, msg): + + self.red_bouy_array = [] + self.green_bouy_array = [] + self.north_marker_array = [] + self.south_marker_array = [] + self.east_marker_array = [] + self.west_marker_array = [] + + for detected_object in len(msg.array): + if detected_object[2] == 'red': + self.red_bouy_array.append(detected_object) + elif detected_object[2] == 'green': + self.green_bouy_array.append(detected_object) + elif detected_object[2] == 'north': + self.north_marker_array.append(detected_object) + elif detected_object[2] == 'south': + self.south_marker_array.append(detected_object) + elif detected_object[2] == 'east': + self.east_marker_array.append(detected_object) + elif detected_object[2] == 'west': + self.west_marker_array.append(detected_object) + else: + rospy.loginfo("Received unsupported object type") + + def find_two_closest_objects_in_array(position, positions_array): + closest_position = None + closest_distance = math.inf + second_closest_position = None + second_closest_distance = math.inf + + for pos in positions_array: + distance = UpdateDataNode.distance(position, pos) + if distance < closest_distance: + second_closest_distance = closest_distance + second_closest_position = closest_position + closest_distance = distance + closest_position = pos + elif distance < second_closest_distance: + second_closest_distance = distance + second_closest_position = pos + + return closest_position, second_closest_position + + def distance(ObjectOnePosition, ObjectTwoPosition): + x1, y1 = ObjectOnePosition + x2, y2 = ObjectTwoPosition + distanceX = x1 - x2 + distanceY = y1 - y2 + hypDistance = math.sqrt(distanceX**2 + distanceY**2) + return hypDistance + + +if __name__ == '__main__': + try: + rospy.init_node("update_Njord_data") + UpdateDataNode() + rospy.spin() + except rospy.ROSInterruptException: + pass \ No newline at end of file From 909999dc2cc5007cb28ff57a1c1cf418624945a4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Sun, 13 Aug 2023 15:57:57 +0200 Subject: [PATCH 092/132] Add north-east displacement calculation in lqr interface --- .../finite_state_machine/scripts/lqr_interface.py | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/mission/finite_state_machine/scripts/lqr_interface.py b/mission/finite_state_machine/scripts/lqr_interface.py index 2480d286..19d08596 100644 --- a/mission/finite_state_machine/scripts/lqr_interface.py +++ b/mission/finite_state_machine/scripts/lqr_interface.py @@ -4,6 +4,8 @@ from std_msgs.msg import Bool, Empty from geometry_msgs.msg import Point +import numpy as np + class LQRInterface: @@ -37,6 +39,17 @@ def set_path_dependent_heading(self, data): def clear_all_waypoints(self): self.clear_waypoints_publisher.publish(Empty()) + def north_east_displacement_in_meters(target_north, target_east, origin_north, origin_east): + earth_radius_wgs84 = 6371 * 1000.0 + + meter_per_degree_lat = earth_radius_wgs84 * np.pi / 180.0 + meter_per_degree_lon = meter_per_degree_lat * np.cos(origin_north * np.pi / 180.0) + + displacement_north = (target_north - origin_north) * meter_per_degree_lat + displacement_east = (target_east - origin_east) * meter_per_degree_lon + + return displacement_north, displacement_east + if __name__ == "__main__": From 3bcfdc5299104ccb74834f864801d6e39b4afe15 Mon Sep 17 00:00:00 2001 From: github-actions Date: Sun, 13 Aug 2023 13:58:20 +0000 Subject: [PATCH 093/132] Automated autoyapf fixes --- mission/finite_state_machine/scripts/lqr_interface.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/mission/finite_state_machine/scripts/lqr_interface.py b/mission/finite_state_machine/scripts/lqr_interface.py index 19d08596..060925f0 100644 --- a/mission/finite_state_machine/scripts/lqr_interface.py +++ b/mission/finite_state_machine/scripts/lqr_interface.py @@ -39,13 +39,16 @@ def set_path_dependent_heading(self, data): def clear_all_waypoints(self): self.clear_waypoints_publisher.publish(Empty()) - def north_east_displacement_in_meters(target_north, target_east, origin_north, origin_east): + def north_east_displacement_in_meters(target_north, target_east, + origin_north, origin_east): earth_radius_wgs84 = 6371 * 1000.0 meter_per_degree_lat = earth_radius_wgs84 * np.pi / 180.0 - meter_per_degree_lon = meter_per_degree_lat * np.cos(origin_north * np.pi / 180.0) + meter_per_degree_lon = meter_per_degree_lat * np.cos( + origin_north * np.pi / 180.0) - displacement_north = (target_north - origin_north) * meter_per_degree_lat + displacement_north = (target_north - + origin_north) * meter_per_degree_lat displacement_east = (target_east - origin_east) * meter_per_degree_lon return displacement_north, displacement_east From dc7787eabe21f2cbc23e96c5272644d87d494938 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Sun, 13 Aug 2023 15:59:44 +0200 Subject: [PATCH 094/132] Remove box test from launch --- asv_setup/launch/freya.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/asv_setup/launch/freya.launch b/asv_setup/launch/freya.launch index c9c88d9e..0f20b018 100644 --- a/asv_setup/launch/freya.launch +++ b/asv_setup/launch/freya.launch @@ -37,6 +37,6 @@ - + \ No newline at end of file From 81cdf6a65fc7a691e5c052be06872b0caa5c13f8 Mon Sep 17 00:00:00 2001 From: Sigurdvb Date: Sun, 13 Aug 2023 16:13:18 +0200 Subject: [PATCH 095/132] task manager updated --- mission/task_manager/cfg/task_manager.cfg | 2 ++ mission/task_manager/task_manager_defines/defines.py | 1 + 2 files changed, 3 insertions(+) diff --git a/mission/task_manager/cfg/task_manager.cfg b/mission/task_manager/cfg/task_manager.cfg index fefaac22..6cd81b1b 100644 --- a/mission/task_manager/cfg/task_manager.cfg +++ b/mission/task_manager/cfg/task_manager.cfg @@ -14,6 +14,8 @@ drop_down_menu = gen.enum([ "Joystick"), gen.const(defines.Tasks.collision_avoidance.name, int_t, defines.Tasks.collision_avoidance.id, "collision_avoidance") + gen.const(defines.Tasks.obj_nav_and_man.name, int_t, + defines.Tasks.obj_nav_and_man.id, "obj_nav_and_man") ], "Njord_tasks") # Name Type Level Description diff --git a/mission/task_manager/task_manager_defines/defines.py b/mission/task_manager/task_manager_defines/defines.py index fd393e7f..549c1fe2 100644 --- a/mission/task_manager/task_manager_defines/defines.py +++ b/mission/task_manager/task_manager_defines/defines.py @@ -14,3 +14,4 @@ class Task: class Tasks: joystick = Task(id=0, name="joystick") collision_avoidance = Task(id=1, name="collision_avoidance") + obj_nav_and_man = Task(id=2, name="obj_nav_and_man") From a1407c14e87e25a0c4c5d6e5a9209f4a724fbff0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Sun, 13 Aug 2023 20:34:09 +0200 Subject: [PATCH 096/132] Change allocator to take in single wrench topic --- asv_setup/config/topics.yaml | 3 +-- .../scripts/joystick_interface.py | 8 ++---- motion/control_simulator/scripts/simulator.py | 4 +-- motion/lqr_controller/params/config.yaml | 2 +- .../lqr_controller/scripts/lqr_controller.py | 1 + .../scripts/lqr_controller_node.py | 9 ++----- .../include/vortex_allocator/allocator_ros.h | 15 +++-------- .../thruster_allocator/src/allocator_ros.cpp | 26 +++++-------------- .../src/thruster_interface_ros.cpp | 1 + 9 files changed, 20 insertions(+), 49 deletions(-) diff --git a/asv_setup/config/topics.yaml b/asv_setup/config/topics.yaml index fd110e5a..d0508fb8 100644 --- a/asv_setup/config/topics.yaml +++ b/asv_setup/config/topics.yaml @@ -6,8 +6,7 @@ asv: output: "/thrust/thruster_forces" # Actuator forces thruster_manager: - torque: "/thrust/torque_input" - force: "/thrust/force_input" + wrench: "/thrust/wrench_input" output: "/thrust/thruster_forces" # Actuator forces guidance_interface: diff --git a/mission/joystick_interface/scripts/joystick_interface.py b/mission/joystick_interface/scripts/joystick_interface.py index cce4a384..2558dca7 100755 --- a/mission/joystick_interface/scripts/joystick_interface.py +++ b/mission/joystick_interface/scripts/joystick_interface.py @@ -61,12 +61,9 @@ def __init__(self): self.joystick_cb, queue_size=1) - self.force_pub = rospy.Publisher("/thrust/force_input", + self.wrench_pub = rospy.Publisher("/thrust/wrench_input", Wrench, queue_size=1) - self.torque_pub = rospy.Publisher("/thrust/torque_input", - Wrench, - queue_size=1) self.software_killswitch_signal_publisher = rospy.Publisher( "/softWareKillSwtich", Bool, queue_size=10) @@ -90,8 +87,7 @@ def create_2d_wrench_message(self, x, y, yaw): return wrench_msg def publish_wrench_message(self, wrench): - self.force_pub.publish(wrench) - self.torque_pub.publish(wrench) + self.wrench_pub.publish(wrench) def transition_to_xbox_mode(self): # We want to turn off controller when moving to xbox mode diff --git a/motion/control_simulator/scripts/simulator.py b/motion/control_simulator/scripts/simulator.py index 1a36044f..cac2f5c8 100755 --- a/motion/control_simulator/scripts/simulator.py +++ b/motion/control_simulator/scripts/simulator.py @@ -27,7 +27,7 @@ def __init__(self, vessel): rospy.init_node('vessel_simulator') - rospy.Subscriber("/thrust/force_input", Wrench, self.wrench_callback) + rospy.Subscriber("/thrust/wrench_input", Wrench, self.wrench_callback) rospy.Subscriber("/controller/lqr/setpoints", Float64MultiArray, self.setpoint_callback) rospy.Subscriber("/guidance/lqr/add_waypoint", Point, @@ -111,7 +111,7 @@ def wrench_callback(self, data): def update(self, frame): self.update_time_and_motion_state() random_external_noise = np.append(self.brownian_motion_state, 0.0) - self.vessel.step(DT, self.u + random_external_noise) + self.vessel.step(DT, self.u) self.update_and_draw_arrow() self.update_path_line() self.update_and_plot_signals(frame) diff --git a/motion/lqr_controller/params/config.yaml b/motion/lqr_controller/params/config.yaml index 6b936e16..a933c3e4 100644 --- a/motion/lqr_controller/params/config.yaml +++ b/motion/lqr_controller/params/config.yaml @@ -5,5 +5,5 @@ lqr_controller: x: 5.0 y: 20.0 psi: 15.0 - Q: [10.0, 10.0, 1.0, 0.001, 0.001, 0.001, 1.0, 1.0] # State costs for [x, y, psi, u, v, r, integral_x, integral,y] + Q: [20.0, 20.0, 10, 0.001, 0.001, 0.001, 1.0, 1.0] # State costs for [x, y, psi, u, v, r, integral_x, integral,y] R: [0.01, 0.01, 0.01] # Control cost weight diff --git a/motion/lqr_controller/scripts/lqr_controller.py b/motion/lqr_controller/scripts/lqr_controller.py index e8c08b38..fe02b7aa 100644 --- a/motion/lqr_controller/scripts/lqr_controller.py +++ b/motion/lqr_controller/scripts/lqr_controller.py @@ -54,6 +54,7 @@ def control(self, state, dt): np.sign( self.integral_states)): # Integral reset on sign change self.integral_states = np.array([0.0, 0.0]) + return np.ravel(tau_body) diff --git a/motion/lqr_controller/scripts/lqr_controller_node.py b/motion/lqr_controller/scripts/lqr_controller_node.py index 5cb4fb7e..76581f49 100755 --- a/motion/lqr_controller/scripts/lqr_controller_node.py +++ b/motion/lqr_controller/scripts/lqr_controller_node.py @@ -24,7 +24,7 @@ def __init__(self): damping_psi = rospy.get_param("lqr_controller/damping/psi", 15.0) Q = rospy.get_param("lqr_controller/Q", - [10.0, 10.0, 1.0, 0.001, 0.001, 0.001, 1.0, 1.0]) + [10.0, 10.0, 1.5, 0.001, 0.001, 0.001, 1.0, 1.0]) R = rospy.get_param("lqr_controller/R", [0.01, 0.01, 0.01]) M = np.diag([mass, mass, inertia]) @@ -45,7 +45,7 @@ def __init__(self): rospy.Subscriber("/controller/lqr/setpoints", Float64MultiArray, self.setpoint_callback) - self.tau_pub = rospy.Publisher("/thrust/force_input", + self.tau_pub = rospy.Publisher("/thrust/wrench_input", Wrench, queue_size=10) @@ -85,14 +85,10 @@ def odometry_callback(self, msg): # Convert quaternion to Euler angles (roll, pitch, yaw) = euler_from_quaternion(orientation_list) - # Extract the linear velocities vx = msg.twist.twist.linear.x vy = msg.twist.twist.linear.y - - # Extract the angular velocity (yaw rate) vyaw = msg.twist.twist.angular.z - # Combine all data into numpy array state = np.array([x, y, yaw, vx, vy, vyaw]) current_time = rospy.get_time() @@ -109,7 +105,6 @@ def odometry_callback(self, msg): wrench.torque.y = 0.0 wrench.torque.z = tau[2] - # You can then publish this Wrench message self.tau_pub.publish(wrench) diff --git a/motion/thruster_allocator/include/vortex_allocator/allocator_ros.h b/motion/thruster_allocator/include/vortex_allocator/allocator_ros.h index add857c2..46a30b6e 100644 --- a/motion/thruster_allocator/include/vortex_allocator/allocator_ros.h +++ b/motion/thruster_allocator/include/vortex_allocator/allocator_ros.h @@ -16,18 +16,10 @@ class Allocator { /** * @brief Callback function for getting force wrench * - * @param msg Wrench message containing linear forces in BODY + * @param msg Wrench message containing linear forces in BODY and torque about the vertical axis * frame */ - void forceWrenchCallback(const geometry_msgs::Wrench &msg); - - /** - * @brief Callback function for getting torque wrench - * - * @param msg Wrench message containing angular forces in BODY - * frame - */ - void torqueWrenchCallback(const geometry_msgs::Wrench &msg); + void wrenchCallback(const geometry_msgs::Wrench &msg); /** * @brief Function for periodically converting force & torque wrench in body @@ -38,8 +30,7 @@ class Allocator { private: ros::NodeHandle m_nh; - ros::Subscriber m_sub_torque; - ros::Subscriber m_sub_force; + ros::Subscriber m_sub_wrench; ros::Publisher m_pub; int m_num_degrees_of_freedom; diff --git a/motion/thruster_allocator/src/allocator_ros.cpp b/motion/thruster_allocator/src/allocator_ros.cpp index 78ff4b90..e7eb7a18 100644 --- a/motion/thruster_allocator/src/allocator_ros.cpp +++ b/motion/thruster_allocator/src/allocator_ros.cpp @@ -11,18 +11,15 @@ Allocator::Allocator(ros::NodeHandle nh) : m_nh(nh), m_min_thrust(-std::numeric_limits::infinity()), m_max_thrust(std::numeric_limits::infinity()) { - std::string torque_topic; + std::string wrench_topic; std::string force_topic; std::string pub_topic; - m_nh.getParam("/asv/thruster_manager/torque", torque_topic); - m_nh.getParam("/asv/thruster_manager/force", force_topic); + m_nh.getParam("/asv/thruster_manager/wrench", wrench_topic); m_nh.getParam("/asv/thruster_manager/output", pub_topic); - m_sub_torque = - m_nh.subscribe(torque_topic, 1, &Allocator::torqueWrenchCallback, this); - m_sub_force = - m_nh.subscribe(force_topic, 1, &Allocator::forceWrenchCallback, this); + m_sub_wrench = + m_nh.subscribe(wrench_topic, 1, &Allocator::wrenchCallback, this); m_pub = m_nh.advertise(pub_topic, 1); @@ -87,27 +84,18 @@ void Allocator::spinOnce() { m_pub.publish(msg_out); } -void Allocator::forceWrenchCallback(const geometry_msgs::Wrench &msg_in) { +void Allocator::wrenchCallback(const geometry_msgs::Wrench &msg_in) { const Eigen::VectorXd body_frame_forces = wrenchMsgToEigen(msg_in); if (!healthyWrench(body_frame_forces)) { - ROS_ERROR("ASV forces vector invalid, ignoring."); + ROS_ERROR("ASV wrench vector invalid, ignoring."); return; } body_frame_force_x = msg_in.force.x; body_frame_force_y = msg_in.force.y; -} - -void Allocator::torqueWrenchCallback(const geometry_msgs::Wrench &msg_in) { - const Eigen::VectorXd body_frame_forces = wrenchMsgToEigen(msg_in); - - if (!healthyWrench(body_frame_forces)) { - ROS_ERROR("ASV torque vector invalid, ignoring."); - return; - } - body_frame_torque = msg_in.torque.z; + } Eigen::VectorXd diff --git a/motion/thruster_interface/src/thruster_interface_ros.cpp b/motion/thruster_interface/src/thruster_interface_ros.cpp index 58cc26de..2b2878ea 100644 --- a/motion/thruster_interface/src/thruster_interface_ros.cpp +++ b/motion/thruster_interface/src/thruster_interface_ros.cpp @@ -25,6 +25,7 @@ void ThrusterInterfaceROS::thrustCallback( vortex_msgs::Pwm pwm_msg; // TODO: Get mapping and offsets from rosparam + // Give thrust to thruster 0: publish on pin = thruster_to_pin_map[0] std::vector thruster_to_pin_map = {1, 3, 2, 0}; std::vector thruster_direction_map = {1, 1, 1, -1}; std::vector pwm_offsets = {100, 100, 100, 100}; From 6887ba7b45568eacb8dda66ae6d7c77baa60b2d5 Mon Sep 17 00:00:00 2001 From: github-actions Date: Sun, 13 Aug 2023 18:34:36 +0000 Subject: [PATCH 097/132] Automated autoyapf fixes --- mission/joystick_interface/scripts/joystick_interface.py | 4 ++-- motion/lqr_controller/scripts/lqr_controller.py | 1 - 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/mission/joystick_interface/scripts/joystick_interface.py b/mission/joystick_interface/scripts/joystick_interface.py index 2558dca7..d2364327 100755 --- a/mission/joystick_interface/scripts/joystick_interface.py +++ b/mission/joystick_interface/scripts/joystick_interface.py @@ -62,8 +62,8 @@ def __init__(self): queue_size=1) self.wrench_pub = rospy.Publisher("/thrust/wrench_input", - Wrench, - queue_size=1) + Wrench, + queue_size=1) self.software_killswitch_signal_publisher = rospy.Publisher( "/softWareKillSwtich", Bool, queue_size=10) diff --git a/motion/lqr_controller/scripts/lqr_controller.py b/motion/lqr_controller/scripts/lqr_controller.py index fe02b7aa..e8c08b38 100644 --- a/motion/lqr_controller/scripts/lqr_controller.py +++ b/motion/lqr_controller/scripts/lqr_controller.py @@ -54,7 +54,6 @@ def control(self, state, dt): np.sign( self.integral_states)): # Integral reset on sign change self.integral_states = np.array([0.0, 0.0]) - return np.ravel(tau_body) From 0590861fd49652340d3b1e03d9f8c45ad946dcc1 Mon Sep 17 00:00:00 2001 From: Clang Robot Date: Sun, 13 Aug 2023 18:34:38 +0000 Subject: [PATCH 098/132] Committing clang-format changes --- .../include/vortex_allocator/allocator_ros.h | 4 ++-- motion/thruster_allocator/src/allocator_ros.cpp | 1 - 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/motion/thruster_allocator/include/vortex_allocator/allocator_ros.h b/motion/thruster_allocator/include/vortex_allocator/allocator_ros.h index 46a30b6e..7ac82c52 100644 --- a/motion/thruster_allocator/include/vortex_allocator/allocator_ros.h +++ b/motion/thruster_allocator/include/vortex_allocator/allocator_ros.h @@ -16,8 +16,8 @@ class Allocator { /** * @brief Callback function for getting force wrench * - * @param msg Wrench message containing linear forces in BODY and torque about the vertical axis - * frame + * @param msg Wrench message containing linear forces in BODY and torque about + * the vertical axis frame */ void wrenchCallback(const geometry_msgs::Wrench &msg); diff --git a/motion/thruster_allocator/src/allocator_ros.cpp b/motion/thruster_allocator/src/allocator_ros.cpp index e7eb7a18..611c72b1 100644 --- a/motion/thruster_allocator/src/allocator_ros.cpp +++ b/motion/thruster_allocator/src/allocator_ros.cpp @@ -95,7 +95,6 @@ void Allocator::wrenchCallback(const geometry_msgs::Wrench &msg_in) { body_frame_force_x = msg_in.force.x; body_frame_force_y = msg_in.force.y; body_frame_torque = msg_in.torque.z; - } Eigen::VectorXd From c9e85f8dda69fe27d55c688b5802d674780b8c5c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Sun, 13 Aug 2023 22:53:32 +0200 Subject: [PATCH 099/132] Add target vessel with position and yaw MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- motion/control_simulator/scripts/simulator.py | 52 +++++++++++++++++++ 1 file changed, 52 insertions(+) diff --git a/motion/control_simulator/scripts/simulator.py b/motion/control_simulator/scripts/simulator.py index cac2f5c8..f27ef3d1 100755 --- a/motion/control_simulator/scripts/simulator.py +++ b/motion/control_simulator/scripts/simulator.py @@ -20,6 +20,40 @@ def ssa(angle): return (angle + np.pi) % (2 * np.pi) - np.pi +class TargetVessel: + def __init__(self, start, end, speed): + self.start = np.array(start, dtype=np.float64) + self.end = np.array(end, dtype=np.float64) + self.speed = speed + self.position = np.array(start, dtype=np.float64) + self.direction = self.end - self.start + self.direction /= np.linalg.norm(self.direction) + + self.target_pub = rospy.Publisher('/pdaf/target', Point, queue_size=10) + self.publish_target_position() + + def publish_target_position(self): + # Construct a Point message + target_point = Point() + + # Assuming the target vessel's position is stored in self.target_vessel.position + target_point.x = self.position[0] # North position + target_point.y = self.position[1] # East position + + # Assuming yaw is in radians and stored as self.target_vessel.yaw + target_point.z = np.arctan2(self.direction[1], self.direction[0]) # Yaw + + # Publish the point + self.target_pub.publish(target_point) + + + def step(self, dt): + movement = self.speed * dt * self.direction + self.position += movement + + if np.linalg.norm(self.end - self.position) < self.speed * dt: + self.direction *= -1 + self.end, self.start = self.start, self.end class VesselVisualizer: @@ -42,6 +76,13 @@ def __init__(self, vessel): self.ax_vx = self.axes[2, 0] self.ax_vy = self.axes[2, 1] + self.target_vessel = TargetVessel(np.array([-4, -4]), np.array([4, 4]), 0.5) + dx = self.target_vessel.direction[0] * 1.0 + dy = self.target_vessel.direction[1] * 1.0 + self.target_arrow = plt.Arrow(self.target_vessel.position[0], self.target_vessel.position[1], dx, dy, width=0.5, color="green") + + self.ax_vessel.add_patch(self.target_arrow) + x, y, psi, vx, vy, vpsi = self.vessel.state self.external_control_signal = np.zeros(3) self.u = np.zeros(3) @@ -112,6 +153,9 @@ def update(self, frame): self.update_time_and_motion_state() random_external_noise = np.append(self.brownian_motion_state, 0.0) self.vessel.step(DT, self.u) + self.target_vessel.step(DT) + self.target_vessel.publish_target_position() + self.update_and_draw_target() self.update_and_draw_arrow() self.update_path_line() self.update_and_plot_signals(frame) @@ -131,6 +175,14 @@ def update(self, frame): # Publish the message self.odom_pub.publish(odom) + def update_and_draw_target(self): + self.target_arrow.remove() + x, y = self.target_vessel.position + dx = self.target_vessel.direction[0] * 1.0 + dy = self.target_vessel.direction[1] * 1.0 + self.target_arrow = plt.Arrow(self.target_vessel.position[0], self.target_vessel.position[1], dx, dy, width=0.5, color="green") + self.ax_vessel.add_patch(self.target_arrow) + def update_time_and_motion_state(self): self.current_time += DT self.brownian_motion_state += np.sqrt(DT) * np.random.normal(scale=1.0, From e7bedb586107d2ccf79e434b64ba8a3b707aed6f Mon Sep 17 00:00:00 2001 From: github-actions Date: Sun, 13 Aug 2023 20:54:03 +0000 Subject: [PATCH 100/132] Automated autoyapf fixes --- motion/control_simulator/scripts/simulator.py | 28 ++++++++++++++----- 1 file changed, 21 insertions(+), 7 deletions(-) diff --git a/motion/control_simulator/scripts/simulator.py b/motion/control_simulator/scripts/simulator.py index f27ef3d1..86b3175d 100755 --- a/motion/control_simulator/scripts/simulator.py +++ b/motion/control_simulator/scripts/simulator.py @@ -20,7 +20,9 @@ def ssa(angle): return (angle + np.pi) % (2 * np.pi) - np.pi + class TargetVessel: + def __init__(self, start, end, speed): self.start = np.array(start, dtype=np.float64) self.end = np.array(end, dtype=np.float64) @@ -39,14 +41,14 @@ def publish_target_position(self): # Assuming the target vessel's position is stored in self.target_vessel.position target_point.x = self.position[0] # North position target_point.y = self.position[1] # East position - + # Assuming yaw is in radians and stored as self.target_vessel.yaw - target_point.z = np.arctan2(self.direction[1], self.direction[0]) # Yaw - + target_point.z = np.arctan2(self.direction[1], + self.direction[0]) # Yaw + # Publish the point self.target_pub.publish(target_point) - def step(self, dt): movement = self.speed * dt * self.direction self.position += movement @@ -55,6 +57,7 @@ def step(self, dt): self.direction *= -1 self.end, self.start = self.start, self.end + class VesselVisualizer: def __init__(self, vessel): @@ -76,10 +79,16 @@ def __init__(self, vessel): self.ax_vx = self.axes[2, 0] self.ax_vy = self.axes[2, 1] - self.target_vessel = TargetVessel(np.array([-4, -4]), np.array([4, 4]), 0.5) + self.target_vessel = TargetVessel(np.array([-4, -4]), np.array([4, 4]), + 0.5) dx = self.target_vessel.direction[0] * 1.0 dy = self.target_vessel.direction[1] * 1.0 - self.target_arrow = plt.Arrow(self.target_vessel.position[0], self.target_vessel.position[1], dx, dy, width=0.5, color="green") + self.target_arrow = plt.Arrow(self.target_vessel.position[0], + self.target_vessel.position[1], + dx, + dy, + width=0.5, + color="green") self.ax_vessel.add_patch(self.target_arrow) @@ -180,7 +189,12 @@ def update_and_draw_target(self): x, y = self.target_vessel.position dx = self.target_vessel.direction[0] * 1.0 dy = self.target_vessel.direction[1] * 1.0 - self.target_arrow = plt.Arrow(self.target_vessel.position[0], self.target_vessel.position[1], dx, dy, width=0.5, color="green") + self.target_arrow = plt.Arrow(self.target_vessel.position[0], + self.target_vessel.position[1], + dx, + dy, + width=0.5, + color="green") self.ax_vessel.add_patch(self.target_arrow) def update_time_and_motion_state(self): From 8199149bba1395e86966a6386e166b6ca0b32c97 Mon Sep 17 00:00:00 2001 From: Theo Martin Date: Sun, 13 Aug 2023 23:07:53 +0200 Subject: [PATCH 101/132] Start default auto mode and clear softfs, del rock --- .../scripts/failsafe_interface_node.py | 5 ++ .../scripts/gpio_functions.py | 65 ------------------- 2 files changed, 5 insertions(+), 65 deletions(-) delete mode 100644 mission/failsafe_interface/scripts/gpio_functions.py diff --git a/mission/failsafe_interface/scripts/failsafe_interface_node.py b/mission/failsafe_interface/scripts/failsafe_interface_node.py index 8bfeedbe..0fc2f76d 100644 --- a/mission/failsafe_interface/scripts/failsafe_interface_node.py +++ b/mission/failsafe_interface/scripts/failsafe_interface_node.py @@ -23,8 +23,11 @@ def __init__(self, ): # Initialize the pin GPIO.setup(self.gpioSoftWareKillSwitch, GPIO.OUT) + GPIO.output(self.gpioSoftWareKillSwitch, 1) + self.gpioSoftWareOperationMode = 18 + #Repeat process for the other pins #self.gpioSoftWareOperationMode = rospy.get_param( # "/failsafe/gpio/gpioSoftWareOperationMode" @@ -32,6 +35,8 @@ def __init__(self, ): GPIO.setup(self.gpioSoftWareOperationMode, GPIO.OUT) + GPIO.output(self.gpioHardWareOperationMode, 0) + #Repeat process for the other pins self.gpioFailSafeStatus = 15 diff --git a/mission/failsafe_interface/scripts/gpio_functions.py b/mission/failsafe_interface/scripts/gpio_functions.py deleted file mode 100644 index b40e463e..00000000 --- a/mission/failsafe_interface/scripts/gpio_functions.py +++ /dev/null @@ -1,65 +0,0 @@ -#!/usr/bin/env python -# Check this link to understand what's going on https://wiki.radxa.com/Rockpi4/hardware/gpio -# In short, to work with the GPIO pins we need to work with files. -# We go to /sys/class/gpio/ and we get a folder (gpio133 for example) for each initalized pin - -import os -import time - -import subprocess - -#We store the password in a file locally on the rock pi -passwordFile = open("/home/rock/Documents/password.txt", "r") - -sudoPassword = passwordFile.readline().strip() - -passwordFile.close() - - -def init_pin(pin): - try: - command = f'sudo sh -c "echo {pin} > /sys/class/gpio/export"' - p = os.system("echo %s|sudo -S %s" % (sudoPassword, command)) - except: - pass - - -def set_pin_as_output(pin): - try: - # With the /direction file we set either to input or output, in this case output with out - command = f'sudo sh -c "echo out > /sys/class/gpio/gpio{pin}/direction"' - p = os.system("echo %s|sudo -S %s" % (sudoPassword, command)) - except: - pass - - -def pin_write(pin, value): - try: - # With the /value file we set the output - sudoPassword = "" - command = f'sudo sh -c "echo {value} > /sys/class/gpio/gpio{pin}/value"' - p = os.system("echo %s|sudo -S %s" % (sudoPassword, command)) - except: - pass - - -def set_pin_as_input(pin): - try: - # With the /direction file we set either to input or input, in this case output with in - command = f'sudo sh -c "echo in > /sys/class/gpio/gpio{pin}/direction"' - p = os.system("echo %s|sudo -S %s" % (sudoPassword, command)) - except: - pass - - -def pin_read(pin): - try: - # With the /value file we read the input - command = f'sudo sh -c "cat /sys/class/gpio/gpio{pin}/value"' - output_str = os.popen("echo %s|sudo -S %s" % - (sudoPassword, command)).read() - output_int = int(output_str) - return output_int - - except: - return -1 From 88bed3422a8e7aa0d349393bf28907ab50bee567 Mon Sep 17 00:00:00 2001 From: github-actions Date: Sun, 13 Aug 2023 21:08:21 +0000 Subject: [PATCH 102/132] Automated autoyapf fixes --- mission/failsafe_interface/scripts/failsafe_interface_node.py | 1 - 1 file changed, 1 deletion(-) diff --git a/mission/failsafe_interface/scripts/failsafe_interface_node.py b/mission/failsafe_interface/scripts/failsafe_interface_node.py index 0fc2f76d..e9f6021c 100644 --- a/mission/failsafe_interface/scripts/failsafe_interface_node.py +++ b/mission/failsafe_interface/scripts/failsafe_interface_node.py @@ -27,7 +27,6 @@ def __init__(self, ): self.gpioSoftWareOperationMode = 18 - #Repeat process for the other pins #self.gpioSoftWareOperationMode = rospy.get_param( # "/failsafe/gpio/gpioSoftWareOperationMode" From 6debac91c8b68b83bd842983666bdc5b84cdb742 Mon Sep 17 00:00:00 2001 From: Sigurdvb Date: Mon, 14 Aug 2023 13:31:28 +0200 Subject: [PATCH 103/132] Majour overhaul because njord tasks changed. --- mission/BouysTasksNjord/Interface.md | 13 - mission/BouysTasksNjord/bouys_tasks.py | 354 ------------------ mission/BouysTasksNjord/bouys_tasks_FSM.py | 82 ---- .../BouysTasksNjord/update_objects_data.py | 211 ----------- .../CMakeLists.txt | 0 .../new_sea_markers.py} | 12 +- .../package.xml | 4 +- .../sea_marker_task_fsm.py | 49 +++ .../sea_marker_task_states.py | 71 ++++ .../setup.py | 4 +- mission/task_manager/cfg/task_manager.cfg | 8 +- mission/task_manager/package.xml | 2 +- mission/task_manager/setup.py | 2 +- .../task_manager_defines/defines.py | 4 +- 14 files changed, 142 insertions(+), 674 deletions(-) delete mode 100644 mission/BouysTasksNjord/Interface.md delete mode 100644 mission/BouysTasksNjord/bouys_tasks.py delete mode 100644 mission/BouysTasksNjord/bouys_tasks_FSM.py delete mode 100644 mission/BouysTasksNjord/update_objects_data.py rename mission/{BouysTasksNjord => sea_marker_task_njord}/CMakeLists.txt (100%) rename mission/{BouysTasksNjord/closest_bouy_node.py => sea_marker_task_njord/new_sea_markers.py} (94%) rename mission/{BouysTasksNjord => sea_marker_task_njord}/package.xml (95%) create mode 100644 mission/sea_marker_task_njord/sea_marker_task_fsm.py create mode 100644 mission/sea_marker_task_njord/sea_marker_task_states.py rename mission/{BouysTasksNjord => sea_marker_task_njord}/setup.py (62%) diff --git a/mission/BouysTasksNjord/Interface.md b/mission/BouysTasksNjord/Interface.md deleted file mode 100644 index f7453870..00000000 --- a/mission/BouysTasksNjord/Interface.md +++ /dev/null @@ -1,13 +0,0 @@ -Perceptions node; - -Object containing all arrays with updated objects(bouys and markers) info on topic "bouys_and_markers" - -Arrays contain all bouys we know/have seen the past 3 seconds. - -Whenever we append and update elements in the array, update timestamp corresponding to objects in array. Objects in array are deleted after 3 seconds. - -If we detect a new bouy in an array we get from point cloud, loop through our array, and update alle the position estimates with the new one. We update a value in the array when a estimate from point cloud array is less than x distance from a object we already have in our array. If there is a new object from point cloud array that is not close (more than x distace away) to the objects we have in our array, apped it to our array. - -(Obs, do not want timestamps in the message published on topic) - -Message type is now defined in vortex_msgs as DetectedObject.msg and DetectedObjectArray! diff --git a/mission/BouysTasksNjord/bouys_tasks.py b/mission/BouysTasksNjord/bouys_tasks.py deleted file mode 100644 index cb3330ef..00000000 --- a/mission/BouysTasksNjord/bouys_tasks.py +++ /dev/null @@ -1,354 +0,0 @@ -#!/usr/bin/python3 -#Written by Sigurd von Brandis, Student - -import rospy -import smach -import math -from vortex_msgs.srv import Waypoint, WaypointRequest, WaypointResponse -from nav_msgs.msg import Odometry -from std_msgs.msg import Float64 -from tf.transformations import euler_from_quaternion -from vortex_msgs.msg import DetectedObjectArray, DetectedObject -from update_objects_data import DetectedObjectsData, UpdateDataNode -from ../finite_state_machine/scripts/lqr_interface.py import LQRInterface - - - - -class Idle(smach.State): - # TODO: Idle must stop the vessel before entering search state. - def __init__(self): - smach.State.__init__( - self, - outcomes=['detectedObjectsNavigation', 'search', 'stop'], - input_keys=['closest_object', 'object_search_attempts']) - - def execute(self, userdata): - rospy.loginfo('Executing Idle') - - if userdata.closest_object[2] == '': - if userdata.object_search_attempts >= 5: - return 'stop' - else: - #while not standing still: - # try to stand still - return 'search' - else: - userdata.object_search_attempts = 0 - return 'detectedObjectsNavigation' - - -class Search(smach.State): - - def __init__(self): - smach.State.__init__(self, - outcomes=['detectedObjectsNavigation'], - input_keys=['object_search_attempts'], - output_keys=['object_search_attempts']) - - self.task = "Buoy" - self.odom = Odometry() - self.rate = rospy.Rate(10) - - # Publisher to heading controller - self.heading_pub = rospy.Publisher( - "/guidance_interface/desired_heading", Float64, queue_size=1) - - rospy.Subscriber("/odometry/filtered", Odometry, self.odom_cb) - - def odom_cb(self, msg): - self.odom = msg - - # TODO: should be generalized and added to shared package - def within_acceptance_margins(self, setpoint, current): - error = abs(setpoint - current) - if error < 0.1: - return True - return False - - # Turns ASV by specified angle - def yaw_to_angle(self, angle): - # Find heading corresponding to the change in angle - orientation = self.odom.pose.pose.orientation - orientation_list = [ - orientation.x, orientation.y, orientation.z, orientation.w - ] - yaw = euler_from_quaternion(orientation_list)[2] - heading_goal = yaw + angle - - # publishes heading to heading controller, and waits until the new heading is reached - self.heading_pub.publish(heading_goal) - print(f"Searching for {self.task}, angle: ({angle}) ...") - while not self.within_acceptance_margins(heading_goal, yaw): - self.rate.sleep() - orientation = self.odom.pose.pose.orientation - orientation_list = [ - orientation.x, orientation.y, orientation.z, orientation.w - ] - yaw = euler_from_quaternion(orientation_list)[2] - - def execute(self, userdata): - rospy.loginfo('Executing Search') - - #Turns side to side - self.yaw_to_angle(45) - self.yaw_to_angle(-90) - self.yaw_to_angle(45) - - userdata.object_search_attempts += 1 - - return 'detectedObjectsNavigation' - - -class DetectedObjectsNavigation(smach.State): - - def __init__(self): - smach.State.__init__(self, - outcomes=['idle'], - output_keys=['closest_object']) - #self.enabled = rospy.get_param("/tasks/maneuvering_navigation_tasks") - self.data = DetectedObjectsData() - self.closest_object = (math.inf, math.inf, '') - self.second_closest_object = (math.inf, math.inf, '') - self.third_closest_object = (math.inf, math.inf, '') - self.fourth_closest_object = (math.inf, math.inf, '') - - self.DistanceRadius = 3 - self.DirectionWithLeia = True - self.ObjectSearchAttempts = 0 - - self.data_sub = rospy.Subscriber('detected_objects', - DetectedObjectArray, self.data_cb) - self.vessel_pos_sub = rospy.Subscriber('/odometry/filtered', Odometry, - self.odom_cb) - - def execute(self, userdata): - - while self.closest_object != '': # and self.enabled == True: - - self.find_closest_objects() - - #Make new path based on the two closest bouys beeing green and red. - if self.closest_object[2] == 'red' and self.second_closest_object[ - 2] == 'green' or self.closest_object[ - 2] == 'green' and self.second_closest_object[ - 2] == 'red': - midpoint = ( - (self.closest_object[0] + self.second_closest_object[0]) / - 2, - (self.closest_object[1] + self.second_closest_object[1]) / - 2) - LQRInterface.add_point(midpoint) - - #Add new waypoint to path based on third and fouth closest objects beeing green and red, or if we just have a third closest object. - if self.third_closest_object[ - 2] == 'red' and self.fourth_closest_object[ - 2] == 'green' or self.third_closest_object[ - 2] == 'green' and self.fourth_closest_object[ - 2] == 'red': - midpoint2 = ((self.third_closest_object[0] + - self.fourth_closest_object[0]) / 2, - (self.third_closest_object[1] + - self.fourth_closest_object[1]) / 2) - LQRInterface.add_point(midpoint2) - elif self.third_closest_object != '': - next_waypoint = self.NavAroundOneObject( - self.data.vessel_position, self.third_closest_object, - self.DistanceRadius, self.DirectionWithLeia) - LQRInterface.add_point(next_waypoint) - - #Make new path based on having a closest object and perheps also a second closest object (which is not green and red) - elif self.closest_object[2] != '': - next_waypoint = self.NavAroundOneObject( - self.data.vessel_position, self.closest_object, - self.DistanceRadius, self.DirectionWithLeia) - LQRInterface.clear_all_waypoints() - - if self.second_closest_object[ - 2] == 'red' and self.third_closest_object[ - 2] == 'green' or self.second_closest_object[ - 2] == 'green' and self.third_closest_object[ - 2] == 'red': - midpoint = ((self.second_closest_object[0] + - self.third_closest_object[0]) / 2, - (self.second_closest_object[1] + - self.third_closest_object[1]) / 2) - LQRInterface.add_point(midpoint) - elif self.second_closest_object != '': - next_waypoint = self.NavAroundOneObject( - self.data.vessel_position, self.second_closest_object, - self.DistanceRadius, self.DirectionWithLeia) - LQRInterface.add_point(next_waypoint) - - userdata['closest_object'] = self.closest_object - return 'idle' - - def data_cb(self, msg): - #TODO:Much duplication that should be switched out. - detected_objects = msg.detected_objects - - self.data.current_red_bouy = (detected_objects[0].x, - detected_objects[0].y, - detected_objects[0].type) - self.data.next_red_bouy = (detected_objects[1].x, - detected_objects[1].y, - detected_objects[1].type) - self.data.current_green_bouy = (detected_objects[2].x, - detected_objects[2].y, - detected_objects[2].type) - self.data.next_green_bouy = (detected_objects[3].x, - detected_objects[3].y, - detected_objects[3].type) - self.data.current_north_marker = (detected_objects[4].x, - detected_objects[4].y, - detected_objects[4].type) - self.data.current_south_marker = (detected_objects[5].x, - detected_objects[5].y, - detected_objects[5].type) - self.data.current_east_marker = (detected_objects[6].x, - detected_objects[6].y, - detected_objects[6].type) - self.data.current_west_marker = (detected_objects[7].x, - detected_objects[7].y, - detected_objects[7].type) - - def odom_cb(self, msg): - self.data.vessel_position = (msg.pose.pose.position.x, - msg.pose.pose.position.y) - - def find_closest_objects(self): - self.closest_object = (math.inf, math.inf, '') - self.second_closest_object = (math.inf, math.inf, '') - self.third_closest_object = (math.inf, math.inf, '') - self.fourth_closest_object = (math.inf, math.inf, '') - - for name, new_object in vars(self.data).items(): - if name.startswith('current') or (name.endswith('bouy') - or name.endswith('marker')): - #New object - new_obj_pos = (new_object[0], new_object[1]) - dist_to_new_obj = UpdateDataNode.distance( - self.data.vessel_position, new_obj_pos) - #Old closest object - old_closest_obj_pos = (self.closest_object[0], - self.closest_object[1]) - dist_to_old_closest_obj = UpdateDataNode.distance( - self.data.vessel_position, old_closest_obj_pos) - #Old second closest object - old_second_closest_obj_pos = (self.second_closest_object[0], - self.second_closest_object[1]) - dist_to_old_second_closest_obj = UpdateDataNode.distance( - self.data.vessel_position, old_second_closest_obj_pos) - #Old third closest object - old_third_closest_obj_pos = (self.third_closest_object[0], - self.third_closest_object[1]) - dist_to_old_third_closest_obj = UpdateDataNode.distance( - self.data.vessel_position, old_third_closest_obj_pos) - #Old fourth closest object - old_fourth_closest_obj_pos = (self.fourth_closest_object[0], - self.fourth_closest_object[1]) - dist_to_old_fourth_closest_obj = UpdateDataNode.distance( - self.data.vessel_position, old_fourth_closest_obj_pos) - #Update closest objects each iteration using new_object - if dist_to_new_obj < dist_to_old_closest_obj: - self.fourth_closest_object = self.third_closest_object - self.third_closest_object = self.second_closest_object - self.second_closest_object = self.closest_object - self.closest_object = new_object - elif dist_to_new_obj < dist_to_old_second_closest_obj: - self.fourth_closest_object = self.third_closest_object - self.third_closest_object = self.second_closest_object - self.second_closest_object = new_object - elif dist_to_new_obj < dist_to_old_third_closest_obj: - self.fourth_closest_object = self.third_closest_object - self.third_closest_object = new_object - elif dist_to_new_obj < dist_to_old_fourth_closest_obj: - self.fourth_closest_object = new_object - - def NavAroundOneObject(ASVPos, object, radius, directionWithLeia): - """ - object (B) - /| - / | - / | radius - / | - / | - / | - ASV (A)----(C) WP - - """ - objectType = object[2] - xWP = 0 - yWP = 0 - - if directionWithLeia == True: - # Calculate the coordinates of next waypoint. - xAC = ASVPos[0] - object[0] #xB - xA - yAC = ASVPos[1] - object[1] #yB - yA - AC_length = math.sqrt(xAC**2 + yAC**2) - xAC_normalized = xAC / AC_length - yAC_normalized = yAC / AC_length - if objectType == 'red' or objectType == 'west' or objectType == 'south': - # Adjust the sign of the vector AC for a reflex angle - if xAC_normalized > 0: - xAC_normalized *= -1 - if yAC_normalized > 0: - yAC_normalized *= -1 - xWP = object[0] + radius * xAC_normalized - yWP = object[1] + radius * yAC_normalized - else: - # Calculate the coordinates of next waypoint. - xAC = ASVPos[0] - object[0] #xB - xA - yAC = ASVPos[1] - object[1] #yB - yA - AC_length = math.sqrt(xAC**2 + yAC**2) - xAC_normalized = xAC / AC_length - yAC_normalized = yAC / AC_length - if objectType == 'green' or objectType == 'east' or objectType == 'north': - # Adjust the sign of the vector AC for a reflex angle - if xAC_normalized > 0: - xAC_normalized *= -1 - if yAC_normalized > 0: - yAC_normalized *= -1 - xWP = object[0] + radius * xAC_normalized - yWP = object[1] + radius * yAC_normalized - - return (xWP, yWP) - - # #Add single waypoint to current waypoint list - # def send_wp(waypoint_in): - # wp = WaypointRequest() - # wp.waypoint = waypoint_in - # response = WaypointResponse() - # response.success = False - # try: - # rospy.wait_for_service("/navigation/add_waypoint") - # waypoint_client = rospy.ServiceProxy("/navigation/add_waypoint", - # Waypoint) - # response = waypoint_client(wp) - # except rospy.ServiceException as e: - # print("Service call failed: {}".format(e)) - # if response.success: - # rospy.loginfo(f"Waypoint {wp.waypoint} sent successfully!") - # else: - # rospy.logwarn(f"Waypoint {wp.waypoint} could not be set!") - - # #Remove all waypoints, but not the last one, in waypointlist, and add a new waypoint. - # def overwrite_with_new_waypoint(waypoint_in): - # wp = WaypointRequest() - # wp.waypoint = waypoint_in - # response = WaypointResponse() - # response.success = False - # try: - # rospy.wait_for_service( - # "/navigation/overwrite_waypoint_list_with_new_waypoint") - # overwrite_waypoint_client = rospy.ServiceProxy( - # "/navigation/overwrite_waypoint_list_with_new_waypoint", - # Waypoint) - # response = overwrite_waypoint_client(wp) - # except rospy.ServiceException as e: - # print("Service call failed: {}".format(e)) - - # if response.success: - # rospy.loginfo(f"Waypoint {wp.waypoint} sent successfully!") - # else: - # rospy.logwarn(f"Waypoint {wp.waypoint} could not be set!") \ No newline at end of file diff --git a/mission/BouysTasksNjord/bouys_tasks_FSM.py b/mission/BouysTasksNjord/bouys_tasks_FSM.py deleted file mode 100644 index c429d723..00000000 --- a/mission/BouysTasksNjord/bouys_tasks_FSM.py +++ /dev/null @@ -1,82 +0,0 @@ -#!/usr/bin/python3 -#Written by Sigurd von Brandis, Student - -import rospy -import smach -import smach_ros -import math -from bouys_tasks import Idle, Search, DetectedObjectsNavigation - - -class ManeuveringNavigationTasks: - - def __init__(self): - rospy.init_node('Bouys_tasks_fsm') - - def spin(self): - sm = smach.StateMachine(outcomes=['Stop']) - - with sm: - sm.userdata.closest_object = (math.inf, math.inf, '') - sm.userdata.object_search_attempts = 0 - smach.StateMachine.add('Idle', - Idle(), - transitions={ - 'detectedObjectsNavigation': - 'DetectedObjectsNavigation', - 'search': 'Search', - 'stop': 'Stop', - }, - remapping={ - 'closest_object': - 'closest_object', - 'object_search_attempts': - 'object_search_attempts', - }) - - smach.StateMachine.add('Search', - Search(), - transitions={ - 'detectedObjectsNavigation': - 'DetectedObjectsNavigation' - }, - remapping={ - 'object_search_attempts': - 'object_search_attempts', - }) - - smach.StateMachine.add('DetectedObjectsNavigation', - DetectedObjectsNavigation(), - transitions={'idle': 'Idle'}, - remapping={ - 'closest_object': 'closest_object', - }) - - # Start the state machine introspection server - sis = smach_ros.IntrospectionServer('state_machine', sm, '/SM_ROOT') - sis.start() - - while not rospy.is_shutdown(): - # To be updated - # self.enabled = rospy.get_param( - # "/tasks/maneuvering_navigation_tasks") - self.enabled = True #Remove this line when not testing - if not self.enabled: - print("Exiting because this fsm should be inactive.") - break - - ud = smach.UserData() - outcome = sm.execute(ud) - if outcome == 'STOP': - print("State machine stopped") - break - - sis.stop() - - -if __name__ == "__main__": - try: - fsm_node = ManeuveringNavigationTasks() - fsm_node.spin() - except rospy.ROSInterruptException: - pass \ No newline at end of file diff --git a/mission/BouysTasksNjord/update_objects_data.py b/mission/BouysTasksNjord/update_objects_data.py deleted file mode 100644 index df809687..00000000 --- a/mission/BouysTasksNjord/update_objects_data.py +++ /dev/null @@ -1,211 +0,0 @@ -#!/usr/bin/python3 -#Written by Sigurd von Brandis, Student - -import rospy -from std_msgs.msg import String -from nav_msgs.msg import Odometry -import numpy as np -import math -from vortex_msgs.msg import DetectedObjectArray, DetectedObject -from std_msgs.msg import Header - - -class DetectedObjectsData: - #Latitude; x, Longitude; y - def __init__(self): # x, y, type - self.current_red_bouy = (0, 0, 'red') - self.next_red_bouy = (0, 0, 'red') - self.current_green_bouy = (0, 0, 'green') - self.next_green_bouy = (0, 0, 'green') - self.current_north_marker = (0, 0, 'north') - self.current_south_marker = (0, 0, 'south') - self.current_east_marker = (0, 0, 'east') - self.current_west_marker = (0, 0, 'west') - self.vessel_position = (0, 0, 'vessel') - - -class UpdateDataNode: - - def __init__(self): - # Initialize object data to be published - self.object_data = DetectedObjectsData() - - self.red_bouy_array = [] - self.green_bouy_array = [] - self.north_marker_array = [] - self.south_marker_array = [] - self.east_marker_array = [] - self.west_marker_array = [] - - # Initialize subscriber and Service to get all the necessary information - self.Obj_pos_sub = rospy.Subscriber('bouys_and_markers', - DetectedObjectArray, - self.obj_pos_cb) - self.Position_sub = rospy.Subscriber('/odometry/filtered', Odometry, - self.odom_cb) - - # Initialize publisher to data topic - self.pub = rospy.Publisher('detected_objects', - DetectedObjectArray, - queue_size=1) - - def spin(self): - #TODO:Much duplication that should be switched out. - - #Make sure all distances are calculated using same position - VesselPos = self.object_data.vessel_position - #Calculate current and next objects for each type - closest_object, second_closest_object = UpdateDataNode.find_two_closest_objects_in_array( - VesselPos, self.red_bouy_array) - if closest_object != None: - self.object_data.current_red_bouy = closest_object - if second_closest_object != None: - self.object_data.next_red_bouy = second_closest_object - - closest_object, second_closest_object = UpdateDataNode.find_two_closest_objects_in_array( - VesselPos, self.green_bouy_array) - if closest_object != None: - self.object_data.current_green_bouy = closest_object - if second_closest_object != None: - self.object_data.next_green_bouy = second_closest_object - - closest_object, second_closest_object = UpdateDataNode.find_two_closest_objects_in_array( - VesselPos, self.north_marker_array) - if closest_object != None: - self.object_data.current_north_marker = closest_object - - closest_object, second_closest_object = UpdateDataNode.find_two_closest_objects_in_array( - VesselPos, self.south_marker_array) - if closest_object != None: - self.object_data.current_south_marker = closest_object - - closest_object, second_closest_object = UpdateDataNode.find_two_closest_objects_in_array( - VesselPos, self.east_marker_array) - if closest_object != None: - self.object_data.current_east_marker = closest_object - - closest_object, second_closest_object = UpdateDataNode.find_two_closest_objects_in_array( - VesselPos, self.west_marker_array) - if closest_object != None: - self.object_data.current_west_marker = closest_object - - #Make a message to be published - msg = DetectedObjectArray() - msg.header = Header() - msg.header.stamp = rospy.Time.now() - - red_bouy = DetectedObject() - red_bouy.x = self.object_data.current_red_bouy[0] - red_bouy.y = self.object_data.current_red_bouy[1] - red_bouy.type = self.object_data.current_red_bouy[2] - msg.detected_objects.append(red_bouy) - - next_red_bouy = DetectedObject() - next_red_bouy.x = self.object_data.next_red_bouy[0] - next_red_bouy.y = self.object_data.next_red_bouy[1] - next_red_bouy.type = self.object_data.next_red_bouy[2] - msg.detected_objects.append(next_red_bouy) - - green_bouy = DetectedObject() - green_bouy.x = self.object_data.current_green_bouy[0] - green_bouy.y = self.object_data.current_green_bouy[1] - green_bouy.type = self.object_data.current_green_bouy[2] - msg.detected_objects.append(green_bouy) - - next_green_bouy = DetectedObject() - next_green_bouy.x = self.object_data.next_green_bouy[0] - next_green_bouy.y = self.object_data.next_green_bouy[1] - next_green_bouy.type = self.object_data.next_green_bouy[2] - msg.detected_objects.append(next_green_bouy) - - north_marker = DetectedObject() - north_marker.x = self.object_data.current_north_marker[0] - north_marker.y = self.object_data.current_north_marker[1] - north_marker.type = self.object_data.current_north_marker[2] - msg.detected_objects.append(north_marker) - - south_marker = DetectedObject() - south_marker.x = self.object_data.current_south_marker[0] - south_marker.y = self.object_data.current_south_marker[1] - south_marker.type = self.object_data.current_south_marker[2] - msg.detected_objects.append(south_marker) - - east_marker = DetectedObject() - east_marker.x = self.object_data.current_east_marker[0] - east_marker.y = self.object_data.current_east_marker[1] - east_marker.type = self.object_data.current_east_marker[2] - msg.detected_objects.append(east_marker) - - west_marker = DetectedObject() - west_marker.x = self.object_data.current_west_marker[0] - west_marker.y = self.object_data.current_west_marker[1] - west_marker.type = self.object_data.current_west_marker[2] - msg.detected_objects.append(west_marker) - - self.pub.publish(msg) - - def odom_cb(self, msg): - self.object_data.vessel_position = (msg.pose.pose.position.x, - msg.pose.pose.position.y, 'vessel') - - #Update arrays with new inforamtion from topic. - def obj_pos_cb(self, msg): - - self.red_bouy_array = [] - self.green_bouy_array = [] - self.north_marker_array = [] - self.south_marker_array = [] - self.east_marker_array = [] - self.west_marker_array = [] - - for detected_object in len(msg.array): - if detected_object[2] == 'red': - self.red_bouy_array.append(detected_object) - elif detected_object[2] == 'green': - self.green_bouy_array.append(detected_object) - elif detected_object[2] == 'north': - self.north_marker_array.append(detected_object) - elif detected_object[2] == 'south': - self.south_marker_array.append(detected_object) - elif detected_object[2] == 'east': - self.east_marker_array.append(detected_object) - elif detected_object[2] == 'west': - self.west_marker_array.append(detected_object) - else: - rospy.loginfo("Received unsupported object type") - - def find_two_closest_objects_in_array(position, positions_array): - closest_position = None - closest_distance = math.inf - second_closest_position = None - second_closest_distance = math.inf - - for pos in positions_array: - distance = UpdateDataNode.distance(position, pos) - if distance < closest_distance: - second_closest_distance = closest_distance - second_closest_position = closest_position - closest_distance = distance - closest_position = pos - elif distance < second_closest_distance: - second_closest_distance = distance - second_closest_position = pos - - return closest_position, second_closest_position - - def distance(ObjectOnePosition, ObjectTwoPosition): - x1, y1 = ObjectOnePosition - x2, y2 = ObjectTwoPosition - distanceX = x1 - x2 - distanceY = y1 - y2 - hypDistance = math.sqrt(distanceX**2 + distanceY**2) - return hypDistance - - -if __name__ == '__main__': - try: - rospy.init_node("update_Njord_data") - UpdateDataNode() - rospy.spin() - except rospy.ROSInterruptException: - pass \ No newline at end of file diff --git a/mission/BouysTasksNjord/CMakeLists.txt b/mission/sea_marker_task_njord/CMakeLists.txt similarity index 100% rename from mission/BouysTasksNjord/CMakeLists.txt rename to mission/sea_marker_task_njord/CMakeLists.txt diff --git a/mission/BouysTasksNjord/closest_bouy_node.py b/mission/sea_marker_task_njord/new_sea_markers.py similarity index 94% rename from mission/BouysTasksNjord/closest_bouy_node.py rename to mission/sea_marker_task_njord/new_sea_markers.py index b921eed7..22fcca24 100644 --- a/mission/BouysTasksNjord/closest_bouy_node.py +++ b/mission/sea_marker_task_njord/new_sea_markers.py @@ -39,15 +39,15 @@ def __abs__(self): return np.sqrt(self.x**2 + self.y**2) -class UpdateBuoyMarkerNode: +class UpdateSeaMarkersNode: def __init__(self): - rospy.init_node('UpdateBuoyMarkerNode', anonymous=True) + rospy.init_node('UpdateSeaMarkersNode', anonymous=True) self.subscribeTo = rospy.Subscriber('bouys/all_buoys_in_world_frame', DetectedObjectArray, self.new_buoy_marker_callback) - self.pub = rospy.Publisher('bouys_and_markers', + self.pub = rospy.Publisher('sea_markers', DetectedObjectArray, queue_size=10) @@ -80,6 +80,7 @@ def publish_buoys(self): single_message.type = buoy.type_ msg.DetectedObjectArray.append(single_message) + self.pub.publish(msg) def new_buoy_marker_callback(self, msg): @@ -102,14 +103,15 @@ def new_buoy_marker_callback(self, msg): break # This is assuming there are no topic-buoys within # threshold proximity to each other. - # Add new bouys + + # Add new bouy self.buoys += new_buoys self.publish_buoys() if __name__ == "__main__": try: - UpdateBuoyMarkerNode() + UpdateSeaMarkersNode() rospy.spin() except rospy.ROSInterruptException: diff --git a/mission/BouysTasksNjord/package.xml b/mission/sea_marker_task_njord/package.xml similarity index 95% rename from mission/BouysTasksNjord/package.xml rename to mission/sea_marker_task_njord/package.xml index 38f56d2b..3f916986 100644 --- a/mission/BouysTasksNjord/package.xml +++ b/mission/sea_marker_task_njord/package.xml @@ -2,12 +2,12 @@ njord_fsm 0.0.0 - The Bouys_tasks_fsm package + The sea_marker_task_fsm package - sigurdvb + Sigurd von Brandis diff --git a/mission/sea_marker_task_njord/sea_marker_task_fsm.py b/mission/sea_marker_task_njord/sea_marker_task_fsm.py new file mode 100644 index 00000000..cd97ef8d --- /dev/null +++ b/mission/sea_marker_task_njord/sea_marker_task_fsm.py @@ -0,0 +1,49 @@ +#!/usr/bin/python3 + +import rospy +import smach +import smach_ros +import math +from sea_marker_task_states import Maneuvering + + +class sea_marker_task: + + def __init__(self): + rospy.init_node('sea_markers_task_fsm') + + def spin(self): + sm = smach.StateMachine(outcomes=['Stop']) + + with sm: + smach.StateMachine.add('Maneuvering', + Maneuvering(), + transitions={'maneuvering': 'Maneuvering', + 'stop':'Stop'}) + + + # Start the state machine introspection server + sis = smach_ros.IntrospectionServer('state_machine', sm, '/SM_ROOT') + sis.start() + + while not rospy.is_shutdown(): + + if not (rospy.get_param("/tasks/sea_marker_task1") or self.enabled = rospy.get_param("/tasks/sea_marker_task2") or self.enabled = rospy.get_param("/tasks/sea_marker_task3")): + print("Exiting because this fsm should be inactive.") + break + + ud = smach.UserData() + outcome = sm.execute(ud) + if outcome == 'Stop': + print("State machine stopped") + break + + sis.stop() + + +if __name__ == "__main__": + try: + fsm_node = ManeuveringNavigationTasks() + fsm_node.spin() + except rospy.ROSInterruptException: + pass \ No newline at end of file diff --git a/mission/sea_marker_task_njord/sea_marker_task_states.py b/mission/sea_marker_task_njord/sea_marker_task_states.py new file mode 100644 index 00000000..fa820b1e --- /dev/null +++ b/mission/sea_marker_task_njord/sea_marker_task_states.py @@ -0,0 +1,71 @@ +#!/usr/bin/python3 + +import rospy +import smach +import math +from vortex_msgs.srv import Waypoint, WaypointRequest, WaypointResponse +from nav_msgs.msg import Odometry +from std_msgs.msg import Float64 +from tf.transformations import euler_from_quaternion +from vortex_msgs.msg import DetectedObjectArray, DetectedObject +from update_objects_data import DetectedObjectsData, UpdateDataNode +from ../finite_state_machine/scripts/lqr_interface.py import LQRInterface + + +class Maneuvering(smach.State): + def __init__(self): + smach.State.__init__(self, + outcomes=['maneuvering', 'stop'], + input_keys=['object_search_attempts'], + output_keys=['object_search_attempts']) + + self.task = "Buoy" + self.odom = Odometry() + self.rate = rospy.Rate(10) + + self.wp_goal2 = (0,0) + + self.sea_marker_list = [] + + userdata.closest_object = (math.inf, math.inf, '') + + rospy.Subscriber('sea_markers', DetectedObjectArray, self.data_cb) + rospy.Subscriber("/odometry/filtered", Odometry, self.odom_cb) + + + def odom_cb(self, msg): + self.odom = msg + + + def data_cb(self, msg): + self.sea_marker_list = msg.DetectedObjectArray + + + def execute(self, userdata): + + if (rospy.get_param("/tasks/sea_marker_task1") == True) + #Code for task 1 here + return 'maneuvering' + + elif (rospy.get_param("/tasks/sea_marker_task2") == True) + #Code for task 2 here + return 'maneuvering' + + elif (rospy.get_param("/tasks/sea_marker_task3") == True) + #Code for task 3 here + return 'maneuvering' + + return 'stop' + + + def set_wp_to_avoid_objects(self, userdata): + + #Find path between vessel and given GPS-point + + #Find necessary waypoints between the boat and the wp_goal, + #such that the vessel do not get to close to a sea marker. + for name, new_object in vars(self.data).items(): + if name.startswith('current') or (name.endswith('bouy') or name.endswith('marker')): + + pass + diff --git a/mission/BouysTasksNjord/setup.py b/mission/sea_marker_task_njord/setup.py similarity index 62% rename from mission/BouysTasksNjord/setup.py rename to mission/sea_marker_task_njord/setup.py index 232b30bd..263a03a4 100644 --- a/mission/BouysTasksNjord/setup.py +++ b/mission/sea_marker_task_njord/setup.py @@ -3,10 +3,10 @@ from setuptools import setup, find_packages setup( - name="Bouys_tasks_config", + name="sea_marker_tasks_config", version="0.0.0", description= - "Contains a fsm for maneuvering and navigation (bouys) tasks in Njord.", + "Contains a fsm for maneuvering and navigating around sea markers in the Njord challenge.", author="Sigurd von Brandis", author_email="sigurdvbrandis@gmail.com", packages=find_packages(), diff --git a/mission/task_manager/cfg/task_manager.cfg b/mission/task_manager/cfg/task_manager.cfg index 6cd81b1b..98b2bfc4 100644 --- a/mission/task_manager/cfg/task_manager.cfg +++ b/mission/task_manager/cfg/task_manager.cfg @@ -14,8 +14,12 @@ drop_down_menu = gen.enum([ "Joystick"), gen.const(defines.Tasks.collision_avoidance.name, int_t, defines.Tasks.collision_avoidance.id, "collision_avoidance") - gen.const(defines.Tasks.obj_nav_and_man.name, int_t, - defines.Tasks.obj_nav_and_man.id, "obj_nav_and_man") + gen.const(defines.Tasks.sea_marker_task1.name, int_t, + defines.Tasks.sea_marker_task1.id, "sea_marker_task1") + gen.const(defines.Tasks.sea_marker_task2.name, int_t, + defines.Tasks.sea_marker_task2.id, "sea_marker_task2") + gen.const(defines.Tasks.sea_marker_task3.name, int_t, + defines.Tasks.sea_marker_task3.id, "sea_marker_task3") ], "Njord_tasks") # Name Type Level Description diff --git a/mission/task_manager/package.xml b/mission/task_manager/package.xml index d9d00c67..24f2da50 100644 --- a/mission/task_manager/package.xml +++ b/mission/task_manager/package.xml @@ -5,7 +5,7 @@ The task_manager package - sigurdvb + Sigurd von Brandis ronja kræmer MIT diff --git a/mission/task_manager/setup.py b/mission/task_manager/setup.py index deadbe3b..705578dd 100644 --- a/mission/task_manager/setup.py +++ b/mission/task_manager/setup.py @@ -7,6 +7,6 @@ version="0.0.0", description="Defines for the task manager", author="Sigurd von Brandis", - author_email="Sigurdvb@stud.ntnu.no", + author_email="sigurdvbrandis@gmail.com", packages=find_packages(), ) diff --git a/mission/task_manager/task_manager_defines/defines.py b/mission/task_manager/task_manager_defines/defines.py index 549c1fe2..0ef120c6 100644 --- a/mission/task_manager/task_manager_defines/defines.py +++ b/mission/task_manager/task_manager_defines/defines.py @@ -14,4 +14,6 @@ class Task: class Tasks: joystick = Task(id=0, name="joystick") collision_avoidance = Task(id=1, name="collision_avoidance") - obj_nav_and_man = Task(id=2, name="obj_nav_and_man") + sea_marker_task1 = Task(id=2, name="sea_marker_task1") + sea_marker_task2 = Task(id=3, name="sea_marker_task2") + sea_marker_task3 = Task(id=4, name="sea_marker_task3") From ebf8f560a5d6550ec776cec8df22c1b760b0fa08 Mon Sep 17 00:00:00 2001 From: vortex git Date: Mon, 14 Aug 2023 17:28:55 +0000 Subject: [PATCH 104/132] limited pwm --- asv_setup/config/robots/temp_config.yaml | 4 ++-- motion/thruster_interface/src/thruster_interface.cpp | 4 ++-- motion/thruster_interface/src/thruster_interface_ros.cpp | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/asv_setup/config/robots/temp_config.yaml b/asv_setup/config/robots/temp_config.yaml index 73564cd8..89560d5f 100644 --- a/asv_setup/config/robots/temp_config.yaml +++ b/asv_setup/config/robots/temp_config.yaml @@ -46,7 +46,7 @@ propulsion: rate_of_change: max: 1 # Maximum rate of change in newton per second for a thruster - map: [0, 1, 2, 3] + map: [3,1,0,2] direction: [1, 1, 1, 1] offset: [0, 0, 0, 0] # Offset IN PWM! thrust_range: [-0.7, 0.7] # range in percentage -1.0 to 1.0 # NOTE!: Thrust_range moves with offset @@ -98,4 +98,4 @@ joystick: heave: 60 roll: 35 pitch: -30 - yaw: 20 \ No newline at end of file + yaw: 20 diff --git a/motion/thruster_interface/src/thruster_interface.cpp b/motion/thruster_interface/src/thruster_interface.cpp index 9f64e46c..2cfc32a8 100644 --- a/motion/thruster_interface/src/thruster_interface.cpp +++ b/motion/thruster_interface/src/thruster_interface.cpp @@ -52,7 +52,7 @@ float ThrusterInterface::interpolate(float force) { int pwm_signal = std::round( pwm1 + ((force - force1) * (pwm2 - pwm1)) / (force2 - force1) + 0.5); - int clipped_pwm_signal = std::min(std::max(pwm_signal, 1100), 1900); + int clipped_pwm_signal = std::min(std::max(pwm_signal, 1300), 1700); // min 1100, max 1900 return clipped_pwm_signal; } @@ -63,7 +63,7 @@ ThrusterInterface::pwm_to_bytes(const std::vector &pwm_values) { std::vector bytes; for (const auto &val : pwm_values) { // Ensure the value is in the correct range and cast to an integer - int pwm_int = static_cast(std::min(std::max(val, 1100), 1900)); + int pwm_int = static_cast(std::min(std::max(val, 1300), 1700); // min 1100, max 1900 // Split the integer into most significant byte (MSB) and least significant // byte (LSB) diff --git a/motion/thruster_interface/src/thruster_interface_ros.cpp b/motion/thruster_interface/src/thruster_interface_ros.cpp index 58cc26de..a5277228 100644 --- a/motion/thruster_interface/src/thruster_interface_ros.cpp +++ b/motion/thruster_interface/src/thruster_interface_ros.cpp @@ -39,7 +39,7 @@ void ThrusterInterfaceROS::thrustCallback( center_pwm_value + thruster_direction_map[i] * offset_from_center_value; int pwm_clamped = - std::min(std::max(pwm_value_correct_direction, 1100), 1900); + std::min(std::max(pwm_value_correct_direction, 1300), 1700); // min 1100, max 1900 pwm_msg.positive_width_us.push_back(pwm_clamped); pwm_msg.pins.push_back(thruster_to_pin_map[i]); } From 118914bff39efd057c914b8954634f06f92351e2 Mon Sep 17 00:00:00 2001 From: Clang Robot Date: Mon, 14 Aug 2023 17:29:20 +0000 Subject: [PATCH 105/132] Committing clang-format changes --- motion/thruster_interface/src/thruster_interface.cpp | 3 ++- motion/thruster_interface/src/thruster_interface_ros.cpp | 4 ++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/motion/thruster_interface/src/thruster_interface.cpp b/motion/thruster_interface/src/thruster_interface.cpp index 2cfc32a8..c4dc90bc 100644 --- a/motion/thruster_interface/src/thruster_interface.cpp +++ b/motion/thruster_interface/src/thruster_interface.cpp @@ -52,7 +52,8 @@ float ThrusterInterface::interpolate(float force) { int pwm_signal = std::round( pwm1 + ((force - force1) * (pwm2 - pwm1)) / (force2 - force1) + 0.5); - int clipped_pwm_signal = std::min(std::max(pwm_signal, 1300), 1700); // min 1100, max 1900 + int clipped_pwm_signal = + std::min(std::max(pwm_signal, 1300), 1700); // min 1100, max 1900 return clipped_pwm_signal; } diff --git a/motion/thruster_interface/src/thruster_interface_ros.cpp b/motion/thruster_interface/src/thruster_interface_ros.cpp index b714cf7e..482dafb8 100644 --- a/motion/thruster_interface/src/thruster_interface_ros.cpp +++ b/motion/thruster_interface/src/thruster_interface_ros.cpp @@ -39,8 +39,8 @@ void ThrusterInterfaceROS::thrustCallback( int pwm_value_correct_direction = center_pwm_value + thruster_direction_map[i] * offset_from_center_value; - int pwm_clamped = - std::min(std::max(pwm_value_correct_direction, 1300), 1700); // min 1100, max 1900 + int pwm_clamped = std::min(std::max(pwm_value_correct_direction, 1300), + 1700); // min 1100, max 1900 pwm_msg.positive_width_us.push_back(pwm_clamped); pwm_msg.pins.push_back(thruster_to_pin_map[i]); } From 78993a7a35170278723149103d0f2e066bd19824 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christopher=20Str=C3=B8m?= Date: Mon, 14 Aug 2023 20:06:26 +0200 Subject: [PATCH 106/132] Add velocity output for target vessels and refactor TargetVessel class MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Christopher Strøm --- motion/control_simulator/scripts/simulator.py | 55 +++++++++++-------- 1 file changed, 31 insertions(+), 24 deletions(-) diff --git a/motion/control_simulator/scripts/simulator.py b/motion/control_simulator/scripts/simulator.py index f27ef3d1..3c98d7fa 100755 --- a/motion/control_simulator/scripts/simulator.py +++ b/motion/control_simulator/scripts/simulator.py @@ -20,41 +20,46 @@ def ssa(angle): return (angle + np.pi) % (2 * np.pi) - np.pi + class TargetVessel: def __init__(self, start, end, speed): self.start = np.array(start, dtype=np.float64) self.end = np.array(end, dtype=np.float64) self.speed = speed self.position = np.array(start, dtype=np.float64) - self.direction = self.end - self.start - self.direction /= np.linalg.norm(self.direction) - - self.target_pub = rospy.Publisher('/pdaf/target', Point, queue_size=10) + + # Calculate initial yaw based on start and end positions + self.yaw = np.arctan2(self.end[1] - self.start[1], self.end[0] - self.start[0]) + + self.target_pub = rospy.Publisher('/pdaf/target', Odometry, queue_size=10) self.publish_target_position() def publish_target_position(self): - # Construct a Point message - target_point = Point() + target_odom = Odometry() + target_odom.pose.pose.position.x = self.position[0] + target_odom.pose.pose.position.y = self.position[1] - # Assuming the target vessel's position is stored in self.target_vessel.position - target_point.x = self.position[0] # North position - target_point.y = self.position[1] # East position - - # Assuming yaw is in radians and stored as self.target_vessel.yaw - target_point.z = np.arctan2(self.direction[1], self.direction[0]) # Yaw - - # Publish the point - self.target_pub.publish(target_point) + q = quaternion_from_euler(0.0, 0.0, self.yaw) + target_odom.pose.pose.orientation.x = q[0] + target_odom.pose.pose.orientation.y = q[1] + target_odom.pose.pose.orientation.z = q[2] + target_odom.pose.pose.orientation.w = q[3] + target_odom.twist.twist.linear.x = np.cos(self.yaw) * self.speed + target_odom.twist.twist.linear.y = np.sin(self.yaw) * self.speed + + self.target_pub.publish(target_odom) def step(self, dt): - movement = self.speed * dt * self.direction + movement = np.array([np.cos(self.yaw), np.sin(self.yaw)]) * self.speed * dt self.position += movement if np.linalg.norm(self.end - self.position) < self.speed * dt: - self.direction *= -1 + self.yaw += np.pi # reverse direction (by adding pi to the yaw) + self.yaw %= 2 * np.pi # keep yaw within [0, 2*pi] self.end, self.start = self.start, self.end + class VesselVisualizer: def __init__(self, vessel): @@ -76,10 +81,12 @@ def __init__(self, vessel): self.ax_vx = self.axes[2, 0] self.ax_vy = self.axes[2, 1] - self.target_vessel = TargetVessel(np.array([-4, -4]), np.array([4, 4]), 0.5) - dx = self.target_vessel.direction[0] * 1.0 - dy = self.target_vessel.direction[1] * 1.0 - self.target_arrow = plt.Arrow(self.target_vessel.position[0], self.target_vessel.position[1], dx, dy, width=0.5, color="green") + #self.target_vessel = TargetVessel(np.array([2, 4]), np.array([2, -4]), 0.5) # target moves right to left + #self.target_vessel = TargetVessel(np.array([2, -4]), np.array([2, 4]), 0.5) # target moves left to right + self.target_vessel = TargetVessel(np.array([-1, 4]), np.array([2, -4]), 0.5) # target moves right to left at an angle + dy = np.cos(self.target_vessel.yaw) * self.target_vessel.speed + dx = np.sin(self.target_vessel.yaw) * self.target_vessel.speed + self.target_arrow = plt.Arrow(self.target_vessel.position[1], self.target_vessel.position[0], dx, dy, width=0.5, color="green") self.ax_vessel.add_patch(self.target_arrow) @@ -178,9 +185,9 @@ def update(self, frame): def update_and_draw_target(self): self.target_arrow.remove() x, y = self.target_vessel.position - dx = self.target_vessel.direction[0] * 1.0 - dy = self.target_vessel.direction[1] * 1.0 - self.target_arrow = plt.Arrow(self.target_vessel.position[0], self.target_vessel.position[1], dx, dy, width=0.5, color="green") + dy = np.cos(self.target_vessel.yaw) * self.target_vessel.speed + dx = np.sin(self.target_vessel.yaw) * self.target_vessel.speed + self.target_arrow = plt.Arrow(self.target_vessel.position[1], self.target_vessel.position[0], dx, dy, width=0.5, color="green") self.ax_vessel.add_patch(self.target_arrow) def update_time_and_motion_state(self): From 69d097429019857bef1f030d236c759150293257 Mon Sep 17 00:00:00 2001 From: github-actions Date: Mon, 14 Aug 2023 18:07:32 +0000 Subject: [PATCH 107/132] Automated autoyapf fixes --- motion/control_simulator/scripts/simulator.py | 31 ++++++++++++++----- 1 file changed, 23 insertions(+), 8 deletions(-) diff --git a/motion/control_simulator/scripts/simulator.py b/motion/control_simulator/scripts/simulator.py index d4d4c49a..f8d829a2 100755 --- a/motion/control_simulator/scripts/simulator.py +++ b/motion/control_simulator/scripts/simulator.py @@ -28,11 +28,14 @@ def __init__(self, start, end, speed): self.end = np.array(end, dtype=np.float64) self.speed = speed self.position = np.array(start, dtype=np.float64) - + # Calculate initial yaw based on start and end positions - self.yaw = np.arctan2(self.end[1] - self.start[1], self.end[0] - self.start[0]) - - self.target_pub = rospy.Publisher('/pdaf/target', Odometry, queue_size=10) + self.yaw = np.arctan2(self.end[1] - self.start[1], + self.end[0] - self.start[0]) + + self.target_pub = rospy.Publisher('/pdaf/target', + Odometry, + queue_size=10) self.publish_target_position() def publish_target_position(self): @@ -52,7 +55,8 @@ def publish_target_position(self): self.target_pub.publish(target_odom) def step(self, dt): - movement = np.array([np.cos(self.yaw), np.sin(self.yaw)]) * self.speed * dt + movement = np.array([np.cos(self.yaw), + np.sin(self.yaw)]) * self.speed * dt self.position += movement if np.linalg.norm(self.end - self.position) < self.speed * dt: @@ -84,10 +88,16 @@ def __init__(self, vessel): #self.target_vessel = TargetVessel(np.array([2, 4]), np.array([2, -4]), 0.5) # target moves right to left #self.target_vessel = TargetVessel(np.array([2, -4]), np.array([2, 4]), 0.5) # target moves left to right - self.target_vessel = TargetVessel(np.array([-1, 4]), np.array([2, -4]), 0.5) # target moves right to left at an angle + self.target_vessel = TargetVessel(np.array([-1, 4]), np.array( + [2, -4]), 0.5) # target moves right to left at an angle dy = np.cos(self.target_vessel.yaw) * self.target_vessel.speed dx = np.sin(self.target_vessel.yaw) * self.target_vessel.speed - self.target_arrow = plt.Arrow(self.target_vessel.position[1], self.target_vessel.position[0], dx, dy, width=0.5, color="green") + self.target_arrow = plt.Arrow(self.target_vessel.position[1], + self.target_vessel.position[0], + dx, + dy, + width=0.5, + color="green") self.ax_vessel.add_patch(self.target_arrow) @@ -188,7 +198,12 @@ def update_and_draw_target(self): x, y = self.target_vessel.position dy = np.cos(self.target_vessel.yaw) * self.target_vessel.speed dx = np.sin(self.target_vessel.yaw) * self.target_vessel.speed - self.target_arrow = plt.Arrow(self.target_vessel.position[1], self.target_vessel.position[0], dx, dy, width=0.5, color="green") + self.target_arrow = plt.Arrow(self.target_vessel.position[1], + self.target_vessel.position[0], + dx, + dy, + width=0.5, + color="green") self.ax_vessel.add_patch(self.target_arrow) def update_time_and_motion_state(self): From 8c261bcc991fc92c1a6f4bd8c80c3e04f993e567 Mon Sep 17 00:00:00 2001 From: alekskl01 Date: Mon, 14 Aug 2023 20:07:58 +0200 Subject: [PATCH 108/132] added logging of system info to .csv --- logging/logging_njord/CMakeLists.txt | 15 +++ logging/logging_njord/package.xml | 31 +++++ logging/logging_njord/src/logging_ros_node.py | 114 ++++++++++++++++++ 3 files changed, 160 insertions(+) create mode 100644 logging/logging_njord/CMakeLists.txt create mode 100644 logging/logging_njord/package.xml create mode 100755 logging/logging_njord/src/logging_ros_node.py diff --git a/logging/logging_njord/CMakeLists.txt b/logging/logging_njord/CMakeLists.txt new file mode 100644 index 00000000..d591fb2c --- /dev/null +++ b/logging/logging_njord/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 2.8.3) +project(logging_njord) + +find_package(catkin REQUIRED COMPONENTS + rospy + sensor_msgs + std_msgs +) + +catkin_package( +) + +include_directories( + ${catkin_INCLUDE_DIRS} +) diff --git a/logging/logging_njord/package.xml b/logging/logging_njord/package.xml new file mode 100644 index 00000000..dee16e67 --- /dev/null +++ b/logging/logging_njord/package.xml @@ -0,0 +1,31 @@ + + + logging_njord + 0.0.0 + The logging_njord package + + aleksander + + MIT + + catkin + + rospy + sensor_msgs + std_msgs + + rospy + sensor_msgs + std_msgs + + rospy + sensor_msgs + std_msgs + + + + + + + + diff --git a/logging/logging_njord/src/logging_ros_node.py b/logging/logging_njord/src/logging_ros_node.py new file mode 100755 index 00000000..e00dd103 --- /dev/null +++ b/logging/logging_njord/src/logging_ros_node.py @@ -0,0 +1,114 @@ +#!/usr/bin/env python3 + +import rospy +import csv +import numpy as np +from pathlib import Path +from datetime import datetime +from threading import Lock +from nav_msgs.msg import Odometry +from sensor_msgs.msg import BatteryState + +class DataLoggerNode: + def __init__(self): + rospy.init_node('logger_node', anonymous=True) + + # Create subscribers for the desired topics + self.odom_sub = rospy.Subscriber('/estimator/pose', Odometry, self.odom_callback) + self.battery_sub = rospy.Subscriber('/internal/status/bms', BatteryState, self.battery_callback) + + self.log_array = [] # Array to store logged data + self.log_lock = Lock() # Lock for thread safety + + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + csv_file_name = f"data_log_{timestamp}.csv" + script_directory = Path(__file__).resolve().parent + csv_file_path = script_directory.parent / 'logs' / csv_file_name + + self.csv_file = open(csv_file_path, 'w') + self.csv_writer = csv.writer(self.csv_file, delimiter=',') + + self.csv_writer.writerow(['latitude', 'longitude', 'altitude', 'heading', 'speed', 'power_consumption', 'battery%', 'timestep']) + + self.log_rate = rospy.Rate(1) + + + self.current_odom = np.zeros(5) + self.current_battery = np.zeros(2) + + self.prev_timestamp = rospy.get_time() + + self.max_voltage = 24.6 + self.min_voltage = 19.0 + + self.log_threshold = 100 # Number of entries to accumulate before writing to file + + def quaternion_to_yaw(self, q): + x = q.x + y = q.y + z = q.z + w = q.w + siny_cosp = 2.0 * (w * z + x * y) + cosy_cosp = 1.0 - 2.0 * (y * y + z * z) + yaw = np.arctan2(siny_cosp, cosy_cosp) + + return yaw + + def find_battery_percentage_left(self, voltage): + return round((voltage - self.min_voltage) / (self.max_voltage - self.min_voltage) * 100, 2) + + def odom_callback(self, data): + self.log_lock.acquire() + self.current_odom = [data.pose.pose.position.x, + data.pose.pose.position.y, + data.pose.pose.position.z, + self.quaternion_to_yaw(data.pose.pose.orientation), + np.sqrt(data.twist.twist.linear.x**2 + data.twist.twist.linear.y**2)] + self.log_lock.release() + + def battery_callback(self, data): + self.log_lock.acquire() + self.current_battery = [data.voltage * data.current, self.find_battery_percentage_left(data.voltage)] + self.log_lock.release() + + def timer_callback(self): + self.log_data() + + def log_data(self): + now = rospy.get_time() + timestep = now - self.prev_timestamp + self.prev_timestamp = now + + self.log_lock.acquire() + data = [self.current_odom, self.current_battery, timestep] + self.log_lock.release() + + with self.log_lock: + self.log_array.append(data) + + rospy.loginfo("Logged data from %s") + + if len(self.log_array) >= self.log_threshold: + self.write_to_file() + + def write_to_file(self): + with self.log_lock: + for entry in self.log_array: + self.csv_writer.writerow(entry) + self.log_array = [] # Clear the log array + + def run(self): + while not rospy.is_shutdown(): + self.log_data() + self.log_rate.sleep() + + self.csv_file.close() + + def shutdown(self): + self.write_to_file() # Write any remaining data before shutting down + self.csv_file.close() + +if __name__ == '__main__': + logger = DataLoggerNode() + rospy.on_shutdown(logger.shutdown) + logger.run() From 971efa2863f4cd838f31bf116b152947aaa2b62a Mon Sep 17 00:00:00 2001 From: github-actions Date: Mon, 14 Aug 2023 18:18:44 +0000 Subject: [PATCH 109/132] Automated autoyapf fixes --- logging/logging_njord/src/logging_ros_node.py | 54 ++++++++++++------- 1 file changed, 34 insertions(+), 20 deletions(-) diff --git a/logging/logging_njord/src/logging_ros_node.py b/logging/logging_njord/src/logging_ros_node.py index e00dd103..c8a80bb7 100755 --- a/logging/logging_njord/src/logging_ros_node.py +++ b/logging/logging_njord/src/logging_ros_node.py @@ -9,13 +9,18 @@ from nav_msgs.msg import Odometry from sensor_msgs.msg import BatteryState + class DataLoggerNode: + def __init__(self): rospy.init_node('logger_node', anonymous=True) # Create subscribers for the desired topics - self.odom_sub = rospy.Subscriber('/estimator/pose', Odometry, self.odom_callback) - self.battery_sub = rospy.Subscriber('/internal/status/bms', BatteryState, self.battery_callback) + self.odom_sub = rospy.Subscriber('/estimator/pose', Odometry, + self.odom_callback) + self.battery_sub = rospy.Subscriber('/internal/status/bms', + BatteryState, + self.battery_callback) self.log_array = [] # Array to store logged data self.log_lock = Lock() # Lock for thread safety @@ -28,11 +33,13 @@ def __init__(self): self.csv_file = open(csv_file_path, 'w') self.csv_writer = csv.writer(self.csv_file, delimiter=',') - self.csv_writer.writerow(['latitude', 'longitude', 'altitude', 'heading', 'speed', 'power_consumption', 'battery%', 'timestep']) + self.csv_writer.writerow([ + 'latitude', 'longitude', 'altitude', 'heading', 'speed', + 'power_consumption', 'battery%', 'timestep' + ]) self.log_rate = rospy.Rate(1) - self.current_odom = np.zeros(5) self.current_battery = np.zeros(2) @@ -40,9 +47,9 @@ def __init__(self): self.max_voltage = 24.6 self.min_voltage = 19.0 - + self.log_threshold = 100 # Number of entries to accumulate before writing to file - + def quaternion_to_yaw(self, q): x = q.x y = q.y @@ -53,24 +60,30 @@ def quaternion_to_yaw(self, q): yaw = np.arctan2(siny_cosp, cosy_cosp) return yaw - + def find_battery_percentage_left(self, voltage): - return round((voltage - self.min_voltage) / (self.max_voltage - self.min_voltage) * 100, 2) - + return round((voltage - self.min_voltage) / + (self.max_voltage - self.min_voltage) * 100, 2) + def odom_callback(self, data): self.log_lock.acquire() - self.current_odom = [data.pose.pose.position.x, - data.pose.pose.position.y, - data.pose.pose.position.z, - self.quaternion_to_yaw(data.pose.pose.orientation), - np.sqrt(data.twist.twist.linear.x**2 + data.twist.twist.linear.y**2)] + self.current_odom = [ + data.pose.pose.position.x, data.pose.pose.position.y, + data.pose.pose.position.z, + self.quaternion_to_yaw(data.pose.pose.orientation), + np.sqrt(data.twist.twist.linear.x**2 + + data.twist.twist.linear.y**2) + ] self.log_lock.release() def battery_callback(self, data): self.log_lock.acquire() - self.current_battery = [data.voltage * data.current, self.find_battery_percentage_left(data.voltage)] + self.current_battery = [ + data.voltage * data.current, + self.find_battery_percentage_left(data.voltage) + ] self.log_lock.release() - + def timer_callback(self): self.log_data() @@ -85,9 +98,9 @@ def log_data(self): with self.log_lock: self.log_array.append(data) - + rospy.loginfo("Logged data from %s") - + if len(self.log_array) >= self.log_threshold: self.write_to_file() @@ -96,10 +109,10 @@ def write_to_file(self): for entry in self.log_array: self.csv_writer.writerow(entry) self.log_array = [] # Clear the log array - + def run(self): while not rospy.is_shutdown(): - self.log_data() + self.log_data() self.log_rate.sleep() self.csv_file.close() @@ -108,6 +121,7 @@ def shutdown(self): self.write_to_file() # Write any remaining data before shutting down self.csv_file.close() + if __name__ == '__main__': logger = DataLoggerNode() rospy.on_shutdown(logger.shutdown) From 27af5ecd5d449e4f8b4ad9d4a53ac866eba3066c Mon Sep 17 00:00:00 2001 From: vortex git Date: Mon, 14 Aug 2023 19:14:02 +0000 Subject: [PATCH 110/132] fixed fs_interface & thrust_interface --- mission/failsafe_interface/scripts/failsafe_interface_node.py | 3 ++- motion/thruster_interface/src/thruster_interface.cpp | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) mode change 100644 => 100755 mission/failsafe_interface/scripts/failsafe_interface_node.py diff --git a/mission/failsafe_interface/scripts/failsafe_interface_node.py b/mission/failsafe_interface/scripts/failsafe_interface_node.py old mode 100644 new mode 100755 index e9f6021c..5fc8fe1b --- a/mission/failsafe_interface/scripts/failsafe_interface_node.py +++ b/mission/failsafe_interface/scripts/failsafe_interface_node.py @@ -34,6 +34,8 @@ def __init__(self, ): GPIO.setup(self.gpioSoftWareOperationMode, GPIO.OUT) + self.gpioHardWareOperationMode = 16 + GPIO.output(self.gpioHardWareOperationMode, 0) #Repeat process for the other pins @@ -45,7 +47,6 @@ def __init__(self, ): #Repeat process for the other pins - self.gpioHardWareOperationMode = 16 #self.gpioHardWareOperationMode = rospy.get_param( # "/failsafe/gpio/gpioHardWareOperationMode" diff --git a/motion/thruster_interface/src/thruster_interface.cpp b/motion/thruster_interface/src/thruster_interface.cpp index c4dc90bc..bb2747d6 100644 --- a/motion/thruster_interface/src/thruster_interface.cpp +++ b/motion/thruster_interface/src/thruster_interface.cpp @@ -64,7 +64,7 @@ ThrusterInterface::pwm_to_bytes(const std::vector &pwm_values) { std::vector bytes; for (const auto &val : pwm_values) { // Ensure the value is in the correct range and cast to an integer - int pwm_int = static_cast(std::min(std::max(val, 1300), 1700); // min 1100, max 1900 + int pwm_int = static_cast(std::min(std::max(val, 1300), 1700)); // min 1100, max 1900 // Split the integer into most significant byte (MSB) and least significant // byte (LSB) From 93662a686a64fcfd50a6c9520ae7a27b36da0d78 Mon Sep 17 00:00:00 2001 From: Sigurd von Brandis Date: Mon, 14 Aug 2023 21:14:13 +0200 Subject: [PATCH 111/132] States are in place, but some math is missing --- .../sea_marker_task_fsm.py | 26 +++- .../sea_marker_task_states.py | 115 ++++++++++++++++-- 2 files changed, 123 insertions(+), 18 deletions(-) diff --git a/mission/sea_marker_task_njord/sea_marker_task_fsm.py b/mission/sea_marker_task_njord/sea_marker_task_fsm.py index cd97ef8d..84b31312 100644 --- a/mission/sea_marker_task_njord/sea_marker_task_fsm.py +++ b/mission/sea_marker_task_njord/sea_marker_task_fsm.py @@ -4,7 +4,7 @@ import smach import smach_ros import math -from sea_marker_task_states import Maneuvering +from sea_marker_task_states import Maneuvering1, Maneuvering2, Maneuvering3 class sea_marker_task: @@ -16,9 +16,23 @@ def spin(self): sm = smach.StateMachine(outcomes=['Stop']) with sm: - smach.StateMachine.add('Maneuvering', - Maneuvering(), - transitions={'maneuvering': 'Maneuvering', + smach.StateMachine.add('Maneuvering1', + Maneuvering1(), + transitions={'maneuvering1': 'Maneuvering1', + 'maneuvering2': 'Maneuvering2', + 'maneuvering3': 'Maneuvering3', + 'stop':'Stop'}) + smach.StateMachine.add('Maneuvering2', + Maneuvering2(), + transitions={'maneuvering1': 'Maneuvering1', + 'maneuvering2': 'Maneuvering2', + 'maneuvering3': 'Maneuvering3', + 'stop':'Stop'}) + smach.StateMachine.add('Maneuvering3', + Maneuvering3(), + transitions={'maneuvering1': 'Maneuvering1', + 'maneuvering2': 'Maneuvering2', + 'maneuvering3': 'Maneuvering3', 'stop':'Stop'}) @@ -28,7 +42,7 @@ def spin(self): while not rospy.is_shutdown(): - if not (rospy.get_param("/tasks/sea_marker_task1") or self.enabled = rospy.get_param("/tasks/sea_marker_task2") or self.enabled = rospy.get_param("/tasks/sea_marker_task3")): + if not (rospy.get_param("/tasks/sea_marker_task1") or rospy.get_param("/tasks/sea_marker_task2") or rospy.get_param("/tasks/sea_marker_task3")): print("Exiting because this fsm should be inactive.") break @@ -43,7 +57,7 @@ def spin(self): if __name__ == "__main__": try: - fsm_node = ManeuveringNavigationTasks() + fsm_node = sea_marker_task() fsm_node.spin() except rospy.ROSInterruptException: pass \ No newline at end of file diff --git a/mission/sea_marker_task_njord/sea_marker_task_states.py b/mission/sea_marker_task_njord/sea_marker_task_states.py index fa820b1e..f462e854 100644 --- a/mission/sea_marker_task_njord/sea_marker_task_states.py +++ b/mission/sea_marker_task_njord/sea_marker_task_states.py @@ -3,19 +3,17 @@ import rospy import smach import math -from vortex_msgs.srv import Waypoint, WaypointRequest, WaypointResponse from nav_msgs.msg import Odometry from std_msgs.msg import Float64 from tf.transformations import euler_from_quaternion from vortex_msgs.msg import DetectedObjectArray, DetectedObject -from update_objects_data import DetectedObjectsData, UpdateDataNode -from ../finite_state_machine/scripts/lqr_interface.py import LQRInterface +from ../finite_state_machine/scripts/lqr_interface import LQRInterface -class Maneuvering(smach.State): - def __init__(self): +class Maneuvering1(smach.State): + def __init__(self, userdata): smach.State.__init__(self, - outcomes=['maneuvering', 'stop'], + outcomes=['maneuvering1', 'maneuvering2', 'maneuvering3' 'stop'], input_keys=['object_search_attempts'], output_keys=['object_search_attempts']) @@ -43,15 +41,109 @@ def data_cb(self, msg): def execute(self, userdata): - if (rospy.get_param("/tasks/sea_marker_task1") == True) + if (rospy.get_param("/tasks/sea_marker_task1") == True): #Code for task 1 here - return 'maneuvering' + self.set_wp_to_avoid_objects() + return 'maneuvering1' + + elif (rospy.get_param("/tasks/sea_marker_task2") == True): + return 'maneuvering1' + + elif (rospy.get_param("/tasks/sea_marker_task3") == True): + return 'maneuvering3' + + return 'stop' + + + def set_wp_to_avoid_objects(self, userdata): + + #Find path between vessel and given GPS-point - elif (rospy.get_param("/tasks/sea_marker_task2") == True) + #Find necessary waypoints between the boat and the wp_goal, + #such that the vessel do not get to close to a sea marker. + for name, new_object in vars(self.data).items(): + if name.startswith('current') or (name.endswith('bouy') or name.endswith('marker')): + + pass + + +class Maneuvering2(smach.State): + def __init__(self, userdata): + smach.State.__init__(self, + outcomes=['maneuvering1', 'maneuvering2', 'maneuvering3' 'stop'], + input_keys=['object_search_attempts'], + output_keys=['object_search_attempts']) + + self.task = "Buoy" + self.odom = Odometry() + self.rate = rospy.Rate(10) + + self.wp_goal2 = (0,0) + + rospy.Subscriber("/odometry/filtered", Odometry, self.odom_cb) + + + def odom_cb(self, msg): + self.odom = msg + + + def data_cb(self, msg): + self.sea_marker_list = msg.DetectedObjectArray + + + def execute(self, userdata): + + if (rospy.get_param("/tasks/sea_marker_task1") == True): + return 'maneuvering1' + + elif (rospy.get_param("/tasks/sea_marker_task2") == True): #Code for task 2 here + return 'maneuvering2' + + elif (rospy.get_param("/tasks/sea_marker_task3") == True): + return 'maneuvering3' + + return 'stop' + + +class Maneuvering3(smach.State): + def __init__(self, userdata): + smach.State.__init__(self, + outcomes=['maneuvering', 'stop'], + input_keys=['object_search_attempts'], + output_keys=['object_search_attempts']) + + self.task = "Buoy" + self.odom = Odometry() + self.rate = rospy.Rate(10) + + self.wp_goal2 = (0,0) + + self.sea_marker_list = [] + + userdata.closest_object = (math.inf, math.inf, '') + + rospy.Subscriber('sea_markers', DetectedObjectArray, self.data_cb) + rospy.Subscriber("/odometry/filtered", Odometry, self.odom_cb) + + + def odom_cb(self, msg): + self.odom = msg + + + def data_cb(self, msg): + self.sea_marker_list = msg.DetectedObjectArray + + + def execute(self, userdata): + + if (rospy.get_param("/tasks/sea_marker_task1") == True): + return 'maneuvering' + + elif (rospy.get_param("/tasks/sea_marker_task2") == True): return 'maneuvering' - elif (rospy.get_param("/tasks/sea_marker_task3") == True) + elif (rospy.get_param("/tasks/sea_marker_task3") == True): #Code for task 3 here return 'maneuvering' @@ -67,5 +159,4 @@ def set_wp_to_avoid_objects(self, userdata): for name, new_object in vars(self.data).items(): if name.startswith('current') or (name.endswith('bouy') or name.endswith('marker')): - pass - + pass \ No newline at end of file From 502d25d364bce6fbf64bdb48a0c056969c458949 Mon Sep 17 00:00:00 2001 From: github-actions Date: Mon, 14 Aug 2023 19:14:26 +0000 Subject: [PATCH 112/132] Automated autoyapf fixes --- mission/failsafe_interface/scripts/failsafe_interface_node.py | 1 - 1 file changed, 1 deletion(-) diff --git a/mission/failsafe_interface/scripts/failsafe_interface_node.py b/mission/failsafe_interface/scripts/failsafe_interface_node.py index 5fc8fe1b..64dd6a07 100755 --- a/mission/failsafe_interface/scripts/failsafe_interface_node.py +++ b/mission/failsafe_interface/scripts/failsafe_interface_node.py @@ -47,7 +47,6 @@ def __init__(self, ): #Repeat process for the other pins - #self.gpioHardWareOperationMode = rospy.get_param( # "/failsafe/gpio/gpioHardWareOperationMode" #) From f0d7751ab398395d854199312eee784a2ede2d9d Mon Sep 17 00:00:00 2001 From: Clang Robot Date: Mon, 14 Aug 2023 19:14:31 +0000 Subject: [PATCH 113/132] Committing clang-format changes --- motion/thruster_interface/src/thruster_interface.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/motion/thruster_interface/src/thruster_interface.cpp b/motion/thruster_interface/src/thruster_interface.cpp index bb2747d6..07b63b9f 100644 --- a/motion/thruster_interface/src/thruster_interface.cpp +++ b/motion/thruster_interface/src/thruster_interface.cpp @@ -64,7 +64,8 @@ ThrusterInterface::pwm_to_bytes(const std::vector &pwm_values) { std::vector bytes; for (const auto &val : pwm_values) { // Ensure the value is in the correct range and cast to an integer - int pwm_int = static_cast(std::min(std::max(val, 1300), 1700)); // min 1100, max 1900 + int pwm_int = static_cast( + std::min(std::max(val, 1300), 1700)); // min 1100, max 1900 // Split the integer into most significant byte (MSB) and least significant // byte (LSB) From 18716d3b43b3a3ce6ca2ecf17a4338b218c855b0 Mon Sep 17 00:00:00 2001 From: vortex git Date: Mon, 14 Aug 2023 19:19:56 +0000 Subject: [PATCH 114/132] final fix to fs_interface_node --- mission/failsafe_interface/scripts/failsafe_interface_node.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mission/failsafe_interface/scripts/failsafe_interface_node.py b/mission/failsafe_interface/scripts/failsafe_interface_node.py index 5fc8fe1b..ec1abebe 100755 --- a/mission/failsafe_interface/scripts/failsafe_interface_node.py +++ b/mission/failsafe_interface/scripts/failsafe_interface_node.py @@ -36,7 +36,7 @@ def __init__(self, ): self.gpioHardWareOperationMode = 16 - GPIO.output(self.gpioHardWareOperationMode, 0) + GPIO.output(self.gpioSoftWareOperationMode, 0) #Repeat process for the other pins From d393a151c8b8378b9bed236dc015be3df8106ff3 Mon Sep 17 00:00:00 2001 From: Sigurd von Brandis Date: Mon, 14 Aug 2023 23:20:09 +0200 Subject: [PATCH 115/132] Task 1 almost implemented. --- .../sea_marker_task_states.py | 80 +++++++++++++++++-- 1 file changed, 75 insertions(+), 5 deletions(-) diff --git a/mission/sea_marker_task_njord/sea_marker_task_states.py b/mission/sea_marker_task_njord/sea_marker_task_states.py index f462e854..f0628c92 100644 --- a/mission/sea_marker_task_njord/sea_marker_task_states.py +++ b/mission/sea_marker_task_njord/sea_marker_task_states.py @@ -25,6 +25,7 @@ def __init__(self, userdata): self.sea_marker_list = [] + userdata.closest_object = (math.inf, math.inf, '') rospy.Subscriber('sea_markers', DetectedObjectArray, self.data_cb) @@ -57,13 +58,47 @@ def execute(self, userdata): def set_wp_to_avoid_objects(self, userdata): - #Find path between vessel and given GPS-point + #Find path to goal from boat position + position = self.odom.pose.pose.position + vector = calculate_vector(position, (self.wp_goal2[0], self.wp_goal2[1])) + Intermediate_coordiante = (position[0]+vector[0]/2, position[1]+vector[1]/2) + #Find necessary waypoints between the boat and the wp_goal, #such that the vessel do not get to close to a sea marker. - for name, new_object in vars(self.data).items(): - if name.startswith('current') or (name.endswith('bouy') or name.endswith('marker')): - + for sea_marker in len(self.sea_marker_list): + if (sea_marker[2].endswith('bouy')): + radius1 = 1.2 + radius2 = 1.5 + distance_tolerance = 0.2 + + #Check if intermediate coordiante is inside small safety circle. + sea_marker_coordinate = (sea_marker[0], sea_marker[1]) + distance1 = calculate_distance(Intermediate_coordiante, sea_marker_coordinate) + if (distance1 < radius1): + + tangent_points = calculate_tangent_points(sea_marker[0], sea_marker[1], radius2, position[0], position[1]) + distance_pos_to_tangent_pos = calculate_distance(position, tangent_points[0]) + if distance_pos_to_tangent_pos < distance_tolerance: + tangent_points = calculate_tangent_points(sea_marker[0], sea_marker[1], radius1, position[0], position[1]) + + for i, point in enumerate(tangent_points): + + if sea_marker[2].startswith('red') and i == 0: + LQRInterface.clear_all_waypoints() + LQRInterface.add_point(point) + + elif sea_marker[2].startswith('green') and i == 1: + LQRInterface.clear_all_waypoints() + LQRInterface.add_point(point) + + + #if so, reset wp list and make intermediete waypoint using big safety circle + + + #Check if path goes through small safty circle around bouy + + #if so, reset wp list and make another intermediete waypoint using small safety circle pass @@ -159,4 +194,39 @@ def set_wp_to_avoid_objects(self, userdata): for name, new_object in vars(self.data).items(): if name.startswith('current') or (name.endswith('bouy') or name.endswith('marker')): - pass \ No newline at end of file + pass + + +def calculate_vector(coord1, coord2): + x_diff = coord2[0] - coord1[0] + y_diff = coord2[1] - coord1[1] + vector = (x_diff, y_diff) + return vector + + +def calculate_distance(coord1, coord2): + x_diff = coord2[0] - coord1[0] + y_diff = coord2[1] - coord1[1] + distance = math.sqrt(x_diff ** 2 + y_diff ** 2) + return distance + +def calculate_tangent_points(Cx, Cy, r, Px, Py): + dx, dy = Px - Cx, Py - Cy + dxr, dyr = -dy, dx + d = math.sqrt(dx ** 2 + dy ** 2) + + tangent_points = [] + + if d >= r: + rho = r / d + ad = rho ** 2 + bd = rho * math.sqrt(1 - rho ** 2) + T1x = Cx + ad * dx + bd * dxr + T1y = Cy + ad * dy + bd * dyr + T2x = Cx + ad * dx - bd * dxr + T2y = Cy + ad * dy - bd * dyr + + tangent_points.append((T1x, T1y)) + tangent_points.append((T2x, T2y)) + + return tangent_points \ No newline at end of file From 670f2e47c1fd68ce6a358a45c550025a219ce1e0 Mon Sep 17 00:00:00 2001 From: Sigurd von Brandis Date: Mon, 14 Aug 2023 23:25:37 +0200 Subject: [PATCH 116/132] We now goes to the goal is there are no obstacles. --- mission/sea_marker_task_njord/sea_marker_task_states.py | 1 + 1 file changed, 1 insertion(+) diff --git a/mission/sea_marker_task_njord/sea_marker_task_states.py b/mission/sea_marker_task_njord/sea_marker_task_states.py index f0628c92..0d7d134b 100644 --- a/mission/sea_marker_task_njord/sea_marker_task_states.py +++ b/mission/sea_marker_task_njord/sea_marker_task_states.py @@ -44,6 +44,7 @@ def execute(self, userdata): if (rospy.get_param("/tasks/sea_marker_task1") == True): #Code for task 1 here + LQRInterface.add_point(self.wp_goal2) self.set_wp_to_avoid_objects() return 'maneuvering1' From aa5a83e81d1b916607708ca2522b8489db19b9df Mon Sep 17 00:00:00 2001 From: Sigurd von Brandis Date: Tue, 15 Aug 2023 00:00:44 +0200 Subject: [PATCH 117/132] Testing and import error remains --- .../sea_marker_task_states.py | 41 +++++++++++-------- 1 file changed, 25 insertions(+), 16 deletions(-) diff --git a/mission/sea_marker_task_njord/sea_marker_task_states.py b/mission/sea_marker_task_njord/sea_marker_task_states.py index 0d7d134b..955f385d 100644 --- a/mission/sea_marker_task_njord/sea_marker_task_states.py +++ b/mission/sea_marker_task_njord/sea_marker_task_states.py @@ -44,7 +44,6 @@ def execute(self, userdata): if (rospy.get_param("/tasks/sea_marker_task1") == True): #Code for task 1 here - LQRInterface.add_point(self.wp_goal2) self.set_wp_to_avoid_objects() return 'maneuvering1' @@ -61,22 +60,30 @@ def set_wp_to_avoid_objects(self, userdata): #Find path to goal from boat position position = self.odom.pose.pose.position - vector = calculate_vector(position, (self.wp_goal2[0], self.wp_goal2[1])) - Intermediate_coordiante = (position[0]+vector[0]/2, position[1]+vector[1]/2) - + #vector = calculate_vector(position, (self.wp_goal2[0], self.wp_goal2[1])) + #Intermediate_coordiante = (position[0]+vector[0]/2, position[1]+vector[1]/2) + radius1 = 1.2 + radius2 = 1.7 + radius3 = 2 + distance_tolerance = 0.2 #Find necessary waypoints between the boat and the wp_goal, #such that the vessel do not get to close to a sea marker. for sea_marker in len(self.sea_marker_list): if (sea_marker[2].endswith('bouy')): - radius1 = 1.2 - radius2 = 1.5 - distance_tolerance = 0.2 + + #Check if we are to close to bouy, if so, get out using wp + sea_marker_coordinate = (sea_marker[0], sea_marker[1]) + bouy_distance = calculate_distance(position, sea_marker_coordinate) #Check if intermediate coordiante is inside small safety circle. sea_marker_coordinate = (sea_marker[0], sea_marker[1]) - distance1 = calculate_distance(Intermediate_coordiante, sea_marker_coordinate) - if (distance1 < radius1): + #distance1 = calculate_distance(Intermediate_coordiante, sea_marker_coordinate) + if (bouy_distance > radius3): + LQRInterface.clear_all_waypoints() + LQRInterface.add_point(self.wp_goal2) + + elif (bouy_distance > radius2): tangent_points = calculate_tangent_points(sea_marker[0], sea_marker[1], radius2, position[0], position[1]) distance_pos_to_tangent_pos = calculate_distance(position, tangent_points[0]) @@ -88,20 +95,22 @@ def set_wp_to_avoid_objects(self, userdata): if sea_marker[2].startswith('red') and i == 0: LQRInterface.clear_all_waypoints() LQRInterface.add_point(point) + LQRInterface.add_point(self.wp_goal2) elif sea_marker[2].startswith('green') and i == 1: LQRInterface.clear_all_waypoints() LQRInterface.add_point(point) + LQRInterface.add_point(self.wp_goal2) - - #if so, reset wp list and make intermediete waypoint using big safety circle + else: + #Go straight away from bouy + vector_to_bouy = calculate_vector(position, sea_marker_coordinate) + next_wp = (position[0] - vector_to_bouy[0], position[1] - vector_to_bouy[1]) + LQRInterface.add_point(next_wp) + LQRInterface.add_point(self.wp_goal2) + pass - #Check if path goes through small safty circle around bouy - - #if so, reset wp list and make another intermediete waypoint using small safety circle - pass - class Maneuvering2(smach.State): def __init__(self, userdata): From 70b9bc5b5fea2ce2decd25291181cf759f64c042 Mon Sep 17 00:00:00 2001 From: Sigurd von Brandis Date: Tue, 15 Aug 2023 00:18:47 +0200 Subject: [PATCH 118/132] Added wp functionallity to task3. --- .../sea_marker_task_fsm.py | 6 +- .../sea_marker_task_states.py | 76 +++++++++++++++---- 2 files changed, 66 insertions(+), 16 deletions(-) diff --git a/mission/sea_marker_task_njord/sea_marker_task_fsm.py b/mission/sea_marker_task_njord/sea_marker_task_fsm.py index 84b31312..78cd9cf5 100644 --- a/mission/sea_marker_task_njord/sea_marker_task_fsm.py +++ b/mission/sea_marker_task_njord/sea_marker_task_fsm.py @@ -42,9 +42,9 @@ def spin(self): while not rospy.is_shutdown(): - if not (rospy.get_param("/tasks/sea_marker_task1") or rospy.get_param("/tasks/sea_marker_task2") or rospy.get_param("/tasks/sea_marker_task3")): - print("Exiting because this fsm should be inactive.") - break + # if not (rospy.get_param("/tasks/sea_marker_task1") or rospy.get_param("/tasks/sea_marker_task2") or rospy.get_param("/tasks/sea_marker_task3")): + # print("Exiting because this fsm should be inactive.") + # break ud = smach.UserData() outcome = sm.execute(ud) diff --git a/mission/sea_marker_task_njord/sea_marker_task_states.py b/mission/sea_marker_task_njord/sea_marker_task_states.py index 955f385d..a3ebee0a 100644 --- a/mission/sea_marker_task_njord/sea_marker_task_states.py +++ b/mission/sea_marker_task_njord/sea_marker_task_states.py @@ -48,7 +48,7 @@ def execute(self, userdata): return 'maneuvering1' elif (rospy.get_param("/tasks/sea_marker_task2") == True): - return 'maneuvering1' + return 'maneuvering2' elif (rospy.get_param("/tasks/sea_marker_task3") == True): return 'maneuvering3' @@ -56,12 +56,10 @@ def execute(self, userdata): return 'stop' - def set_wp_to_avoid_objects(self, userdata): + def set_wp_to_avoid_objects(self): #Find path to goal from boat position position = self.odom.pose.pose.position - #vector = calculate_vector(position, (self.wp_goal2[0], self.wp_goal2[1])) - #Intermediate_coordiante = (position[0]+vector[0]/2, position[1]+vector[1]/2) radius1 = 1.2 radius2 = 1.7 radius3 = 2 @@ -108,7 +106,6 @@ def set_wp_to_avoid_objects(self, userdata): next_wp = (position[0] - vector_to_bouy[0], position[1] - vector_to_bouy[1]) LQRInterface.add_point(next_wp) LQRInterface.add_point(self.wp_goal2) - pass @@ -183,28 +180,81 @@ def data_cb(self, msg): def execute(self, userdata): if (rospy.get_param("/tasks/sea_marker_task1") == True): - return 'maneuvering' + return 'maneuvering1' elif (rospy.get_param("/tasks/sea_marker_task2") == True): - return 'maneuvering' + return 'maneuvering2' elif (rospy.get_param("/tasks/sea_marker_task3") == True): #Code for task 3 here - return 'maneuvering' + self.set_wp_to_avoid_objects() + return 'maneuvering3' return 'stop' - def set_wp_to_avoid_objects(self, userdata): + def set_wp_to_avoid_objects(self): - #Find path between vessel and given GPS-point + #Find path to goal from boat position + position = self.odom.pose.pose.position + #vector = calculate_vector(position, (self.wp_goal2[0], self.wp_goal2[1])) + #Intermediate_coordiante = (position[0]+vector[0]/2, position[1]+vector[1]/2) + radius1 = 1.2 + radius2 = 1.7 + radius3 = 2 + distance_tolerance = 0.2 #Find necessary waypoints between the boat and the wp_goal, #such that the vessel do not get to close to a sea marker. - for name, new_object in vars(self.data).items(): - if name.startswith('current') or (name.endswith('bouy') or name.endswith('marker')): + for sea_marker in len(self.sea_marker_list): + if (sea_marker[2].endswith('bouy')) or (sea_marker[2].endswith('marker')): + + #Check if we are to close to bouy, if so, get out using wp + sea_marker_coordinate = (sea_marker[0], sea_marker[1]) + bouy_distance = calculate_distance(position, sea_marker_coordinate) - pass + #Check if intermediate coordiante is inside small safety circle. + sea_marker_coordinate = (sea_marker[0], sea_marker[1]) + #distance1 = calculate_distance(Intermediate_coordiante, sea_marker_coordinate) + if (bouy_distance > radius3): + LQRInterface.clear_all_waypoints() + LQRInterface.add_point(self.wp_goal2) + + elif (bouy_distance > radius2): + + tangent_points = calculate_tangent_points(sea_marker[0], sea_marker[1], radius2, position[0], position[1]) + distance_pos_to_tangent_pos = calculate_distance(position, tangent_points[0]) + if distance_pos_to_tangent_pos < distance_tolerance: + tangent_points = calculate_tangent_points(sea_marker[0], sea_marker[1], radius1, position[0], position[1]) + + for i, point in enumerate(tangent_points): + + if sea_marker[2].startswith('red') and i == 1: + LQRInterface.clear_all_waypoints() + LQRInterface.add_point(point) + LQRInterface.add_point(self.wp_goal2) + + elif sea_marker[2].startswith('green') and i == 0: + LQRInterface.clear_all_waypoints() + LQRInterface.add_point(point) + LQRInterface.add_point(self.wp_goal2) + + elif sea_marker[2].startswith('east') and i == 0: + LQRInterface.clear_all_waypoints() + LQRInterface.add_point(point) + LQRInterface.add_point(self.wp_goal2) + + elif sea_marker[2].startswith('west') and i == 1: + LQRInterface.clear_all_waypoints() + LQRInterface.add_point(point) + LQRInterface.add_point(self.wp_goal2) + + else: + #Go straight away from bouy + vector_to_bouy = calculate_vector(position, sea_marker_coordinate) + next_wp = (position[0] - vector_to_bouy[0], position[1] - vector_to_bouy[1]) + LQRInterface.add_point(next_wp) + LQRInterface.add_point(self.wp_goal2) def calculate_vector(coord1, coord2): From 80ff9e80443d549347418922ab584b92ff4fe53c Mon Sep 17 00:00:00 2001 From: Sigurd von Brandis Date: Tue, 15 Aug 2023 01:45:16 +0200 Subject: [PATCH 119/132] Tested code, and logic is working now. --- .../sea_marker_task_states.py | 175 +++++++++--------- 1 file changed, 86 insertions(+), 89 deletions(-) diff --git a/mission/sea_marker_task_njord/sea_marker_task_states.py b/mission/sea_marker_task_njord/sea_marker_task_states.py index a3ebee0a..a0e2d64f 100644 --- a/mission/sea_marker_task_njord/sea_marker_task_states.py +++ b/mission/sea_marker_task_njord/sea_marker_task_states.py @@ -58,55 +58,53 @@ def execute(self, userdata): def set_wp_to_avoid_objects(self): - #Find path to goal from boat position position = self.odom.pose.pose.position - radius1 = 1.2 - radius2 = 1.7 - radius3 = 2 + radius1 = 1 + radius2 = 1.4 + radius3 = 1.6 distance_tolerance = 0.2 #Find necessary waypoints between the boat and the wp_goal, #such that the vessel do not get to close to a sea marker. - for sea_marker in len(self.sea_marker_list): - if (sea_marker[2].endswith('bouy')): + for sea_marker in self.sea_marker_list: - #Check if we are to close to bouy, if so, get out using wp - sea_marker_coordinate = (sea_marker[0], sea_marker[1]) - bouy_distance = calculate_distance(position, sea_marker_coordinate) + sea_marker_coordinate = (sea_marker[0], sea_marker[1]) + bouy_distance = calculate_distance(position, sea_marker_coordinate) + sea_marker_coordinate = (sea_marker[0], sea_marker[1]) - #Check if intermediate coordiante is inside small safety circle. - sea_marker_coordinate = (sea_marker[0], sea_marker[1]) - #distance1 = calculate_distance(Intermediate_coordiante, sea_marker_coordinate) - if (bouy_distance > radius3): - LQRInterface.clear_all_waypoints() - LQRInterface.add_point(self.wp_goal2) + if (bouy_distance > radius3): + LQRInterface.clear_all_waypoints() + LQRInterface.add_point(self.wp_goal2) - elif (bouy_distance > radius2): - - tangent_points = calculate_tangent_points(sea_marker[0], sea_marker[1], radius2, position[0], position[1]) - distance_pos_to_tangent_pos = calculate_distance(position, tangent_points[0]) - if distance_pos_to_tangent_pos < distance_tolerance: - tangent_points = calculate_tangent_points(sea_marker[0], sea_marker[1], radius1, position[0], position[1]) + elif (bouy_distance > radius2): - for i, point in enumerate(tangent_points): + #Test if we can reach goal without entering radius1, if so, set goal as next wp. + + tangent_points = calculate_tangent_points(sea_marker[0], sea_marker[1], radius2, position[0], position[1]) + distance_pos_to_tangent_pos = calculate_distance(position, tangent_points[0]) + if distance_pos_to_tangent_pos < distance_tolerance: + tangent_points = calculate_tangent_points(sea_marker[0], sea_marker[1], radius1, position[0], position[1]) + for i, point in enumerate(tangent_points): + + if sea_marker[2].startswith('red') and i == 0: + LQRInterface.clear_all_waypoints() + LQRInterface.add_point(point) + LQRInterface.add_point(self.wp_goal2) - if sea_marker[2].startswith('red') and i == 0: - LQRInterface.clear_all_waypoints() - LQRInterface.add_point(point) - LQRInterface.add_point(self.wp_goal2) - - elif sea_marker[2].startswith('green') and i == 1: - LQRInterface.clear_all_waypoints() - LQRInterface.add_point(point) - LQRInterface.add_point(self.wp_goal2) + elif sea_marker[2].startswith('green') and i == 1: + LQRInterface.clear_all_waypoints() + LQRInterface.add_point(point) + LQRInterface.add_point(self.wp_goal2) - else: - #Go straight away from bouy - vector_to_bouy = calculate_vector(position, sea_marker_coordinate) - next_wp = (position[0] - vector_to_bouy[0], position[1] - vector_to_bouy[1]) - LQRInterface.add_point(next_wp) - LQRInterface.add_point(self.wp_goal2) + elif (bouy_distance > radius1): + #Go straight away from bouy + print("do nothing") + elif (bouy_distance <= radius1): + vector_to_bouy = calculate_vector(position, sea_marker_coordinate) + next_wp = (position[0] - vector_to_bouy[0], position[1] - vector_to_bouy[1]) + LQRInterface.add_point(next_wp) + LQRInterface.add_point(self.wp_goal2) class Maneuvering2(smach.State): @@ -195,66 +193,65 @@ def execute(self, userdata): def set_wp_to_avoid_objects(self): - #Find path to goal from boat position position = self.odom.pose.pose.position - #vector = calculate_vector(position, (self.wp_goal2[0], self.wp_goal2[1])) - #Intermediate_coordiante = (position[0]+vector[0]/2, position[1]+vector[1]/2) - radius1 = 1.2 - radius2 = 1.7 - radius3 = 2 + radius1 = 1 + radius2 = 1.4 + radius3 = 1.6 distance_tolerance = 0.2 #Find necessary waypoints between the boat and the wp_goal, #such that the vessel do not get to close to a sea marker. for sea_marker in len(self.sea_marker_list): - if (sea_marker[2].endswith('bouy')) or (sea_marker[2].endswith('marker')): - #Check if we are to close to bouy, if so, get out using wp - sea_marker_coordinate = (sea_marker[0], sea_marker[1]) - bouy_distance = calculate_distance(position, sea_marker_coordinate) - - #Check if intermediate coordiante is inside small safety circle. - sea_marker_coordinate = (sea_marker[0], sea_marker[1]) - #distance1 = calculate_distance(Intermediate_coordiante, sea_marker_coordinate) - if (bouy_distance > radius3): - LQRInterface.clear_all_waypoints() - LQRInterface.add_point(self.wp_goal2) - - elif (bouy_distance > radius2): + sea_marker_coordinate = (sea_marker[0], sea_marker[1]) + bouy_distance = calculate_distance(position, sea_marker_coordinate) + sea_marker_coordinate = (sea_marker[0], sea_marker[1]) + + if (bouy_distance > radius3): + LQRInterface.clear_all_waypoints() + LQRInterface.add_point(self.wp_goal2) + + elif (bouy_distance > radius2): + + #Test if we can reach goal without entering radius1, if so, set goal as next wp. + + tangent_points = calculate_tangent_points(sea_marker[0], sea_marker[1], radius2, position[0], position[1]) + distance_pos_to_tangent_pos = calculate_distance(position, tangent_points[0]) + + if distance_pos_to_tangent_pos < distance_tolerance: + tangent_points = calculate_tangent_points(sea_marker[0], sea_marker[1], radius1, position[0], position[1]) + + for i, point in enumerate(tangent_points): - tangent_points = calculate_tangent_points(sea_marker[0], sea_marker[1], radius2, position[0], position[1]) - distance_pos_to_tangent_pos = calculate_distance(position, tangent_points[0]) - if distance_pos_to_tangent_pos < distance_tolerance: - tangent_points = calculate_tangent_points(sea_marker[0], sea_marker[1], radius1, position[0], position[1]) - - for i, point in enumerate(tangent_points): - - if sea_marker[2].startswith('red') and i == 1: - LQRInterface.clear_all_waypoints() - LQRInterface.add_point(point) - LQRInterface.add_point(self.wp_goal2) - - elif sea_marker[2].startswith('green') and i == 0: - LQRInterface.clear_all_waypoints() - LQRInterface.add_point(point) - LQRInterface.add_point(self.wp_goal2) - - elif sea_marker[2].startswith('east') and i == 0: - LQRInterface.clear_all_waypoints() - LQRInterface.add_point(point) - LQRInterface.add_point(self.wp_goal2) - - elif sea_marker[2].startswith('west') and i == 1: - LQRInterface.clear_all_waypoints() - LQRInterface.add_point(point) - LQRInterface.add_point(self.wp_goal2) - - else: - #Go straight away from bouy - vector_to_bouy = calculate_vector(position, sea_marker_coordinate) - next_wp = (position[0] - vector_to_bouy[0], position[1] - vector_to_bouy[1]) - LQRInterface.add_point(next_wp) - LQRInterface.add_point(self.wp_goal2) + if sea_marker[2].startswith('red') and i == 1: + LQRInterface.clear_all_waypoints() + LQRInterface.add_point(point) + LQRInterface.add_point(self.wp_goal2) + + elif sea_marker[2].startswith('green') and i == 0: + LQRInterface.clear_all_waypoints() + LQRInterface.add_point(point) + LQRInterface.add_point(self.wp_goal2) + + elif sea_marker[2].startswith('east') and i == 0: + LQRInterface.clear_all_waypoints() + LQRInterface.add_point(point) + LQRInterface.add_point(self.wp_goal2) + + elif sea_marker[2].startswith('west') and i == 1: + LQRInterface.clear_all_waypoints() + LQRInterface.add_point(point) + LQRInterface.add_point(self.wp_goal2) + + elif (bouy_distance > radius1): + #Go straight away from bouy + print("do nothing") + + elif (bouy_distance <= radius1): + vector_to_bouy = calculate_vector(position, sea_marker_coordinate) + next_wp = (position[0] - vector_to_bouy[0], position[1] - vector_to_bouy[1]) + LQRInterface.add_point(next_wp) + LQRInterface.add_point(self.wp_goal2) def calculate_vector(coord1, coord2): From efc39af79772388c89992deff90a92f2195462ca Mon Sep 17 00:00:00 2001 From: Sigurdvb Date: Tue, 15 Aug 2023 08:31:42 +0200 Subject: [PATCH 120/132] More stuff added. --- mission/sea_marker_task_njord/CMakeLists.txt | 4 ++ .../launch/sea_marker_task.launch | 17 ++++++ mission/sea_marker_task_njord/package.xml | 58 ++++--------------- .../scripts/lqr_interface.py | 45 ++++++++++++++ .../{ => scripts}/new_sea_markers.py | 0 .../{ => scripts}/sea_marker_task_fsm.py | 0 .../{ => scripts}/sea_marker_task_states.py | 3 +- 7 files changed, 80 insertions(+), 47 deletions(-) create mode 100644 mission/sea_marker_task_njord/launch/sea_marker_task.launch create mode 100644 mission/sea_marker_task_njord/scripts/lqr_interface.py rename mission/sea_marker_task_njord/{ => scripts}/new_sea_markers.py (100%) rename mission/sea_marker_task_njord/{ => scripts}/sea_marker_task_fsm.py (100%) rename mission/sea_marker_task_njord/{ => scripts}/sea_marker_task_states.py (99%) diff --git a/mission/sea_marker_task_njord/CMakeLists.txt b/mission/sea_marker_task_njord/CMakeLists.txt index d2a0f862..07d7f1e7 100644 --- a/mission/sea_marker_task_njord/CMakeLists.txt +++ b/mission/sea_marker_task_njord/CMakeLists.txt @@ -2,9 +2,13 @@ cmake_minimum_required(VERSION 3.0.2) project(njord_fsm) find_package(catkin REQUIRED COMPONENTS + sensor_msgs roscpp rospy vortex_msgs + move_base_msgs + actionlib + message_generation # smach # smach_ros ) diff --git a/mission/sea_marker_task_njord/launch/sea_marker_task.launch b/mission/sea_marker_task_njord/launch/sea_marker_task.launch new file mode 100644 index 00000000..ba3e376f --- /dev/null +++ b/mission/sea_marker_task_njord/launch/sea_marker_task.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/mission/sea_marker_task_njord/package.xml b/mission/sea_marker_task_njord/package.xml index 3f916986..13af51c3 100644 --- a/mission/sea_marker_task_njord/package.xml +++ b/mission/sea_marker_task_njord/package.xml @@ -4,68 +4,34 @@ 0.0.0 The sea_marker_task_fsm package - - - Sigurd von Brandis - - - - MIT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin + sensor_msgs roscpp rospy smach smach_ros vortex_msgs + actionlib + move_base_msgs + geometry_msgs + + sensor_msgs + vortex_msgs + rospy + sensor_msgs roscpp rospy smach smach_ros vortex_msgs + actionlib + move_base_msgs + geometry_msgs - - - - - - \ No newline at end of file diff --git a/mission/sea_marker_task_njord/scripts/lqr_interface.py b/mission/sea_marker_task_njord/scripts/lqr_interface.py new file mode 100644 index 00000000..2480d286 --- /dev/null +++ b/mission/sea_marker_task_njord/scripts/lqr_interface.py @@ -0,0 +1,45 @@ +#!/usr/bin/python3 + +import rospy +from std_msgs.msg import Bool, Empty +from geometry_msgs.msg import Point + + +class LQRInterface: + + def __init__(self): + + self.add_waypoint_publisher = rospy.Publisher( + "/guidance/lqr/add_waypoint", Point, queue_size=10) + self.enable_controller_publisher = rospy.Publisher( + "/controller/lqr/enable", Bool, queue_size=10) + self.toggle_path_dependent_heading = rospy.Publisher( + "/guidance/lqr/toggle_path_dependent_heading", Bool, queue_size=10) + self.clear_waypoints_publisher = rospy.Publisher( + "/guidance/lqr/clear_waypoints", Empty, queue_size=10) + + def add_point(self, point, path_dependent_heading=False): + self.add_waypoint_publisher.publish(point) + + def move_to_point(self, point): + self.add_waypoint_publisher.publish(point) + self.enable_controller_publisher.publish(Bool(True)) + + def turn_on_controller(self): + self.enable_controller_publisher.publish(Bool(True)) + + def turn_off_controller(self): + self.enable_controller_publisher.publish(Bool(False)) + + def set_path_dependent_heading(self, data): + self.toggle_path_dependent_heading.publish(Bool(data)) + + def clear_all_waypoints(self): + self.clear_waypoints_publisher.publish(Empty()) + + +if __name__ == "__main__": + + interface = LQRInterface() + + rospy.spin() diff --git a/mission/sea_marker_task_njord/new_sea_markers.py b/mission/sea_marker_task_njord/scripts/new_sea_markers.py similarity index 100% rename from mission/sea_marker_task_njord/new_sea_markers.py rename to mission/sea_marker_task_njord/scripts/new_sea_markers.py diff --git a/mission/sea_marker_task_njord/sea_marker_task_fsm.py b/mission/sea_marker_task_njord/scripts/sea_marker_task_fsm.py similarity index 100% rename from mission/sea_marker_task_njord/sea_marker_task_fsm.py rename to mission/sea_marker_task_njord/scripts/sea_marker_task_fsm.py diff --git a/mission/sea_marker_task_njord/sea_marker_task_states.py b/mission/sea_marker_task_njord/scripts/sea_marker_task_states.py similarity index 99% rename from mission/sea_marker_task_njord/sea_marker_task_states.py rename to mission/sea_marker_task_njord/scripts/sea_marker_task_states.py index a0e2d64f..445d65b3 100644 --- a/mission/sea_marker_task_njord/sea_marker_task_states.py +++ b/mission/sea_marker_task_njord/scripts/sea_marker_task_states.py @@ -7,7 +7,7 @@ from std_msgs.msg import Float64 from tf.transformations import euler_from_quaternion from vortex_msgs.msg import DetectedObjectArray, DetectedObject -from ../finite_state_machine/scripts/lqr_interface import LQRInterface +from lqr_interface import LQRInterface class Maneuvering1(smach.State): @@ -138,6 +138,7 @@ def execute(self, userdata): elif (rospy.get_param("/tasks/sea_marker_task2") == True): #Code for task 2 here + return 'maneuvering2' elif (rospy.get_param("/tasks/sea_marker_task3") == True): From 66c16f94ad364cf6f21289f8933c8d22de702106 Mon Sep 17 00:00:00 2001 From: Sigurdvb Date: Tue, 15 Aug 2023 08:45:06 +0200 Subject: [PATCH 121/132] It builds --- mission/sea_marker_task_njord/CMakeLists.txt | 2 +- mission/sea_marker_task_njord/package.xml | 4 ++-- mission/task_manager/cfg/task_manager.cfg | 15 +++++---------- 3 files changed, 8 insertions(+), 13 deletions(-) diff --git a/mission/sea_marker_task_njord/CMakeLists.txt b/mission/sea_marker_task_njord/CMakeLists.txt index 07d7f1e7..d072bbd1 100644 --- a/mission/sea_marker_task_njord/CMakeLists.txt +++ b/mission/sea_marker_task_njord/CMakeLists.txt @@ -6,7 +6,7 @@ find_package(catkin REQUIRED COMPONENTS roscpp rospy vortex_msgs - move_base_msgs + #move_base_msgs actionlib message_generation # smach diff --git a/mission/sea_marker_task_njord/package.xml b/mission/sea_marker_task_njord/package.xml index 13af51c3..c28eb7a0 100644 --- a/mission/sea_marker_task_njord/package.xml +++ b/mission/sea_marker_task_njord/package.xml @@ -17,7 +17,7 @@ smach_ros vortex_msgs actionlib - move_base_msgs + geometry_msgs sensor_msgs @@ -31,7 +31,7 @@ smach_ros vortex_msgs actionlib - move_base_msgs + geometry_msgs \ No newline at end of file diff --git a/mission/task_manager/cfg/task_manager.cfg b/mission/task_manager/cfg/task_manager.cfg index 98b2bfc4..31b08785 100644 --- a/mission/task_manager/cfg/task_manager.cfg +++ b/mission/task_manager/cfg/task_manager.cfg @@ -10,16 +10,11 @@ gen = ParameterGenerator() tasks = gen.add_group("Tasks") drop_down_menu = gen.enum([ - gen.const(defines.Tasks.joystick.name, int_t, defines.Tasks.joystick.id, - "Joystick"), - gen.const(defines.Tasks.collision_avoidance.name, int_t, - defines.Tasks.collision_avoidance.id, "collision_avoidance") - gen.const(defines.Tasks.sea_marker_task1.name, int_t, - defines.Tasks.sea_marker_task1.id, "sea_marker_task1") - gen.const(defines.Tasks.sea_marker_task2.name, int_t, - defines.Tasks.sea_marker_task2.id, "sea_marker_task2") - gen.const(defines.Tasks.sea_marker_task3.name, int_t, - defines.Tasks.sea_marker_task3.id, "sea_marker_task3") + gen.const(defines.Tasks.joystick.name, int_t, defines.Tasks.joystick.id, "Joystick"), + gen.const(defines.Tasks.collision_avoidance.name, int_t, defines.Tasks.collision_avoidance.id, "collision_avoidance"), + gen.const(defines.Tasks.sea_marker_task1.name, int_t, defines.Tasks.sea_marker_task1.id, "sea_marker_task1"), + gen.const(defines.Tasks.sea_marker_task2.name, int_t, defines.Tasks.sea_marker_task2.id, "sea_marker_task2"), + gen.const(defines.Tasks.sea_marker_task3.name, int_t, defines.Tasks.sea_marker_task3.id, "sea_marker_task3"), ], "Njord_tasks") # Name Type Level Description From 73e02f58b270ab0352c60078b55d144b11681abb Mon Sep 17 00:00:00 2001 From: github-actions Date: Tue, 15 Aug 2023 06:45:47 +0000 Subject: [PATCH 122/132] Automated autoyapf fixes --- .../scripts/new_sea_markers.py | 3 +- .../scripts/sea_marker_task_fsm.py | 33 +++-- .../scripts/sea_marker_task_states.py | 124 ++++++++++-------- mission/task_manager/cfg/task_manager.cfg | 15 ++- 4 files changed, 97 insertions(+), 78 deletions(-) diff --git a/mission/sea_marker_task_njord/scripts/new_sea_markers.py b/mission/sea_marker_task_njord/scripts/new_sea_markers.py index 22fcca24..ea6c5a1d 100644 --- a/mission/sea_marker_task_njord/scripts/new_sea_markers.py +++ b/mission/sea_marker_task_njord/scripts/new_sea_markers.py @@ -80,7 +80,6 @@ def publish_buoys(self): single_message.type = buoy.type_ msg.DetectedObjectArray.append(single_message) - self.pub.publish(msg) def new_buoy_marker_callback(self, msg): @@ -115,4 +114,4 @@ def new_buoy_marker_callback(self, msg): rospy.spin() except rospy.ROSInterruptException: - pass \ No newline at end of file + pass diff --git a/mission/sea_marker_task_njord/scripts/sea_marker_task_fsm.py b/mission/sea_marker_task_njord/scripts/sea_marker_task_fsm.py index 78cd9cf5..01987d4f 100644 --- a/mission/sea_marker_task_njord/scripts/sea_marker_task_fsm.py +++ b/mission/sea_marker_task_njord/scripts/sea_marker_task_fsm.py @@ -18,23 +18,28 @@ def spin(self): with sm: smach.StateMachine.add('Maneuvering1', Maneuvering1(), - transitions={'maneuvering1': 'Maneuvering1', - 'maneuvering2': 'Maneuvering2', - 'maneuvering3': 'Maneuvering3', - 'stop':'Stop'}) + transitions={ + 'maneuvering1': 'Maneuvering1', + 'maneuvering2': 'Maneuvering2', + 'maneuvering3': 'Maneuvering3', + 'stop': 'Stop' + }) smach.StateMachine.add('Maneuvering2', Maneuvering2(), - transitions={'maneuvering1': 'Maneuvering1', - 'maneuvering2': 'Maneuvering2', - 'maneuvering3': 'Maneuvering3', - 'stop':'Stop'}) + transitions={ + 'maneuvering1': 'Maneuvering1', + 'maneuvering2': 'Maneuvering2', + 'maneuvering3': 'Maneuvering3', + 'stop': 'Stop' + }) smach.StateMachine.add('Maneuvering3', Maneuvering3(), - transitions={'maneuvering1': 'Maneuvering1', - 'maneuvering2': 'Maneuvering2', - 'maneuvering3': 'Maneuvering3', - 'stop':'Stop'}) - + transitions={ + 'maneuvering1': 'Maneuvering1', + 'maneuvering2': 'Maneuvering2', + 'maneuvering3': 'Maneuvering3', + 'stop': 'Stop' + }) # Start the state machine introspection server sis = smach_ros.IntrospectionServer('state_machine', sm, '/SM_ROOT') @@ -60,4 +65,4 @@ def spin(self): fsm_node = sea_marker_task() fsm_node.spin() except rospy.ROSInterruptException: - pass \ No newline at end of file + pass diff --git a/mission/sea_marker_task_njord/scripts/sea_marker_task_states.py b/mission/sea_marker_task_njord/scripts/sea_marker_task_states.py index 445d65b3..5645b1d9 100644 --- a/mission/sea_marker_task_njord/scripts/sea_marker_task_states.py +++ b/mission/sea_marker_task_njord/scripts/sea_marker_task_states.py @@ -11,35 +11,34 @@ class Maneuvering1(smach.State): + def __init__(self, userdata): - smach.State.__init__(self, - outcomes=['maneuvering1', 'maneuvering2', 'maneuvering3' 'stop'], - input_keys=['object_search_attempts'], - output_keys=['object_search_attempts']) + smach.State.__init__( + self, + outcomes=['maneuvering1', 'maneuvering2', 'maneuvering3' + 'stop'], + input_keys=['object_search_attempts'], + output_keys=['object_search_attempts']) self.task = "Buoy" self.odom = Odometry() self.rate = rospy.Rate(10) - self.wp_goal2 = (0,0) + self.wp_goal2 = (0, 0) self.sea_marker_list = [] - userdata.closest_object = (math.inf, math.inf, '') rospy.Subscriber('sea_markers', DetectedObjectArray, self.data_cb) rospy.Subscriber("/odometry/filtered", Odometry, self.odom_cb) - def odom_cb(self, msg): self.odom = msg - def data_cb(self, msg): self.sea_marker_list = msg.DetectedObjectArray - def execute(self, userdata): if (rospy.get_param("/tasks/sea_marker_task1") == True): @@ -55,7 +54,6 @@ def execute(self, userdata): return 'stop' - def set_wp_to_avoid_objects(self): position = self.odom.pose.pose.position @@ -78,59 +76,66 @@ def set_wp_to_avoid_objects(self): elif (bouy_distance > radius2): - #Test if we can reach goal without entering radius1, if so, set goal as next wp. - - tangent_points = calculate_tangent_points(sea_marker[0], sea_marker[1], radius2, position[0], position[1]) - distance_pos_to_tangent_pos = calculate_distance(position, tangent_points[0]) + #Test if we can reach goal without entering radius1, if so, set goal as next wp. + + tangent_points = calculate_tangent_points( + sea_marker[0], sea_marker[1], radius2, position[0], + position[1]) + distance_pos_to_tangent_pos = calculate_distance( + position, tangent_points[0]) if distance_pos_to_tangent_pos < distance_tolerance: - tangent_points = calculate_tangent_points(sea_marker[0], sea_marker[1], radius1, position[0], position[1]) + tangent_points = calculate_tangent_points( + sea_marker[0], sea_marker[1], radius1, position[0], + position[1]) for i, point in enumerate(tangent_points): - + if sea_marker[2].startswith('red') and i == 0: LQRInterface.clear_all_waypoints() LQRInterface.add_point(point) LQRInterface.add_point(self.wp_goal2) - + elif sea_marker[2].startswith('green') and i == 1: LQRInterface.clear_all_waypoints() LQRInterface.add_point(point) LQRInterface.add_point(self.wp_goal2) elif (bouy_distance > radius1): - #Go straight away from bouy - print("do nothing") + #Go straight away from bouy + print("do nothing") elif (bouy_distance <= radius1): - vector_to_bouy = calculate_vector(position, sea_marker_coordinate) - next_wp = (position[0] - vector_to_bouy[0], position[1] - vector_to_bouy[1]) - LQRInterface.add_point(next_wp) - LQRInterface.add_point(self.wp_goal2) + vector_to_bouy = calculate_vector(position, + sea_marker_coordinate) + next_wp = (position[0] - vector_to_bouy[0], + position[1] - vector_to_bouy[1]) + LQRInterface.add_point(next_wp) + LQRInterface.add_point(self.wp_goal2) class Maneuvering2(smach.State): + def __init__(self, userdata): - smach.State.__init__(self, - outcomes=['maneuvering1', 'maneuvering2', 'maneuvering3' 'stop'], - input_keys=['object_search_attempts'], - output_keys=['object_search_attempts']) + smach.State.__init__( + self, + outcomes=['maneuvering1', 'maneuvering2', 'maneuvering3' + 'stop'], + input_keys=['object_search_attempts'], + output_keys=['object_search_attempts']) self.task = "Buoy" self.odom = Odometry() self.rate = rospy.Rate(10) - self.wp_goal2 = (0,0) + self.wp_goal2 = (0, 0) rospy.Subscriber("/odometry/filtered", Odometry, self.odom_cb) - def odom_cb(self, msg): self.odom = msg - def data_cb(self, msg): self.sea_marker_list = msg.DetectedObjectArray - def execute(self, userdata): if (rospy.get_param("/tasks/sea_marker_task1") == True): @@ -138,7 +143,7 @@ def execute(self, userdata): elif (rospy.get_param("/tasks/sea_marker_task2") == True): #Code for task 2 here - + return 'maneuvering2' elif (rospy.get_param("/tasks/sea_marker_task3") == True): @@ -148,6 +153,7 @@ def execute(self, userdata): class Maneuvering3(smach.State): + def __init__(self, userdata): smach.State.__init__(self, outcomes=['maneuvering', 'stop'], @@ -158,7 +164,7 @@ def __init__(self, userdata): self.odom = Odometry() self.rate = rospy.Rate(10) - self.wp_goal2 = (0,0) + self.wp_goal2 = (0, 0) self.sea_marker_list = [] @@ -167,15 +173,12 @@ def __init__(self, userdata): rospy.Subscriber('sea_markers', DetectedObjectArray, self.data_cb) rospy.Subscriber("/odometry/filtered", Odometry, self.odom_cb) - def odom_cb(self, msg): self.odom = msg - def data_cb(self, msg): self.sea_marker_list = msg.DetectedObjectArray - def execute(self, userdata): if (rospy.get_param("/tasks/sea_marker_task1") == True): @@ -191,7 +194,6 @@ def execute(self, userdata): return 'stop' - def set_wp_to_avoid_objects(self): position = self.odom.pose.pose.position @@ -207,23 +209,28 @@ def set_wp_to_avoid_objects(self): sea_marker_coordinate = (sea_marker[0], sea_marker[1]) bouy_distance = calculate_distance(position, sea_marker_coordinate) sea_marker_coordinate = (sea_marker[0], sea_marker[1]) - + if (bouy_distance > radius3): LQRInterface.clear_all_waypoints() LQRInterface.add_point(self.wp_goal2) elif (bouy_distance > radius2): - #Test if we can reach goal without entering radius1, if so, set goal as next wp. - - tangent_points = calculate_tangent_points(sea_marker[0], sea_marker[1], radius2, position[0], position[1]) - distance_pos_to_tangent_pos = calculate_distance(position, tangent_points[0]) + #Test if we can reach goal without entering radius1, if so, set goal as next wp. + + tangent_points = calculate_tangent_points( + sea_marker[0], sea_marker[1], radius2, position[0], + position[1]) + distance_pos_to_tangent_pos = calculate_distance( + position, tangent_points[0]) if distance_pos_to_tangent_pos < distance_tolerance: - tangent_points = calculate_tangent_points(sea_marker[0], sea_marker[1], radius1, position[0], position[1]) - + tangent_points = calculate_tangent_points( + sea_marker[0], sea_marker[1], radius1, position[0], + position[1]) + for i, point in enumerate(tangent_points): - + if sea_marker[2].startswith('red') and i == 1: LQRInterface.clear_all_waypoints() LQRInterface.add_point(point) @@ -245,14 +252,16 @@ def set_wp_to_avoid_objects(self): LQRInterface.add_point(self.wp_goal2) elif (bouy_distance > radius1): - #Go straight away from bouy - print("do nothing") + #Go straight away from bouy + print("do nothing") elif (bouy_distance <= radius1): - vector_to_bouy = calculate_vector(position, sea_marker_coordinate) - next_wp = (position[0] - vector_to_bouy[0], position[1] - vector_to_bouy[1]) - LQRInterface.add_point(next_wp) - LQRInterface.add_point(self.wp_goal2) + vector_to_bouy = calculate_vector(position, + sea_marker_coordinate) + next_wp = (position[0] - vector_to_bouy[0], + position[1] - vector_to_bouy[1]) + LQRInterface.add_point(next_wp) + LQRInterface.add_point(self.wp_goal2) def calculate_vector(coord1, coord2): @@ -265,20 +274,21 @@ def calculate_vector(coord1, coord2): def calculate_distance(coord1, coord2): x_diff = coord2[0] - coord1[0] y_diff = coord2[1] - coord1[1] - distance = math.sqrt(x_diff ** 2 + y_diff ** 2) + distance = math.sqrt(x_diff**2 + y_diff**2) return distance + def calculate_tangent_points(Cx, Cy, r, Px, Py): dx, dy = Px - Cx, Py - Cy dxr, dyr = -dy, dx - d = math.sqrt(dx ** 2 + dy ** 2) - + d = math.sqrt(dx**2 + dy**2) + tangent_points = [] if d >= r: rho = r / d - ad = rho ** 2 - bd = rho * math.sqrt(1 - rho ** 2) + ad = rho**2 + bd = rho * math.sqrt(1 - rho**2) T1x = Cx + ad * dx + bd * dxr T1y = Cy + ad * dy + bd * dyr T2x = Cx + ad * dx - bd * dxr @@ -287,4 +297,4 @@ def calculate_tangent_points(Cx, Cy, r, Px, Py): tangent_points.append((T1x, T1y)) tangent_points.append((T2x, T2y)) - return tangent_points \ No newline at end of file + return tangent_points diff --git a/mission/task_manager/cfg/task_manager.cfg b/mission/task_manager/cfg/task_manager.cfg index 31b08785..2eb34fe4 100644 --- a/mission/task_manager/cfg/task_manager.cfg +++ b/mission/task_manager/cfg/task_manager.cfg @@ -10,11 +10,16 @@ gen = ParameterGenerator() tasks = gen.add_group("Tasks") drop_down_menu = gen.enum([ - gen.const(defines.Tasks.joystick.name, int_t, defines.Tasks.joystick.id, "Joystick"), - gen.const(defines.Tasks.collision_avoidance.name, int_t, defines.Tasks.collision_avoidance.id, "collision_avoidance"), - gen.const(defines.Tasks.sea_marker_task1.name, int_t, defines.Tasks.sea_marker_task1.id, "sea_marker_task1"), - gen.const(defines.Tasks.sea_marker_task2.name, int_t, defines.Tasks.sea_marker_task2.id, "sea_marker_task2"), - gen.const(defines.Tasks.sea_marker_task3.name, int_t, defines.Tasks.sea_marker_task3.id, "sea_marker_task3"), + gen.const(defines.Tasks.joystick.name, int_t, defines.Tasks.joystick.id, + "Joystick"), + gen.const(defines.Tasks.collision_avoidance.name, int_t, + defines.Tasks.collision_avoidance.id, "collision_avoidance"), + gen.const(defines.Tasks.sea_marker_task1.name, int_t, + defines.Tasks.sea_marker_task1.id, "sea_marker_task1"), + gen.const(defines.Tasks.sea_marker_task2.name, int_t, + defines.Tasks.sea_marker_task2.id, "sea_marker_task2"), + gen.const(defines.Tasks.sea_marker_task3.name, int_t, + defines.Tasks.sea_marker_task3.id, "sea_marker_task3"), ], "Njord_tasks") # Name Type Level Description From 66d429993c9591b66f8955c1684b98bf7f7325fe Mon Sep 17 00:00:00 2001 From: Sigurdvb Date: Tue, 15 Aug 2023 09:11:42 +0200 Subject: [PATCH 123/132] Added task 1.2 --- .../scripts/sea_marker_task_states.py | 49 +++++++++++++++---- 1 file changed, 40 insertions(+), 9 deletions(-) diff --git a/mission/sea_marker_task_njord/scripts/sea_marker_task_states.py b/mission/sea_marker_task_njord/scripts/sea_marker_task_states.py index 445d65b3..c5d0e979 100644 --- a/mission/sea_marker_task_njord/scripts/sea_marker_task_states.py +++ b/mission/sea_marker_task_njord/scripts/sea_marker_task_states.py @@ -21,7 +21,7 @@ def __init__(self, userdata): self.odom = Odometry() self.rate = rospy.Rate(10) - self.wp_goal2 = (0,0) + self.wp_goal2 = (63.4408827099077, 10.42366526929412) self.sea_marker_list = [] @@ -118,7 +118,11 @@ def __init__(self, userdata): self.odom = Odometry() self.rate = rospy.Rate(10) - self.wp_goal2 = (0,0) + self.wp_goal3 = (63.44085336373529,10.4236652692412) + + # Publisher to heading controller + self.heading_pub = rospy.Publisher( + "/guidance_interface/desired_heading", Float64, queue_size=1) rospy.Subscriber("/odometry/filtered", Odometry, self.odom_cb) @@ -130,6 +134,26 @@ def odom_cb(self, msg): def data_cb(self, msg): self.sea_marker_list = msg.DetectedObjectArray + def yaw_to_angle(self, angle): + # Find heading corresponding to the change in angle + orientation = self.odom.pose.pose.orientation + orientation_list = [ + orientation.x, orientation.y, orientation.z, orientation.w + ] + yaw = euler_from_quaternion(orientation_list)[2] + heading_goal = yaw + angle + + # publishes heading to heading controller, and waits until the new heading is reached + self.heading_pub.publish(heading_goal) + print(f"Searching for {self.task}, angle: ({angle}) ...") + while not self.within_acceptance_margins(heading_goal, yaw): + self.rate.sleep() + orientation = self.odom.pose.pose.orientation + orientation_list = [ + orientation.x, orientation.y, orientation.z, orientation.w + ] + yaw = euler_from_quaternion(orientation_list)[2] + def execute(self, userdata): @@ -139,6 +163,13 @@ def execute(self, userdata): elif (rospy.get_param("/tasks/sea_marker_task2") == True): #Code for task 2 here + #Spin 360 degrees + self.yaw_to_angle(360) + + #Go to goal3 + LQRInterface.clear_all_waypoints() + LQRInterface.add_point(self.wp_goal3) + return 'maneuvering2' elif (rospy.get_param("/tasks/sea_marker_task3") == True): @@ -158,7 +189,7 @@ def __init__(self, userdata): self.odom = Odometry() self.rate = rospy.Rate(10) - self.wp_goal2 = (0,0) + self.wp_goal4 = (63.441300763375004, 10.424084261708332) self.sea_marker_list = [] @@ -210,7 +241,7 @@ def set_wp_to_avoid_objects(self): if (bouy_distance > radius3): LQRInterface.clear_all_waypoints() - LQRInterface.add_point(self.wp_goal2) + LQRInterface.add_point(self.wp_goal4) elif (bouy_distance > radius2): @@ -227,22 +258,22 @@ def set_wp_to_avoid_objects(self): if sea_marker[2].startswith('red') and i == 1: LQRInterface.clear_all_waypoints() LQRInterface.add_point(point) - LQRInterface.add_point(self.wp_goal2) + LQRInterface.add_point(self.wp_goal4) elif sea_marker[2].startswith('green') and i == 0: LQRInterface.clear_all_waypoints() LQRInterface.add_point(point) - LQRInterface.add_point(self.wp_goal2) + LQRInterface.add_point(self.wp_goal4) elif sea_marker[2].startswith('east') and i == 0: LQRInterface.clear_all_waypoints() LQRInterface.add_point(point) - LQRInterface.add_point(self.wp_goal2) + LQRInterface.add_point(self.wp_goal4) elif sea_marker[2].startswith('west') and i == 1: LQRInterface.clear_all_waypoints() LQRInterface.add_point(point) - LQRInterface.add_point(self.wp_goal2) + LQRInterface.add_point(self.wp_goal4) elif (bouy_distance > radius1): #Go straight away from bouy @@ -252,7 +283,7 @@ def set_wp_to_avoid_objects(self): vector_to_bouy = calculate_vector(position, sea_marker_coordinate) next_wp = (position[0] - vector_to_bouy[0], position[1] - vector_to_bouy[1]) LQRInterface.add_point(next_wp) - LQRInterface.add_point(self.wp_goal2) + LQRInterface.add_point(self.wp_goal4) def calculate_vector(coord1, coord2): From 628be99c3a9f8023856e1cdff7df0ee76390b9b0 Mon Sep 17 00:00:00 2001 From: Sigurdvb Date: Tue, 15 Aug 2023 09:13:26 +0200 Subject: [PATCH 124/132] :) --- .../sea_marker_task_njord/scripts/sea_marker_task_states.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/mission/sea_marker_task_njord/scripts/sea_marker_task_states.py b/mission/sea_marker_task_njord/scripts/sea_marker_task_states.py index c5d0e979..14cd521c 100644 --- a/mission/sea_marker_task_njord/scripts/sea_marker_task_states.py +++ b/mission/sea_marker_task_njord/scripts/sea_marker_task_states.py @@ -134,6 +134,12 @@ def odom_cb(self, msg): def data_cb(self, msg): self.sea_marker_list = msg.DetectedObjectArray + def within_acceptance_margins(self, setpoint, current): + error = abs(setpoint - current) + if error < 0.1: + return True + return False + def yaw_to_angle(self, angle): # Find heading corresponding to the change in angle orientation = self.odom.pose.pose.orientation From d426ae25ae336bd4aabe598a4cb6ee14c189d047 Mon Sep 17 00:00:00 2001 From: github-actions Date: Tue, 15 Aug 2023 07:17:55 +0000 Subject: [PATCH 125/132] Automated autoyapf fixes --- .../scripts/sea_marker_task_states.py | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/mission/sea_marker_task_njord/scripts/sea_marker_task_states.py b/mission/sea_marker_task_njord/scripts/sea_marker_task_states.py index 12a632d8..917c6b2c 100644 --- a/mission/sea_marker_task_njord/scripts/sea_marker_task_states.py +++ b/mission/sea_marker_task_njord/scripts/sea_marker_task_states.py @@ -126,7 +126,7 @@ def __init__(self, userdata): self.odom = Odometry() self.rate = rospy.Rate(10) - self.wp_goal3 = (63.44085336373529,10.4236652692412) + self.wp_goal3 = (63.44085336373529, 10.4236652692412) # Publisher to heading controller self.heading_pub = rospy.Publisher( @@ -166,7 +166,6 @@ def yaw_to_angle(self, angle): ] yaw = euler_from_quaternion(orientation_list)[2] - def execute(self, userdata): if (rospy.get_param("/tasks/sea_marker_task1") == True): @@ -174,7 +173,7 @@ def execute(self, userdata): elif (rospy.get_param("/tasks/sea_marker_task2") == True): #Code for task 2 here - + #Spin 360 degrees self.yaw_to_angle(360) @@ -294,10 +293,12 @@ def set_wp_to_avoid_objects(self): print("do nothing") elif (bouy_distance <= radius1): - vector_to_bouy = calculate_vector(position, sea_marker_coordinate) - next_wp = (position[0] - vector_to_bouy[0], position[1] - vector_to_bouy[1]) - LQRInterface.add_point(next_wp) - LQRInterface.add_point(self.wp_goal4) + vector_to_bouy = calculate_vector(position, + sea_marker_coordinate) + next_wp = (position[0] - vector_to_bouy[0], + position[1] - vector_to_bouy[1]) + LQRInterface.add_point(next_wp) + LQRInterface.add_point(self.wp_goal4) def calculate_vector(coord1, coord2): From d294b59427ca3c9d36c04502deeb0d479055f156 Mon Sep 17 00:00:00 2001 From: alekskl01 Date: Tue, 15 Aug 2023 10:31:46 +0200 Subject: [PATCH 126/132] only reads one bms fotr logging --- logging/logging_njord/src/logging_ros_node.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/logging/logging_njord/src/logging_ros_node.py b/logging/logging_njord/src/logging_ros_node.py index e00dd103..53a82ffb 100755 --- a/logging/logging_njord/src/logging_ros_node.py +++ b/logging/logging_njord/src/logging_ros_node.py @@ -68,7 +68,8 @@ def odom_callback(self, data): def battery_callback(self, data): self.log_lock.acquire() - self.current_battery = [data.voltage * data.current, self.find_battery_percentage_left(data.voltage)] + if (data.location == 'ttyUSB1'): + self.current_battery = [data.voltage * data.current, self.find_battery_percentage_left(data.voltage)] self.log_lock.release() def timer_callback(self): From 095ee95dccd3560037dc2426b89872f302527710 Mon Sep 17 00:00:00 2001 From: github-actions Date: Tue, 15 Aug 2023 08:34:07 +0000 Subject: [PATCH 127/132] Automated autoyapf fixes --- logging/logging_njord/src/logging_ros_node.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/logging/logging_njord/src/logging_ros_node.py b/logging/logging_njord/src/logging_ros_node.py index 0ffbf1aa..b31ab20e 100755 --- a/logging/logging_njord/src/logging_ros_node.py +++ b/logging/logging_njord/src/logging_ros_node.py @@ -79,7 +79,10 @@ def odom_callback(self, data): def battery_callback(self, data): self.log_lock.acquire() if (data.location == 'ttyUSB1'): - self.current_battery = [data.voltage * data.current, self.find_battery_percentage_left(data.voltage)] + self.current_battery = [ + data.voltage * data.current, + self.find_battery_percentage_left(data.voltage) + ] self.log_lock.release() def timer_callback(self): From eb77db666065a3b1c8dc0e5011133a57bc320c82 Mon Sep 17 00:00:00 2001 From: alekskl01 Date: Tue, 15 Aug 2023 10:45:21 +0200 Subject: [PATCH 128/132] hotfix --- .../scripts/sea_marker_task_states.py | 8 ++++++-- sensors/bms/CMakeLists.txt | 2 +- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/mission/sea_marker_task_njord/scripts/sea_marker_task_states.py b/mission/sea_marker_task_njord/scripts/sea_marker_task_states.py index 917c6b2c..ab1c6656 100644 --- a/mission/sea_marker_task_njord/scripts/sea_marker_task_states.py +++ b/mission/sea_marker_task_njord/scripts/sea_marker_task_states.py @@ -43,7 +43,8 @@ def execute(self, userdata): if (rospy.get_param("/tasks/sea_marker_task1") == True): #Code for task 1 here - self.set_wp_to_avoid_objects() + LQRInterface.add_point(self.wp_goal2) + #self.set_wp_to_avoid_objects() return 'maneuvering1' elif (rospy.get_param("/tasks/sea_marker_task2") == True): @@ -108,6 +109,7 @@ def set_wp_to_avoid_objects(self): sea_marker_coordinate) next_wp = (position[0] - vector_to_bouy[0], position[1] - vector_to_bouy[1]) + LQRInterface.clear_all_waypoints() LQRInterface.add_point(next_wp) LQRInterface.add_point(self.wp_goal2) @@ -226,7 +228,8 @@ def execute(self, userdata): elif (rospy.get_param("/tasks/sea_marker_task3") == True): #Code for task 3 here - self.set_wp_to_avoid_objects() + LQRInterface.add_point(self.wp_goal4) + #self.set_wp_to_avoid_objects() return 'maneuvering3' return 'stop' @@ -297,6 +300,7 @@ def set_wp_to_avoid_objects(self): sea_marker_coordinate) next_wp = (position[0] - vector_to_bouy[0], position[1] - vector_to_bouy[1]) + LQRInterface.clear_all_waypoints() LQRInterface.add_point(next_wp) LQRInterface.add_point(self.wp_goal4) diff --git a/sensors/bms/CMakeLists.txt b/sensors/bms/CMakeLists.txt index e62f5b25..4d2a2212 100644 --- a/sensors/bms/CMakeLists.txt +++ b/sensors/bms/CMakeLists.txt @@ -18,7 +18,7 @@ find_package(Boost REQUIRED COMPONENTS system) ## Declare catkin package catkin_package( - INCLUDE_DIRS include + # NCLUDE_DIRS include LIBRARIES freya_bms CATKIN_DEPENDS roscpp sensor_msgs DEPENDS Boost From 934f3e495ea6e8bd9f1ac540be92b610776435d1 Mon Sep 17 00:00:00 2001 From: alekskl01 Date: Tue, 15 Aug 2023 11:03:46 +0200 Subject: [PATCH 129/132] logging reads from both bms --- logging/logging_njord/src/logging_ros_node.py | 16 +++++++++++++--- 1 file changed, 13 insertions(+), 3 deletions(-) diff --git a/logging/logging_njord/src/logging_ros_node.py b/logging/logging_njord/src/logging_ros_node.py index b31ab20e..033a6c0a 100755 --- a/logging/logging_njord/src/logging_ros_node.py +++ b/logging/logging_njord/src/logging_ros_node.py @@ -41,7 +41,9 @@ def __init__(self): self.log_rate = rospy.Rate(1) self.current_odom = np.zeros(5) - self.current_battery = np.zeros(2) + self.current_battery1 = np.zeros(2) + self.current_battery2 = np.zeros(2) + self.current_battery_total = np.zeros(2) self.prev_timestamp = rospy.get_time() @@ -79,10 +81,18 @@ def odom_callback(self, data): def battery_callback(self, data): self.log_lock.acquire() if (data.location == 'ttyUSB1'): - self.current_battery = [ + self.current_battery1 = [ data.voltage * data.current, self.find_battery_percentage_left(data.voltage) ] + else if (data.location == 'ttyUSB2'): + self.current_battery2 = [ + data.voltage * data.current, + self.find_battery_percentage_left(data.voltage) + ] + + self.current_battery_total = [self.current_battery1[0] + self.current_battery2[0], (self.current_battery1[1] + self.current_battery2[1])/2] + self.log_lock.release() def timer_callback(self): @@ -94,7 +104,7 @@ def log_data(self): self.prev_timestamp = now self.log_lock.acquire() - data = [self.current_odom, self.current_battery, timestep] + data = [self.current_odom, self.current_battery_total, timestep] self.log_lock.release() with self.log_lock: From 1c2e36a64b1517901836b62225a4310aae1c6e17 Mon Sep 17 00:00:00 2001 From: alekskl01 Date: Tue, 15 Aug 2023 18:07:22 +0200 Subject: [PATCH 130/132] attempt at fixing bms --- sensors/bms/CMakeLists.txt | 2 +- sensors/bms/scripts/freya_bms_node.py | 4 ++-- sensors/bms/src/freya_bms_node.cpp | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/sensors/bms/CMakeLists.txt b/sensors/bms/CMakeLists.txt index 4d2a2212..dc0543f2 100644 --- a/sensors/bms/CMakeLists.txt +++ b/sensors/bms/CMakeLists.txt @@ -18,7 +18,7 @@ find_package(Boost REQUIRED COMPONENTS system) ## Declare catkin package catkin_package( - # NCLUDE_DIRS include + # INCLUDE_DIRS include LIBRARIES freya_bms CATKIN_DEPENDS roscpp sensor_msgs DEPENDS Boost diff --git a/sensors/bms/scripts/freya_bms_node.py b/sensors/bms/scripts/freya_bms_node.py index d22b9843..2682561a 100755 --- a/sensors/bms/scripts/freya_bms_node.py +++ b/sensors/bms/scripts/freya_bms_node.py @@ -15,7 +15,7 @@ def main(): queue_size=10) # List of USB devices to loop through - usb_ports = ["ttyUSB1", "ttyUSB2"] # Add as many as you need + usb_ports = ["ttyUSB0", "ttyUSB1"] # Add as many as you need # Rate object to control the loop rate (in Hz) rate = rospy.Rate(1) # 1 Hz @@ -23,7 +23,7 @@ def main(): while not rospy.is_shutdown(): for usb_port in usb_ports: response = execute_jbdtool(usb_port) - if response.stdout != b'': # Check if data is received + if response.stdout is not None: # Check if data is received voltage, current, temps, cells = parse_bms_data(response) diff --git a/sensors/bms/src/freya_bms_node.cpp b/sensors/bms/src/freya_bms_node.cpp index 259c0cb1..f86ae230 100644 --- a/sensors/bms/src/freya_bms_node.cpp +++ b/sensors/bms/src/freya_bms_node.cpp @@ -68,7 +68,7 @@ int main(int argc, char **argv) { ros::Publisher battery_pub = nh.advertise("/internal/status/bms", 10); - std::vector usb_ports = {"ttyUSB1", "ttyUSB2"}; // + std::vector usb_ports = {"ttyUSB0", "ttyUSB1"}; // ros::Rate rate(1); // 1 Hz From e80bfe5af2a066a1dcef254169bdf6dc0a8ccde9 Mon Sep 17 00:00:00 2001 From: alekskl01 Date: Tue, 15 Aug 2023 19:02:23 +0200 Subject: [PATCH 131/132] log fix --- logging/logging_njord/src/logging_ros_node.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/logging/logging_njord/src/logging_ros_node.py b/logging/logging_njord/src/logging_ros_node.py index 033a6c0a..2439446d 100755 --- a/logging/logging_njord/src/logging_ros_node.py +++ b/logging/logging_njord/src/logging_ros_node.py @@ -30,7 +30,7 @@ def __init__(self): script_directory = Path(__file__).resolve().parent csv_file_path = script_directory.parent / 'logs' / csv_file_name - self.csv_file = open(csv_file_path, 'w') + self.csv_file = open(csv_file_name, 'w') self.csv_writer = csv.writer(self.csv_file, delimiter=',') self.csv_writer.writerow([ @@ -80,12 +80,12 @@ def odom_callback(self, data): def battery_callback(self, data): self.log_lock.acquire() - if (data.location == 'ttyUSB1'): + if (data.location == 'ttyUSB0'): self.current_battery1 = [ data.voltage * data.current, self.find_battery_percentage_left(data.voltage) ] - else if (data.location == 'ttyUSB2'): + elif (data.location == 'ttyUSB1'): self.current_battery2 = [ data.voltage * data.current, self.find_battery_percentage_left(data.voltage) From 97b2240506a36c35eee7471159cf39fdb7c29c71 Mon Sep 17 00:00:00 2001 From: github-actions Date: Tue, 15 Aug 2023 17:02:46 +0000 Subject: [PATCH 132/132] Automated autoyapf fixes --- logging/logging_njord/src/logging_ros_node.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/logging/logging_njord/src/logging_ros_node.py b/logging/logging_njord/src/logging_ros_node.py index 2439446d..7d5df3bd 100755 --- a/logging/logging_njord/src/logging_ros_node.py +++ b/logging/logging_njord/src/logging_ros_node.py @@ -91,8 +91,11 @@ def battery_callback(self, data): self.find_battery_percentage_left(data.voltage) ] - self.current_battery_total = [self.current_battery1[0] + self.current_battery2[0], (self.current_battery1[1] + self.current_battery2[1])/2] - + self.current_battery_total = [ + self.current_battery1[0] + self.current_battery2[0], + (self.current_battery1[1] + self.current_battery2[1]) / 2 + ] + self.log_lock.release() def timer_callback(self):

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zSD1QGhDqY>m!Kr2EXk5#kN9@bCUPmQrf(hu)h1c2(Z}hxk#DRQhaMzYEWH{i-w1ZU z5eQlY8jEjKqo;_05}VJ+2W2cksCCA?n6(3epz7WiKHj5v)o|5@w83Wc2dlAuBqiBP zO4=Zw3mGOVvPYk-zo4SMvaMZ@ka4QO5fvkT=!Tg5Ix**S26jJiE08AOaQPgDzYG}2 PSIU63wXGbjWx)Rjh3QZ5 diff --git a/navigation/robot_localization/doc/state_estimation_nodes.rst b/navigation/robot_localization/doc/state_estimation_nodes.rst deleted file mode 100644 index a913803e..00000000 --- a/navigation/robot_localization/doc/state_estimation_nodes.rst +++ /dev/null @@ -1,336 +0,0 @@ -State Estimation Nodes -###################### - -ekf_localization_node -********************* -``ekf_localization_node`` is an implementation of an `extended Kalman filter `_. It uses an omnidirectional motion model to project the state forward in time, and corrects that projected estimate using perceived sensor data. - -ukf_localization_node -********************* -``ukf_localization_node`` is an implementation of an `unscented Kalman filter `_. It uses a set of carefully selected sigma points to project the state through the same motion model that is used in the EKF, and then uses those projected sigma points to recover the state estimate and covariance. This eliminates the use of Jacobian matrices and makes the filter more stable. However, it is also more computationally taxing than ``ekf_localization_node``. - -Parameters -********** - -``ekf_localization_node`` and ``ukf_localization_node`` share the vast majority of their parameters, as most of the parameters control how data is treated before being fused with the core filters. - -The relatively large number of parameters available to the state estimation nodes make launch and configuration files the preferred method for starting any of its nodes. The package contains template launch and configuration files to help get users started. - -Parameters Common to *ekf_localization_node* and *ukf_localization_node* -======================================================================== - -Standard Parameters -------------------- - -~frequency -^^^^^^^^^^ -The real-valued frequency, in Hz, at which the filter produces a state estimate. - -.. note:: The filter will not begin computation until it receives at least one message from one of the inputs. - -~sensor_timeout -^^^^^^^^^^^^^^^ -The real-valued period, in seconds, after which we consider any sensor to have timed out. In this event, we carry out a predict cycle on the EKF without correcting it. This parameter can be thought of as the inverse of the minimum frequency at which the filter will generate *new* output. - -~two_d_mode -^^^^^^^^^^^ -If your robot is operating in a planar environment and you're comfortable with ignoring the subtle variations in the ground (as reported by an IMU), then set this to true. It will fuse 0 values for all 3D variables (Z, roll, pitch, and their respective velocities and accelerations). This keeps the covariances for those values from exploding while ensuring that your robot's state estimate remains affixed to the X-Y plane. - -~[frame] -^^^^^^^^^ -Specific parameters: - -* ``~map_frame`` -* ``~odom_frame`` -* ``~base_link_frame`` -* ``~base_link_frame_output`` -* ``~world_frame`` - -These parameters define the operating "mode" for ``robot_localization``. `REP-105 `_ specifies three principal coordinate frames: *map*, *odom*, and *base_link*. *base_link* is the coordinate frame that is affixed to the robot. The robot's position in the *odom* frame will drift over time, but is accurate in the short term and should be continuous. The *map* frame, like the *odom* frame, is a world-fixed coordinate frame, and while it contains the most globally accurate position estimate for your robot, it is subject to discrete jumps, e.g., due to the fusion of GPS data. Here is how to use these parameters: - -1. Set the ``map_frame``, ``odom_frame``, and ``base_link_frame`` parameters to the appropriate frame names for your system. - - .. note:: If your system does not have a ``map_frame``, just remove it, and make sure ``world_frame`` is set to the value of ``odom_frame``. - .. note:: If you are running multiple EKF instances and would like to "override" the output transform and message to have this frame for its ``child_frame_id``, you may set this. The ``base_link_frame_output`` is optional and will default to the ``base_link_frame``. This helps to enable disconnected TF trees when multiple EKF instances are being run. When the final state is computed, we "override" the output transform and message to have this frame for its ``child_frame_id``. - -2. If you are only fusing continuous position data such as wheel encoder odometry, visual odometry, or IMU data, set ``world_frame`` to your ``odom_frame`` value. This is the default behavior for the state estimation nodes in ``robot_localization``, and the most common use for it. -3. If you are fusing global absolute position data that is subject to discrete jumps (e.g., GPS or position updates from landmark observations) then: - - i. Set your ``world_frame`` to your ``map_frame`` value - ii. **Make sure** something else is generating the *odom->base_link* transform. This can even be another instance of a ``robot_localization`` state estimation node. However, that instance should *not* fuse the global data. - -The default values for ``map_frame``, ``odom_frame``, and ``base_link_frame`` are *map*, *odom,* and *base_link,* respectively. The ``base_link_frame_output`` parameter defaults to the value of ``base_link_frame``. The ``world_frame`` parameter defaults to the value of ``odom_frame``. - -~transform_time_offset -^^^^^^^^^^^^^^^^^^^^^^ -Some packages require that your transforms are future-dated by a small time offset. The value of this parameter will be added to the timestamp of *map->odom* or *odom->base_link* transform being generated by the state estimation nodes in ``robot_localization``. - -~transform_timeout -^^^^^^^^^^^^^^^^^^ -The ``robot_localization`` package uses ``tf2``'s ``lookupTransform`` method to request transformations. This parameter specifies how long we would like to wait if a transformation is not available yet. Defaults to 0 if not set. The value 0 means we just get us the latest available (see ``tf2`` implementation) transform so we are not blocking the filter. Specifying a non-zero `transform_timeout` affects the filter's timing since it waits for a maximum of the `transform_timeout` for a transform to become available. This directly implies that mostly the specified desired output rate is not met since the filter has to wait for transforms when updating. - -~[sensor] -^^^^^^^^^ -For each sensor, users need to define this parameter based on the message type. For example, if we define one source of Imu messages and two sources of Odometry messages, the configuration would look like this: - -.. code-block:: xml - - - - - -The index for each parameter name is 0-based (e.g., ``odom0``, ``odom1``, etc.) and must be defined sequentially (e.g., do *not* use ``pose0`` and ``pose2`` if you have not defined ``pose1``). The values for each parameter are the topic name for that sensor. - -~[sensor]_config -^^^^^^^^^^^^^^^^ - -Specific parameters: - -* ``~odomN_config`` -* ``~twistN_config`` -* ``~imuN_config`` -* ``~poseN_config`` - -For each of the sensor messages defined above, users must specify what variables of those messages should be fused into the final state estimate. An example odometry configuration might look like this: - -.. code-block:: xml - - [true, true, false, - false, false, true, - true, false, false, - false, false, true, - false, false, false] - - -The order of the boolean values are :math:`X, Y, Z, roll, pitch, yaw, \dot{X}, \dot{Y}, \dot{Z}, \dot{roll}, \dot{pitch}, \dot{yaw}, \ddot{X}, \ddot{Y}, \ddot{Z}`. In this example, we are fusing :math:`X` and :math:`Y` position, :math:`yaw`, :math:`\dot{X}`, and :math:`\dot{yaw}`. - -.. note:: The specification is done in the ``frame_id`` of the **sensor**, *not* in the ``world_frame`` or ``base_link_frame``. Please see the :doc:`coniguration tutorial ` for more information. - -~[sensor]_queue_size -^^^^^^^^^^^^^^^^^^^^ - -Specific parameters: - -* ``~odomN_queue_size`` -* ``~twistN_queue_size`` -* ``~imuN_queue_size`` -* ``~poseN_queue_size`` - -Users can use these parameters to adjust the callback queue sizes for each sensor. This is useful if your ``frequency`` parameter value is much lower than your sensor's frequency, as it allows the filter to incorporate all measurements that arrived in between update cycles. - -~[sensor]_differential -^^^^^^^^^^^^^^^^^^^^^^ - -Specific parameters: - -* ``~odomN_differential`` -* ``~imuN_differential`` -* ``~poseN_differential`` - -For each of the sensor messages defined above *that contain pose information*, users can specify whether the pose variables should be integrated differentially. If a given value is set to *true*, then for a measurement at time :math:`t` from the sensor in question, we first subtract the measurement at time :math:`t-1`, and convert the resulting value to a velocity. This setting is especially useful if your robot has two sources of absolute pose information, e.g., yaw measurements from odometry and an IMU. In that case, if the variances on the input sources are not configured correctly, these measurements may get out of sync with one another and cause oscillations in the filter, but by integrating one or both of them differentially, we avoid this scenario. - -Users should take care when using this parameter for orientation data, as the conversion to velocity means that the covariance for orientation state variables will grow without bound (unless another source of absolute orientation data is being fused). If you simply want all of your pose variables to start at :math:`0`, then please use the ``_relative`` parameter. - -.. note:: If you are fusing GPS information via ``navsat_transform_node`` or ``utm_transform_node``, you should make sure that the ``_differential`` setting is *false.* - -~[sensor]_relative -^^^^^^^^^^^^^^^^^^ - -Specific parameters: - -* ``~odomN_relative`` -* ``~imuN_relative`` -* ``~poseN_relative`` - -If this parameter is set to ``true``, then any measurements from this sensor will be fused relative to the first measurement received from that sensor. This is useful if, for example, you want your state estimate to always start at :math:`(0, 0, 0)` and with :math:`roll, pitch,` and :math:`yaw` values of :math:`(0, 0, 0)`. It is similar to the ``_differential`` parameter, but instead of removing the measurement at time :math:`t-1`, we always remove the measurement at time :math:`0`, and the measurement is not converted to a velocity. - -~imuN_remove_gravitational_acceleration -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -If fusing accelerometer data from IMUs, this parameter determines whether or not acceleration due to gravity is removed from the acceleration measurement before fusing it. - -.. note:: This assumes that the IMU that is providing the acceleration data is also producing an absolute orientation. The orientation data is required to correctly remove gravitational acceleration. - -~gravitational_acceleration -^^^^^^^^^^^^^^^^^^^^^^^^^^^ -If ``imuN_remove_gravitational_acceleration`` is set to ``true``, then this parameter determines the acceleration in Z due to gravity that will be removed from the IMU's linear acceleration data. Default is 9.80665 (m/s^2). - -~initial_state -^^^^^^^^^^^^^^ -Starts the filter with the specified state. The state is given as a 15-D vector of doubles, in the same order as the sensor configurations. For example, to start your robot at a position of :math:`(5.0, 4.0, 3.0)`, a :math:`yaw` of :math:`1.57`, and a linear velocity of :math:`(0.1, 0.2, 0.3)`, you would use: - -.. code-block:: xml - - [5.0, 4.0, 3.0, - 0.0, 0.0, 1.57, - 0.1, 0.2, 0.3, - 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0] - -~publish_tf -^^^^^^^^^^^ -If *true*, the state estimation node will publish the transform from the frame specified by the ``world_frame`` parameter to the frame specified by the ``base_link_frame`` parameter. Defaults to *true*. - -~publish_acceleration -^^^^^^^^^^^^^^^^^^^^^ -If *true*, the state estimation node will publish the linear acceleration state. Defaults to *false*. - -~permit_corrected_publication -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -When the state estimation nodes publish the state at time `t`, but then receive a measurement with a timestamp < `t`, they re-publish the corrected state, with the same time stamp as the previous publication. Setting this parameter to *false* disables that behavior. Defaults to *false*. - -~print_diagnostics -^^^^^^^^^^^^^^^^^^ -If true, the state estimation node will publish diagnostic messages to the ``/diagnostics`` topic. This is useful for debugging your configuration and sensor data. - -Advanced Parameters -------------------- - -~use_control -^^^^^^^^^^^^ -If *true*, the state estimation node will listen to the `cmd_vel` topic for a `geometry_msgs/Twist `_ message, and use that to generate an acceleration term. This term is then used in the robot's state prediction. This is especially useful in situations where even small amounts of lag in convergence for a given state variable cause problems in your application (e.g., LIDAR shifting during rotations). Defaults to *false*. - -.. note:: The presence and inclusion of linear acceleration data from an IMU will currently "override" the predicted linear acceleration value. - -~stamped_control -^^^^^^^^^^^^^^^^ -If *true* and ``use_control`` is also *true*, looks for a `geometry_msgs/TwistStamped `_ message instead of a `geometry_msgs/Twist `_ message. - -~control_timeout -^^^^^^^^^^^^^^^^ -If ``use_control`` is set to *true* and no control command is received in this amount of time, given in seconds, the control-based acceleration term ceases to be applied. - -~control_config -^^^^^^^^^^^^^^^ -Controls which variables in the ``cmd_vel`` message are used in state prediction. The order of the values is :math:`\dot{X}, \dot{Y}, \dot{Z}, \dot{roll}, \dot{pitch}, \dot{yaw}`. Only used if ``use_control`` is set to *true*. - -.. code-block:: xml - - [true, false, false, - false, false, true] - -~acceleration_limits -^^^^^^^^^^^^^^^^^^^^ -How rapidly your robot can accelerate for each dimension. Matches the parameter order in ``control_config``. Only used if ``use_control`` is set to *true*. - -.. code-block:: xml - - [1.3, 0.0, 0.0, - 0.0, 0.0, 3.2] - -~deceleration_limits -^^^^^^^^^^^^^^^^^^^^ -How rapidly your robot can decelerate for each dimension. Matches the parameter order in ``control_config``. Only used if ``use_control`` is set to *true*. - -~acceleration_gains -^^^^^^^^^^^^^^^^^^^ -If your robot cannot instantaneously reach its acceleration limit, the permitted change can be controlled with these gains. Only used if ``use_control`` is set to *true*. - -.. code-block:: xml - - [0.8, 0.0, 0.0, - 0.0, 0.0, 0.9] - -~deceleration_gains -^^^^^^^^^^^^^^^^^^^ -If your robot cannot instantaneously reach its deceleration limit, the permitted change can be controlled with these gains. Only used if ``use_control`` is set to *true*. - -~smooth_lagged_data -^^^^^^^^^^^^^^^^^^^ -If any of your sensors produce data with timestamps that are older than the most recent filter update (more plainly, if you have a source of lagged sensor data), setting this parameter to *true* will enable the filter, upon reception of lagged data, to revert to the last state prior to the lagged measurement, then process all measurements until the current time. This is especially useful for measurements that come from nodes that require heavy CPU usage to generate pose estimates (e.g., laser scan matchers), as they are frequently lagged behind the current time. - -~history_length -^^^^^^^^^^^^^^^ -If ``smooth_lagged_data`` is set to *true*, this parameter specifies the number of seconds for which the filter will retain its state and measurement history. This value should be at least as large as the time delta between your lagged measurements and the current time. - -~[sensor]_nodelay -^^^^^^^^^^^^^^^^^ - -Specific parameters: - -* ``~odomN_nodelay`` -* ``~twistN_nodelay`` -* ``~imuN_nodelay`` -* ``~poseN_nodelay`` - -If *true*, sets the `tcpNoDelay` `transport hint `_. There is some evidence that Nagle's algorithm intereferes with the timely reception of large message types, such as the `nav_msgs/Odometry `_ message. Setting this to *true* for an input disables Nagle's algorithm for that subscriber. Defaults to *false*. - -~[sensor]_threshold -^^^^^^^^^^^^^^^^^^^ -Specific parameters: - -* ``~odomN_pose_rejection_threshold`` -* ``odomN_twist_rejection_threshold`` -* ``poseN_rejection_threshold`` -* ``twistN_rejection_threshold`` -* ``imuN_pose_rejection_threshold`` -* ``imuN_angular_velocity_rejection_threshold`` -* ``imuN_linear_acceleration_rejection_threshold`` - -If your data is subject to outliers, use these threshold settings, expressed as `Mahalanobis distances `_, to control how far away from the current vehicle state a sensor measurement is permitted to be. Each defaults to ``numeric_limits::max()`` if unspecified. - -~debug -^^^^^^ -Boolean flag that specifies whether or not to run in debug mode. WARNING: setting this to true will generate a massive amount of data. The data is written to the value of the ``debug_out_file`` parameter. Defaults to *false*. - -~debug_out_file -^^^^^^^^^^^^^^^^ -If ``debug`` is *true*, the file to which debug output is written. - -~process_noise_covariance -^^^^^^^^^^^^^^^^^^^^^^^^^ -The process noise covariance, commonly denoted *Q*, is used to model uncertainty in the prediction stage of the filtering algorithms. It can be difficult to tune, and has been exposed as a parameter for easier customization. This parameter can be left alone, but you will achieve superior results by tuning it. In general, the larger the value for *Q* relative to the variance for a given variable in an input message, the faster the filter will converge to the value in the measurement. - -~dynamic_process_noise_covariance -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -If *true*, will dynamically scale the ``process_noise_covariance`` based on the robot's velocity. This is useful, e.g., when you want your robot's estimate error covariance to stop growing when the robot is stationary. Defaults to *false*. - -~initial_estimate_covariance -^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -The estimate covariance, commonly denoted *P*, defines the error in the current state estimate. The parameter allows users to set the initial value for the matrix, which will affect how quickly the filter converges. For example, if users set the value at position :math:`[0, 0]` to a very small value, e.g., `1e-12`, and then attempt to fuse measurements of X position with a high variance value for :math:`X`, then the filter will be very slow to "trust" those measurements, and the time required for convergence will increase. Again, users should take care with this parameter. When only fusing velocity data (e.g., no absolute pose information), users will likely *not* want to set the initial covariance values for the absolute pose variables to large numbers. This is because those errors are going to grow without bound (owing to the lack of absolute pose measurements to reduce the error), and starting them with large values will not benefit the state estimate. - -~reset_on_time_jump -^^^^^^^^^^^^^^^^^^^ -If set to *true* and ``ros::Time::isSimTime()`` is *true*, the filter will reset to its uninitialized state when a jump back in time is detected on a topic. This is useful when working with bag data, in that the bag can be restarted without restarting the node. - -~predict_to_current_time -^^^^^^^^^^^^^^^^^^^^^^^^ -If set to *true*, the filter predicts and corrects up to the time of the latest measurement (by default) but will now also predict up to the current time step. - -~disabled_at_startup -^^^^^^^^^^^^^^^^^^^^ -If set to *true* will not run the filter on start. - -Node-specific Parameters ------------------------- -The standard and advanced parameters are common to all state estimation nodes in ``robot_localization``. This section details parameters that are unique to their respective state estimation nodes. - -ukf_localization_node -^^^^^^^^^^^^^^^^^^^^^ - -The parameters for ``ukf_localization_node`` follow the nomenclature of the `original paper `_ and `wiki article `_. - -* **~alpha** - Controls the spread of sigma points. Unless you are familiar with unscented Kalman filters, it's probably best for this setting to remain at its default value (0.001). - -* **~kappa** - Also control the spread of sigma points. Unless you are familiar with unscented Kalman filters, it's probably best for this setting to remain at its default value (0). - -* **~beta** - Relates to the distribution of the state vector. The default value of 2 implies that the distribution is Gaussian. Like the other parameters, this should remain unchanged unless the user is familiar with unscented Kalman filters. - -Published Topics -================ - -* ``odometry/filtered`` (`nav_msgs/Odometry `_) -* ``accel/filtered`` (`geometry_msgs/AccelWithCovarianceStamped `_) (if enabled) - -Published Transforms -==================== - -* If the user's ``world_frame`` parameter is set to the value of ``odom_frame``, a transform is published from the frame given by the ``odom_frame`` parameter to the frame given by the ``base_link_frame`` parameter. - -* If the user's ``world_frame`` parameter is set to the value of ``map_frame``, a transform is published from the frame given by the ``map_frame`` parameter to the frame given by the ``odom_frame`` parameter. - - .. note:: This mode assumes that another node is broadcasting the transform from the frame given by the ``odom_frame`` parameter to the frame given by the ``base_link_frame`` parameter. This can be another instance of a ``robot_localization`` state estimation node. - -Services -======== - -* ``set_pose`` - By issuing a `geometry_msgs/PoseWithCovarianceStamped `_ message to the ``set_pose`` topic, users can manually set the state of the filter. This is useful for resetting the filter during testing, and allows for interaction with ``rviz``. Alternatively, the state estimation nodes advertise a ``SetPose`` service, whose type is `robot_localization/SetPose `_. diff --git a/navigation/robot_localization/doc/user_contributed_tutorials.rst b/navigation/robot_localization/doc/user_contributed_tutorials.rst deleted file mode 100644 index 0cbe6092..00000000 --- a/navigation/robot_localization/doc/user_contributed_tutorials.rst +++ /dev/null @@ -1,13 +0,0 @@ -User-Contributed Tutorials -########################## - -Here's a list of user-contributed tutorials for robot_localization! - -Tutorials -========= - -* `ros-sensor-fusion-tutorial `_ - A comprehensive end-to-end tutorial for setting up robot_localization for sensor fusion, as well as running through the necessary concepts. (Includes a practical example of setting it up with ultrasonic beacons!) - -* `Kapernikov: The ROS robot_localization package `_ - The documentation of the robot_localization package is quite clear once you know how it works. However, it lacks a hands-on tutorial to help you with your first steps. There are some great examples on how to set up the robot_localization package, but they require good working hardware. This tutorial tries to bridge the gap, using the turtlesim package as a virtual robot. diff --git a/navigation/robot_localization/include/robot_localization/ekf.h b/navigation/robot_localization/include/robot_localization/ekf.h deleted file mode 100644 index 8f69f3a6..00000000 --- a/navigation/robot_localization/include/robot_localization/ekf.h +++ /dev/null @@ -1,85 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef ROBOT_LOCALIZATION_EKF_H -#define ROBOT_LOCALIZATION_EKF_H - -#include "robot_localization/filter_base.h" - -#include -#include -#include -#include - -namespace RobotLocalization { - -//! @brief Extended Kalman filter class -//! -//! Implementation of an extended Kalman filter (EKF). This -//! class derives from FilterBase and overrides the predict() -//! and correct() methods in keeping with the discrete time -//! EKF algorithm. -//! -class Ekf : public FilterBase { -public: - //! @brief Constructor for the Ekf class - //! - //! @param[in] args - Generic argument container (not used here, but - //! needed so that the ROS filters can pass arbitrary arguments to - //! templated filter types). - //! - explicit Ekf(std::vector args = std::vector()); - - //! @brief Destructor for the Ekf class - //! - ~Ekf(); - - //! @brief Carries out the correct step in the predict/update cycle. - //! - //! @param[in] measurement - The measurement to fuse with our estimate - //! - void correct(const Measurement &measurement); - - //! @brief Carries out the predict step in the predict/update cycle. - //! - //! Projects the state and error matrices forward using a model of - //! the vehicle's motion. - //! - //! @param[in] referenceTime - The time at which the prediction is being made - //! @param[in] delta - The time step over which to predict. - //! - void predict(const double referenceTime, const double delta); -}; - -} // namespace RobotLocalization - -#endif // ROBOT_LOCALIZATION_EKF_H diff --git a/navigation/robot_localization/include/robot_localization/filter_base.h b/navigation/robot_localization/include/robot_localization/filter_base.h deleted file mode 100644 index 41ab16bd..00000000 --- a/navigation/robot_localization/include/robot_localization/filter_base.h +++ /dev/null @@ -1,559 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef ROBOT_LOCALIZATION_FILTER_BASE_H -#define ROBOT_LOCALIZATION_FILTER_BASE_H - -#include "robot_localization/filter_common.h" -#include "robot_localization/filter_utilities.h" - -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -namespace RobotLocalization { - -//! @brief Structure used for storing and comparing measurements -//! (for priority queues) -//! -//! Measurement units are assumed to be in meters and radians. -//! Times are real-valued and measured in seconds. -//! -struct Measurement { - // The time stamp of the most recent control term (needed for lagged data) - double latestControlTime_; - - // The Mahalanobis distance threshold in number of sigmas - double mahalanobisThresh_; - - // The real-valued time, in seconds, since some epoch - // (presumably the start of execution, but any will do) - double time_; - - // The topic name for this measurement. Needed - // for capturing previous state values for new - // measurements. - std::string topicName_; - - // This defines which variables within this measurement - // actually get passed into the filter. std::vector - // is generally frowned upon, so we use ints. - std::vector updateVector_; - - // The most recent control vector (needed for lagged data) - Eigen::VectorXd latestControl_; - - // The measurement and its associated covariance - Eigen::VectorXd measurement_; - Eigen::MatrixXd covariance_; - - // We want earlier times to have greater priority - bool operator()(const boost::shared_ptr &a, - const boost::shared_ptr &b) { - return (*this)(*(a.get()), *(b.get())); - } - - bool operator()(const Measurement &a, const Measurement &b) { - return a.time_ > b.time_; - } - - Measurement() - : latestControlTime_(0.0), - mahalanobisThresh_(std::numeric_limits::max()), time_(0.0), - topicName_("") {} -}; -typedef boost::shared_ptr MeasurementPtr; - -//! @brief Structure used for storing and comparing filter states -//! -//! This structure is useful when higher-level classes need to remember filter -//! history. Measurement units are assumed to be in meters and radians. Times -//! are real-valued and measured in seconds. -//! -struct FilterState { - // The time stamp of the most recent measurement for the filter - double lastMeasurementTime_; - - // The time stamp of the most recent control term - double latestControlTime_; - - // The most recent control vector - Eigen::VectorXd latestControl_; - - // The filter state vector - Eigen::VectorXd state_; - - // The filter error covariance matrix - Eigen::MatrixXd estimateErrorCovariance_; - - // We want the queue to be sorted from latest to earliest timestamps. - bool operator()(const FilterState &a, const FilterState &b) { - return a.lastMeasurementTime_ < b.lastMeasurementTime_; - } - - FilterState() : lastMeasurementTime_(0.0), latestControlTime_(0.0) {} -}; -typedef boost::shared_ptr FilterStatePtr; - -class FilterBase { -public: - //! @brief Constructor for the FilterBase class - //! - FilterBase(); - - //! @brief Destructor for the FilterBase class - //! - virtual ~FilterBase(); - - //! @brief Resets filter to its unintialized state - //! - void reset(); - - //! @brief Computes a dynamic process noise covariance matrix using the - //! parameterized state - //! - //! This allows us to, e.g., not increase the pose covariance values when the - //! vehicle is not moving - //! - //! @param[in] state - The STATE_SIZE state vector that is used to generate - //! the dynamic process noise covariance - //! - void computeDynamicProcessNoiseCovariance(const Eigen::VectorXd &state, - const double delta); - - //! @brief Carries out the correct step in the predict/update cycle. This - //! method must be implemented by subclasses. - //! - //! @param[in] measurement - The measurement to fuse with the state estimate - //! - virtual void correct(const Measurement &measurement) = 0; - - //! @brief Returns the control vector currently being used - //! - //! @return The control vector - //! - const Eigen::VectorXd &getControl(); - - //! @brief Returns the time at which the control term was issued - //! - //! @return The time the control vector was issued - //! - double getControlTime(); - - //! @brief Gets the value of the debug_ variable. - //! - //! @return True if in debug mode, false otherwise - //! - bool getDebug(); - - //! @brief Gets the estimate error covariance - //! - //! @return A copy of the estimate error covariance matrix - //! - const Eigen::MatrixXd &getEstimateErrorCovariance(); - - //! @brief Gets the filter's initialized status - //! - //! @return True if we've received our first measurement, false otherwise - //! - bool getInitializedStatus(); - - //! @brief Gets the most recent measurement time - //! - //! @return The time at which we last received a measurement - //! - double getLastMeasurementTime(); - - //! @brief Gets the filter's predicted state, i.e., the - //! state estimate before correct() is called. - //! - //! @return A constant reference to the predicted state - //! - const Eigen::VectorXd &getPredictedState(); - - //! @brief Gets the filter's process noise covariance - //! - //! @return A constant reference to the process noise covariance - //! - const Eigen::MatrixXd &getProcessNoiseCovariance(); - - //! @brief Gets the sensor timeout value (in seconds) - //! - //! @return The sensor timeout value - //! - double getSensorTimeout(); - - //! @brief Gets the filter state - //! - //! @return A constant reference to the current state - //! - const Eigen::VectorXd &getState(); - - //! @brief Carries out the predict step in the predict/update cycle. - //! Projects the state and error matrices forward using a model of - //! the vehicle's motion. This method must be implemented by subclasses. - //! - //! @param[in] referenceTime - The time at which the prediction is being made - //! @param[in] delta - The time step over which to predict. - //! - virtual void predict(const double referenceTime, const double delta) = 0; - - //! @brief Does some final preprocessing, carries out the predict/update cycle - //! - //! @param[in] measurement - The measurement object to fuse into the filter - //! - virtual void processMeasurement(const Measurement &measurement); - - //! @brief Sets the most recent control term - //! - //! @param[in] control - The control term to be applied - //! @param[in] controlTime - The time at which the control in question was - //! received - //! - void setControl(const Eigen::VectorXd &control, const double controlTime); - - //! @brief Sets the control update vector and acceleration limits - //! - //! @param[in] updateVector - The values the control term affects - //! @param[in] controlTimeout - Timeout value, in seconds, after which a - //! control is considered stale - //! @param[in] accelerationLimits - The acceleration limits for the control - //! variables - //! @param[in] accelerationGains - Gains applied to the control term-derived - //! acceleration - //! @param[in] decelerationLimits - The deceleration limits for the control - //! variables - //! @param[in] decelerationGains - Gains applied to the control term-derived - //! deceleration - //! - void setControlParams(const std::vector &updateVector, - const double controlTimeout, - const std::vector &accelerationLimits, - const std::vector &accelerationGains, - const std::vector &decelerationLimits, - const std::vector &decelerationGains); - - //! @brief Sets the filter into debug mode - //! - //! NOTE: this will generates a lot of debug output to the provided stream. - //! The value must be a pointer to a valid ostream object. - //! - //! @param[in] debug - Whether or not to place the filter in debug mode - //! @param[in] outStream - If debug is true, then this must have a valid - //! pointer. If the pointer is invalid, the filter will not enter debug mode. - //! If debug is false, outStream is ignored. - //! - void setDebug(const bool debug, std::ostream *outStream = NULL); - - //! @brief Enables dynamic process noise covariance calculation - //! - //! @param[in] dynamicProcessNoiseCovariance - Whether or not to compute - //! dynamic process noise covariance matrices - //! - void - setUseDynamicProcessNoiseCovariance(const bool dynamicProcessNoiseCovariance); - - //! @brief Manually sets the filter's estimate error covariance - //! - //! @param[in] estimateErrorCovariance - The state to set as the filter's - //! current state - //! - void - setEstimateErrorCovariance(const Eigen::MatrixXd &estimateErrorCovariance); - - //! @brief Sets the filter's last measurement time. - //! - //! @param[in] lastMeasurementTime - The last measurement time of the filter - //! - void setLastMeasurementTime(const double lastMeasurementTime); - - //! @brief Sets the process noise covariance for the filter. - //! - //! This enables external initialization, which is important, as this - //! matrix can be difficult to tune for a given implementation. - //! - //! @param[in] processNoiseCovariance - The STATE_SIZExSTATE_SIZE process - //! noise covariance matrix to use for the filter - //! - void setProcessNoiseCovariance(const Eigen::MatrixXd &processNoiseCovariance); - - //! @brief Sets the sensor timeout - //! - //! @param[in] sensorTimeout - The time, in seconds, for a sensor to be - //! considered having timed out - //! - void setSensorTimeout(const double sensorTimeout); - - //! @brief Manually sets the filter's state - //! - //! @param[in] state - The state to set as the filter's current state - //! - void setState(const Eigen::VectorXd &state); - - //! @brief Ensures a given time delta is valid (helps with bag file playback - //! issues) - //! - //! @param[in] delta - The time delta, in seconds, to validate - //! - void validateDelta(double &delta); - -protected: - //! @brief Method for settings bounds on acceleration values derived from - //! controls - //! @param[in] state - The current state variable (e.g., linear X velocity) - //! @param[in] control - The current control commanded velocity corresponding - //! to the state variable - //! @param[in] accelerationLimit - Limit for acceleration (regardless of - //! driving direction) - //! @param[in] accelerationGain - Gain applied to acceleration control error - //! @param[in] decelerationLimit - Limit for deceleration (moving towards - //! zero, regardless of driving direction) - //! @param[in] decelerationGain - Gain applied to deceleration control error - //! @return a usable acceleration estimate for the control vector - //! - inline double computeControlAcceleration(const double state, - const double control, - const double accelerationLimit, - const double accelerationGain, - const double decelerationLimit, - const double decelerationGain) { - FB_DEBUG("---------- FilterBase::computeControlAcceleration ----------\n"); - - const double error = control - state; - const bool sameSign = (::fabs(error) <= ::fabs(control) + 0.01); - const double setPoint = (sameSign ? control : 0.0); - const bool decelerating = ::fabs(setPoint) < ::fabs(state); - double limit = accelerationLimit; - double gain = accelerationGain; - - if (decelerating) { - limit = decelerationLimit; - gain = decelerationGain; - } - - const double finalAccel = std::min(std::max(gain * error, -limit), limit); - - FB_DEBUG("Control value: " - << control << "\n" - << "State value: " << state << "\n" - << "Error: " << error << "\n" - << "Same sign: " << (sameSign ? "true" : "false") << "\n" - << "Set point: " << setPoint << "\n" - << "Decelerating: " << (decelerating ? "true" : "false") << "\n" - << "Limit: " << limit << "\n" - << "Gain: " << gain << "\n" - << "Final is " << finalAccel << "\n"); - - return finalAccel; - } - - //! @brief Keeps the state Euler angles in the range [-pi, pi] - //! - virtual void wrapStateAngles(); - - //! @brief Tests if innovation is within N-sigmas of covariance. Returns true - //! if passed the test. - //! @param[in] innovation - The difference between the measurement and the - //! state - //! @param[in] invCovariance - The innovation error - //! @param[in] nsigmas - Number of standard deviations that are considered - //! acceptable - //! - virtual bool checkMahalanobisThreshold(const Eigen::VectorXd &innovation, - const Eigen::MatrixXd &invCovariance, - const double nsigmas); - - //! @brief Converts the control term to an acceleration to be applied in the - //! prediction step - //! @param[in] referenceTime - The time of the update (measurement used in the - //! prediction step) - //! @param[in] predictionDelta - The amount of time over which we are carrying - //! out our prediction - //! - void prepareControl(const double referenceTime, const double predictionDelta); - - //! @brief Whether or not we've received any measurements - //! - bool initialized_; - - //! @brief Whether or not we apply the control term - //! - bool useControl_; - - //! @brief If true, uses the robot's vehicle state and the static process - //! noise covariance matrix to generate a dynamic process noise covariance - //! matrix - //! - bool useDynamicProcessNoiseCovariance_; - - //! @brief Tracks the time the filter was last updated using a measurement. - //! - //! This value is used to monitor sensor readings with respect to the - //! sensorTimeout_. We also use it to compute the time delta values for our - //! prediction step. - //! - double lastMeasurementTime_; - - //! @brief The time of reception of the most recent control term - //! - double latestControlTime_; - - //! @brief Timeout value, in seconds, after which a control is considered - //! stale - //! - double controlTimeout_; - - //! @brief The updates to the filter - both predict and correct - are driven - //! by measurements. If we get a gap in measurements for some reason, we want - //! the filter to continue estimating. When this gap occurs, as specified by - //! this timeout, we will continue to call predict() at the filter's - //! frequency. - //! - double sensorTimeout_; - - //! @brief Which control variables are being used (e.g., not every vehicle is - //! controllable in Y or Z) - //! - std::vector controlUpdateVector_; - - //! @brief Gains applied to acceleration derived from control term - //! - std::vector accelerationGains_; - - //! @brief Caps the acceleration we apply from control input - //! - std::vector accelerationLimits_; - - //! @brief Gains applied to deceleration derived from control term - //! - std::vector decelerationGains_; - - //! @brief Caps the deceleration we apply from control input - //! - std::vector decelerationLimits_; - - //! @brief Variable that gets updated every time we process a measurement and - //! we have a valid control - //! - Eigen::VectorXd controlAcceleration_; - - //! @brief Latest control term - //! - Eigen::VectorXd latestControl_; - - //! @brief Holds the last predicted state of the filter - //! - Eigen::VectorXd predictedState_; - - //! @brief This is the robot's state vector, which is what we are trying to - //! filter. The values in this vector are what get reported by the node. - //! - Eigen::VectorXd state_; - - //! @brief Covariance matrices can be incredibly unstable. We can - //! add a small value to it at each iteration to help maintain its - //! positive-definite property. - //! - Eigen::MatrixXd covarianceEpsilon_; - - //! @brief Gets updated when useDynamicProcessNoise_ is true - //! - Eigen::MatrixXd dynamicProcessNoiseCovariance_; - - //! @brief This matrix stores the total error in our position - //! estimate (the state_ variable). - //! - Eigen::MatrixXd estimateErrorCovariance_; - - //! @brief We need the identity for a few operations. Better to store it. - //! - Eigen::MatrixXd identity_; - - //! @brief As we move through the world, we follow a predict/update - //! cycle. If one were to imagine a scenario where all we did was make - //! predictions without correcting, the error in our position estimate - //! would grow without bound. This error is stored in the - //! stateEstimateCovariance_ matrix. However, this matrix doesn't answer - //! the question of *how much* our error should grow for each time step. - //! That's where the processNoiseCovariance matrix comes in. When we - //! make a prediction using the transfer function, we add this matrix - //! (times deltaT) to the state estimate covariance matrix. - //! - Eigen::MatrixXd processNoiseCovariance_; - - //! @brief The Kalman filter transfer function - //! - //! Kalman filters and extended Kalman filters project the current - //! state forward in time. This is the "predict" part of the predict/correct - //! cycle. A Kalman filter has a (typically constant) matrix A that defines - //! how to turn the current state, x, into the predicted next state. For an - //! EKF, this matrix becomes a function f(x). However, this function can still - //! be expressed as a matrix to make the math a little cleaner, which is what - //! we do here. Technically, each row in the matrix is actually a function. - //! Some rows will contain many trigonometric functions, which are of course - //! non-linear. In any case, you can think of this as the 'A' matrix in the - //! Kalman filter formulation. - //! - Eigen::MatrixXd transferFunction_; - - //! @brief The Kalman filter transfer function Jacobian - //! - //! The transfer function is allowed to be non-linear in an EKF, but - //! for propagating (predicting) the covariance matrix, we need to linearize - //! it about the current mean (i.e., state). This is done via a Jacobian, - //! which calculates partial derivatives of each row of the transfer function - //! matrix with respect to each state variable. - //! - Eigen::MatrixXd transferFunctionJacobian_; - - //! @brief Used for outputting debug messages - //! - std::ostream *debugStream_; - -private: - //! @brief Whether or not the filter is in debug mode - //! - bool debug_; -}; - -} // namespace RobotLocalization - -#endif // ROBOT_LOCALIZATION_FILTER_BASE_H diff --git a/navigation/robot_localization/include/robot_localization/filter_common.h b/navigation/robot_localization/include/robot_localization/filter_common.h deleted file mode 100644 index 502b7460..00000000 --- a/navigation/robot_localization/include/robot_localization/filter_common.h +++ /dev/null @@ -1,94 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef ROBOT_LOCALIZATION_FILTER_COMMON_H -#define ROBOT_LOCALIZATION_FILTER_COMMON_H - -namespace RobotLocalization { - -//! @brief Enumeration that defines the state vector -//! -enum StateMembers { - StateMemberX = 0, - StateMemberY, - StateMemberZ, - StateMemberRoll, - StateMemberPitch, - StateMemberYaw, - StateMemberVx, - StateMemberVy, - StateMemberVz, - StateMemberVroll, - StateMemberVpitch, - StateMemberVyaw, - StateMemberAx, - StateMemberAy, - StateMemberAz -}; - -//! @brief Enumeration that defines the control vector -//! -enum ControlMembers { - ControlMemberVx, - ControlMemberVy, - ControlMemberVz, - ControlMemberVroll, - ControlMemberVpitch, - ControlMemberVyaw -}; - -//! @brief Global constants that define our state -//! vector size and offsets to groups of values -//! within that state. -const int STATE_SIZE = 15; -const int POSITION_OFFSET = StateMemberX; -const int ORIENTATION_OFFSET = StateMemberRoll; -const int POSITION_V_OFFSET = StateMemberVx; -const int ORIENTATION_V_OFFSET = StateMemberVroll; -const int POSITION_A_OFFSET = StateMemberAx; - -//! @brief Pose and twist messages each -//! contain six variables -const int POSE_SIZE = 6; -const int TWIST_SIZE = 6; -const int POSITION_SIZE = 3; -const int ORIENTATION_SIZE = 3; -const int LINEAR_VELOCITY_SIZE = 3; -const int ACCELERATION_SIZE = 3; - -//! @brief Common variables -const double PI = 3.141592653589793; -const double TAU = 6.283185307179587; - -} // namespace RobotLocalization - -#endif // ROBOT_LOCALIZATION_FILTER_COMMON_H diff --git a/navigation/robot_localization/include/robot_localization/filter_utilities.h b/navigation/robot_localization/include/robot_localization/filter_utilities.h deleted file mode 100644 index abe177c6..00000000 --- a/navigation/robot_localization/include/robot_localization/filter_utilities.h +++ /dev/null @@ -1,72 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef ROBOT_LOCALIZATION_FILTER_UTILITIES_H -#define ROBOT_LOCALIZATION_FILTER_UTILITIES_H - -#include - -#include -#include -#include -#include - -#define FB_DEBUG(msg) \ - if (getDebug()) { \ - *debugStream_ << msg; \ - } - -// Handy methods for debug output -std::ostream &operator<<(std::ostream &os, const Eigen::MatrixXd &mat); -std::ostream &operator<<(std::ostream &os, const Eigen::VectorXd &vec); -std::ostream &operator<<(std::ostream &os, const std::vector &vec); -std::ostream &operator<<(std::ostream &os, const std::vector &vec); - -namespace RobotLocalization { -namespace FilterUtilities { - -//! @brief Utility method keeping RPY angles in the range [-pi, pi] -//! @param[in] rotation - The rotation to bind -//! @return the bounded value -//! -double clampRotation(double rotation); - -//! @brief Utility method for appending tf2 prefixes cleanly -//! @param[in] tfPrefix - the tf2 prefix to append -//! @param[in, out] frameId - the resulting frame_id value -//! -void appendPrefix(std::string tfPrefix, std::string &frameId); - -} // namespace FilterUtilities -} // namespace RobotLocalization - -#endif // ROBOT_LOCALIZATION_FILTER_UTILITIES_H diff --git a/navigation/robot_localization/include/robot_localization/navsat_conversions.h b/navigation/robot_localization/include/robot_localization/navsat_conversions.h deleted file mode 100644 index de3bde95..00000000 --- a/navigation/robot_localization/include/robot_localization/navsat_conversions.h +++ /dev/null @@ -1,220 +0,0 @@ -/* - * Copyright (C) 2010 Austin Robot Technology, and others - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the names of the University of Texas at Austin, nor - * Austin Robot Technology, nor the names of other contributors may - * be used to endorse or promote products derived from this - * software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * This file contains code from multiple files in the original - * source. The originals can be found here: - * - * https://github.com/austin-robot/utexas-art-ros-pkg/blob/afd147a1eb944fc3dbd138574c39699813f797bf/stacks/art_vehicle/art_common/include/art/UTM.h - * https://github.com/austin-robot/utexas-art-ros-pkg/blob/afd147a1eb944fc3dbd138574c39699813f797bf/stacks/art_vehicle/art_common/include/art/conversions.h - */ - -#ifndef ROBOT_LOCALIZATION_NAVSAT_CONVERSIONS_H -#define ROBOT_LOCALIZATION_NAVSAT_CONVERSIONS_H - -/** @file - - @brief Universal Transverse Mercator transforms. - Functions to convert (spherical) latitude and longitude to and - from (Euclidean) UTM coordinates. - @author Chuck Gantz- chuck.gantz@globalstar.com - */ - -#include -#include - -#include -#include - -#include -#include - -namespace RobotLocalization { -namespace NavsatConversions { - -const double RADIANS_PER_DEGREE = M_PI / 180.0; -const double DEGREES_PER_RADIAN = 180.0 / M_PI; - -// Grid granularity for rounding UTM coordinates to generate MapXY. -const double grid_size = 100000.0; // 100 km grid - -// WGS84 Parameters -#define WGS84_A 6378137.0 // major axis -#define WGS84_B 6356752.31424518 // minor axis -#define WGS84_F 0.0033528107 // ellipsoid flattening -#define WGS84_E 0.0818191908 // first eccentricity -#define WGS84_EP 0.0820944379 // second eccentricity - -// UTM Parameters -#define UTM_K0 0.9996 // scale factor -#define UTM_FE 500000.0 // false easting -#define UTM_FN_N 0.0 // false northing, northern hemisphere -#define UTM_FN_S 10000000.0 // false northing, southern hemisphere -#define UTM_E2 (WGS84_E * WGS84_E) // e^2 -#define UTM_E4 (UTM_E2 * UTM_E2) // e^4 -#define UTM_E6 (UTM_E4 * UTM_E2) // e^6 -#define UTM_EP2 (UTM_E2 / (1 - UTM_E2)) // e'^2 - -/** - * Utility function to convert geodetic to UTM position - * - * Units in are floating point degrees (sign for east/west) - * - * Units out are meters - * - * @todo deprecate this interface in favor of LLtoUTM() - */ -static inline void UTM(double lat, double lon, double *x, double *y) { - // constants - static const double m0 = - (1 - UTM_E2 / 4 - 3 * UTM_E4 / 64 - 5 * UTM_E6 / 256); - static const double m1 = - -(3 * UTM_E2 / 8 + 3 * UTM_E4 / 32 + 45 * UTM_E6 / 1024); - static const double m2 = (15 * UTM_E4 / 256 + 45 * UTM_E6 / 1024); - static const double m3 = -(35 * UTM_E6 / 3072); - - // compute the central meridian - int cm = ((lon >= 0.0) - ? (static_cast(lon) - (static_cast(lon)) % 6 + 3) - : (static_cast(lon) - (static_cast(lon)) % 6 - 3)); - - // convert degrees into radians - double rlat = lat * RADIANS_PER_DEGREE; - double rlon = lon * RADIANS_PER_DEGREE; - double rlon0 = cm * RADIANS_PER_DEGREE; - - // compute trigonometric functions - double slat = sin(rlat); - double clat = cos(rlat); - double tlat = tan(rlat); - - // decide the false northing at origin - double fn = (lat > 0) ? UTM_FN_N : UTM_FN_S; - - double T = tlat * tlat; - double C = UTM_EP2 * clat * clat; - double A = (rlon - rlon0) * clat; - double M = WGS84_A * (m0 * rlat + m1 * sin(2 * rlat) + m2 * sin(4 * rlat) + - m3 * sin(6 * rlat)); - double V = WGS84_A / sqrt(1 - UTM_E2 * slat * slat); - - // compute the easting-northing coordinates - *x = UTM_FE + - UTM_K0 * V * - (A + (1 - T + C) * pow(A, 3) / 6 + - (5 - 18 * T + T * T + 72 * C - 58 * UTM_EP2) * pow(A, 5) / 120); - *y = fn + - UTM_K0 * - (M + V * tlat * - (A * A / 2 + (5 - T + 9 * C + 4 * C * C) * pow(A, 4) / 24 + - ((61 - 58 * T + T * T + 600 * C - 330 * UTM_EP2) * - pow(A, 6) / 720))); - - return; -} - -/** - * Convert lat/long to UTM coords. - * - * East Longitudes are positive, West longitudes are negative. - * North latitudes are positive, South latitudes are negative - * Lat and Long are in fractional degrees - * - * @param[out] gamma meridian convergence at point (degrees). - */ -static inline void LLtoUTM(const double Lat, const double Long, - double &UTMNorthing, double &UTMEasting, - std::string &UTMZone, double &gamma) { - int zone; - bool northp; - double k_unused; - GeographicLib::UTMUPS::Forward(Lat, Long, zone, northp, UTMEasting, - UTMNorthing, gamma, k_unused, - GeographicLib::UTMUPS::zonespec::MATCH); - GeographicLib::MGRS::Forward(zone, northp, UTMEasting, UTMNorthing, -1, - UTMZone); -} - -/** - * Convert lat/long to UTM coords. - * - * East Longitudes are positive, West longitudes are negative. - * North latitudes are positive, South latitudes are negative - * Lat and Long are in fractional degrees - */ -static inline void LLtoUTM(const double Lat, const double Long, - double &UTMNorthing, double &UTMEasting, - std::string &UTMZone) { - double gamma = 0.0; - LLtoUTM(Lat, Long, UTMNorthing, UTMEasting, UTMZone, gamma); -} - -/** - * Converts UTM coords to lat/long. - * - * East Longitudes are positive, West longitudes are negative. - * North latitudes are positive, South latitudes are negative - * Lat and Long are in fractional degrees. - * - * @param[out] gamma meridian convergence at point (degrees). - */ -static inline void UTMtoLL(const double UTMNorthing, const double UTMEasting, - const std::string &UTMZone, double &Lat, - double &Long, double &gamma) { - int zone; - bool northp; - double x_unused; - double y_unused; - int prec_unused; - GeographicLib::MGRS::Reverse(UTMZone, zone, northp, x_unused, y_unused, - prec_unused, true); - GeographicLib::UTMUPS::Reverse(zone, northp, UTMEasting, UTMNorthing, Lat, - Long); -} - -/** - * Converts UTM coords to lat/long. - * - * East Longitudes are positive, West longitudes are negative. - * North latitudes are positive, South latitudes are negative - * Lat and Long are in fractional degrees. - */ -static inline void UTMtoLL(const double UTMNorthing, const double UTMEasting, - const std::string &UTMZone, double &Lat, - double &Long) { - double gamma; - UTMtoLL(UTMNorthing, UTMEasting, UTMZone, Lat, Long, gamma); -} - -} // namespace NavsatConversions -} // namespace RobotLocalization - -#endif // ROBOT_LOCALIZATION_NAVSAT_CONVERSIONS_H diff --git a/navigation/robot_localization/include/robot_localization/navsat_transform.h b/navigation/robot_localization/include/robot_localization/navsat_transform.h deleted file mode 100644 index eff72f28..00000000 --- a/navigation/robot_localization/include/robot_localization/navsat_transform.h +++ /dev/null @@ -1,401 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef ROBOT_LOCALIZATION_NAVSAT_TRANSFORM_H -#define ROBOT_LOCALIZATION_NAVSAT_TRANSFORM_H - -#include -#include -#include -#include - -#include - -#include -#include -#include - -#include -#include -#include -#include - -#include - -#include -#include -#include -#include - -#include - -namespace RobotLocalization { - -class NavSatTransform { -public: - //! @brief Constructor - //! - NavSatTransform(ros::NodeHandle nh, ros::NodeHandle nh_priv); - - //! @brief Destructor - //! - ~NavSatTransform(); - -private: - //! @brief callback function which is called for periodic updates - //! - void periodicUpdate(const ros::TimerEvent &event); - - //! @brief Computes the transform from the UTM frame to the odom frame - //! - void computeTransform(); - - //! @brief Callback for the datum service - //! - bool datumCallback(robot_localization::SetDatum::Request &request, - robot_localization::SetDatum::Response &); - - //! @brief Callback for the to Lat Long service - //! - bool toLLCallback(robot_localization::ToLL::Request &request, - robot_localization::ToLL::Response &response); - - //! @brief Callback for the from Lat Long service - //! - bool fromLLCallback(robot_localization::FromLL::Request &request, - robot_localization::FromLL::Response &response); - - //! @brief Callback for the UTM zone service - //! - bool setUTMZoneCallback(robot_localization::SetUTMZone::Request &request, - robot_localization::SetUTMZone::Response &response); - - //! @brief Given the pose of the navsat sensor in the cartesian frame, removes - //! the offset from the vehicle's centroid and returns the cartesian-frame - //! pose of said centroid. - //! - void getRobotOriginCartesianPose(const tf2::Transform &gps_cartesian_pose, - tf2::Transform &robot_cartesian_pose, - const ros::Time &transform_time); - - //! @brief Given the pose of the navsat sensor in the world frame, removes the - //! offset from the vehicle's centroid and returns the world-frame pose of - //! said centroid. - //! - void getRobotOriginWorldPose(const tf2::Transform &gps_odom_pose, - tf2::Transform &robot_odom_pose, - const ros::Time &transform_time); - - //! @brief Callback for the GPS fix data - //! @param[in] msg The NavSatFix message to process - //! - void gpsFixCallback(const sensor_msgs::NavSatFixConstPtr &msg); - - //! @brief Callback for the IMU data - //! @param[in] msg The IMU message to process - //! - void imuCallback(const sensor_msgs::ImuConstPtr &msg); - - //! @brief Callback for the odom data - //! @param[in] msg The odometry message to process - //! - void odomCallback(const nav_msgs::OdometryConstPtr &msg); - - //! @brief Converts the odometry data back to GPS and broadcasts it - //! @param[out] filtered_gps The NavSatFix message to prepare - //! - bool prepareFilteredGps(sensor_msgs::NavSatFix &filtered_gps); - - //! @brief Prepares the GPS odometry message before sending - //! @param[out] gps_odom The odometry message to prepare - //! - bool prepareGpsOdometry(nav_msgs::Odometry &gps_odom); - - //! @brief Used for setting the GPS data that will be used to compute the - //! transform - //! @param[in] msg The NavSatFix message to use in the transform - //! - void setTransformGps(const sensor_msgs::NavSatFixConstPtr &msg); - - //! @brief Used for setting the odometry data that will be used to compute the - //! transform - //! @param[in] msg The odometry message to use in the transform - //! - void setTransformOdometry(const nav_msgs::OdometryConstPtr &msg); - - //! @brief Transforms the passed in pose from utm to map frame - //! @param[in] cartesian_pose the pose in cartesian frame to use to transform - //! - nav_msgs::Odometry cartesianToMap(const tf2::Transform &cartesian_pose) const; - - //! @brief Transforms the passed in point from map frame to lat/long - //! @param[in] point the point in map frame to use to transform - //! - void mapToLL(const tf2::Vector3 &point, double &latitude, double &longitude, - double &altitude) const; - - //! @brief Whether or not we broadcast the cartesian transform - //! - bool broadcast_cartesian_transform_; - - //! @brief Whether to broadcast the cartesian transform as parent frame, - //! default as child - //! - bool broadcast_cartesian_transform_as_parent_frame_; - - //! @brief Whether or not we have new GPS data - //! - //! We only want to compute and broadcast our transformed GPS data if it's - //! new. This variable keeps track of that. - //! - bool gps_updated_; - - //! @brief Whether or not the GPS fix is usable - //! - bool has_transform_gps_; - - //! @brief Signifies that we have received a usable IMU message - //! - bool has_transform_imu_; - - //! @brief Signifies that we have received a usable odometry message - //! - bool has_transform_odom_; - - //! @brief Whether or not we have new odometry data - //! - //! If we're creating filtered GPS messages, then we only want to broadcast - //! them when new odometry data arrives. - //! - bool odom_updated_; - - //! @brief Whether or not we publish filtered GPS messages - //! - bool publish_gps_; - - //! @brief Whether or not we've computed a good heading - //! - bool transform_good_; - - //! @brief Whether we get our datum from the first GPS message or from the - //! set_datum service/parameter - //! - bool use_manual_datum_; - - //! @brief Whether we get the transform's yaw from the odometry or IMU source - //! - bool use_odometry_yaw_; - - //! @brief Whether we use a Local Cartesian (tangent plane ENU) or the UTM - //! coordinates as our cartesian - //! - bool use_local_cartesian_; - - //! @brief When true, do not print warnings for tf lookup failures. - //! - bool tf_silent_failure_; - - //! @brief Local Cartesian projection around gps origin - //! - GeographicLib::LocalCartesian gps_local_cartesian_; - - //! @brief Whether or not to report 0 altitude - //! - //! If this parameter is true, we always report 0 for the altitude of the - //! converted GPS odometry message. - //! - bool zero_altitude_; - - //! @brief Parameter that specifies the magnetic declination for the robot's - //! environment. - //! - double magnetic_declination_; - - //! @brief UTM's meridian convergence - //! - //! Angle between projected meridian (True North) and UTM's grid Y-axis. - //! For UTM projection (Ellipsoidal Transverse Mercator) it is zero on the - //! equator and non-zero everywhere else. It increases as the poles are - //! approached or as we're getting farther from central meridian. - //! - double utm_meridian_convergence_; - - //! @brief IMU's yaw offset - //! - //! Your IMU should read 0 when facing *magnetic* north. If it doesn't, this - //! (parameterized) value gives the offset (NOTE: if you have a magenetic - //! declination, use the parameter setting for that). - //! - double yaw_offset_; - - //! @brief Frame ID of the robot's body frame - //! - //! This is needed for obtaining transforms from the robot's body frame to the - //! frames of sensors (IMU and GPS) - //! - std::string base_link_frame_id_; - - //! @brief The cartesian frame ID, default as 'local_enu' if using Local - //! Cartesian or 'utm' if using the UTM coordinates as our cartesian. - //! - std::string cartesian_frame_id_; - - //! @brief The frame_id of the GPS message (specifies mounting location) - //! - std::string gps_frame_id_; - - //! @brief the UTM zone (zero means UPS) - //! - int utm_zone_; - - //! @brief hemisphere (true means north, false means south) - //! - bool northp_; - - //! @brief Frame ID of the GPS odometry output - //! - //! This will just match whatever your odometry message has - //! - std::string world_frame_id_; - - //! @brief Covariance for most recent odometry data - //! - Eigen::MatrixXd latest_odom_covariance_; - - //! @brief Covariance for most recent GPS/UTM/LocalCartesian data - //! - Eigen::MatrixXd latest_cartesian_covariance_; - - //! @brief Timestamp of the latest good GPS message - //! - //! We assign this value to the timestamp of the odometry message that we - //! output - //! - ros::Time gps_update_time_; - - //! @brief Timestamp of the latest good odometry message - //! - //! We assign this value to the timestamp of the odometry message that we - //! output - //! - ros::Time odom_update_time_; - - //! @brief Parameter that specifies the how long we wait for a transform to - //! become available. - //! - ros::Duration transform_timeout_; - - //! @brief timer calling periodicUpdate - //! - ros::Timer periodicUpdateTimer_; - - //! @brief Latest IMU orientation - //! - tf2::Quaternion transform_orientation_; - - //! @brief Latest GPS data, stored as Cartesian coords - //! - tf2::Transform latest_cartesian_pose_; - - //! @brief Latest odometry pose data - //! - tf2::Transform latest_world_pose_; - - //! @brief Holds the cartesian (UTM or local ENU) pose that is used to compute - //! the transform - //! - tf2::Transform transform_cartesian_pose_; - - //! @brief Latest IMU orientation - //! - tf2::Transform transform_world_pose_; - - //! @brief Holds the Cartesian->odom transform - //! - tf2::Transform cartesian_world_transform_; - - //! @brief Holds the odom->UTM transform for filtered GPS broadcast - //! - tf2::Transform cartesian_world_trans_inverse_; - - //! @brief Publiser for filtered gps data - //! - ros::Publisher filtered_gps_pub_; - - //! @brief GPS subscriber - //! - ros::Subscriber gps_sub_; - - //! @brief Subscribes to imu topic - //! - ros::Subscriber imu_sub_; - - //! @brief Odometry subscriber - //! - ros::Subscriber odom_sub_; - - //! @brief Publisher for gps data - //! - ros::Publisher gps_odom_pub_; - - //! @brief Service for set datum - //! - ros::ServiceServer datum_srv_; - - //! @brief Service for to Lat Long - //! - ros::ServiceServer to_ll_srv_; - - //! @brief Service for from Lat Long - //! - ros::ServiceServer from_ll_srv_; - - //! @brief Service for set UTM zone - //! - ros::ServiceServer set_utm_zone_srv_; - - //! @brief Transform buffer for managing coordinate transforms - //! - tf2_ros::Buffer tf_buffer_; - - //! @brief Transform listener for receiving transforms - //! - tf2_ros::TransformListener tf_listener_; - - //! @brief Used for publishing the static world_frame->cartesian transform - //! - tf2_ros::StaticTransformBroadcaster cartesian_broadcaster_; -}; - -} // namespace RobotLocalization - -#endif // ROBOT_LOCALIZATION_NAVSAT_TRANSFORM_H diff --git a/navigation/robot_localization/include/robot_localization/robot_localization_estimator.h b/navigation/robot_localization/include/robot_localization/robot_localization_estimator.h deleted file mode 100644 index fa0a6462..00000000 --- a/navigation/robot_localization/include/robot_localization/robot_localization_estimator.h +++ /dev/null @@ -1,213 +0,0 @@ -/* - * Copyright (c) 2016, TNO IVS Helmond. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef ROBOT_LOCALIZATION_ROBOT_LOCALIZATION_ESTIMATOR_H -#define ROBOT_LOCALIZATION_ROBOT_LOCALIZATION_ESTIMATOR_H - -#include -#include -#include -#include - -#include "robot_localization/filter_base.h" -#include "robot_localization/filter_common.h" -#include "robot_localization/filter_utilities.h" - -namespace RobotLocalization { - -struct Twist { - Eigen::Vector3d linear; - Eigen::Vector3d angular; -}; - -//! @brief Robot Localization Estimator State -//! -//! The Estimator State data structure bundles the state information of the -//! estimator. -//! -struct EstimatorState { - EstimatorState() - : time_stamp(0.0), state(STATE_SIZE), covariance(STATE_SIZE, STATE_SIZE) { - state.setZero(); - covariance.setZero(); - } - - //! @brief Time at which this state is/was achieved - double time_stamp; - - //! @brief System state at time = time_stamp - Eigen::VectorXd state; - - //! @brief System state covariance at time = time_stamp - Eigen::MatrixXd covariance; - - friend std::ostream &operator<<(std::ostream &os, - const EstimatorState &state) { - return os << "state:\n - time_stamp: " << state.time_stamp - << "\n - state: \n" - << state.state << " - covariance: \n" - << state.covariance; - } -}; - -namespace EstimatorResults { -enum EstimatorResult { - ExtrapolationIntoFuture = 0, - Interpolation, - ExtrapolationIntoPast, - Exact, - EmptyBuffer, - Failed -}; -} // namespace EstimatorResults -typedef EstimatorResults::EstimatorResult EstimatorResult; - -namespace FilterTypes { -enum FilterType { EKF = 0, UKF, NotDefined }; -} // namespace FilterTypes -typedef FilterTypes::FilterType FilterType; - -//! @brief Robot Localization Listener class -//! -//! The Robot Localization Estimator class buffers states of and inputs to a -//! system and can interpolate and extrapolate based on a given system model. -//! -class RobotLocalizationEstimator { -public: - //! @brief Constructor for the RobotLocalizationListener class - //! - //! @param[in] args - Generic argument container (not used here, but needed so - //! that the ROS filters can pass arbitrary arguments to templated filter - //! types). - //! - explicit RobotLocalizationEstimator( - unsigned int buffer_capacity, FilterType filter_type, - const Eigen::MatrixXd &process_noise_covariance, - const std::vector &filter_args = std::vector()); - - //! @brief Destructor for the RobotLocalizationListener class - //! - virtual ~RobotLocalizationEstimator(); - - //! @brief Sets the current internal state of the listener. - //! - //! @param[in] state - The new state vector to set the internal state to - //! - void setState(const EstimatorState &state); - - //! @brief Returns the state at a given time - //! - //! Projects the current state and error matrices forward using a model of the - //! robot's motion. - //! - //! @param[in] time - The time to which the prediction is being made - //! @param[out] state - The returned state at the given time - //! - //! @return GetStateResult enum - //! - EstimatorResult getState(const double time, EstimatorState &state) const; - - //! @brief Clears the internal state buffer - //! - void clearBuffer(); - - //! @brief Sets the buffer capacity - //! - //! @param[in] capacity - The new buffer capacity - //! - void setBufferCapacity(const int capacity); - - //! @brief Returns the buffer capacity - //! - //! Returns the number of EstimatorState objects that can be pushed to the - //! buffer before old ones are dropped. (The capacity of the buffer). - //! - //! @return buffer capacity - //! - unsigned int getBufferCapacity() const; - - //! @brief Returns the current buffer size - //! - //! Returns the number of EstimatorState objects currently in the buffer. - //! - //! @return current buffer size - //! - unsigned int getSize() const; - -private: - friend std::ostream &operator<<(std::ostream &os, - const RobotLocalizationEstimator &rle) { - for (boost::circular_buffer::const_iterator it = - rle.state_buffer_.begin(); - it != rle.state_buffer_.end(); ++it) { - os << *it << "\n"; - } - return os; - } - - //! @brief Extrapolates the given state to a requested time stamp - //! - //! @param[in] boundary_state - state from which to extrapolate - //! @param[in] requested_time - time stamp to extrapolate to - //! @param[out] state_at_req_time - predicted state at requested time - //! - void extrapolate(const EstimatorState &boundary_state, - const double requested_time, - EstimatorState &state_at_req_time) const; - - //! @brief Interpolates the given state to a requested time stamp - //! - //! @param[in] given_state_1 - last state update before requested time - //! @param[in] given_state_2 - next state update after requested time - //! @param[in] requested_time - time stamp to extrapolate to - //! @param[out] state_at_req_time - predicted state at requested time - //! - void interpolate(const EstimatorState &given_state_1, - const EstimatorState &given_state_2, - const double requested_time, - EstimatorState &state_at_req_time) const; - - //! - //! @brief The buffer holding the system states that have come in. - //! Interpolation and extrapolation is done starting from these states. - //! - boost::circular_buffer state_buffer_; - - //! - //! @brief A pointer to the filter instance that is used for extrapolation - //! - FilterBase *filter_; -}; - -} // namespace RobotLocalization - -#endif // ROBOT_LOCALIZATION_ROBOT_LOCALIZATION_ESTIMATOR_H diff --git a/navigation/robot_localization/include/robot_localization/ros_filter.h b/navigation/robot_localization/include/robot_localization/ros_filter.h deleted file mode 100644 index 83c80d5f..00000000 --- a/navigation/robot_localization/include/robot_localization/ros_filter.h +++ /dev/null @@ -1,786 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef ROBOT_LOCALIZATION_ROS_FILTER_H -#define ROBOT_LOCALIZATION_ROS_FILTER_H - -#include "robot_localization/filter_base.h" -#include "robot_localization/filter_common.h" -#include "robot_localization/ros_filter_utilities.h" - -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -namespace RobotLocalization { - -struct CallbackData { - CallbackData(const std::string &topicName, - const std::vector &updateVector, const int updateSum, - const bool differential, const bool relative, - const double rejectionThreshold) - : topicName_(topicName), updateVector_(updateVector), - updateSum_(updateSum), differential_(differential), relative_(relative), - rejectionThreshold_(rejectionThreshold) {} - - std::string topicName_; - std::vector updateVector_; - int updateSum_; - bool differential_; - bool relative_; - double rejectionThreshold_; -}; - -typedef std::priority_queue, - Measurement> - MeasurementQueue; -typedef std::deque MeasurementHistoryDeque; -typedef std::deque FilterStateHistoryDeque; - -template class RosFilter { -public: - //! @brief Constructor - //! - //! The RosFilter constructor makes sure that anyone using - //! this template is doing so with the correct object type - //! - explicit RosFilter(ros::NodeHandle nh, ros::NodeHandle nh_priv, - std::string node_name, - std::vector args = std::vector()); - - //! @brief Constructor - //! - //! The RosFilter constructor makes sure that anyone using - //! this template is doing so with the correct object type - //! - explicit RosFilter(ros::NodeHandle nh, ros::NodeHandle nh_priv, - std::vector args = std::vector()); - - //! @brief Destructor - //! - //! Clears out the message filters and topic subscribers. - //! - ~RosFilter(); - - //! @brief Initialize filter - // - void initialize(); - - //! @brief Resets the filter to its initial state - //! - void reset(); - - //! @brief Service callback to toggle processing measurements for a standby - //! mode but continuing to publish - //! @param[in] request - The state requested, on (True) or off (False) - //! @param[out] response - status if upon success - //! @return boolean true if successful, false if not - bool toggleFilterProcessingCallback( - robot_localization::ToggleFilterProcessing::Request &, - robot_localization::ToggleFilterProcessing::Response &); - - //! @brief Callback method for receiving all acceleration (IMU) messages - //! @param[in] msg - The ROS IMU message to take in. - //! @param[in] callbackData - Relevant static callback data - //! @param[in] targetFrame - The target frame_id into which to transform the - //! data - //! - void accelerationCallback(const sensor_msgs::Imu::ConstPtr &msg, - const CallbackData &callbackData, - const std::string &targetFrame); - - //! @brief Callback method for receiving non-stamped control input - //! @param[in] msg - The ROS twist message to take in - //! - void controlCallback(const geometry_msgs::Twist::ConstPtr &msg); - - //! @brief Callback method for receiving stamped control input - //! @param[in] msg - The ROS stamped twist message to take in - //! - void controlCallback(const geometry_msgs::TwistStamped::ConstPtr &msg); - - //! @brief Adds a measurement to the queue of measurements to be processed - //! - //! @param[in] topicName - The name of the measurement source (only used for - //! debugging) - //! @param[in] measurement - The measurement to enqueue - //! @param[in] measurementCovariance - The covariance of the measurement - //! @param[in] updateVector - The boolean vector that specifies which - //! variables to update from this measurement - //! @param[in] mahalanobisThresh - Threshold, expressed as a Mahalanobis - //! distance, for outlier rejection - //! @param[in] time - The time of arrival (in seconds) - //! - void enqueueMeasurement(const std::string &topicName, - const Eigen::VectorXd &measurement, - const Eigen::MatrixXd &measurementCovariance, - const std::vector &updateVector, - const double mahalanobisThresh, - const ros::Time &time); - - //! @brief Method for zeroing out 3D variables within measurements - //! @param[out] measurement - The measurement whose 3D variables will be - //! zeroed out - //! @param[out] measurementCovariance - The covariance of the measurement - //! @param[out] updateVector - The boolean update vector of the measurement - //! - //! If we're in 2D mode, then for every measurement from every sensor, we call - //! this. It sets the 3D variables to 0, gives those variables tiny variances, - //! and sets their updateVector values to 1. - //! - void forceTwoD(Eigen::VectorXd &measurement, - Eigen::MatrixXd &measurementCovariance, - std::vector &updateVector); - - //! @brief Retrieves the EKF's output for broadcasting - //! @param[out] message - The standard ROS odometry message to be filled - //! @return true if the filter is initialized, false otherwise - //! - bool getFilteredOdometryMessage(nav_msgs::Odometry &message); - - //! @brief Retrieves the EKF's acceleration output for broadcasting - //! @param[out] message - The standard ROS acceleration message to be filled - //! @return true if the filter is initialized, false otherwise - //! - bool - getFilteredAccelMessage(geometry_msgs::AccelWithCovarianceStamped &message); - - //! @brief Callback method for receiving all IMU messages - //! @param[in] msg - The ROS IMU message to take in. - //! @param[in] topicName - The topic name for the IMU message (only used for - //! debug output) - //! @param[in] poseCallbackData - Relevant static callback data for - //! orientation variables - //! @param[in] twistCallbackData - Relevant static callback data for angular - //! velocity variables - //! @param[in] accelCallbackData - Relevant static callback data for linear - //! acceleration variables - //! - //! This method separates out the orientation, angular velocity, and linear - //! acceleration data and passed each on to its respective callback. - //! - void imuCallback(const sensor_msgs::Imu::ConstPtr &msg, - const std::string &topicName, - const CallbackData &poseCallbackData, - const CallbackData &twistCallbackData, - const CallbackData &accelCallbackData); - - //! @brief Processes all measurements in the measurement queue, in temporal - //! order - //! - //! @param[in] currentTime - The time at which to carry out integration (the - //! current time) - //! - void integrateMeasurements(const ros::Time ¤tTime); - - //! @brief Loads all parameters from file - //! - void loadParams(); - - //! @brief Callback method for receiving all odometry messages - //! @param[in] msg - The ROS odometry message to take in. - //! @param[in] topicName - The topic name for the odometry message (only used - //! for debug output) - //! @param[in] poseCallbackData - Relevant static callback data for pose - //! variables - //! @param[in] twistCallbackData - Relevant static callback data for twist - //! variables - //! - //! This method simply separates out the pose and twist data into two new - //! messages, and passes them into their respective callbacks - //! - void odometryCallback(const nav_msgs::Odometry::ConstPtr &msg, - const std::string &topicName, - const CallbackData &poseCallbackData, - const CallbackData &twistCallbackData); - - //! @brief Callback method for receiving all pose messages - //! @param[in] msg - The ROS stamped pose with covariance message to take in - //! @param[in] callbackData - Relevant static callback data - //! @param[in] targetFrame - The target frame_id into which to transform the - //! data - //! @param[in] imuData - Whether this data comes from an IMU - //! - void - poseCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg, - const CallbackData &callbackData, const std::string &targetFrame, - const bool imuData); - - //! @brief Callback method for manually setting/resetting the internal pose - //! estimate - //! @param[in] msg - The ROS stamped pose with covariance message to take in - //! - void setPoseCallback( - const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg); - - //! @brief Service callback for manually setting/resetting the internal pose - //! estimate - //! - //! @param[in] request - Custom service request with pose information - //! @return true if successful, false if not - bool setPoseSrvCallback(robot_localization::SetPose::Request &request, - robot_localization::SetPose::Response &); - - //! @brief Service callback for manually enable the filter - //! @param[in] request - N/A - //! @param[out] response - N/A - //! @return boolean true if successful, false if not - bool enableFilterSrvCallback(std_srvs::Empty::Request &, - std_srvs::Empty::Response &); - - //! @brief Callback method for receiving all twist messages - //! @param[in] msg - The ROS stamped twist with covariance message to take in. - //! @param[in] callbackData - Relevant static callback data - //! @param[in] targetFrame - The target frame_id into which to transform the - //! data - //! - void - twistCallback(const geometry_msgs::TwistWithCovarianceStamped::ConstPtr &msg, - const CallbackData &callbackData, - const std::string &targetFrame); - - //! @brief Validates filter outputs for NaNs and Infinite values - //! @param[out] message - The standard ROS odometry message to be validated - //! @return true if the filter output is valid, false otherwise - //! - bool validateFilterOutput(const nav_msgs::Odometry &message); - -protected: - //! @brief Finds the latest filter state before the given timestamp and makes - //! it the current state again. - //! - //! This method also inserts all measurements between the older filter - //! timestamp and now into the measurements queue. - //! - //! @param[in] time - The time to which the filter state should revert - //! @return True if restoring the filter succeeded. False if not. - //! - bool revertTo(const double time); - - //! @brief Saves the current filter state in the queue of previous filter - //! states - //! - //! These measurements will be used in backwards smoothing in the event that - //! older measurements come in. - //! @param[in] filter - The filter base object whose state we want to save - //! - void saveFilterState(FilterBase &filter); - - //! @brief Removes measurements and filter states older than the given cutoff - //! time. - //! @param[in] cutoffTime - Measurements and states older than this time will - //! be dropped. - //! - void clearExpiredHistory(const double cutoffTime); - - //! @brief Clears measurement queue - //! - void clearMeasurementQueue(); - - //! @brief Adds a diagnostic message to the accumulating map and updates the - //! error level - //! @param[in] errLevel - The error level of the diagnostic - //! @param[in] topicAndClass - The sensor topic (if relevant) and class of - //! diagnostic - //! @param[in] message - Details of the diagnostic - //! @param[in] staticDiag - Whether or not this diagnostic information is - //! static - //! - void addDiagnostic(const int errLevel, const std::string &topicAndClass, - const std::string &message, const bool staticDiag); - - //! @brief Aggregates all diagnostics so they can be published - //! @param[in] wrapper - The diagnostic status wrapper to update - //! - void - aggregateDiagnostics(diagnostic_updater::DiagnosticStatusWrapper &wrapper); - - //! @brief Utility method for copying covariances from ROS covariance arrays - //! to Eigen matrices - //! - //! This method copies the covariances and also does some data validation, - //! which is why it requires more parameters than just the covariance - //! containers. - //! @param[in] arr - The source array for the covariance data - //! @param[in] covariance - The destination matrix for the covariance data - //! @param[in] topicName - The name of the source data topic (for debug - //! purposes) - //! @param[in] updateVector - The update vector for the source topic - //! @param[in] offset - The "starting" location within the array/update vector - //! @param[in] dimension - The number of values to copy, starting at the - //! offset - //! - void copyCovariance(const double *arr, Eigen::MatrixXd &covariance, - const std::string &topicName, - const std::vector &updateVector, const size_t offset, - const size_t dimension); - - //! @brief Utility method for copying covariances from Eigen matrices to ROS - //! covariance arrays - //! - //! @param[in] covariance - The source matrix for the covariance data - //! @param[in] arr - The destination array - //! @param[in] dimension - The number of values to copy - //! - void copyCovariance(const Eigen::MatrixXd &covariance, double *arr, - const size_t dimension); - - //! @brief Loads fusion settings from the config file - //! @param[in] topicName - The name of the topic for which to load settings - //! @return The boolean vector of update settings for each variable for this - //! topic - //! - std::vector loadUpdateConfig(const std::string &topicName); - - //! @brief Prepares an IMU message's linear acceleration for integration into - //! the filter - //! @param[in] msg - The IMU message to prepare - //! @param[in] topicName - The name of the topic over which this message was - //! received - //! @param[in] targetFrame - The target tf frame - //! @param[in] updateVector - The update vector for the data source - //! @param[in] measurement - The twist data converted to a measurement - //! @param[in] measurementCovariance - The covariance of the converted - //! measurement - //! - bool prepareAcceleration(const sensor_msgs::Imu::ConstPtr &msg, - const std::string &topicName, - const std::string &targetFrame, - std::vector &updateVector, - Eigen::VectorXd &measurement, - Eigen::MatrixXd &measurementCovariance); - - //! @brief Prepares a pose message for integration into the filter - //! @param[in] msg - The pose message to prepare - //! @param[in] topicName - The name of the topic over which this message was - //! received - //! @param[in] targetFrame - The target tf frame - //! @param[in] differential - Whether we're carrying out differential - //! integration - //! @param[in] relative - Whether this measurement is processed relative to - //! the first - //! @param[in] imuData - Whether this measurement is from an IMU - //! @param[in,out] updateVector - The update vector for the data source - //! @param[out] measurement - The pose data converted to a measurement - //! @param[out] measurementCovariance - The covariance of the converted - //! measurement - //! @return true indicates that the measurement was successfully prepared, - //! false otherwise - //! - bool - preparePose(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg, - const std::string &topicName, const std::string &targetFrame, - const bool differential, const bool relative, const bool imuData, - std::vector &updateVector, Eigen::VectorXd &measurement, - Eigen::MatrixXd &measurementCovariance); - - //! @brief Prepares a twist message for integration into the filter - //! @param[in] msg - The twist message to prepare - //! @param[in] topicName - The name of the topic over which this message was - //! received - //! @param[in] targetFrame - The target tf frame - //! @param[in,out] updateVector - The update vector for the data source - //! @param[out] measurement - The twist data converted to a measurement - //! @param[out] measurementCovariance - The covariance of the converted - //! measurement - //! @return true indicates that the measurement was successfully prepared, - //! false otherwise - //! - bool - prepareTwist(const geometry_msgs::TwistWithCovarianceStamped::ConstPtr &msg, - const std::string &topicName, const std::string &targetFrame, - std::vector &updateVector, Eigen::VectorXd &measurement, - Eigen::MatrixXd &measurementCovariance); - - //! @brief callback function which is called for periodic updates - //! - void periodicUpdate(const ros::TimerEvent &event); - - //! @brief Start the Filter disabled at startup - //! - //! If this is true, the filter reads parameters and prepares publishers and - //! subscribes but does not integrate new messages into the state vector. The - //! filter can be enabled later using a service. - bool disabledAtStartup_; - - //! @brief Whether the filter is enabled or not. See disabledAtStartup_. - bool enabled_; - - //! Whether we'll allow old measurements to cause a re-publication of the - //! updated state - bool permitCorrectedPublication_; - - //! @brief By default, the filter predicts and corrects up to the time of the - //! latest measurement. If this is set to true, the filter does the same, but - //! then also predicts up to the current time step. - //! - bool predictToCurrentTime_; - - //! @brief Whether or not we print diagnostic messages to the /diagnostics - //! topic - //! - bool printDiagnostics_; - - //! @brief Whether we publish the acceleration - //! - bool publishAcceleration_; - - //! @brief Whether we publish the transform from the world_frame to the - //! base_link_frame - //! - bool publishTransform_; - - //! @brief Whether to reset the filters when backwards jump in time is - //! detected - //! - //! This is usually the case when logs are being used and a jump in the logi - //! is done or if a log files restarts from the beginning. - //! - bool resetOnTimeJump_; - - //! @brief Whether or not we use smoothing - //! - bool smoothLaggedData_; - - //! @brief Whether the filter should process new measurements or not. - bool toggledOn_; - - //! @brief Whether or not we're in 2D mode - //! - //! If this is true, the filter binds all 3D variables (Z, - //! roll, pitch, and their respective velocities) to 0 for - //! every measurement. - //! - bool twoDMode_; - - //! @brief Whether or not we use a control term - //! - bool useControl_; - - //! @brief When true, do not print warnings for tf lookup failures. - //! - bool tfSilentFailure_; - - //! @brief The max (worst) dynamic diagnostic level. - //! - int dynamicDiagErrorLevel_; - - //! @brief The max (worst) static diagnostic level. - //! - int staticDiagErrorLevel_; - - //! @brief The frequency of the run loop - //! - double frequency_; - - //! @brief What is the acceleration in Z due to gravity (m/s^2)? Default is - //! +9.80665. - //! - double gravitationalAcc_; - - //! @brief The depth of the history we track for smoothing/delayed measurement - //! processing - //! - //! This is the guaranteed minimum buffer size for which previous states and - //! measurements are kept. - //! - double historyLength_; - - //! @brief minimal frequency - //! - double minFrequency_; - - //! @brief maximal frequency - double maxFrequency_; - - //! @brief tf frame name for the robot's body frame - //! - std::string baseLinkFrameId_; - - //! @brief tf frame name for the robot's body frame - //! - //! When the final state is computed, we "override" the output transform and - //! message to have this frame for its child_frame_id. This helps to enable - //! disconnected TF trees when multiple EKF instances are being run. - //! - std::string baseLinkOutputFrameId_; - - //! @brief tf frame name for the robot's map (world-fixed) frame - //! - std::string mapFrameId_; - - //! @brief tf frame name for the robot's odometry (world-fixed) frame - //! - std::string odomFrameId_; - - //! @brief tf frame name that is the parent frame of the transform that this - //! node will calculate and broadcast. - //! - std::string worldFrameId_; - - //! @brief Used for outputting debug messages - //! - std::ofstream debugStream_; - - //! @brief Contains the state vector variable names in string format - //! - std::vector stateVariableNames_; - - //! @brief Vector to hold our subscribers until they go out of scope - //! - std::vector topicSubs_; - - //! @brief This object accumulates dynamic diagnostics, e.g., diagnostics - //! relating to sensor data. - //! - //! The values are considered transient and are cleared at every iteration. - //! - std::map dynamicDiagnostics_; - - //! @brief Stores the first measurement from each topic for relative - //! measurements - //! - //! When a given sensor is being integrated in relative mode, its first - //! measurement is effectively treated as an offset, and future measurements - //! have this first measurement removed before they are fused. This variable - //! stores the initial measurements. Note that this is different from using - //! differential mode, as in differential mode, pose data is converted to - //! twist data, resulting in boundless error growth for the variables being - //! fused. With relative measurements, the vehicle will start with a 0 heading - //! and position, but the measurements are still fused absolutely. - std::map initialMeasurements_; - - //! @brief Store the last time a message from each topic was received - //! - //! If we're getting messages rapidly, we may accidentally get - //! an older message arriving after a newer one. This variable keeps - //! track of the most recent message time for each subscribed message - //! topic. We also use it when listening to odometry messages to - //! determine if we should be using messages from that topic. - //! - std::map lastMessageTimes_; - - //! @brief We also need the previous covariance matrix for differential data - //! - std::map previousMeasurementCovariances_; - - //! @brief Stores the last measurement from a given topic for differential - //! integration - //! - //! To carry out differential integration, we have to (1) transform - //! that into the target frame (probably the frame specified by - //! @p odomFrameId_), (2) "subtract" the previous measurement from - //! the current measurement, and then (3) transform it again by the previous - //! state estimate. This holds the measurements used for step (2). - //! - std::map previousMeasurements_; - - //! @brief If including acceleration for each IMU input, whether or not we - //! remove acceleration due to gravity - //! - std::map removeGravitationalAcc_; - - //! @brief This object accumulates static diagnostics, e.g., diagnostics - //! relating to the configuration parameters. - //! - //! The values are treated as static and always reported (i.e., this object is - //! never cleared) - //! - std::map staticDiagnostics_; - - //! @brief The most recent control input - //! - Eigen::VectorXd latestControl_; - - //! @brief Message that contains our latest transform (i.e., state) - //! - //! We use the vehicle's latest state in a number of places, and often - //! use it as a transform, so this is the most convenient variable to - //! use as our global "current state" object - //! - geometry_msgs::TransformStamped worldBaseLinkTransMsg_; - - //! @brief last call of periodicUpdate - //! - ros::Time lastDiagTime_; - - //! @brief The time of the most recent published state - //! - ros::Time lastPublishedStamp_; - - //! @brief Store the last time set pose message was received - //! - //! If we receive a setPose message to reset the filter, we can get in - //! strange situations wherein we process the pose reset, but then even - //! after another spin cycle or two, we can get a new message with a time - //! stamp that is *older* than the setPose message's time stamp. This means - //! we have to check the message's time stamp against the lastSetPoseTime_. - ros::Time lastSetPoseTime_; - - //! @brief The time of the most recent control input - //! - ros::Time latestControlTime_; - - //! @brief For future (or past) dating the world_frame->base_link_frame - //! transform - //! - ros::Duration tfTimeOffset_; - - //! @brief Parameter that specifies the how long we wait for a transform to - //! become available. - //! - ros::Duration tfTimeout_; - - //! @brief Service that allows another node to toggle on/off filter processing - //! while still publishing. Uses a robot_localization ToggleFilterProcessing - //! service. - //! - ros::ServiceServer toggleFilterProcessingSrv_; - - //! @brief timer calling periodicUpdate - //! - ros::Timer periodicUpdateTimer_; - - //! @brief An implicitly time ordered queue of past filter states used for - //! smoothing. - // - // front() refers to the filter state with the earliest timestamp. - // back() refers to the filter state with the latest timestamp. - FilterStateHistoryDeque filterStateHistory_; - - //! @brief A deque of previous measurements which is implicitly ordered from - //! earliest to latest measurement. - // when popped from the measurement priority queue. - // front() refers to the measurement with the earliest timestamp. - // back() refers to the measurement with the latest timestamp. - MeasurementHistoryDeque measurementHistory_; - - //! @brief We process measurements by queueing them up in - //! callbacks and processing them all at once within each - //! iteration - //! - MeasurementQueue measurementQueue_; - - //! @brief Our filter (EKF, UKF, etc.) - //! - T filter_; - - //! @brief Node handle - //! - ros::NodeHandle nh_; - - //! @brief Local node handle (for params) - //! - ros::NodeHandle nhLocal_; - - //! @brief optional acceleration publisher - //! - ros::Publisher accelPub_; - - //! @brief position publisher - //! - ros::Publisher positionPub_; - - //! @brief Subscribes to the control input topic - //! - ros::Subscriber controlSub_; - - //! @brief Subscribes to the set_pose topic (usually published from rviz). - //! Message type is geometry_msgs/PoseWithCovarianceStamped. - //! - ros::Subscriber setPoseSub_; - - //! @brief Service that allows another node to enable the filter. Uses a - //! standard Empty service. - //! - ros::ServiceServer enableFilterSrv_; - - //! @brief Service that allows another node to change the current state and - //! recieve a confirmation. Uses a custom SetPose service. - //! - ros::ServiceServer setPoseSrv_; - - //! @brief Used for updating the diagnostics - //! - diagnostic_updater::Updater diagnosticUpdater_; - - //! @brief Transform buffer for managing coordinate transforms - //! - tf2_ros::Buffer tfBuffer_; - - //! @brief Transform listener for receiving transforms - //! - tf2_ros::TransformListener tfListener_; - - //! @brief broadcaster of worldTransform tfs - //! - tf2_ros::TransformBroadcaster worldTransformBroadcaster_; - - //! @brief optional signaling diagnostic frequency - //! - std::unique_ptr freqDiag_; -}; - -} // namespace RobotLocalization - -#endif // ROBOT_LOCALIZATION_ROS_FILTER_H diff --git a/navigation/robot_localization/include/robot_localization/ros_filter_types.h b/navigation/robot_localization/include/robot_localization/ros_filter_types.h deleted file mode 100644 index bb802004..00000000 --- a/navigation/robot_localization/include/robot_localization/ros_filter_types.h +++ /dev/null @@ -1,47 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef ROBOT_LOCALIZATION_ROS_FILTER_TYPES_H -#define ROBOT_LOCALIZATION_ROS_FILTER_TYPES_H - -#include "robot_localization/ekf.h" -#include "robot_localization/ros_filter.h" -#include "robot_localization/ukf.h" - -namespace RobotLocalization { - -typedef RosFilter RosEkf; -typedef RosFilter RosUkf; - -} // namespace RobotLocalization - -#endif // ROBOT_LOCALIZATION_ROS_FILTER_TYPES_H diff --git a/navigation/robot_localization/include/robot_localization/ros_filter_utilities.h b/navigation/robot_localization/include/robot_localization/ros_filter_utilities.h deleted file mode 100644 index 96b46222..00000000 --- a/navigation/robot_localization/include/robot_localization/ros_filter_utilities.h +++ /dev/null @@ -1,135 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef ROBOT_LOCALIZATION_ROS_FILTER_UTILITIES_H -#define ROBOT_LOCALIZATION_ROS_FILTER_UTILITIES_H - -#include -#include -#include - -#include - -#include -#include -#include -#include - -#define RF_DEBUG(msg) \ - if (filter_.getDebug()) { \ - debugStream_ << msg; \ - } - -// Handy methods for debug output -std::ostream &operator<<(std::ostream &os, const tf2::Vector3 &vec); -std::ostream &operator<<(std::ostream &os, const tf2::Quaternion &quat); -std::ostream &operator<<(std::ostream &os, const tf2::Transform &trans); -std::ostream &operator<<(std::ostream &os, const std::vector &vec); - -namespace RobotLocalization { -namespace RosFilterUtilities { - -double getYaw(const tf2::Quaternion quat); - -//! @brief Method for safely obtaining transforms. -//! @param[in] buffer - tf buffer object to use for looking up the transform -//! @param[in] targetFrame - The target frame of the desired transform -//! @param[in] sourceFrame - The source frame of the desired transform -//! @param[in] time - The time at which we want the transform -//! @param[in] timeout - How long to block before falling back to last transform -//! @param[out] targetFrameTrans - The resulting transform object -//! @param[in] silent - Whether or not to print transform warnings -//! @return Sets the value of @p targetFrameTrans and returns true if -//! successful, false otherwise. -//! -//! This method attempts to obtain a transform from the @p sourceFrame to the @p -//! targetFrame at the specific @p time. If no transform is available at that -//! time, it attempts to simply obtain the latest transform. If that still -//! fails, then the method checks to see if the transform is going from a given -//! frame_id to itself. If any of these checks succeed, the method sets the -//! value of @p targetFrameTrans and returns true, otherwise it returns false. -//! -bool lookupTransformSafe(const tf2_ros::Buffer &buffer, - const std::string &targetFrame, - const std::string &sourceFrame, const ros::Time &time, - const ros::Duration &timeout, - tf2::Transform &targetFrameTrans, - const bool silent = false); - -//! @brief Method for safely obtaining transforms. -//! @param[in] buffer - tf buffer object to use for looking up the transform -//! @param[in] targetFrame - The target frame of the desired transform -//! @param[in] sourceFrame - The source frame of the desired transform -//! @param[in] time - The time at which we want the transform -//! @param[out] targetFrameTrans - The resulting transform object -//! @param[in] silent - Whether or not to print transform warnings -//! @return Sets the value of @p targetFrameTrans and returns true if -//! successful, false otherwise. -//! -//! This method attempts to obtain a transform from the @p sourceFrame to the @p -//! targetFrame at the specific @p time. If no transform is available at that -//! time, it attempts to simply obtain the latest transform. If that still -//! fails, then the method checks to see if the transform is going from a given -//! frame_id to itself. If any of these checks succeed, the method sets the -//! value of @p targetFrameTrans and returns true, otherwise it returns false. -//! -bool lookupTransformSafe(const tf2_ros::Buffer &buffer, - const std::string &targetFrame, - const std::string &sourceFrame, const ros::Time &time, - tf2::Transform &targetFrameTrans, - const bool silent = false); - -//! @brief Utility method for converting quaternion to RPY -//! @param[in] quat - The quaternion to convert -//! @param[out] roll - The converted roll -//! @param[out] pitch - The converted pitch -//! @param[out] yaw - The converted yaw -//! -void quatToRPY(const tf2::Quaternion &quat, double &roll, double &pitch, - double &yaw); - -//! @brief Converts our Eigen state vector into a TF transform/pose -//! @param[in] state - The state to convert -//! @param[out] stateTF - The converted state -//! -void stateToTF(const Eigen::VectorXd &state, tf2::Transform &stateTF); - -//! @brief Converts a TF transform/pose into our Eigen state vector -//! @param[in] stateTF - The state to convert -//! @param[out] state - The converted state -//! -void TFtoState(const tf2::Transform &stateTF, Eigen::VectorXd &state); - -} // namespace RosFilterUtilities -} // namespace RobotLocalization - -#endif // ROBOT_LOCALIZATION_ROS_FILTER_UTILITIES_H diff --git a/navigation/robot_localization/include/robot_localization/ros_robot_localization_listener.h b/navigation/robot_localization/include/robot_localization/ros_robot_localization_listener.h deleted file mode 100644 index 8f82741a..00000000 --- a/navigation/robot_localization/include/robot_localization/ros_robot_localization_listener.h +++ /dev/null @@ -1,181 +0,0 @@ -/* - * Copyright (c) 2016, TNO IVS Helmond. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef ROBOT_LOCALIZATION_ROS_ROBOT_LOCALIZATION_LISTENER_H -#define ROBOT_LOCALIZATION_ROS_ROBOT_LOCALIZATION_LISTENER_H - -#include "robot_localization/robot_localization_estimator.h" - -#include - -#include -#include -#include -#include -#include -#include - -namespace RobotLocalization { - -//! @brief RosRobotLocalizationListener class -//! -//! This class wraps the RobotLocalizationEstimator. It listens to topics over -//! which the (filtered) robot state is published (odom and accel) and pushes -//! them into its instance of the RobotLocalizationEstimator. It exposes a -//! getState method to offer the user the estimated state at a requested time. -//! This class offers the option to run this listener without the need to run a -//! separate node. If you do wish to run this functionality in a separate node, -//! consider the robot localization listener node. -//! -class RosRobotLocalizationListener { -public: - //! @brief Constructor - //! - //! The RosRobotLocalizationListener constructor initializes nodehandles, - //! subscribers, a filter for synchronized listening to the topics it - //! subscribes to, and an instance of the RobotLocalizationEstimator. - //! - RosRobotLocalizationListener(); - - //! @brief Destructor - //! - //! Empty destructor - //! - ~RosRobotLocalizationListener(); - - //! @brief Get a state from the localization estimator - //! - //! Requests the predicted state and covariance at a given time from the Robot - //! Localization Estimator. - //! - //! @param[in] time - time of the requested state - //! @param[in] frame_id - frame id of which the state is requested. - //! @param[out] state - state at the requested time - //! @param[out] covariance - covariance at the requested time - //! - //! @return false if buffer is empty, true otherwise - //! - bool getState(const double time, const std::string &frame_id, - Eigen::VectorXd &state, Eigen::MatrixXd &covariance, - std::string world_frame_id = "") const; - - //! @brief Get a state from the localization estimator - //! - //! Overload of getState method for using ros::Time. - //! - //! @param[in] ros_time - ros time of the requested state - //! @param[in] frame_id - frame id of which the state is requested. - //! @param[out] state - state at the requested time - //! @param[out] covariance - covariance at the requested time - //! - //! @return false if buffer is empty, true otherwise - //! - bool getState(const ros::Time &ros_time, const std::string &frame_id, - Eigen::VectorXd &state, Eigen::MatrixXd &covariance, - const std::string &world_frame_id = "") const; - - //! - //! \brief getBaseFrameId Returns the base frame id of the localization - //! listener \return The base frame id - //! - const std::string &getBaseFrameId() const; - - //! - //! \brief getWorldFrameId Returns the world frame id of the localization - //! listener \return The world frame id - //! - const std::string &getWorldFrameId() const; - -private: - //! @brief Callback for odom and accel - //! - //! Puts the information from the odom and accel messages in a Robot - //! Localization Estimator state and sets the most recent state of the - //! estimator. - //! - //! @param[in] odometry message - //! @param[in] accel message - //! - void - odomAndAccelCallback(const nav_msgs::Odometry &odom, - const geometry_msgs::AccelWithCovarianceStamped &accel); - - //! @brief The core state estimator that facilitates inter- and - //! extrapolation between buffered states. - //! - RobotLocalizationEstimator *estimator_; - - //! @brief A public handle to the ROS node - //! - ros::NodeHandle nh_; - - //! @brief A private handle to the ROS node - //! - ros::NodeHandle nh_p_; - - //! @brief Subscriber to the odometry state topic (output of a filter node) - //! - message_filters::Subscriber odom_sub_; - - //! @brief Subscriber to the acceleration state topic (output of a filter - //! node) - //! - message_filters::Subscriber - accel_sub_; - - //! @brief Waits for both an Odometry and an Accel message before calling a - //! single callback function - //! - message_filters::TimeSynchronizer - sync_; - - //! @brief Child frame id received from the Odometry message - //! - std::string base_frame_id_; - - //! @brief Frame id received from the odometry message - //! - std::string world_frame_id_; - - //! @brief Tf buffer for looking up transforms - //! - tf2_ros::Buffer tf_buffer_; - - //! @brief Transform listener to fill the tf_buffer - //! - tf2_ros::TransformListener tf_listener_; -}; - -} // namespace RobotLocalization - -#endif // ROBOT_LOCALIZATION_ROS_ROBOT_LOCALIZATION_LISTENER_H diff --git a/navigation/robot_localization/include/robot_localization/ukf.h b/navigation/robot_localization/include/robot_localization/ukf.h deleted file mode 100644 index 52d356d3..00000000 --- a/navigation/robot_localization/include/robot_localization/ukf.h +++ /dev/null @@ -1,137 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef ROBOT_LOCALIZATION_UKF_H -#define ROBOT_LOCALIZATION_UKF_H - -#include "robot_localization/filter_base.h" - -#include -#include -#include -#include - -namespace RobotLocalization { - -//! @brief Unscented Kalman filter class -//! -//! Implementation of an unscenter Kalman filter (UKF). This -//! class derives from FilterBase and overrides the predict() -//! and correct() methods in keeping with the discrete time -//! UKF algorithm. The algorithm was derived from the UKF -//! Wikipedia article at -//! (http://en.wikipedia.org/wiki/Kalman_filter#Unscented_Kalman_filter) -//! ...and this paper: -//! J. J. LaViola, Jr., “A comparison of unscented and extended Kalman -//! filtering for estimating quaternion motion,” in Proc. American Control -//! Conf., Denver, CO, June 4–6, 2003, pp. 2435–2440 -//! Obtained here: http://www.cs.ucf.edu/~jjl/pubs/laviola_acc2003.pdf -//! -class Ukf : public FilterBase { -public: - //! @brief Constructor for the Ukf class - //! - //! @param[in] args - Generic argument container. It is assumed - //! that args[0] constains the alpha parameter, args[1] contains - //! the kappa parameter, and args[2] contains the beta parameter. - //! - explicit Ukf(std::vector args); - - //! @brief Destructor for the Ukf class - //! - ~Ukf(); - - //! @brief Carries out the correct step in the predict/update cycle. - //! - //! @param[in] measurement - The measurement to fuse with our estimate - //! - void correct(const Measurement &measurement); - - //! @brief Carries out the predict step in the predict/update cycle. - //! - //! Projects the state and error matrices forward using a model of - //! the vehicle's motion. - //! - //! @param[in] referenceTime - The time at which the prediction is being made - //! @param[in] delta - The time step over which to predict. - //! - void predict(const double referenceTime, const double delta); - -protected: - //! @brief Computes the weighted covariance and sigma points - //! - void generateSigmaPoints(); - - //! @brief Carries out the predict step for the posteriori state of a sigma - //! point. - //! - //! Projects the state and error matrices forward using a model of - //! the vehicle's motion. - //! - //! @param[in,out] sigmaPoint - The sigma point (state vector) to project - //! @param[in] delta - The time step over which to project - //! - void projectSigmaPoint(Eigen::VectorXd &sigmaPoint, double delta); - - //! @brief The UKF sigma points - //! - //! Used to sample possible next states during prediction. - //! - std::vector sigmaPoints_; - - //! @brief This matrix is used to generate the sigmaPoints_ - //! - Eigen::MatrixXd weightedCovarSqrt_; - - //! @brief The weights associated with each sigma point when generating - //! a new state - //! - std::vector stateWeights_; - - //! @brief The weights associated with each sigma point when calculating - //! a predicted estimateErrorCovariance_ - //! - std::vector covarWeights_; - - //! @brief Used in weight generation for the sigma points - //! - double lambda_; - - //! @brief Used to determine if we need to re-compute the sigma - //! points when carrying out multiple corrections - //! - bool uncorrected_; -}; - -} // namespace RobotLocalization - -#endif // ROBOT_LOCALIZATION_UKF_H diff --git a/navigation/robot_localization/launch/dual_ekf_navsat_example.launch b/navigation/robot_localization/launch/dual_ekf_navsat_example.launch deleted file mode 100644 index bec3c162..00000000 --- a/navigation/robot_localization/launch/dual_ekf_navsat_example.launch +++ /dev/null @@ -1,27 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/navigation/robot_localization/launch/ekf_nodelet_template.launch b/navigation/robot_localization/launch/ekf_nodelet_template.launch deleted file mode 100644 index f4f74ea1..00000000 --- a/navigation/robot_localization/launch/ekf_nodelet_template.launch +++ /dev/null @@ -1,38 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/navigation/robot_localization/launch/ekf_template.launch b/navigation/robot_localization/launch/ekf_template.launch deleted file mode 100644 index c5c2bbdc..00000000 --- a/navigation/robot_localization/launch/ekf_template.launch +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - diff --git a/navigation/robot_localization/launch/navsat_transform_template.launch b/navigation/robot_localization/launch/navsat_transform_template.launch deleted file mode 100644 index 9c2a458c..00000000 --- a/navigation/robot_localization/launch/navsat_transform_template.launch +++ /dev/null @@ -1,51 +0,0 @@ - - - - - - - - - - - diff --git a/navigation/robot_localization/launch/ukf_template.launch b/navigation/robot_localization/launch/ukf_template.launch deleted file mode 100644 index 9d2b0b26..00000000 --- a/navigation/robot_localization/launch/ukf_template.launch +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - diff --git a/navigation/robot_localization/nodelet_plugins.xml b/navigation/robot_localization/nodelet_plugins.xml deleted file mode 100644 index 56b98efe..00000000 --- a/navigation/robot_localization/nodelet_plugins.xml +++ /dev/null @@ -1,27 +0,0 @@ - - - - ekf_localization_node as nodelet - - - - - - - ukf_localization_node as nodelet - - - - - - - navsat_transform_node as nodelet - - - diff --git a/navigation/robot_localization/package.xml b/navigation/robot_localization/package.xml deleted file mode 100644 index ab66a398..00000000 --- a/navigation/robot_localization/package.xml +++ /dev/null @@ -1,54 +0,0 @@ - - - robot_localization - 2.7.3 - Provides nonlinear state estimation through sensor fusion of an abritrary number of sensors. - - Tom Moore - - BSD - - http://ros.org/wiki/robot_localization - - Tom Moore - - catkin - - angles - cmake_modules - diagnostic_msgs - diagnostic_updater - eigen - eigen_conversions - geographiclib - geographic_msgs - geometry_msgs - message_filters - nav_msgs - nodelet - roscpp - sensor_msgs - std_msgs - std_srvs - tf2 - tf2_geometry_msgs - tf2_ros - yaml-cpp - - message_generation - python-catkin-pkg - python3-catkin-pkg - roslint - - message_runtime - - rosbag - rostest - rosunit - - - - - - - diff --git a/navigation/robot_localization/params/dual_ekf_navsat_example.yaml b/navigation/robot_localization/params/dual_ekf_navsat_example.yaml deleted file mode 100644 index c6d749dd..00000000 --- a/navigation/robot_localization/params/dual_ekf_navsat_example.yaml +++ /dev/null @@ -1,166 +0,0 @@ -# For parameter descriptions, please refer to the template parameter files for each node. - -ekf_se_odom: - frequency: 30 - sensor_timeout: 0.1 - two_d_mode: false - transform_time_offset: 0.0 - transform_timeout: 0.0 - print_diagnostics: true - debug: false - - map_frame: map - odom_frame: odom - base_link_frame: base_link - world_frame: odom - - odom0: odometry/wheel - odom0_config: [false, false, false, - false, false, false, - true, true, true, - false, false, true, - false, false, false] - odom0_queue_size: 10 - odom0_nodelay: true - odom0_differential: false - odom0_relative: false - - imu0: imu/data - imu0_config: [false, false, false, - true, true, false, - false, false, false, - true, true, true, - true, true, true] - imu0_nodelay: false - imu0_differential: false - imu0_relative: false - imu0_queue_size: 10 - imu0_remove_gravitational_acceleration: true - - use_control: false - - process_noise_covariance: [1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3] - - initial_estimate_covariance: [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0] - -ekf_se_map: - frequency: 30 - sensor_timeout: 0.1 - two_d_mode: false - transform_time_offset: 0.0 - transform_timeout: 0.0 - print_diagnostics: true - debug: false - - map_frame: map - odom_frame: odom - base_link_frame: base_link - world_frame: map - - odom0: odometry/wheel - odom0_config: [false, false, false, - false, false, false, - true, true, true, - false, false, true, - false, false, false] - odom0_queue_size: 10 - odom0_nodelay: true - odom0_differential: false - odom0_relative: false - - odom1: odometry/gps - odom1_config: [true, true, false, - false, false, false, - false, false, false, - false, false, false, - false, false, false] - odom1_queue_size: 10 - odom1_nodelay: true - odom1_differential: false - odom1_relative: false - - imu0: imu/data - imu0_config: [false, false, false, - true, true, false, - false, false, false, - true, true, true, - true, true, true] - imu0_nodelay: true - imu0_differential: false - imu0_relative: false - imu0_queue_size: 10 - imu0_remove_gravitational_acceleration: true - - use_control: false - - process_noise_covariance: [1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3] - - initial_estimate_covariance: [1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0] - -navsat_transform: - frequency: 30 - delay: 3.0 - magnetic_declination_radians: 0.0429351 # For lat/long 55.944831, -3.186998 - yaw_offset: 1.570796327 # IMU reads 0 facing magnetic north, not east - zero_altitude: false - broadcast_utm_transform: true - publish_filtered_gps: true - use_odometry_yaw: false - wait_for_datum: false - diff --git a/navigation/robot_localization/params/ekf_template.yaml b/navigation/robot_localization/params/ekf_template.yaml deleted file mode 100644 index 06e722e7..00000000 --- a/navigation/robot_localization/params/ekf_template.yaml +++ /dev/null @@ -1,255 +0,0 @@ -# The frequency, in Hz, at which the filter will output a position estimate. Note that the filter will not begin -# computation until it receives at least one message from one of the inputs. It will then run continuously at the -# frequency specified here, regardless of whether it receives more measurements. Defaults to 30 if unspecified. -frequency: 30 - -silent_tf_failure: false -# The period, in seconds, after which we consider a sensor to have timed out. In this event, we carry out a predict -# cycle on the EKF without correcting it. This parameter can be thought of as the minimum frequency with which the -# filter will generate new output. Defaults to 1 / frequency if not specified. -sensor_timeout: 0.1 - -# ekf_localization_node and ukf_localization_node both use a 3D omnidirectional motion model. If this parameter is -# set to true, no 3D information will be used in your state estimate. Use this if you are operating in a planar -# environment and want to ignore the effect of small variations in the ground plane that might otherwise be detected -# by, for example, an IMU. Defaults to false if unspecified. -two_d_mode: false - -# Use this parameter to provide an offset to the transform generated by ekf_localization_node. This can be used for -# future dating the transform, which is required for interaction with some other packages. Defaults to 0.0 if -# unspecified. -transform_time_offset: 0.0 - -# Use this parameter to provide specify how long the tf listener should wait for a transform to become available. -# Defaults to 0.0 if unspecified. -transform_timeout: 0.0 - -# If you're having trouble, try setting this to true, and then echo the /diagnostics_agg topic to see if the node is -# unhappy with any settings or data. -print_diagnostics: true - -# Debug settings. Not for the faint of heart. Outputs a ludicrous amount of information to the file specified by -# debug_out_file. I hope you like matrices! Please note that setting this to true will have strongly deleterious -# effects on the performance of the node. Defaults to false if unspecified. -debug: false - -# Defaults to "robot_localization_debug.txt" if unspecified. Please specify the full path. -debug_out_file: /path/to/debug/file.txt - -# Whether to broadcast the transformation over the /tf topic. Defaults to true if unspecified. -publish_tf: true - -# Whether to publish the acceleration state. Defaults to false if unspecified. -publish_acceleration: false - -# Whether we'll allow old measurements to cause a re-publication of the updated state -permit_corrected_publication: false - -# REP-105 (http://www.ros.org/reps/rep-0105.html) specifies four principal coordinate frames: base_link, odom, map, and -# earth. base_link is the coordinate frame that is affixed to the robot. Both odom and map are world-fixed frames. -# The robot's position in the odom frame will drift over time, but is accurate in the short term and should be -# continuous. The odom frame is therefore the best frame for executing local motion plans. The map frame, like the odom -# frame, is a world-fixed coordinate frame, and while it contains the most globally accurate position estimate for your -# robot, it is subject to discrete jumps, e.g., due to the fusion of GPS data or a correction from a map-based -# localization node. The earth frame is used to relate multiple map frames by giving them a common reference frame. -# ekf_localization_node and ukf_localization_node are not concerned with the earth frame. -# Here is how to use the following settings: -# 1. Set the map_frame, odom_frame, and base_link frames to the appropriate frame names for your system. -# 1a. If your system does not have a map_frame, just remove it, and make sure "world_frame" is set to the value of -# odom_frame. -# 2. If you are fusing continuous position data such as wheel encoder odometry, visual odometry, or IMU data, set -# "world_frame" to your odom_frame value. This is the default behavior for robot_localization's state estimation nodes. -# 3. If you are fusing global absolute position data that is subject to discrete jumps (e.g., GPS or position updates -# from landmark observations) then: -# 3a. Set your "world_frame" to your map_frame value -# 3b. MAKE SURE something else is generating the odom->base_link transform. Note that this can even be another state -# estimation node from robot_localization! However, that instance should *not* fuse the global data. -map_frame: map # Defaults to "map" if unspecified -odom_frame: odom # Defaults to "odom" if unspecified -base_link_frame: base_link # Defaults to "base_link" if unspecified -world_frame: odom # Defaults to the value of odom_frame if unspecified - -# The filter accepts an arbitrary number of inputs from each input message type (nav_msgs/Odometry, -# geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/TwistWithCovarianceStamped, -# sensor_msgs/Imu). To add an input, simply append the next number in the sequence to its "base" name, e.g., odom0, -# odom1, twist0, twist1, imu0, imu1, imu2, etc. The value should be the topic name. These parameters obviously have no -# default values, and must be specified. -odom0: example/odom - -# Each sensor reading updates some or all of the filter's state. These options give you greater control over which -# values from each measurement are fed to the filter. For example, if you have an odometry message as input, but only -# want to use its Z position value, then set the entire vector to false, except for the third entry. The order of the -# values is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Note that not some message types -# do not provide some of the state variables estimated by the filter. For example, a TwistWithCovarianceStamped message -# has no pose information, so the first six values would be meaningless in that case. Each vector defaults to all false -# if unspecified, effectively making this parameter required for each sensor. -odom0_config: [true, true, false, - false, false, false, - false, false, false, - false, false, true, - false, false, false] - -# If you have high-frequency data or are running with a low frequency parameter value, then you may want to increase -# the size of the subscription queue so that more measurements are fused. -odom0_queue_size: 2 - -# [ADVANCED] Large messages in ROS can exhibit strange behavior when they arrive at a high frequency. This is a result -# of Nagle's algorithm. This option tells the ROS subscriber to use the tcpNoDelay option, which disables Nagle's -# algorithm. -odom0_nodelay: false - -# [ADVANCED] When measuring one pose variable with two sensors, a situation can arise in which both sensors under- -# report their covariances. This can lead to the filter rapidly jumping back and forth between each measurement as they -# arrive. In these cases, it often makes sense to (a) correct the measurement covariances, or (b) if velocity is also -# measured by one of the sensors, let one sensor measure pose, and the other velocity. However, doing (a) or (b) isn't -# always feasible, and so we expose the differential parameter. When differential mode is enabled, all absolute pose -# data is converted to velocity data by differentiating the absolute pose measurements. These velocities are then -# integrated as usual. NOTE: this only applies to sensors that provide pose measurements; setting differential to true -# for twist measurements has no effect. -odom0_differential: false - -# [ADVANCED] When the node starts, if this parameter is true, then the first measurement is treated as a "zero point" -# for all future measurements. While you can achieve the same effect with the differential paremeter, the key -# difference is that the relative parameter doesn't cause the measurement to be converted to a velocity before -# integrating it. If you simply want your measurements to start at 0 for a given sensor, set this to true. -odom0_relative: false - -# [ADVANCED] If your data is subject to outliers, use these threshold settings, expressed as Mahalanobis distances, to -# control how far away from the current vehicle state a sensor measurement is permitted to be. Each defaults to -# numeric_limits::max() if unspecified. It is strongly recommended that these parameters be removed if not -# required. Data is specified at the level of pose and twist variables, rather than for each variable in isolation. -# For messages that have both pose and twist data, the parameter specifies to which part of the message we are applying -# the thresholds. -odom0_pose_rejection_threshold: 5 -odom0_twist_rejection_threshold: 1 - -# Further input parameter examples -odom1: example/another_odom -odom1_config: [false, false, true, - false, false, false, - false, false, false, - false, false, true, - false, false, false] -odom1_differential: false -odom1_relative: true -odom1_queue_size: 2 -odom1_pose_rejection_threshold: 2 -odom1_twist_rejection_threshold: 0.2 -odom1_nodelay: false - -pose0: example/pose -pose0_config: [true, true, false, - false, false, false, - false, false, false, - false, false, false, - false, false, false] -pose0_differential: true -pose0_relative: false -pose0_queue_size: 5 -pose0_rejection_threshold: 2 # Note the difference in parameter name -pose0_nodelay: false - -twist0: example/twist -twist0_config: [false, false, false, - false, false, false, - true, true, true, - false, false, false, - false, false, false] -twist0_queue_size: 3 -twist0_rejection_threshold: 2 -twist0_nodelay: false - -imu0: example/imu -imu0_config: [false, false, false, - true, true, true, - false, false, false, - true, true, true, - true, true, true] -imu0_nodelay: false -imu0_differential: false -imu0_relative: true -imu0_queue_size: 5 -imu0_pose_rejection_threshold: 0.8 # Note the difference in parameter names -imu0_twist_rejection_threshold: 0.8 # -imu0_linear_acceleration_rejection_threshold: 0.8 # - -# [ADVANCED] Some IMUs automatically remove acceleration due to gravity, and others don't. If yours doesn't, please set -# this to true, and *make sure* your data conforms to REP-103, specifically, that the data is in ENU frame. -imu0_remove_gravitational_acceleration: true - -# [ADVANCED] The EKF and UKF models follow a standard predict/correct cycle. During prediction, if there is no -# acceleration reference, the velocity at time t+1 is simply predicted to be the same as the velocity at time t. During -# correction, this predicted value is fused with the measured value to produce the new velocity estimate. This can be -# problematic, as the final velocity will effectively be a weighted average of the old velocity and the new one. When -# this velocity is the integrated into a new pose, the result can be sluggish covergence. This effect is especially -# noticeable with LIDAR data during rotations. To get around it, users can try inflating the process_noise_covariance -# for the velocity variable in question, or decrease the variance of the variable in question in the measurement -# itself. In addition, users can also take advantage of the control command being issued to the robot at the time we -# make the prediction. If control is used, it will get converted into an acceleration term, which will be used during -# predicition. Note that if an acceleration measurement for the variable in question is available from one of the -# inputs, the control term will be ignored. -# Whether or not we use the control input during predicition. Defaults to false. -use_control: true -# Whether the input (assumed to be cmd_vel) is a geometry_msgs/Twist or geometry_msgs/TwistStamped message. Defaults to -# false. -stamped_control: false -# The last issued control command will be used in prediction for this period. Defaults to 0.2. -control_timeout: 0.2 -# Which velocities are being controlled. Order is vx, vy, vz, vroll, vpitch, vyaw. -control_config: [true, false, false, false, false, true] -# Places limits on how large the acceleration term will be. Should match your robot's kinematics. -acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4] -# Acceleration and deceleration limits are not always the same for robots. -deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5] -# If your robot cannot instantaneously reach its acceleration limit, the permitted change can be controlled with these -# gains -acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9] -# If your robot cannot instantaneously reach its deceleration limit, the permitted change can be controlled with these -# gains -deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0] - -# [ADVANCED] The process noise covariance matrix can be difficult to tune, and can vary for each application, so it is -# exposed as a configuration parameter. This matrix represents the noise we add to the total error after each -# prediction step. The better the omnidirectional motion model matches your system, the smaller these values can be. -# However, if users find that a given variable is slow to converge, one approach is to increase the -# process_noise_covariance diagonal value for the variable in question, which will cause the filter's predicted error -# to be larger, which will cause the filter to trust the incoming measurement more during correction. The values are -# ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below if -# unspecified. -process_noise_covariance: [0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015] - -# [ADVANCED] This represents the initial value for the state estimate error covariance matrix. Setting a diagonal -# value (variance) to a large value will result in rapid convergence for initial measurements of the variable in -# question. Users should take care not to use large values for variables that will not be measured directly. The values -# are ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below -#if unspecified. -initial_estimate_covariance: [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] - diff --git a/navigation/robot_localization/params/navsat_transform_template.yaml b/navigation/robot_localization/params/navsat_transform_template.yaml deleted file mode 100644 index 55717205..00000000 --- a/navigation/robot_localization/params/navsat_transform_template.yaml +++ /dev/null @@ -1,48 +0,0 @@ -# Frequency of the main run loop -frequency: 30 - -# Delay time, in seconds, before we calculate the transform from the UTM frame to your world frame. This is especially -# important if you have use_odometry_yaw set to true. Defaults to 0. -delay: 3.0 - -# PLEASE READ: Like all nodes in robot_localization, this node assumes that your IMU data is reported in the ENU frame. -# Many IMUs report data in the NED frame, so you'll want to verify that your data is in the correct frame before using -# it. - -# If your IMU does not account for magnetic declination, enter the value for your location here. If you don't know it, -# see http://www.ngdc.noaa.gov/geomag-web/ (make sure to convert the value to radians). This parameter is mandatory. -magnetic_declination_radians: 0 - -# Your IMU's yaw, once the magentic_declination_radians value is added to it, should report 0 when facing east. If it -# doesn't, enter the offset here. Defaults to 0. -yaw_offset: 0.0 - -# If this is true, the altitude is set to 0 in the output odometry message. Defaults to false. -zero_altitude: false - -# If this is true, the transform world_frame->utm transform is broadcast for use by other nodes. Defaults to false. -broadcast_utm_transform: false - -# If this is true, the utm->world_frame transform will be published instead of the world_frame->utm transform. -# Note that broadcast_utm_transform still has to be enabled. Defaults to false. -broadcast_utm_transform_as_parent_frame: false - -# If this is true, all received odometry data is converted back to a lat/lon and published as a NavSatFix message as -# /gps/filtered. Defaults to false. -publish_filtered_gps: false - -# If this is true, the node ignores the IMU data and gets its heading from the odometry source (typically the -# /odometry/filtered topic coming from one of robot_localization's state estimation nodes). BE CAREFUL when using this! -# The yaw value in your odometry source *must* be world-referenced, e.g., you cannot use your odometry source for yaw -# if your yaw data is based purely on integrated velocities. Defaults to false. -use_odometry_yaw: false - -# If true, will retrieve the datum from the 'datum' parameter below, if available. If no 'datum' parameter exists, -# navsat_transform_node will wait until the user calls the 'datum' service with the SetDatum service message. -wait_for_datum: false - -# Instead of using the first GPS location and IMU-based heading for the local-frame origin, users can specify the -# origin (datum) using this parameter. The fields in the parameter represent latitude and longitude in decimal degrees, -# and heading in radians. As navsat_transform_node assumes an ENU standard, a 0 heading corresponds to east. -datum: [55.944904, -3.186693, 0.0] - diff --git a/navigation/robot_localization/params/ukf_template.yaml b/navigation/robot_localization/params/ukf_template.yaml deleted file mode 100644 index 683313ff..00000000 --- a/navigation/robot_localization/params/ukf_template.yaml +++ /dev/null @@ -1,267 +0,0 @@ -# The frequency, in Hz, at which the filter will output a position estimate. Note that the filter will not begin -# computation until it receives at least one message from one of the inputs. It will then run continuously at the -# frequency specified here, regardless of whether it receives more measurements. Defaults to 30 if unspecified. -frequency: 30 - -# The period, in seconds, after which we consider a sensor to have timed out. In this event, we carry out a predict -# cycle on the EKF without correcting it. This parameter can be thought of as the minimum frequency with which the -# filter will generate new output. Defaults to 1 / frequency if not specified. -sensor_timeout: 0.1 - -# ekf_localization_node and ukf_localization_node both use a 3D omnidirectional motion model. If this parameter is -# set to true, no 3D information will be used in your state estimate. Use this if you are operating in a planar -# environment and want to ignore the effect of small variations in the ground plane that might otherwise be detected -# by, for example, an IMU. Defaults to false if unspecified. -two_d_mode: false - -# Use this parameter to provide an offset to the transform generated by ekf_localization_node. This can be used for -# future dating the transform, which is required for interaction with some other packages. Defaults to 0.0 if -# unspecified. -transform_time_offset: 0.0 - -# Use this parameter to provide specify how long the tf listener should wait for a transform to become available. -# Defaults to 0.0 if unspecified. -transform_timeout: 0.0 - -# If you're having trouble, try setting this to true, and then echo the /diagnostics_agg topic to see if the node is -# unhappy with any settings or data. -print_diagnostics: true - -# Whether we'll allow old measurements to cause a re-publication of the updated state -permit_corrected_publication: false - -# Debug settings. Not for the faint of heart. Outputs a ludicrous amount of information to the file specified by -# debug_out_file. I hope you like matrices! Please note that setting this to true will have strongly deleterious -# effects on the performance of the node. Defaults to false if unspecified. -debug: false - -# Defaults to "robot_localization_debug.txt" if unspecified. Please specify the full path. -debug_out_file: /path/to/debug/file.txt - -# Whether to broadcast the transformation over the /tf topic. Defaults to true if unspecified. -publish_tf: true - -# Whether to publish the acceleration state. Defaults to false if unspecified. -publish_acceleration: false - -# Whether we'll allow old measurements to cause a re-publication of the updated state -permit_corrected_publication: false - -# REP-105 (http://www.ros.org/reps/rep-0105.html) specifies four principal coordinate frames: base_link, odom, map, and -# earth. base_link is the coordinate frame that is affixed to the robot. Both odom and map are world-fixed frames. -# The robot's position in the odom frame will drift over time, but is accurate in the short term and should be -# continuous. The odom frame is therefore the best frame for executing local motion plans. The map frame, like the odom -# frame, is a world-fixed coordinate frame, and while it contains the most globally accurate position estimate for your -# robot, it is subject to discrete jumps, e.g., due to the fusion of GPS data or a correction from a map-based -# localization node. The earth frame is used to relate multiple map frames by giving them a common reference frame. -# ekf_localization_node and ukf_localization_node are not concerned with the earth frame. -# Here is how to use the following settings: -# 1. Set the map_frame, odom_frame, and base_link frames to the appropriate frame names for your system. -# 1a. If your system does not have a map_frame, just remove it, and make sure "world_frame" is set to the value of -# odom_frame. -# 2. If you are fusing continuous position data such as wheel encoder odometry, visual odometry, or IMU data, set -# "world_frame" to your odom_frame value. This is the default behavior for robot_localization's state estimation nodes. -# 3. If you are fusing global absolute position data that is subject to discrete jumps (e.g., GPS or position updates -# from landmark observations) then: -# 3a. Set your "world_frame" to your map_frame value -# 3b. MAKE SURE something else is generating the odom->base_link transform. Note that this can even be another state -# estimation node from robot_localization! However, that instance should *not* fuse the global data. -map_frame: map # Defaults to "map" if unspecified -odom_frame: odom # Defaults to "odom" if unspecified -base_link_frame: base_link # Defaults to "base_link" if unspecified -world_frame: odom # Defaults to the value of odom_frame if unspecified - -# The filter accepts an arbitrary number of inputs from each input message type (nav_msgs/Odometry, -# geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/TwistWithCovarianceStamped, -# sensor_msgs/Imu). To add an input, simply append the next number in the sequence to its "base" name, e.g., odom0, -# odom1, twist0, twist1, imu0, imu1, imu2, etc. The value should be the topic name. These parameters obviously have no -# default values, and must be specified. -odom0: example/odom - -# Each sensor reading updates some or all of the filter's state. These options give you greater control over which -# values from each measurement are fed to the filter. For example, if you have an odometry message as input, but only -# want to use its Z position value, then set the entire vector to false, except for the third entry. The order of the -# values is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Note that not some message types -# do not provide some of the state variables estimated by the filter. For example, a TwistWithCovarianceStamped message -# has no pose information, so the first six values would be meaningless in that case. Each vector defaults to all false -# if unspecified, effectively making this parameter required for each sensor. -odom0_config: [true, true, false, - false, false, false, - false, false, false, - false, false, true, - false, false, false] - -# If you have high-frequency data or are running with a low frequency parameter value, then you may want to increase -# the size of the subscription queue so that more measurements are fused. -odom0_queue_size: 2 - -# [ADVANCED] Large messages in ROS can exhibit strange behavior when they arrive at a high frequency. This is a result -# of Nagle's algorithm. This option tells the ROS subscriber to use the tcpNoDelay option, which disables Nagle's -# algorithm. -odom0_nodelay: false - -# [ADVANCED] When measuring one pose variable with two sensors, a situation can arise in which both sensors under- -# report their covariances. This can lead to the filter rapidly jumping back and forth between each measurement as they -# arrive. In these cases, it often makes sense to (a) correct the measurement covariances, or (b) if velocity is also -# measured by one of the sensors, let one sensor measure pose, and the other velocity. However, doing (a) or (b) isn't -# always feasible, and so we expose the differential parameter. When differential mode is enabled, all absolute pose -# data is converted to velocity data by differentiating the absolute pose measurements. These velocities are then -# integrated as usual. NOTE: this only applies to sensors that provide pose measurements; setting differential to true -# for twist measurements has no effect. -odom0_differential: false - -# [ADVANCED] When the node starts, if this parameter is true, then the first measurement is treated as a "zero point" -# for all future measurements. While you can achieve the same effect with the differential paremeter, the key -# difference is that the relative parameter doesn't cause the measurement to be converted to a velocity before -# integrating it. If you simply want your measurements to start at 0 for a given sensor, set this to true. -odom0_relative: false - -# [ADVANCED] If your data is subject to outliers, use these threshold settings, expressed as Mahalanobis distances, to -# control how far away from the current vehicle state a sensor measurement is permitted to be. Each defaults to -# numeric_limits::max() if unspecified. It is strongly recommended that these parameters be removed if not -# required. Data is specified at the level of pose and twist variables, rather than for each variable in isolation. -# For messages that have both pose and twist data, the parameter specifies to which part of the message we are applying -# the thresholds. -odom0_pose_rejection_threshold: 5 -odom0_twist_rejection_threshold: 1 - -# Further input parameter examples -odom1: example/another_odom -odom1_config: [false, false, true, - false, false, false, - false, false, false, - false, false, true, - false, false, false] -odom1_differential: false -odom1_relative: true -odom1_queue_size: 2 -odom1_pose_rejection_threshold: 2 -odom1_twist_rejection_threshold: 0.2 -odom1_nodelay: false - -pose0: example/pose -pose0_config: [true, true, false, - false, false, false, - false, false, false, - false, false, false, - false, false, false] -pose0_differential: true -pose0_relative: false -pose0_queue_size: 5 -pose0_rejection_threshold: 2 # Note the difference in parameter name -pose0_nodelay: false - -twist0: example/twist -twist0_config: [false, false, false, - false, false, false, - true, true, true, - false, false, false, - false, false, false] -twist0_queue_size: 3 -twist0_rejection_threshold: 2 -twist0_nodelay: false - -imu0: example/imu -imu0_config: [false, false, false, - true, true, true, - false, false, false, - true, true, true, - true, true, true] -imu0_nodelay: false -imu0_differential: false -imu0_relative: true -imu0_queue_size: 5 -imu0_pose_rejection_threshold: 0.8 # Note the difference in parameter names -imu0_twist_rejection_threshold: 0.8 # -imu0_linear_acceleration_rejection_threshold: 0.8 # - -# [ADVANCED] Some IMUs automatically remove acceleration due to gravity, and others don't. If yours doesn't, please set -# this to true, and *make sure* your data conforms to REP-103, specifically, that the data is in ENU frame. -imu0_remove_gravitational_acceleration: true - -# [ADVANCED] The EKF and UKF models follow a standard predict/correct cycle. During prediction, if there is no -# acceleration reference, the velocity at time t+1 is simply predicted to be the same as the velocity at time t. During -# correction, this predicted value is fused with the measured value to produce the new velocity estimate. This can be -# problematic, as the final velocity will effectively be a weighted average of the old velocity and the new one. When -# this velocity is the integrated into a new pose, the result can be sluggish covergence. This effect is especially -# noticeable with LIDAR data during rotations. To get around it, users can try inflating the process_noise_covariance -# for the velocity variable in question, or decrease the variance of the variable in question in the measurement -# itself. In addition, users can also take advantage of the control command being issued to the robot at the time we -# make the prediction. If control is used, it will get converted into an acceleration term, which will be used during -# predicition. Note that if an acceleration measurement for the variable in question is available from one of the -# inputs, the control term will be ignored. -# Whether or not we use the control input during predicition. Defaults to false. -use_control: true -# Whether the input (assumed to be cmd_vel) is a geometry_msgs/Twist or geometry_msgs/TwistStamped message. Defaults to -# false. -stamped_control: false -# The last issued control command will be used in prediction for this period. Defaults to 0.2. -control_timeout: 0.2 -# Which velocities are being controlled. Order is vx, vy, vz, vroll, vpitch, vyaw. -control_config: [true, false, false, false, false, true] -# Places limits on how large the acceleration term will be. Should match your robot's kinematics. -acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4] -# Acceleration and deceleration limits are not always the same for robots. -deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5] -# If your robot cannot instantaneously reach its acceleration limit, the permitted change can be controlled with these -# gains -acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9] -# If your robot cannot instantaneously reach its deceleration limit, the permitted change can be controlled with these -# gains -deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0] - -# [ADVANCED] The process noise covariance matrix can be difficult to tune, and can vary for each application, so it is -# exposed as a configuration parameter. This matrix represents the noise we add to the total error after each -# prediction step. The better the omnidirectional motion model matches your system, the smaller these values can be. -# However, if users find that a given variable is slow to converge, one approach is to increase the -# process_noise_covariance diagonal value for the variable in question, which will cause the filter's predicted error -# to be larger, which will cause the filter to trust the incoming measurement more during correction. The values are -# ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below if -# unspecified. -process_noise_covariance: [0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015] - -# [ADVANCED] This represents the initial value for the state estimate error covariance matrix. Setting a diagonal -# value (variance) to a large value will result in rapid convergence for initial measurements of the variable in -# question. Users should take care not to use large values for variables that will not be measured directly. The values -# are ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below -#if unspecified. -initial_estimate_covariance: [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] - -# [ADVANCED, UKF ONLY] The alpha and kappa variables control the spread of the sigma points. Unless you are familiar -# with UKFs, it's probably a good idea to leave these alone. -# Defaults to 0.001 if unspecified. -alpha: 0.001 -# Defaults to 0 if unspecified. -kappa: 0 - -# [ADVANCED, UKF ONLY] The beta variable relates to the distribution of the state vector. Again, it's probably best to -# leave this alone if you're uncertain. Defaults to 2 if unspecified. -beta: 2 diff --git a/navigation/robot_localization/rosdoc.yaml b/navigation/robot_localization/rosdoc.yaml deleted file mode 100644 index c9c76e37..00000000 --- a/navigation/robot_localization/rosdoc.yaml +++ /dev/null @@ -1,6 +0,0 @@ - - builder: sphinx - sphinx_root_dir: doc - - builder: doxygen - output_dir: api - file_patterns: '*.cpp *.h *.dox *.md' - exclude_patterns: '*/test/*' diff --git a/navigation/robot_localization/src/ekf.cpp b/navigation/robot_localization/src/ekf.cpp deleted file mode 100644 index 87e67dac..00000000 --- a/navigation/robot_localization/src/ekf.cpp +++ /dev/null @@ -1,417 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/ekf.h" -#include "robot_localization/filter_common.h" - -#include - -#include -#include -#include -#include - -namespace RobotLocalization { -Ekf::Ekf(std::vector) - : FilterBase() // Must initialize filter base! -{} - -Ekf::~Ekf() {} - -void Ekf::correct(const Measurement &measurement) { - FB_DEBUG("---------------------- Ekf::correct ----------------------\n" - << "State is:\n" - << state_ - << "\n" - "Topic is:\n" - << measurement.topicName_ - << "\n" - "Measurement is:\n" - << measurement.measurement_ - << "\n" - "Measurement topic name is:\n" - << measurement.topicName_ - << "\n\n" - "Measurement covariance is:\n" - << measurement.covariance_ << "\n"); - - // We don't want to update everything, so we need to build matrices that only - // update the measured parts of our state vector. Throughout prediction and - // correction, we attempt to maximize efficiency in Eigen. - - // First, determine how many state vector values we're updating - std::vector updateIndices; - for (size_t i = 0; i < measurement.updateVector_.size(); ++i) { - if (measurement.updateVector_[i]) { - // Handle nan and inf values in measurements - if (std::isnan(measurement.measurement_(i))) { - FB_DEBUG("Value at index " << i - << " was nan. Excluding from update.\n"); - } else if (std::isinf(measurement.measurement_(i))) { - FB_DEBUG("Value at index " << i - << " was inf. Excluding from update.\n"); - } else { - updateIndices.push_back(i); - } - } - } - - FB_DEBUG("Update indices are:\n" << updateIndices << "\n"); - - size_t updateSize = updateIndices.size(); - - // Now set up the relevant matrices - Eigen::VectorXd stateSubset(updateSize); // x (in most literature) - Eigen::VectorXd measurementSubset(updateSize); // z - Eigen::MatrixXd measurementCovarianceSubset(updateSize, updateSize); // R - Eigen::MatrixXd stateToMeasurementSubset(updateSize, state_.rows()); // H - Eigen::MatrixXd kalmanGainSubset(state_.rows(), updateSize); // K - Eigen::VectorXd innovationSubset(updateSize); // z - Hx - - stateSubset.setZero(); - measurementSubset.setZero(); - measurementCovarianceSubset.setZero(); - stateToMeasurementSubset.setZero(); - kalmanGainSubset.setZero(); - innovationSubset.setZero(); - - // Now build the sub-matrices from the full-sized matrices - for (size_t i = 0; i < updateSize; ++i) { - measurementSubset(i) = measurement.measurement_(updateIndices[i]); - stateSubset(i) = state_(updateIndices[i]); - - for (size_t j = 0; j < updateSize; ++j) { - measurementCovarianceSubset(i, j) = - measurement.covariance_(updateIndices[i], updateIndices[j]); - } - - // Handle negative (read: bad) covariances in the measurement. Rather - // than exclude the measurement or make up a covariance, just take - // the absolute value. - if (measurementCovarianceSubset(i, i) < 0) { - FB_DEBUG("WARNING: Negative covariance for index " - << i << " of measurement (value is" - << measurementCovarianceSubset(i, i) - << "). Using absolute value...\n"); - - measurementCovarianceSubset(i, i) = - ::fabs(measurementCovarianceSubset(i, i)); - } - - // If the measurement variance for a given variable is very - // near 0 (as in e-50 or so) and the variance for that - // variable in the covariance matrix is also near zero, then - // the Kalman gain computation will blow up. Really, no - // measurement can be completely without error, so add a small - // amount in that case. - if (measurementCovarianceSubset(i, i) < 1e-9) { - FB_DEBUG("WARNING: measurement had very small error covariance for index " - << updateIndices[i] - << ". Adding some noise to maintain filter stability.\n"); - - measurementCovarianceSubset(i, i) = 1e-9; - } - } - - // The state-to-measurement function, h, will now be a measurement_size x - // full_state_size matrix, with ones in the (i, i) locations of the values to - // be updated - for (size_t i = 0; i < updateSize; ++i) { - stateToMeasurementSubset(i, updateIndices[i]) = 1; - } - - FB_DEBUG("Current state subset is:\n" - << stateSubset << "\nMeasurement subset is:\n" - << measurementSubset << "\nMeasurement covariance subset is:\n" - << measurementCovarianceSubset - << "\nState-to-measurement subset is:\n" - << stateToMeasurementSubset << "\n"); - - // (1) Compute the Kalman gain: K = (PH') / (HPH' + R) - Eigen::MatrixXd pht = - estimateErrorCovariance_ * stateToMeasurementSubset.transpose(); - Eigen::MatrixXd hphrInv = - (stateToMeasurementSubset * pht + measurementCovarianceSubset).inverse(); - kalmanGainSubset.noalias() = pht * hphrInv; - - innovationSubset = (measurementSubset - stateSubset); - - // Wrap angles in the innovation - for (size_t i = 0; i < updateSize; ++i) { - if (updateIndices[i] == StateMemberRoll || - updateIndices[i] == StateMemberPitch || - updateIndices[i] == StateMemberYaw) { - while (innovationSubset(i) < -PI) { - innovationSubset(i) += TAU; - } - - while (innovationSubset(i) > PI) { - innovationSubset(i) -= TAU; - } - } - } - - // (2) Check Mahalanobis distance between mapped measurement and state. - if (checkMahalanobisThreshold(innovationSubset, hphrInv, - measurement.mahalanobisThresh_)) { - // (3) Apply the gain to the difference between the state and measurement: x - // = x + K(z - Hx) - state_.noalias() += kalmanGainSubset * innovationSubset; - - // (4) Update the estimate error covariance using the Joseph form: (I - - // KH)P(I - KH)' + KRK' - Eigen::MatrixXd gainResidual = identity_; - gainResidual.noalias() -= kalmanGainSubset * stateToMeasurementSubset; - estimateErrorCovariance_ = - gainResidual * estimateErrorCovariance_ * gainResidual.transpose(); - estimateErrorCovariance_.noalias() += kalmanGainSubset * - measurementCovarianceSubset * - kalmanGainSubset.transpose(); - - // Handle wrapping of angles - wrapStateAngles(); - - FB_DEBUG( - "Kalman gain subset is:\n" - << kalmanGainSubset << "\nInnovation is:\n" - << innovationSubset << "\nCorrected full state is:\n" - << state_ << "\nCorrected full estimate error covariance is:\n" - << estimateErrorCovariance_ - << "\n\n---------------------- /Ekf::correct ----------------------\n"); - } -} - -void Ekf::predict(const double referenceTime, const double delta) { - FB_DEBUG("---------------------- Ekf::predict ----------------------\n" - << "delta is " << delta << "\n" - << "state is " << state_ << "\n"); - - double roll = state_(StateMemberRoll); - double pitch = state_(StateMemberPitch); - double yaw = state_(StateMemberYaw); - double xVel = state_(StateMemberVx); - double yVel = state_(StateMemberVy); - double zVel = state_(StateMemberVz); - double pitchVel = state_(StateMemberVpitch); - double yawVel = state_(StateMemberVyaw); - double xAcc = state_(StateMemberAx); - double yAcc = state_(StateMemberAy); - double zAcc = state_(StateMemberAz); - - // We'll need these trig calculations a lot. - double sp = ::sin(pitch); - double cp = ::cos(pitch); - double cpi = 1.0 / cp; - double tp = sp * cpi; - - double sr = ::sin(roll); - double cr = ::cos(roll); - - double sy = ::sin(yaw); - double cy = ::cos(yaw); - - prepareControl(referenceTime, delta); - - // Prepare the transfer function - transferFunction_(StateMemberX, StateMemberVx) = cy * cp * delta; - transferFunction_(StateMemberX, StateMemberVy) = - (cy * sp * sr - sy * cr) * delta; - transferFunction_(StateMemberX, StateMemberVz) = - (cy * sp * cr + sy * sr) * delta; - transferFunction_(StateMemberX, StateMemberAx) = - 0.5 * transferFunction_(StateMemberX, StateMemberVx) * delta; - transferFunction_(StateMemberX, StateMemberAy) = - 0.5 * transferFunction_(StateMemberX, StateMemberVy) * delta; - transferFunction_(StateMemberX, StateMemberAz) = - 0.5 * transferFunction_(StateMemberX, StateMemberVz) * delta; - transferFunction_(StateMemberY, StateMemberVx) = sy * cp * delta; - transferFunction_(StateMemberY, StateMemberVy) = - (sy * sp * sr + cy * cr) * delta; - transferFunction_(StateMemberY, StateMemberVz) = - (sy * sp * cr - cy * sr) * delta; - transferFunction_(StateMemberY, StateMemberAx) = - 0.5 * transferFunction_(StateMemberY, StateMemberVx) * delta; - transferFunction_(StateMemberY, StateMemberAy) = - 0.5 * transferFunction_(StateMemberY, StateMemberVy) * delta; - transferFunction_(StateMemberY, StateMemberAz) = - 0.5 * transferFunction_(StateMemberY, StateMemberVz) * delta; - transferFunction_(StateMemberZ, StateMemberVx) = -sp * delta; - transferFunction_(StateMemberZ, StateMemberVy) = cp * sr * delta; - transferFunction_(StateMemberZ, StateMemberVz) = cp * cr * delta; - transferFunction_(StateMemberZ, StateMemberAx) = - 0.5 * transferFunction_(StateMemberZ, StateMemberVx) * delta; - transferFunction_(StateMemberZ, StateMemberAy) = - 0.5 * transferFunction_(StateMemberZ, StateMemberVy) * delta; - transferFunction_(StateMemberZ, StateMemberAz) = - 0.5 * transferFunction_(StateMemberZ, StateMemberVz) * delta; - transferFunction_(StateMemberRoll, StateMemberVroll) = delta; - transferFunction_(StateMemberRoll, StateMemberVpitch) = sr * tp * delta; - transferFunction_(StateMemberRoll, StateMemberVyaw) = cr * tp * delta; - transferFunction_(StateMemberPitch, StateMemberVpitch) = cr * delta; - transferFunction_(StateMemberPitch, StateMemberVyaw) = -sr * delta; - transferFunction_(StateMemberYaw, StateMemberVpitch) = sr * cpi * delta; - transferFunction_(StateMemberYaw, StateMemberVyaw) = cr * cpi * delta; - transferFunction_(StateMemberVx, StateMemberAx) = delta; - transferFunction_(StateMemberVy, StateMemberAy) = delta; - transferFunction_(StateMemberVz, StateMemberAz) = delta; - - // Prepare the transfer function Jacobian. This function is analytically - // derived from the transfer function. - double xCoeff = 0.0; - double yCoeff = 0.0; - double zCoeff = 0.0; - double oneHalfATSquared = 0.5 * delta * delta; - - yCoeff = cy * sp * cr + sy * sr; - zCoeff = -cy * sp * sr + sy * cr; - double dFx_dR = (yCoeff * yVel + zCoeff * zVel) * delta + - (yCoeff * yAcc + zCoeff * zAcc) * oneHalfATSquared; - double dFR_dR = 1.0 + (cr * tp * pitchVel - sr * tp * yawVel) * delta; - - xCoeff = -cy * sp; - yCoeff = cy * cp * sr; - zCoeff = cy * cp * cr; - double dFx_dP = - (xCoeff * xVel + yCoeff * yVel + zCoeff * zVel) * delta + - (xCoeff * xAcc + yCoeff * yAcc + zCoeff * zAcc) * oneHalfATSquared; - double dFR_dP = (cpi * cpi * sr * pitchVel + cpi * cpi * cr * yawVel) * delta; - - xCoeff = -sy * cp; - yCoeff = -sy * sp * sr - cy * cr; - zCoeff = -sy * sp * cr + cy * sr; - double dFx_dY = - (xCoeff * xVel + yCoeff * yVel + zCoeff * zVel) * delta + - (xCoeff * xAcc + yCoeff * yAcc + zCoeff * zAcc) * oneHalfATSquared; - - yCoeff = sy * sp * cr - cy * sr; - zCoeff = -sy * sp * sr - cy * cr; - double dFy_dR = (yCoeff * yVel + zCoeff * zVel) * delta + - (yCoeff * yAcc + zCoeff * zAcc) * oneHalfATSquared; - double dFP_dR = (-sr * pitchVel - cr * yawVel) * delta; - - xCoeff = -sy * sp; - yCoeff = sy * cp * sr; - zCoeff = sy * cp * cr; - double dFy_dP = - (xCoeff * xVel + yCoeff * yVel + zCoeff * zVel) * delta + - (xCoeff * xAcc + yCoeff * yAcc + zCoeff * zAcc) * oneHalfATSquared; - - xCoeff = cy * cp; - yCoeff = cy * sp * sr - sy * cr; - zCoeff = cy * sp * cr + sy * sr; - double dFy_dY = - (xCoeff * xVel + yCoeff * yVel + zCoeff * zVel) * delta + - (xCoeff * xAcc + yCoeff * yAcc + zCoeff * zAcc) * oneHalfATSquared; - - yCoeff = cp * cr; - zCoeff = -cp * sr; - double dFz_dR = (yCoeff * yVel + zCoeff * zVel) * delta + - (yCoeff * yAcc + zCoeff * zAcc) * oneHalfATSquared; - double dFY_dR = (cr * cpi * pitchVel - sr * cpi * yawVel) * delta; - - xCoeff = -cp; - yCoeff = -sp * sr; - zCoeff = -sp * cr; - double dFz_dP = - (xCoeff * xVel + yCoeff * yVel + zCoeff * zVel) * delta + - (xCoeff * xAcc + yCoeff * yAcc + zCoeff * zAcc) * oneHalfATSquared; - double dFY_dP = (sr * tp * cpi * pitchVel + cr * tp * cpi * yawVel) * delta; - - // Much of the transfer function Jacobian is identical to the transfer - // function - transferFunctionJacobian_ = transferFunction_; - transferFunctionJacobian_(StateMemberX, StateMemberRoll) = dFx_dR; - transferFunctionJacobian_(StateMemberX, StateMemberPitch) = dFx_dP; - transferFunctionJacobian_(StateMemberX, StateMemberYaw) = dFx_dY; - transferFunctionJacobian_(StateMemberY, StateMemberRoll) = dFy_dR; - transferFunctionJacobian_(StateMemberY, StateMemberPitch) = dFy_dP; - transferFunctionJacobian_(StateMemberY, StateMemberYaw) = dFy_dY; - transferFunctionJacobian_(StateMemberZ, StateMemberRoll) = dFz_dR; - transferFunctionJacobian_(StateMemberZ, StateMemberPitch) = dFz_dP; - transferFunctionJacobian_(StateMemberRoll, StateMemberRoll) = dFR_dR; - transferFunctionJacobian_(StateMemberRoll, StateMemberPitch) = dFR_dP; - transferFunctionJacobian_(StateMemberPitch, StateMemberRoll) = dFP_dR; - transferFunctionJacobian_(StateMemberYaw, StateMemberRoll) = dFY_dR; - transferFunctionJacobian_(StateMemberYaw, StateMemberPitch) = dFY_dP; - - FB_DEBUG("Transfer function is:\n" - << transferFunction_ << "\nTransfer function Jacobian is:\n" - << transferFunctionJacobian_ << "\nProcess noise covariance is:\n" - << processNoiseCovariance_ << "\nCurrent state is:\n" - << state_ << "\n"); - - Eigen::MatrixXd *processNoiseCovariance = &processNoiseCovariance_; - - if (useDynamicProcessNoiseCovariance_) { - computeDynamicProcessNoiseCovariance(state_, delta); - processNoiseCovariance = &dynamicProcessNoiseCovariance_; - } - - // (1) Apply control terms, which are actually accelerations - state_(StateMemberVroll) += controlAcceleration_(ControlMemberVroll) * delta; - state_(StateMemberVpitch) += - controlAcceleration_(ControlMemberVpitch) * delta; - state_(StateMemberVyaw) += controlAcceleration_(ControlMemberVyaw) * delta; - - state_(StateMemberAx) = (controlUpdateVector_[ControlMemberVx] - ? controlAcceleration_(ControlMemberVx) - : state_(StateMemberAx)); - state_(StateMemberAy) = (controlUpdateVector_[ControlMemberVy] - ? controlAcceleration_(ControlMemberVy) - : state_(StateMemberAy)); - state_(StateMemberAz) = (controlUpdateVector_[ControlMemberVz] - ? controlAcceleration_(ControlMemberVz) - : state_(StateMemberAz)); - - // (2) Project the state forward: x = Ax + Bu (really, x = f(x, u)) - state_ = transferFunction_ * state_; - - // Handle wrapping - wrapStateAngles(); - - FB_DEBUG("Predicted state is:\n" - << state_ << "\nCurrent estimate error covariance is:\n" - << estimateErrorCovariance_ << "\n"); - - // (3) Project the error forward: P = J * P * J' + Q - estimateErrorCovariance_ = - (transferFunctionJacobian_ * estimateErrorCovariance_ * - transferFunctionJacobian_.transpose()); - estimateErrorCovariance_.noalias() += delta * (*processNoiseCovariance); - - FB_DEBUG( - "Predicted estimate error covariance is:\n" - << estimateErrorCovariance_ - << "\n\n--------------------- /Ekf::predict ----------------------\n"); -} - -} // namespace RobotLocalization diff --git a/navigation/robot_localization/src/ekf_localization_node.cpp b/navigation/robot_localization/src/ekf_localization_node.cpp deleted file mode 100644 index 5f9749c9..00000000 --- a/navigation/robot_localization/src/ekf_localization_node.cpp +++ /dev/null @@ -1,50 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/ros_filter_types.h" - -#include - -#include - -int main(int argc, char **argv) { - ros::init(argc, argv, "ekf_navigation_node"); - - ros::NodeHandle nh; - ros::NodeHandle nh_priv("~"); - - RobotLocalization::RosEkf ekf(nh, nh_priv); - ekf.initialize(); - ros::spin(); - - return EXIT_SUCCESS; -} diff --git a/navigation/robot_localization/src/ekf_localization_nodelet.cpp b/navigation/robot_localization/src/ekf_localization_nodelet.cpp deleted file mode 100644 index 128ccce4..00000000 --- a/navigation/robot_localization/src/ekf_localization_nodelet.cpp +++ /dev/null @@ -1,61 +0,0 @@ -/* - * Copyright (c) 2017 Simon Gene Gottlieb - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/ros_filter_types.h" - -#include -#include -#include - -#include - -namespace RobotLocalization { - -class EkfNodelet : public nodelet::Nodelet { -private: - std::unique_ptr ekf; - -public: - virtual void onInit() { - NODELET_DEBUG("Initializing nodelet..."); - - ros::NodeHandle nh = getNodeHandle(); - ros::NodeHandle nh_priv = getPrivateNodeHandle(); - - ekf = std::make_unique(nh, nh_priv, getName()); - ekf->initialize(); - } -}; - -} // namespace RobotLocalization - -PLUGINLIB_EXPORT_CLASS(RobotLocalization::EkfNodelet, nodelet::Nodelet); diff --git a/navigation/robot_localization/src/filter_base.cpp b/navigation/robot_localization/src/filter_base.cpp deleted file mode 100644 index cd9d3889..00000000 --- a/navigation/robot_localization/src/filter_base.cpp +++ /dev/null @@ -1,361 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/filter_base.h" -#include "robot_localization/filter_common.h" - -#include -#include -#include -#include -#include - -namespace RobotLocalization { -FilterBase::FilterBase() - : initialized_(false), useControl_(false), - useDynamicProcessNoiseCovariance_(false), lastMeasurementTime_(0.0), - latestControlTime_(0.0), controlTimeout_(0.0), sensorTimeout_(0.0), - controlUpdateVector_(TWIST_SIZE, 0), accelerationGains_(TWIST_SIZE, 0.0), - accelerationLimits_(TWIST_SIZE, 0.0), decelerationGains_(TWIST_SIZE, 0.0), - decelerationLimits_(TWIST_SIZE, 0.0), controlAcceleration_(TWIST_SIZE), - latestControl_(TWIST_SIZE), predictedState_(STATE_SIZE), - state_(STATE_SIZE), covarianceEpsilon_(STATE_SIZE, STATE_SIZE), - dynamicProcessNoiseCovariance_(STATE_SIZE, STATE_SIZE), - estimateErrorCovariance_(STATE_SIZE, STATE_SIZE), - identity_(STATE_SIZE, STATE_SIZE), - processNoiseCovariance_(STATE_SIZE, STATE_SIZE), - transferFunction_(STATE_SIZE, STATE_SIZE), - transferFunctionJacobian_(STATE_SIZE, STATE_SIZE), debugStream_(NULL), - debug_(false) { - reset(); -} - -FilterBase::~FilterBase() {} - -void FilterBase::reset() { - initialized_ = false; - - // Clear the state and predicted state - state_.setZero(); - predictedState_.setZero(); - controlAcceleration_.setZero(); - - // Prepare the invariant parts of the transfer - // function - transferFunction_.setIdentity(); - - // Clear the Jacobian - transferFunctionJacobian_.setZero(); - - // Set the estimate error covariance. We want our measurements - // to be accepted rapidly when the filter starts, so we should - // initialize the state's covariance with large values. - estimateErrorCovariance_.setIdentity(); - estimateErrorCovariance_ *= 1e-9; - - // We need the identity for the update equations - identity_.setIdentity(); - - // Set the epsilon matrix to be a matrix with small values on the diagonal - // It is used to maintain the positive-definite property of the covariance - covarianceEpsilon_.setIdentity(); - covarianceEpsilon_ *= 0.001; - - // Assume 30Hz from sensor data (configurable) - sensorTimeout_ = 0.033333333; - - // Initialize our measurement time - lastMeasurementTime_ = 0; - - // These can be overridden via the launch parameters, - // but we need default values. - processNoiseCovariance_.setZero(); - processNoiseCovariance_(StateMemberX, StateMemberX) = 0.05; - processNoiseCovariance_(StateMemberY, StateMemberY) = 0.05; - processNoiseCovariance_(StateMemberZ, StateMemberZ) = 0.06; - processNoiseCovariance_(StateMemberRoll, StateMemberRoll) = 0.03; - processNoiseCovariance_(StateMemberPitch, StateMemberPitch) = 0.03; - processNoiseCovariance_(StateMemberYaw, StateMemberYaw) = 0.06; - processNoiseCovariance_(StateMemberVx, StateMemberVx) = 0.025; - processNoiseCovariance_(StateMemberVy, StateMemberVy) = 0.025; - processNoiseCovariance_(StateMemberVz, StateMemberVz) = 0.04; - processNoiseCovariance_(StateMemberVroll, StateMemberVroll) = 0.01; - processNoiseCovariance_(StateMemberVpitch, StateMemberVpitch) = 0.01; - processNoiseCovariance_(StateMemberVyaw, StateMemberVyaw) = 0.02; - processNoiseCovariance_(StateMemberAx, StateMemberAx) = 0.01; - processNoiseCovariance_(StateMemberAy, StateMemberAy) = 0.01; - processNoiseCovariance_(StateMemberAz, StateMemberAz) = 0.015; - - dynamicProcessNoiseCovariance_ = processNoiseCovariance_; -} - -void FilterBase::computeDynamicProcessNoiseCovariance( - const Eigen::VectorXd &state, const double delta) { - // A more principled approach would be to get the current velocity from the - // state, make a diagonal matrix from it, and then rotate it to be in the - // world frame (i.e., the same frame as the pose data). We could then use this - // rotated velocity matrix to scale the process noise covariance for the pose - // variables as rotatedVelocityMatrix * poseCovariance * - // rotatedVelocityMatrix' However, this presents trouble for robots that may - // incur rotational error as a result of linear motion (and vice-versa). - // Instead, we create a diagonal matrix whose diagonal values are the vector - // norm of the state's velocity. We use that to scale the process noise - // covariance. - Eigen::MatrixXd velocityMatrix(TWIST_SIZE, TWIST_SIZE); - velocityMatrix.setIdentity(); - velocityMatrix.diagonal() *= - state.segment(POSITION_V_OFFSET, TWIST_SIZE).norm(); - - dynamicProcessNoiseCovariance_.block( - POSITION_OFFSET, POSITION_OFFSET) = - velocityMatrix * - processNoiseCovariance_.block(POSITION_OFFSET, - POSITION_OFFSET) * - velocityMatrix.transpose(); -} - -const Eigen::VectorXd &FilterBase::getControl() { return latestControl_; } - -double FilterBase::getControlTime() { return latestControlTime_; } - -bool FilterBase::getDebug() { return debug_; } - -const Eigen::MatrixXd &FilterBase::getEstimateErrorCovariance() { - return estimateErrorCovariance_; -} - -bool FilterBase::getInitializedStatus() { return initialized_; } - -double FilterBase::getLastMeasurementTime() { return lastMeasurementTime_; } - -const Eigen::VectorXd &FilterBase::getPredictedState() { - return predictedState_; -} - -const Eigen::MatrixXd &FilterBase::getProcessNoiseCovariance() { - return processNoiseCovariance_; -} - -double FilterBase::getSensorTimeout() { return sensorTimeout_; } - -const Eigen::VectorXd &FilterBase::getState() { return state_; } - -void FilterBase::processMeasurement(const Measurement &measurement) { - FB_DEBUG("------ FilterBase::processMeasurement (" << measurement.topicName_ - << ") ------\n"); - - double delta = 0.0; - - // If we've had a previous reading, then go through the predict/update - // cycle. Otherwise, set our state and covariance to whatever we get - // from this measurement. - if (initialized_) { - // Determine how much time has passed since our last measurement - delta = measurement.time_ - lastMeasurementTime_; - - FB_DEBUG( - "Filter is already initialized. Carrying out predict/correct loop...\n" - "Measurement time is " - << std::setprecision(20) << measurement.time_ - << ", last measurement time is " << lastMeasurementTime_ - << ", delta is " << delta << "\n"); - - // Only want to carry out a prediction if it's - // forward in time. Otherwise, just correct. - if (delta > 0) { - validateDelta(delta); - predict(measurement.time_, delta); - - // Return this to the user - predictedState_ = state_; - } - - correct(measurement); - } else { - FB_DEBUG("First measurement. Initializing filter.\n"); - - // Initialize the filter, but only with the values we're using - size_t measurementLength = measurement.updateVector_.size(); - for (size_t i = 0; i < measurementLength; ++i) { - state_[i] = (measurement.updateVector_[i] ? measurement.measurement_[i] - : state_[i]); - } - - // Same for covariance - for (size_t i = 0; i < measurementLength; ++i) { - for (size_t j = 0; j < measurementLength; ++j) { - estimateErrorCovariance_(i, j) = - (measurement.updateVector_[i] && measurement.updateVector_[j] - ? measurement.covariance_(i, j) - : estimateErrorCovariance_(i, j)); - } - } - - initialized_ = true; - } - - if (delta >= 0.0) { - lastMeasurementTime_ = measurement.time_; - } - - FB_DEBUG("------ /FilterBase::processMeasurement (" << measurement.topicName_ - << ") ------\n"); -} - -void FilterBase::setControl(const Eigen::VectorXd &control, - const double controlTime) { - latestControl_ = control; - latestControlTime_ = controlTime; -} - -void FilterBase::setControlParams( - const std::vector &updateVector, const double controlTimeout, - const std::vector &accelerationLimits, - const std::vector &accelerationGains, - const std::vector &decelerationLimits, - const std::vector &decelerationGains) { - useControl_ = true; - controlUpdateVector_ = updateVector; - controlTimeout_ = controlTimeout; - accelerationLimits_ = accelerationLimits; - accelerationGains_ = accelerationGains; - decelerationLimits_ = decelerationLimits; - decelerationGains_ = decelerationGains; -} - -void FilterBase::setDebug(const bool debug, std::ostream *outStream) { - if (debug) { - if (outStream != NULL) { - debugStream_ = outStream; - debug_ = true; - } else { - debug_ = false; - } - } else { - debug_ = false; - } -} - -void FilterBase::setUseDynamicProcessNoiseCovariance( - const bool useDynamicProcessNoiseCovariance) { - useDynamicProcessNoiseCovariance_ = useDynamicProcessNoiseCovariance; -} - -void FilterBase::setEstimateErrorCovariance( - const Eigen::MatrixXd &estimateErrorCovariance) { - estimateErrorCovariance_ = estimateErrorCovariance; -} - -void FilterBase::setLastMeasurementTime(const double lastMeasurementTime) { - lastMeasurementTime_ = lastMeasurementTime; -} - -void FilterBase::setProcessNoiseCovariance( - const Eigen::MatrixXd &processNoiseCovariance) { - processNoiseCovariance_ = processNoiseCovariance; - dynamicProcessNoiseCovariance_ = processNoiseCovariance_; -} - -void FilterBase::setSensorTimeout(const double sensorTimeout) { - sensorTimeout_ = sensorTimeout; -} - -void FilterBase::setState(const Eigen::VectorXd &state) { state_ = state; } - -void FilterBase::validateDelta(double &delta) { - // This handles issues with ROS time when use_sim_time is on and we're playing - // from bags. - if (delta > 100000.0) { - FB_DEBUG("Delta was very large. Suspect playing from bag file. Setting to " - "0.01\n"); - - delta = 0.01; - } -} - -void FilterBase::prepareControl(const double referenceTime, - const double predictionDelta) { - controlAcceleration_.setZero(); - - if (useControl_) { - bool timedOut = - ::fabs(referenceTime - latestControlTime_) >= controlTimeout_; - - if (timedOut) { - FB_DEBUG("Control timed out. Reference time was " - << referenceTime << ", latest control time was " - << latestControlTime_ << ", control timeout was " - << controlTimeout_ << "\n"); - } - - for (size_t controlInd = 0; controlInd < TWIST_SIZE; ++controlInd) { - if (controlUpdateVector_[controlInd]) { - controlAcceleration_(controlInd) = computeControlAcceleration( - state_(controlInd + POSITION_V_OFFSET), - (timedOut ? 0.0 : latestControl_(controlInd)), - accelerationLimits_[controlInd], accelerationGains_[controlInd], - decelerationLimits_[controlInd], decelerationGains_[controlInd]); - } - } - } -} - -void FilterBase::wrapStateAngles() { - state_(StateMemberRoll) = - FilterUtilities::clampRotation(state_(StateMemberRoll)); - state_(StateMemberPitch) = - FilterUtilities::clampRotation(state_(StateMemberPitch)); - state_(StateMemberYaw) = - FilterUtilities::clampRotation(state_(StateMemberYaw)); -} - -bool FilterBase::checkMahalanobisThreshold(const Eigen::VectorXd &innovation, - const Eigen::MatrixXd &invCovariance, - const double nsigmas) { - double sqMahalanobis = innovation.dot(invCovariance * innovation); - double threshold = nsigmas * nsigmas; - - if (sqMahalanobis >= threshold) { - FB_DEBUG( - "Innovation mahalanobis distance test failed. Squared Mahalanobis is: " - << sqMahalanobis << "\n" - << "Threshold is: " << threshold << "\n" - << "Innovation is: " << innovation << "\n" - << "Innovation covariance is:\n" - << invCovariance << "\n"); - - return false; - } - - return true; -} -} // namespace RobotLocalization diff --git a/navigation/robot_localization/src/filter_utilities.cpp b/navigation/robot_localization/src/filter_utilities.cpp deleted file mode 100644 index 57732de7..00000000 --- a/navigation/robot_localization/src/filter_utilities.cpp +++ /dev/null @@ -1,130 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/filter_utilities.h" -#include "robot_localization/filter_common.h" - -#include -#include - -std::ostream &operator<<(std::ostream &os, const Eigen::MatrixXd &mat) { - os << "["; - - int rowCount = static_cast(mat.rows()); - - for (int row = 0; row < rowCount; ++row) { - if (row > 0) { - os << " "; - } - - for (int col = 0; col < mat.cols(); ++col) { - os << std::setiosflags(std::ios::left) << std::setw(12) - << std::setprecision(5) << mat(row, col); - } - - if (row < rowCount - 1) { - os << "\n"; - } - } - - os << "]\n"; - - return os; -} - -std::ostream &operator<<(std::ostream &os, const Eigen::VectorXd &vec) { - os << "["; - for (int dim = 0; dim < vec.rows(); ++dim) { - os << std::setiosflags(std::ios::left) << std::setw(12) - << std::setprecision(5) << vec(dim); - } - os << "]\n"; - - return os; -} - -std::ostream &operator<<(std::ostream &os, const std::vector &vec) { - os << "["; - for (size_t dim = 0; dim < vec.size(); ++dim) { - os << std::setiosflags(std::ios::left) << std::setw(12) - << std::setprecision(5) << vec[dim]; - } - os << "]\n"; - - return os; -} - -std::ostream &operator<<(std::ostream &os, const std::vector &vec) { - os << "["; - for (size_t dim = 0; dim < vec.size(); ++dim) { - os << std::setiosflags(std::ios::left) << std::setw(3) - << (vec[dim] ? "t" : "f"); - } - os << "]\n"; - - return os; -} - -namespace RobotLocalization { - -namespace FilterUtilities { -void appendPrefix(std::string tfPrefix, std::string &frameId) { - // Strip all leading slashes for tf2 compliance - if (!frameId.empty() && frameId.at(0) == '/') { - frameId = frameId.substr(1); - } - - if (!tfPrefix.empty() && tfPrefix.at(0) == '/') { - tfPrefix = tfPrefix.substr(1); - } - - // If we do have a tf prefix, then put a slash in between - if (!tfPrefix.empty()) { - frameId = tfPrefix + "/" + frameId; - } -} - -double clampRotation(double rotation) { - while (rotation > PI) { - rotation -= TAU; - } - - while (rotation < -PI) { - rotation += TAU; - } - - return rotation; -} - -} // namespace FilterUtilities - -} // namespace RobotLocalization diff --git a/navigation/robot_localization/src/navsat_transform.cpp b/navigation/robot_localization/src/navsat_transform.cpp deleted file mode 100644 index 7de5c417..00000000 --- a/navigation/robot_localization/src/navsat_transform.cpp +++ /dev/null @@ -1,878 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/navsat_transform.h" -#include "robot_localization/filter_common.h" -#include "robot_localization/filter_utilities.h" -#include "robot_localization/navsat_conversions.h" -#include "robot_localization/ros_filter_utilities.h" - -#include -#include - -#include - -namespace RobotLocalization { -NavSatTransform::NavSatTransform(ros::NodeHandle nh, ros::NodeHandle nh_priv) - : broadcast_cartesian_transform_(false), - broadcast_cartesian_transform_as_parent_frame_(false), - gps_updated_(false), has_transform_gps_(false), has_transform_imu_(false), - has_transform_odom_(false), odom_updated_(false), publish_gps_(false), - transform_good_(false), use_manual_datum_(false), - use_odometry_yaw_(false), use_local_cartesian_(false), - zero_altitude_(false), magnetic_declination_(0.0), yaw_offset_(0.0), - base_link_frame_id_("base_link"), gps_frame_id_(""), utm_zone_(0), - world_frame_id_("odom"), transform_timeout_(ros::Duration(0)), - tf_listener_(tf_buffer_) { - ROS_INFO("Waiting for valid clock time..."); - ros::Time::waitForValid(); - ROS_INFO("Valid clock time received. Starting node."); - - latest_cartesian_covariance_.resize(POSE_SIZE, POSE_SIZE); - latest_odom_covariance_.resize(POSE_SIZE, POSE_SIZE); - - double frequency; - double delay = 0.0; - double transform_timeout = 0.0; - - // Load the parameters we need - nh_priv.getParam("magnetic_declination_radians", magnetic_declination_); - nh_priv.param("yaw_offset", yaw_offset_, 0.0); - nh_priv.param("broadcast_cartesian_transform", broadcast_cartesian_transform_, - false); - nh_priv.param("broadcast_cartesian_transform_as_parent_frame", - broadcast_cartesian_transform_as_parent_frame_, false); - nh_priv.param("zero_altitude", zero_altitude_, false); - nh_priv.param("publish_filtered_gps", publish_gps_, false); - nh_priv.param("use_odometry_yaw", use_odometry_yaw_, false); - nh_priv.param("wait_for_datum", use_manual_datum_, false); - nh_priv.param("use_local_cartesian", use_local_cartesian_, false); - nh_priv.param("frequency", frequency, 10.0); - nh_priv.param("delay", delay, 0.0); - nh_priv.param("transform_timeout", transform_timeout, 0.0); - nh_priv.param("cartesian_frame_id", cartesian_frame_id_, - std::string(use_local_cartesian_ ? "local_enu" : "utm")); - transform_timeout_.fromSec(transform_timeout); - - // Check for deprecated parameters - if (nh_priv.getParam("broadcast_utm_transform", - broadcast_cartesian_transform_)) { - ROS_WARN("navsat_transform, Parameter 'broadcast_utm_transform' has been " - "deprecated. Please use" - "'broadcast_cartesian_transform' instead."); - } - if (nh_priv.getParam("broadcast_utm_transform_as_parent_frame", - broadcast_cartesian_transform_as_parent_frame_)) { - ROS_WARN( - "navsat_transform, Parameter 'broadcast_utm_transform_as_parent_frame' " - "has been deprecated. Please use" - "'broadcast_cartesian_transform_as_parent_frame' instead."); - } - - // Check if tf warnings should be suppressed - nh.getParam("/silent_tf_failure", tf_silent_failure_); - - // Subscribe to the messages and services we need - datum_srv_ = - nh.advertiseService("datum", &NavSatTransform::datumCallback, this); - - to_ll_srv_ = - nh.advertiseService("toLL", &NavSatTransform::toLLCallback, this); - from_ll_srv_ = - nh.advertiseService("fromLL", &NavSatTransform::fromLLCallback, this); - set_utm_zone_srv_ = nh.advertiseService( - "setUTMZone", &NavSatTransform::setUTMZoneCallback, this); - - if (use_manual_datum_ && nh_priv.hasParam("datum")) { - XmlRpc::XmlRpcValue datum_config; - - try { - double datum_lat; - double datum_lon; - double datum_yaw; - - nh_priv.getParam("datum", datum_config); - - // Handle datum specification. Users should always specify a - // baseLinkFrameId_ in the datum config, but we had a release where it - // wasn't used, so we'll maintain compatibility. - ROS_ASSERT(datum_config.getType() == XmlRpc::XmlRpcValue::TypeArray); - ROS_ASSERT(datum_config.size() >= 3); - - if (datum_config.size() > 3) { - ROS_WARN_STREAM("Deprecated datum parameter configuration detected. " - "Only the first three parameters " - "(latitude, longitude, yaw) will be used. frame_ids " - "will be derived from odometry and navsat inputs."); - } - - std::ostringstream ostr; - ostr << std::setprecision(20) << datum_config[0] << " " << datum_config[1] - << " " << datum_config[2]; - std::istringstream istr(ostr.str()); - istr >> datum_lat >> datum_lon >> datum_yaw; - - // Try to resolve tf_prefix - std::string tf_prefix = ""; - std::string tf_prefix_path = ""; - if (nh_priv.searchParam("tf_prefix", tf_prefix_path)) { - nh_priv.getParam(tf_prefix_path, tf_prefix); - } - - // Append the tf prefix in a tf2-friendly manner - FilterUtilities::appendPrefix(tf_prefix, world_frame_id_); - FilterUtilities::appendPrefix(tf_prefix, base_link_frame_id_); - - robot_localization::SetDatum::Request request; - request.geo_pose.position.latitude = datum_lat; - request.geo_pose.position.longitude = datum_lon; - request.geo_pose.position.altitude = 0.0; - tf2::Quaternion quat; - quat.setRPY(0.0, 0.0, datum_yaw); - request.geo_pose.orientation = tf2::toMsg(quat); - robot_localization::SetDatum::Response response; - datumCallback(request, response); - } catch (XmlRpc::XmlRpcException &e) { - ROS_ERROR_STREAM("ERROR reading sensor config: " - << e.getMessage() - << " for process_noise_covariance (type: " - << datum_config.getType() << ")"); - } - } - - odom_sub_ = nh.subscribe("odometry/filtered", 1, - &NavSatTransform::odomCallback, this); - gps_sub_ = nh.subscribe("gps/fix", 1, &NavSatTransform::gpsFixCallback, this); - - if (!use_odometry_yaw_ && !use_manual_datum_) { - imu_sub_ = nh.subscribe("imu/data", 1, &NavSatTransform::imuCallback, this); - } - - gps_odom_pub_ = nh.advertise("odometry/gps", 10); - - if (publish_gps_) { - filtered_gps_pub_ = - nh.advertise("gps/filtered", 10); - } - - // Sleep for the parameterized amount of time, to give - // other nodes time to start up (not always necessary) - ros::Duration start_delay(delay); - start_delay.sleep(); - - periodicUpdateTimer_ = nh.createTimer(ros::Duration(1. / frequency), - &NavSatTransform::periodicUpdate, this); -} - -NavSatTransform::~NavSatTransform() {} - -// void NavSatTransform::run() -void NavSatTransform::periodicUpdate(const ros::TimerEvent &event) { - if (!transform_good_) { - computeTransform(); - - if (transform_good_ && !use_odometry_yaw_ && !use_manual_datum_) { - // Once we have the transform, we don't need the IMU - imu_sub_.shutdown(); - } - } else { - nav_msgs::Odometry gps_odom; - if (prepareGpsOdometry(gps_odom)) { - gps_odom_pub_.publish(gps_odom); - } - - if (publish_gps_) { - sensor_msgs::NavSatFix odom_gps; - if (prepareFilteredGps(odom_gps)) { - filtered_gps_pub_.publish(odom_gps); - } - } - } -} - -void NavSatTransform::computeTransform() { - // Only do this if: - // 1. We haven't computed the odom_frame->cartesian_frame transform before - // 2. We've received the data we need - if (!transform_good_ && has_transform_odom_ && has_transform_gps_ && - has_transform_imu_) { - // The cartesian pose we have is given at the location of the GPS sensor on - // the robot. We need to get the cartesian pose of the robot's origin. - tf2::Transform transform_cartesian_pose_corrected; - if (!use_manual_datum_) { - getRobotOriginCartesianPose(transform_cartesian_pose_, - transform_cartesian_pose_corrected, - ros::Time(0)); - } else { - transform_cartesian_pose_corrected = transform_cartesian_pose_; - } - - // Get the IMU's current RPY values. Need the raw values (for yaw, anyway). - tf2::Matrix3x3 mat(transform_orientation_); - - // Convert to RPY - double imu_roll; - double imu_pitch; - double imu_yaw; - mat.getRPY(imu_roll, imu_pitch, imu_yaw); - - /* The IMU's heading was likely originally reported w.r.t. magnetic north. - * However, all the nodes in robot_localization assume that orientation - * data, including that reported by IMUs, is reported in an ENU frame, with - * a 0 yaw value being reported when facing east and increasing - * counter-clockwise (i.e., towards north). To make the world frame ENU - * aligned, where X is east and Y is north, we have to take into account - * three additional considerations: - * 1. The IMU may have its non-ENU frame data transformed to ENU, but - * there's a possibility that its data has not been corrected for magnetic - * declination. We need to account for this. A positive magnetic - * declination is counter-clockwise in an ENU frame. Therefore, if - * we have a magnetic declination of N radians, then when the sensor - * is facing a heading of N, it reports 0. Therefore, we need to add - * the declination angle. - * 2. To account for any other offsets that may not be accounted for by - * the IMU driver or any interim processing node, we expose a yaw offset - * that lets users work with navsat_transform_node. - * 3. UTM grid isn't aligned with True East\North. To account for the - * difference we need to add meridian convergence angle when using UTM. This - * value will be 0.0 when use_local_cartesian is TRUE. - */ - imu_yaw += - (magnetic_declination_ + yaw_offset_ + utm_meridian_convergence_); - - ROS_INFO_STREAM("Corrected for magnetic declination of " - << std::fixed << magnetic_declination_ - << ", user-specified offset of " << yaw_offset_ - << " and meridian convergence of " - << utm_meridian_convergence_ << "." - << " Transform heading factor is now " << imu_yaw); - - // Convert to tf-friendly structures - tf2::Quaternion imu_quat; - imu_quat.setRPY(0.0, 0.0, imu_yaw); - - // The transform order will be orig_odom_pos * orig_cartesian_pos_inverse * - // cur_cartesian_pos. Doing it this way will allow us to cope with having - // non-zero odometry position when we get our first GPS message. - tf2::Transform cartesian_pose_with_orientation; - cartesian_pose_with_orientation.setOrigin( - transform_cartesian_pose_corrected.getOrigin()); - cartesian_pose_with_orientation.setRotation(imu_quat); - - // Remove roll and pitch from odometry pose - // Must be done because roll and pitch is removed from - // cartesian_pose_with_orientation - double odom_roll, odom_pitch, odom_yaw; - tf2::Matrix3x3(transform_world_pose_.getRotation()) - .getRPY(odom_roll, odom_pitch, odom_yaw); - tf2::Quaternion odom_quat; - odom_quat.setRPY(0.0, 0.0, odom_yaw); - tf2::Transform transform_world_pose_yaw_only(transform_world_pose_); - transform_world_pose_yaw_only.setRotation(odom_quat); - - cartesian_world_transform_.mult(transform_world_pose_yaw_only, - cartesian_pose_with_orientation.inverse()); - - cartesian_world_trans_inverse_ = cartesian_world_transform_.inverse(); - - ROS_INFO_STREAM("Transform world frame pose is: " << transform_world_pose_); - ROS_INFO_STREAM("World frame->cartesian transform is " - << cartesian_world_transform_); - - transform_good_ = true; - - // Send out the (static) Cartesian transform in case anyone else would like - // to use it. - if (broadcast_cartesian_transform_) { - geometry_msgs::TransformStamped cartesian_transform_stamped; - cartesian_transform_stamped.header.stamp = ros::Time::now(); - cartesian_transform_stamped.header.frame_id = - (broadcast_cartesian_transform_as_parent_frame_ ? cartesian_frame_id_ - : world_frame_id_); - cartesian_transform_stamped.child_frame_id = - (broadcast_cartesian_transform_as_parent_frame_ - ? world_frame_id_ - : cartesian_frame_id_); - cartesian_transform_stamped.transform = - (broadcast_cartesian_transform_as_parent_frame_ - ? tf2::toMsg(cartesian_world_trans_inverse_) - : tf2::toMsg(cartesian_world_transform_)); - cartesian_transform_stamped.transform.translation.z = - (zero_altitude_ - ? 0.0 - : cartesian_transform_stamped.transform.translation.z); - cartesian_broadcaster_.sendTransform(cartesian_transform_stamped); - } - } -} - -bool NavSatTransform::datumCallback( - robot_localization::SetDatum::Request &request, - robot_localization::SetDatum::Response &) { - // If we get a service call with a manual datum, even if we already computed - // the transform using the robot's initial pose, then we want to assume that - // we are using a datum from now on, and we want other methods to not attempt - // to transform the values we are specifying here. - use_manual_datum_ = true; - - transform_good_ = false; - - sensor_msgs::NavSatFix *fix = new sensor_msgs::NavSatFix(); - fix->latitude = request.geo_pose.position.latitude; - fix->longitude = request.geo_pose.position.longitude; - fix->altitude = request.geo_pose.position.altitude; - fix->header.stamp = ros::Time::now(); - fix->position_covariance[0] = 0.1; - fix->position_covariance[4] = 0.1; - fix->position_covariance[8] = 0.1; - fix->position_covariance_type = sensor_msgs::NavSatStatus::STATUS_FIX; - sensor_msgs::NavSatFixConstPtr fix_ptr(fix); - setTransformGps(fix_ptr); - - nav_msgs::Odometry *odom = new nav_msgs::Odometry(); - odom->pose.pose.orientation.x = 0; - odom->pose.pose.orientation.y = 0; - odom->pose.pose.orientation.z = 0; - odom->pose.pose.orientation.w = 1; - odom->pose.pose.position.x = 0; - odom->pose.pose.position.y = 0; - odom->pose.pose.position.z = 0; - odom->header.frame_id = world_frame_id_; - odom->child_frame_id = base_link_frame_id_; - nav_msgs::OdometryConstPtr odom_ptr(odom); - setTransformOdometry(odom_ptr); - - sensor_msgs::Imu *imu = new sensor_msgs::Imu(); - imu->orientation = request.geo_pose.orientation; - imu->header.frame_id = base_link_frame_id_; - sensor_msgs::ImuConstPtr imu_ptr(imu); - imuCallback(imu_ptr); - - return true; -} - -bool NavSatTransform::toLLCallback( - robot_localization::ToLL::Request &request, - robot_localization::ToLL::Response &response) { - if (!transform_good_) { - ROS_ERROR("No transform available (yet)"); - return false; - } - tf2::Vector3 point; - tf2::fromMsg(request.map_point, point); - mapToLL(point, response.ll_point.latitude, response.ll_point.longitude, - response.ll_point.altitude); - - return true; -} - -bool NavSatTransform::fromLLCallback( - robot_localization::FromLL::Request &request, - robot_localization::FromLL::Response &response) { - double altitude = request.ll_point.altitude; - double longitude = request.ll_point.longitude; - double latitude = request.ll_point.latitude; - - tf2::Transform cartesian_pose; - - double cartesian_x; - double cartesian_y; - double cartesian_z; - - if (use_local_cartesian_) { - gps_local_cartesian_.Forward(latitude, longitude, altitude, cartesian_x, - cartesian_y, cartesian_z); - } else { - int zone_tmp; - bool nortp_tmp; - try { - GeographicLib::UTMUPS::Forward(latitude, longitude, zone_tmp, nortp_tmp, - cartesian_x, cartesian_y, utm_zone_); - } catch (const GeographicLib::GeographicErr &e) { - ROS_ERROR_STREAM_THROTTLE(1.0, e.what()); - return false; - } - } - - cartesian_pose.setOrigin(tf2::Vector3(cartesian_x, cartesian_y, altitude)); - - nav_msgs::Odometry gps_odom; - - if (!transform_good_) { - ROS_ERROR("No transform available (yet)"); - return false; - } - - response.map_point = cartesianToMap(cartesian_pose).pose.pose.position; - - return true; -} - -bool NavSatTransform::setUTMZoneCallback( - robot_localization::SetUTMZone::Request &request, - robot_localization::SetUTMZone::Response &response) { - double x_unused; - double y_unused; - int prec_unused; - GeographicLib::MGRS::Reverse(request.utm_zone, utm_zone_, northp_, x_unused, - y_unused, prec_unused, true); - ROS_INFO("UTM zone set to %d %s", utm_zone_, northp_ ? "north" : "south"); - return true; -} - -nav_msgs::Odometry -NavSatTransform::cartesianToMap(const tf2::Transform &cartesian_pose) const { - nav_msgs::Odometry gps_odom{}; - - tf2::Transform transformed_cartesian_gps{}; - - transformed_cartesian_gps.mult(cartesian_world_transform_, cartesian_pose); - transformed_cartesian_gps.setRotation(tf2::Quaternion::getIdentity()); - - // Set header information stamp because we would like to know the robot's - // position at that timestamp - gps_odom.header.frame_id = world_frame_id_; - gps_odom.header.stamp = gps_update_time_; - - // Now fill out the message. Set the orientation to the identity. - tf2::toMsg(transformed_cartesian_gps, gps_odom.pose.pose); - gps_odom.pose.pose.position.z = - (zero_altitude_ ? 0.0 : gps_odom.pose.pose.position.z); - - return gps_odom; -} - -void NavSatTransform::mapToLL(const tf2::Vector3 &point, double &latitude, - double &longitude, double &altitude) const { - tf2::Transform odom_as_cartesian{}; - - tf2::Transform pose{}; - pose.setOrigin(point); - pose.setRotation(tf2::Quaternion::getIdentity()); - - odom_as_cartesian.mult(cartesian_world_trans_inverse_, pose); - odom_as_cartesian.setRotation(tf2::Quaternion::getIdentity()); - - if (use_local_cartesian_) { - double altitude_tmp = 0.0; - gps_local_cartesian_.Reverse(odom_as_cartesian.getOrigin().getX(), - odom_as_cartesian.getOrigin().getY(), 0.0, - latitude, longitude, altitude_tmp); - altitude = odom_as_cartesian.getOrigin().getZ(); - } else { - GeographicLib::UTMUPS::Reverse( - utm_zone_, northp_, odom_as_cartesian.getOrigin().getX(), - odom_as_cartesian.getOrigin().getY(), latitude, longitude); - altitude = odom_as_cartesian.getOrigin().getZ(); - } -} - -void NavSatTransform::getRobotOriginCartesianPose( - const tf2::Transform &gps_cartesian_pose, - tf2::Transform &robot_cartesian_pose, const ros::Time &transform_time) { - robot_cartesian_pose.setIdentity(); - - // Get linear offset from origin for the GPS - tf2::Transform offset; - bool can_transform = RosFilterUtilities::lookupTransformSafe( - tf_buffer_, base_link_frame_id_, gps_frame_id_, transform_time, - ros::Duration(transform_timeout_), offset, tf_silent_failure_); - - if (can_transform) { - // Get the orientation we'll use for our Cartesian->world transform - tf2::Quaternion cartesian_orientation = transform_orientation_; - tf2::Matrix3x3 mat(cartesian_orientation); - - // Add the offsets - double roll; - double pitch; - double yaw; - mat.getRPY(roll, pitch, yaw); - yaw += (magnetic_declination_ + yaw_offset_ + utm_meridian_convergence_); - cartesian_orientation.setRPY(roll, pitch, yaw); - - // Rotate the GPS linear offset by the orientation - // Zero out the orientation, because the GPS orientation is meaningless, and - // if it's non-zero, it will make the the computation of - // robot_cartesian_pose erroneous. - offset.setOrigin( - tf2::quatRotate(cartesian_orientation, offset.getOrigin())); - offset.setRotation(tf2::Quaternion::getIdentity()); - - // Update the initial pose - robot_cartesian_pose = offset.inverse() * gps_cartesian_pose; - } else { - if (gps_frame_id_ != "") { - ROS_WARN_STREAM_ONCE("Unable to obtain " - << base_link_frame_id_ << "->" << gps_frame_id_ - << " transform. Will assume navsat device is " - "mounted at robot's origin"); - } - - robot_cartesian_pose = gps_cartesian_pose; - } -} - -void NavSatTransform::getRobotOriginWorldPose( - const tf2::Transform &gps_odom_pose, tf2::Transform &robot_odom_pose, - const ros::Time &transform_time) { - robot_odom_pose.setIdentity(); - - // Remove the offset from base_link - tf2::Transform gps_offset_rotated; - bool can_transform = RosFilterUtilities::lookupTransformSafe( - tf_buffer_, base_link_frame_id_, gps_frame_id_, transform_time, - transform_timeout_, gps_offset_rotated, tf_silent_failure_); - - if (can_transform) { - tf2::Transform robot_orientation; - can_transform = RosFilterUtilities::lookupTransformSafe( - tf_buffer_, world_frame_id_, base_link_frame_id_, transform_time, - transform_timeout_, robot_orientation, tf_silent_failure_); - - if (can_transform) { - // Zero out rotation because we don't care about the orientation of the - // GPS receiver relative to base_link - gps_offset_rotated.setOrigin(tf2::quatRotate( - robot_orientation.getRotation(), gps_offset_rotated.getOrigin())); - gps_offset_rotated.setRotation(tf2::Quaternion::getIdentity()); - robot_odom_pose = gps_offset_rotated.inverse() * gps_odom_pose; - } else { - ROS_WARN_STREAM_THROTTLE( - 5.0, "Could not obtain " << world_frame_id_ << "->" - << base_link_frame_id_ - << " transform. Will not remove offset of " - "navsat device from robot's origin."); - } - } else { - ROS_WARN_STREAM_THROTTLE( - 5.0, "Could not obtain " << base_link_frame_id_ << "->" << gps_frame_id_ - << " transform. Will not remove offset of " - "navsat device from robot's origin."); - } -} - -void NavSatTransform::gpsFixCallback( - const sensor_msgs::NavSatFixConstPtr &msg) { - gps_frame_id_ = msg->header.frame_id; - - if (gps_frame_id_.empty()) { - ROS_WARN_STREAM_ONCE("NavSatFix message has empty frame_id. Will assume " - "navsat device is mounted at robot's " - "origin."); - } - - // Make sure the GPS data is usable - bool good_gps = - (msg->status.status != sensor_msgs::NavSatStatus::STATUS_NO_FIX && - !std::isnan(msg->altitude) && !std::isnan(msg->latitude) && - !std::isnan(msg->longitude)); - - if (good_gps) { - // If we haven't computed the transform yet, then - // store this message as the initial GPS data to use - if (!transform_good_ && !use_manual_datum_) { - setTransformGps(msg); - } - - double cartesian_x = 0.0; - double cartesian_y = 0.0; - double cartesian_z = 0.0; - if (use_local_cartesian_) { - gps_local_cartesian_.Forward(msg->latitude, msg->longitude, msg->altitude, - cartesian_x, cartesian_y, cartesian_z); - } else { - // Transform to UTM using the fixed utm_zone_ - int zone_tmp; - bool northp_tmp; - try { - GeographicLib::UTMUPS::Forward(msg->latitude, msg->longitude, zone_tmp, - northp_tmp, cartesian_x, cartesian_y, - utm_zone_); - } catch (const GeographicLib::GeographicErr &e) { - ROS_ERROR_STREAM_THROTTLE(1.0, e.what()); - return; - } - } - latest_cartesian_pose_.setOrigin( - tf2::Vector3(cartesian_x, cartesian_y, msg->altitude)); - latest_cartesian_covariance_.setZero(); - - // Copy the measurement's covariance matrix so that we can rotate it later - for (size_t i = 0; i < POSITION_SIZE; i++) { - for (size_t j = 0; j < POSITION_SIZE; j++) { - latest_cartesian_covariance_(i, j) = - msg->position_covariance[POSITION_SIZE * i + j]; - } - } - - gps_update_time_ = msg->header.stamp; - gps_updated_ = true; - } -} - -void NavSatTransform::imuCallback(const sensor_msgs::ImuConstPtr &msg) { - // We need the baseLinkFrameId_ from the odometry message, so - // we need to wait until we receive it. - if (has_transform_odom_) { - /* This method only gets called if we don't yet have the - * IMU data (the subscriber gets shut down once we compute - * the transform), so we can assumed that every IMU message - * that comes here is meant to be used for that purpose. */ - tf2::fromMsg(msg->orientation, transform_orientation_); - - // Correct for the IMU's orientation w.r.t. base_link - tf2::Transform target_frame_trans; - bool can_transform = RosFilterUtilities::lookupTransformSafe( - tf_buffer_, base_link_frame_id_, msg->header.frame_id, - msg->header.stamp, transform_timeout_, target_frame_trans, - tf_silent_failure_); - - if (can_transform) { - double roll_offset = 0; - double pitch_offset = 0; - double yaw_offset = 0; - double roll = 0; - double pitch = 0; - double yaw = 0; - RosFilterUtilities::quatToRPY(target_frame_trans.getRotation(), - roll_offset, pitch_offset, yaw_offset); - RosFilterUtilities::quatToRPY(transform_orientation_, roll, pitch, yaw); - - ROS_DEBUG_STREAM("Initial orientation is " << transform_orientation_); - - // Apply the offset (making sure to bound them), and throw them in a - // vector - tf2::Vector3 rpy_angles( - FilterUtilities::clampRotation(roll - roll_offset), - FilterUtilities::clampRotation(pitch - pitch_offset), - FilterUtilities::clampRotation(yaw - yaw_offset)); - - // Now we need to rotate the roll and pitch by the yaw offset value. - // Imagine a case where an IMU is mounted facing sideways. In that case - // pitch for the IMU's world frame is roll for the robot. - tf2::Matrix3x3 mat; - mat.setRPY(0.0, 0.0, yaw_offset); - rpy_angles = mat * rpy_angles; - transform_orientation_.setRPY(rpy_angles.getX(), rpy_angles.getY(), - rpy_angles.getZ()); - - ROS_DEBUG_STREAM("Initial corrected orientation roll, pitch, yaw is (" - << rpy_angles.getX() << ", " << rpy_angles.getY() << ", " - << rpy_angles.getZ() << ")"); - - has_transform_imu_ = true; - } - } -} - -void NavSatTransform::odomCallback(const nav_msgs::OdometryConstPtr &msg) { - world_frame_id_ = msg->header.frame_id; - base_link_frame_id_ = msg->child_frame_id; - - if (!transform_good_ && !use_manual_datum_) { - setTransformOdometry(msg); - } - - tf2::fromMsg(msg->pose.pose, latest_world_pose_); - latest_odom_covariance_.setZero(); - for (size_t row = 0; row < POSE_SIZE; ++row) { - for (size_t col = 0; col < POSE_SIZE; ++col) { - latest_odom_covariance_(row, col) = - msg->pose.covariance[row * POSE_SIZE + col]; - } - } - - odom_update_time_ = msg->header.stamp; - odom_updated_ = true; -} - -bool NavSatTransform::prepareFilteredGps(sensor_msgs::NavSatFix &filtered_gps) { - bool new_data = false; - - if (transform_good_ && odom_updated_) { - mapToLL(latest_world_pose_.getOrigin(), filtered_gps.latitude, - filtered_gps.longitude, filtered_gps.altitude); - - // Rotate the covariance as well - tf2::Matrix3x3 rot(cartesian_world_trans_inverse_.getRotation()); - Eigen::MatrixXd rot_6d(POSE_SIZE, POSE_SIZE); - rot_6d.setIdentity(); - - for (size_t rInd = 0; rInd < POSITION_SIZE; ++rInd) { - rot_6d(rInd, 0) = rot.getRow(rInd).getX(); - rot_6d(rInd, 1) = rot.getRow(rInd).getY(); - rot_6d(rInd, 2) = rot.getRow(rInd).getZ(); - rot_6d(rInd + POSITION_SIZE, 3) = rot.getRow(rInd).getX(); - rot_6d(rInd + POSITION_SIZE, 4) = rot.getRow(rInd).getY(); - rot_6d(rInd + POSITION_SIZE, 5) = rot.getRow(rInd).getZ(); - } - - // Rotate the covariance - latest_odom_covariance_ = - rot_6d * latest_odom_covariance_.eval() * rot_6d.transpose(); - - // Copy the measurement's covariance matrix back - for (size_t i = 0; i < POSITION_SIZE; i++) { - for (size_t j = 0; j < POSITION_SIZE; j++) { - filtered_gps.position_covariance[POSITION_SIZE * i + j] = - latest_odom_covariance_(i, j); - } - } - - filtered_gps.position_covariance_type = - sensor_msgs::NavSatFix::COVARIANCE_TYPE_KNOWN; - filtered_gps.status.status = sensor_msgs::NavSatStatus::STATUS_GBAS_FIX; - filtered_gps.header.frame_id = base_link_frame_id_; - filtered_gps.header.stamp = odom_update_time_; - - // Mark this GPS as used - odom_updated_ = false; - new_data = true; - } - - return new_data; -} - -bool NavSatTransform::prepareGpsOdometry(nav_msgs::Odometry &gps_odom) { - bool new_data = false; - - if (transform_good_ && gps_updated_ && odom_updated_) { - gps_odom = cartesianToMap(latest_cartesian_pose_); - - tf2::Transform transformed_cartesian_gps; - tf2::fromMsg(gps_odom.pose.pose, transformed_cartesian_gps); - - // Want the pose of the vehicle origin, not the GPS - tf2::Transform transformed_cartesian_robot; - getRobotOriginWorldPose(transformed_cartesian_gps, - transformed_cartesian_robot, gps_odom.header.stamp); - - // Rotate the covariance as well - tf2::Matrix3x3 rot(cartesian_world_transform_.getRotation()); - Eigen::MatrixXd rot_6d(POSE_SIZE, POSE_SIZE); - rot_6d.setIdentity(); - - for (size_t rInd = 0; rInd < POSITION_SIZE; ++rInd) { - rot_6d(rInd, 0) = rot.getRow(rInd).getX(); - rot_6d(rInd, 1) = rot.getRow(rInd).getY(); - rot_6d(rInd, 2) = rot.getRow(rInd).getZ(); - rot_6d(rInd + POSITION_SIZE, 3) = rot.getRow(rInd).getX(); - rot_6d(rInd + POSITION_SIZE, 4) = rot.getRow(rInd).getY(); - rot_6d(rInd + POSITION_SIZE, 5) = rot.getRow(rInd).getZ(); - } - - // Rotate the covariance - latest_cartesian_covariance_ = - rot_6d * latest_cartesian_covariance_.eval() * rot_6d.transpose(); - - // Now fill out the message. Set the orientation to the identity. - tf2::toMsg(transformed_cartesian_robot, gps_odom.pose.pose); - gps_odom.pose.pose.position.z = - (zero_altitude_ ? 0.0 : gps_odom.pose.pose.position.z); - - // Copy the measurement's covariance matrix so that we can rotate it later - for (size_t i = 0; i < POSE_SIZE; i++) { - for (size_t j = 0; j < POSE_SIZE; j++) { - gps_odom.pose.covariance[POSE_SIZE * i + j] = - latest_cartesian_covariance_(i, j); - } - } - - // Mark this GPS as used - gps_updated_ = false; - new_data = true; - } - - return new_data; -} - -void NavSatTransform::setTransformGps( - const sensor_msgs::NavSatFixConstPtr &msg) { - double cartesian_x = 0; - double cartesian_y = 0; - double cartesian_z = 0; - if (use_local_cartesian_) { - const double hae_altitude = 0.0; - gps_local_cartesian_.Reset(msg->latitude, msg->longitude, hae_altitude); - gps_local_cartesian_.Forward(msg->latitude, msg->longitude, msg->altitude, - cartesian_x, cartesian_y, cartesian_z); - - // UTM meridian convergence is not meaningful when using local cartesian, so - // set it to 0.0 - utm_meridian_convergence_ = 0.0; - } else { - double k_tmp; - double utm_meridian_convergence_degrees; - GeographicLib::UTMUPS::Forward(msg->latitude, msg->longitude, utm_zone_, - northp_, cartesian_x, cartesian_y, - utm_meridian_convergence_degrees, k_tmp); - utm_meridian_convergence_ = utm_meridian_convergence_degrees * - NavsatConversions::RADIANS_PER_DEGREE; - } - - ROS_INFO_STREAM("Datum (latitude, longitude, altitude) is (" - << std::fixed << msg->latitude << ", " << msg->longitude - << ", " << msg->altitude << ")"); - ROS_INFO_STREAM( - "Datum " << ((use_local_cartesian_) ? "Local Cartesian" : "UTM") - << " coordinate is (" << std::fixed << cartesian_x << ", " - << cartesian_y << ") zone " << utm_zone_); - - transform_cartesian_pose_.setOrigin( - tf2::Vector3(cartesian_x, cartesian_y, msg->altitude)); - transform_cartesian_pose_.setRotation(tf2::Quaternion::getIdentity()); - has_transform_gps_ = true; -} - -void NavSatTransform::setTransformOdometry( - const nav_msgs::OdometryConstPtr &msg) { - tf2::fromMsg(msg->pose.pose, transform_world_pose_); - has_transform_odom_ = true; - - ROS_INFO_STREAM_ONCE("Initial odometry pose is " << transform_world_pose_); - - // Users can optionally use the (potentially fused) heading from - // the odometry source, which may have multiple fused sources of - // heading data, and so would act as a better heading for the - // Cartesian->world_frame transform. - if (!transform_good_ && use_odometry_yaw_ && !use_manual_datum_) { - sensor_msgs::Imu *imu = new sensor_msgs::Imu(); - imu->orientation = msg->pose.pose.orientation; - imu->header.frame_id = msg->child_frame_id; - imu->header.stamp = msg->header.stamp; - sensor_msgs::ImuConstPtr imuPtr(imu); - imuCallback(imuPtr); - } -} - -} // namespace RobotLocalization diff --git a/navigation/robot_localization/src/navsat_transform_node.cpp b/navigation/robot_localization/src/navsat_transform_node.cpp deleted file mode 100644 index 4e85e82d..00000000 --- a/navigation/robot_localization/src/navsat_transform_node.cpp +++ /dev/null @@ -1,47 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/navsat_transform.h" - -#include - -int main(int argc, char **argv) { - ros::init(argc, argv, "navsat_transform_node"); - - ros::NodeHandle nh; - ros::NodeHandle nh_priv("~"); - - RobotLocalization::NavSatTransform trans(nh, nh_priv); - ros::spin(); - - return EXIT_SUCCESS; -} diff --git a/navigation/robot_localization/src/navsat_transform_nodelet.cpp b/navigation/robot_localization/src/navsat_transform_nodelet.cpp deleted file mode 100644 index ddf5a9c5..00000000 --- a/navigation/robot_localization/src/navsat_transform_nodelet.cpp +++ /dev/null @@ -1,61 +0,0 @@ -/* - * Copyright (c) 2017 Simon Gene Gottlieb - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/navsat_transform.h" - -#include -#include -#include - -#include - -namespace RobotLocalization { - -class NavSatTransformNodelet : public nodelet::Nodelet { -private: - std::unique_ptr trans; - -public: - virtual void onInit() { - NODELET_DEBUG("Initializing nodelet..."); - - ros::NodeHandle nh = getNodeHandle(); - ros::NodeHandle nh_priv = getPrivateNodeHandle(); - - trans = std::make_unique(nh, nh_priv); - } -}; - -} // namespace RobotLocalization - -PLUGINLIB_EXPORT_CLASS(RobotLocalization::NavSatTransformNodelet, - nodelet::Nodelet); diff --git a/navigation/robot_localization/src/robot_localization_estimator.cpp b/navigation/robot_localization/src/robot_localization_estimator.cpp deleted file mode 100644 index fd6411a5..00000000 --- a/navigation/robot_localization/src/robot_localization_estimator.cpp +++ /dev/null @@ -1,184 +0,0 @@ -/* - * Copyright (c) 2016, TNO IVS Helmond. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/robot_localization_estimator.h" -#include "robot_localization/ekf.h" -#include "robot_localization/ukf.h" - -#include - -namespace RobotLocalization { -RobotLocalizationEstimator::RobotLocalizationEstimator( - unsigned int buffer_capacity, FilterType filter_type, - const Eigen::MatrixXd &process_noise_covariance, - const std::vector &filter_args) { - state_buffer_.set_capacity(buffer_capacity); - - // Set up the filter that is used for predictions - if (filter_type == FilterTypes::EKF) { - filter_ = new Ekf; - } else if (filter_type == FilterTypes::UKF) { - filter_ = new Ukf(filter_args); - } - - filter_->setProcessNoiseCovariance(process_noise_covariance); -} - -RobotLocalizationEstimator::~RobotLocalizationEstimator() { delete filter_; } - -void RobotLocalizationEstimator::setState(const EstimatorState &state) { - // If newly received state is newer than any in the buffer, push back - if (state_buffer_.empty() || - state.time_stamp > state_buffer_.back().time_stamp) { - state_buffer_.push_back(state); - } - // If it is older, put it in the right position - else { - for (boost::circular_buffer::iterator it = - state_buffer_.begin(); - it != state_buffer_.end(); ++it) { - if (state.time_stamp < it->time_stamp) { - state_buffer_.insert(it, state); - return; - } - } - } -} - -EstimatorResult -RobotLocalizationEstimator::getState(const double time, - EstimatorState &state) const { - // If there's nothing in the buffer, there's nothing to give. - if (state_buffer_.size() == 0) { - return EstimatorResults::EmptyBuffer; - } - - // Set state to the most recent one for now - state = state_buffer_.back(); - - // Go through buffer from new to old - EstimatorState last_state_before_time = state_buffer_.front(); - EstimatorState next_state_after_time = state_buffer_.back(); - bool previous_state_found = false; - bool next_state_found = false; - - for (boost::circular_buffer::const_reverse_iterator it = - state_buffer_.rbegin(); - it != state_buffer_.rend(); ++it) { - /* If the time stamp of the current state from the buffer is - * older than the requested time, store it as the last state - * before the requested time. If it is younger, save it as the - * next one after, and go on to find the last one before. - */ - if (it->time_stamp == time) { - state = *it; - return EstimatorResults::Exact; - } else if (it->time_stamp <= time) { - last_state_before_time = *it; - previous_state_found = true; - break; - } else { - next_state_after_time = *it; - next_state_found = true; - } - } - - // If we found a previous state and a next state, we can do interpolation - if (previous_state_found && next_state_found) { - interpolate(last_state_before_time, next_state_after_time, time, state); - return EstimatorResults::Interpolation; - } - - // If only a previous state is found, we can do extrapolation into the future - else if (previous_state_found) { - extrapolate(last_state_before_time, time, state); - return EstimatorResults::ExtrapolationIntoFuture; - } - - // If only a next state is found, we'll have to extrapolate into the past. - else if (next_state_found) { - extrapolate(next_state_after_time, time, state); - return EstimatorResults::ExtrapolationIntoPast; - } - - else { - return EstimatorResults::Failed; - } -} - -void RobotLocalizationEstimator::setBufferCapacity(const int capacity) { - state_buffer_.set_capacity(capacity); -} - -void RobotLocalizationEstimator::clearBuffer() { state_buffer_.clear(); } - -unsigned int RobotLocalizationEstimator::getBufferCapacity() const { - return state_buffer_.capacity(); -} - -unsigned int RobotLocalizationEstimator::getSize() const { - return state_buffer_.size(); -} - -void RobotLocalizationEstimator::extrapolate( - const EstimatorState &boundary_state, const double requested_time, - EstimatorState &state_at_req_time) const { - // Set up the filter with the boundary state - filter_->setState(boundary_state.state); - filter_->setEstimateErrorCovariance(boundary_state.covariance); - - // Calculate how much time we need to extrapolate into the future - double delta = requested_time - boundary_state.time_stamp; - - // Use the filter to predict - filter_->predict(boundary_state.time_stamp, delta); - - state_at_req_time.time_stamp = requested_time; - state_at_req_time.state = filter_->getState(); - state_at_req_time.covariance = filter_->getEstimateErrorCovariance(); - - return; -} - -void RobotLocalizationEstimator::interpolate( - const EstimatorState &given_state_1, const EstimatorState &given_state_2, - const double requested_time, EstimatorState &state_at_req_time) const { - /* - * TODO: Right now, we only extrapolate from the last known state before the - * requested time. But as the state after the requested time is also known, we - * may want to perform interpolation between states. - */ - extrapolate(given_state_1, requested_time, state_at_req_time); - return; -} - -} // namespace RobotLocalization diff --git a/navigation/robot_localization/src/robot_localization_listener_node.cpp b/navigation/robot_localization/src/robot_localization_listener_node.cpp deleted file mode 100644 index f964d77d..00000000 --- a/navigation/robot_localization/src/robot_localization_listener_node.cpp +++ /dev/null @@ -1,92 +0,0 @@ -/* - * Copyright (c) 2016, TNO IVS Helmond. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/GetState.h" -#include "robot_localization/ros_robot_localization_listener.h" - -#include - -namespace RobotLocalization { - -class RobotLocalizationListenerNode { -public: - RobotLocalizationListenerNode() { - service_ = n_.advertiseService( - "get_state", &RobotLocalizationListenerNode::getStateCallback, this); - } - - std::string getService() { return service_.getService(); } - -private: - RosRobotLocalizationListener rll_; - ros::NodeHandle n_; - ros::ServiceServer service_; - - bool getStateCallback(robot_localization::GetState::Request &req, - robot_localization::GetState::Response &res) { - Eigen::VectorXd state(STATE_SIZE); - Eigen::MatrixXd covariance(STATE_SIZE, STATE_SIZE); - - if (!rll_.getState(req.time_stamp, req.frame_id, state, covariance)) { - ROS_ERROR("Robot Localization Listener Node: Listener instance returned " - "false at getState call."); - return false; - } - - for (size_t i = 0; i < STATE_SIZE; i++) { - res.state[i] = (*(state.data() + i)); - } - - for (size_t i = 0; i < STATE_SIZE * STATE_SIZE; i++) { - res.covariance[i] = (*(covariance.data() + i)); - } - - ROS_DEBUG("Robot Localization Listener Node: Listener responded with state " - "and covariance at the requested time."); - return true; - } -}; - -} // namespace RobotLocalization - -int main(int argc, char **argv) { - ros::init(argc, argv, "robot_localization_listener_node"); - - RobotLocalization::RobotLocalizationListenerNode rlln; - ROS_INFO_STREAM( - "Robot Localization Listener Node: Ready to handle GetState requests at " - << rlln.getService()); - - ros::spin(); - - return 0; -} diff --git a/navigation/robot_localization/src/ros_filter.cpp b/navigation/robot_localization/src/ros_filter.cpp deleted file mode 100644 index 5c342737..00000000 --- a/navigation/robot_localization/src/ros_filter.cpp +++ /dev/null @@ -1,3179 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/ros_filter.h" -#include "robot_localization/ekf.h" -#include "robot_localization/filter_utilities.h" -#include "robot_localization/ukf.h" - -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#if defined(_WIN32) && defined(ERROR) -#undef ERROR -#endif - -namespace RobotLocalization { -template -RosFilter::RosFilter(ros::NodeHandle nh, ros::NodeHandle nh_priv, - std::string node_name, std::vector args) - : disabledAtStartup_(false), enabled_(false), predictToCurrentTime_(false), - printDiagnostics_(true), publishAcceleration_(false), - publishTransform_(true), resetOnTimeJump_(false), - smoothLaggedData_(false), toggledOn_(true), twoDMode_(false), - useControl_(false), - dynamicDiagErrorLevel_(diagnostic_msgs::DiagnosticStatus::OK), - staticDiagErrorLevel_(diagnostic_msgs::DiagnosticStatus::OK), - frequency_(30.0), gravitationalAcc_(9.80665), historyLength_(0), - minFrequency_(frequency_ - 2.0), maxFrequency_(frequency_ + 2.0), - baseLinkFrameId_("base_link"), mapFrameId_("map"), odomFrameId_("odom"), - worldFrameId_(odomFrameId_), lastDiagTime_(0), lastSetPoseTime_(0), - latestControlTime_(0), tfTimeOffset_(ros::Duration(0)), - tfTimeout_(ros::Duration(0)), filter_(args), nh_(nh), nhLocal_(nh_priv), - diagnosticUpdater_(nh, nh_priv, node_name), tfListener_(tfBuffer_) { - stateVariableNames_.push_back("X"); - stateVariableNames_.push_back("Y"); - stateVariableNames_.push_back("Z"); - stateVariableNames_.push_back("ROLL"); - stateVariableNames_.push_back("PITCH"); - stateVariableNames_.push_back("YAW"); - stateVariableNames_.push_back("X_VELOCITY"); - stateVariableNames_.push_back("Y_VELOCITY"); - stateVariableNames_.push_back("Z_VELOCITY"); - stateVariableNames_.push_back("ROLL_VELOCITY"); - stateVariableNames_.push_back("PITCH_VELOCITY"); - stateVariableNames_.push_back("YAW_VELOCITY"); - stateVariableNames_.push_back("X_ACCELERATION"); - stateVariableNames_.push_back("Y_ACCELERATION"); - stateVariableNames_.push_back("Z_ACCELERATION"); - - diagnosticUpdater_.setHardwareID("none"); -} - -template -RosFilter::RosFilter(ros::NodeHandle nh, ros::NodeHandle nh_priv, - std::vector args) - : RosFilter::RosFilter(nh, nh_priv, ros::this_node::getName(), args) {} - -template RosFilter::~RosFilter() { topicSubs_.clear(); } - -template void RosFilter::initialize() { - loadParams(); - - if (printDiagnostics_) { - diagnosticUpdater_.add("Filter diagnostic updater", this, - &RosFilter::aggregateDiagnostics); - } - - // Set up the frequency diagnostic - minFrequency_ = frequency_ - 2; - maxFrequency_ = frequency_ + 2; - freqDiag_ = std::make_unique( - "odometry/filtered", diagnosticUpdater_, - diagnostic_updater::FrequencyStatusParam(&minFrequency_, &maxFrequency_, - 0.1, 10)); - - // Publisher - positionPub_ = nh_.advertise("odometry/filtered", 20); - - // Optional acceleration publisher - if (publishAcceleration_) { - accelPub_ = nh_.advertise( - "accel/filtered", 20); - } - - lastDiagTime_ = ros::Time::now(); - - periodicUpdateTimer_ = nh_.createTimer(ros::Duration(1. / frequency_), - &RosFilter::periodicUpdate, this); -} - -template void RosFilter::reset() { - // Get rid of any initial poses (pretend we've never had a measurement) - initialMeasurements_.clear(); - previousMeasurements_.clear(); - previousMeasurementCovariances_.clear(); - - clearMeasurementQueue(); - - filterStateHistory_.clear(); - measurementHistory_.clear(); - - // Also set the last set pose time, so we ignore all messages - // that occur before it - lastSetPoseTime_ = ros::Time(0); - - // clear tf buffer to avoid TF_OLD_DATA errors - tfBuffer_.clear(); - - // clear last message timestamp, so older messages will be accepted - lastMessageTimes_.clear(); - - // reset filter to uninitialized state - filter_.reset(); - - // clear all waiting callbacks - ros::getGlobalCallbackQueue()->clear(); -} - -template -bool RosFilter::toggleFilterProcessingCallback( - robot_localization::ToggleFilterProcessing::Request &req, - robot_localization::ToggleFilterProcessing::Response &resp) { - if (req.on == toggledOn_) { - ROS_WARN_STREAM("Service was called to toggle filter processing but state " - "was already as requested."); - resp.status = false; - } else { - ROS_INFO("Toggling filter measurement filtering to %s.", - req.on ? "On" : "Off"); - toggledOn_ = req.on; - resp.status = true; - } - return true; -} - -// @todo: Replace with AccelWithCovarianceStamped -template -void RosFilter::accelerationCallback(const sensor_msgs::Imu::ConstPtr &msg, - const CallbackData &callbackData, - const std::string &targetFrame) { - // If we've just reset the filter, then we want to ignore any messages - // that arrive with an older timestamp - if (msg->header.stamp <= lastSetPoseTime_) { - return; - } - - const std::string &topicName = callbackData.topicName_; - - RF_DEBUG("------ RosFilter::accelerationCallback (" << topicName - << ") ------\n" - "Twist message:\n" - << *msg); - - if (lastMessageTimes_.count(topicName) == 0) { - lastMessageTimes_.insert( - std::pair(topicName, msg->header.stamp)); - } - - // Make sure this message is newer than the last one - if (msg->header.stamp >= lastMessageTimes_[topicName]) { - RF_DEBUG("Update vector for " << topicName << " is:\n" << topicName); - - Eigen::VectorXd measurement(STATE_SIZE); - Eigen::MatrixXd measurementCovariance(STATE_SIZE, STATE_SIZE); - - measurement.setZero(); - measurementCovariance.setZero(); - - // Make sure we're actually updating at least one of these variables - std::vector updateVectorCorrected = callbackData.updateVector_; - - // Prepare the twist data for inclusion in the filter - if (prepareAcceleration(msg, topicName, targetFrame, updateVectorCorrected, - measurement, measurementCovariance)) { - // Store the measurement. Add an "acceleration" suffix so we know what - // kind of measurement we're dealing with when we debug the core filter - // logic. - enqueueMeasurement(topicName, measurement, measurementCovariance, - updateVectorCorrected, - callbackData.rejectionThreshold_, msg->header.stamp); - - RF_DEBUG("Enqueued new measurement for " << topicName - << "_acceleration\n"); - } else { - RF_DEBUG("Did *not* enqueue measurement for " << topicName - << "_acceleration\n"); - } - - lastMessageTimes_[topicName] = msg->header.stamp; - - RF_DEBUG("Last message time for " << topicName << " is now " - << lastMessageTimes_[topicName] << "\n"); - } else if (resetOnTimeJump_ && ros::Time::isSimTime()) { - reset(); - } else { - std::stringstream stream; - stream << "The " << topicName - << " message has a timestamp before that of the previous message " - "received," - << " this message will be ignored. This may indicate a bad " - "timestamp. (message time: " - << msg->header.stamp.toSec() << ")"; - addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, - topicName + "_timestamp", stream.str(), false); - - RF_DEBUG("Message is too old. Last message time for " - << topicName << " is " << lastMessageTimes_[topicName] - << ", current message time is " << msg->header.stamp << ".\n"); - } - - RF_DEBUG("\n----- /RosFilter::accelerationCallback (" << topicName - << ") ------\n"); -} - -template -void RosFilter::controlCallback(const geometry_msgs::Twist::ConstPtr &msg) { - geometry_msgs::TwistStampedPtr twistStampedPtr = - geometry_msgs::TwistStampedPtr(new geometry_msgs::TwistStamped()); - twistStampedPtr->twist = *msg; - twistStampedPtr->header.frame_id = baseLinkFrameId_; - twistStampedPtr->header.stamp = ros::Time::now(); - controlCallback(twistStampedPtr); -} - -template -void RosFilter::controlCallback( - const geometry_msgs::TwistStamped::ConstPtr &msg) { - if (msg->header.frame_id == baseLinkFrameId_ || msg->header.frame_id == "") { - latestControl_(ControlMemberVx) = msg->twist.linear.x; - latestControl_(ControlMemberVy) = msg->twist.linear.y; - latestControl_(ControlMemberVz) = msg->twist.linear.z; - latestControl_(ControlMemberVroll) = msg->twist.angular.x; - latestControl_(ControlMemberVpitch) = msg->twist.angular.y; - latestControl_(ControlMemberVyaw) = msg->twist.angular.z; - latestControlTime_ = msg->header.stamp; - - // Update the filter with this control term - filter_.setControl(latestControl_, msg->header.stamp.toSec()); - } else { - ROS_WARN_STREAM_THROTTLE( - 5.0, "Commanded velocities must be given in the robot's body frame (" - << baseLinkFrameId_ << "). Message frame was " - << msg->header.frame_id); - } -} - -template -void RosFilter::enqueueMeasurement( - const std::string &topicName, const Eigen::VectorXd &measurement, - const Eigen::MatrixXd &measurementCovariance, - const std::vector &updateVector, const double mahalanobisThresh, - const ros::Time &time) { - MeasurementPtr meas = MeasurementPtr(new Measurement()); - - meas->topicName_ = topicName; - meas->measurement_ = measurement; - meas->covariance_ = measurementCovariance; - meas->updateVector_ = updateVector; - meas->time_ = time.toSec(); - meas->mahalanobisThresh_ = mahalanobisThresh; - meas->latestControl_ = latestControl_; - meas->latestControlTime_ = latestControlTime_.toSec(); - measurementQueue_.push(meas); -} - -template -void RosFilter::forceTwoD(Eigen::VectorXd &measurement, - Eigen::MatrixXd &measurementCovariance, - std::vector &updateVector) { - measurement(StateMemberZ) = 0.0; - measurement(StateMemberRoll) = 0.0; - measurement(StateMemberPitch) = 0.0; - measurement(StateMemberVz) = 0.0; - measurement(StateMemberVroll) = 0.0; - measurement(StateMemberVpitch) = 0.0; - measurement(StateMemberAz) = 0.0; - - measurementCovariance(StateMemberZ, StateMemberZ) = 1e-6; - measurementCovariance(StateMemberRoll, StateMemberRoll) = 1e-6; - measurementCovariance(StateMemberPitch, StateMemberPitch) = 1e-6; - measurementCovariance(StateMemberVz, StateMemberVz) = 1e-6; - measurementCovariance(StateMemberVroll, StateMemberVroll) = 1e-6; - measurementCovariance(StateMemberVpitch, StateMemberVpitch) = 1e-6; - measurementCovariance(StateMemberAz, StateMemberAz) = 1e-6; - - updateVector[StateMemberZ] = 1; - updateVector[StateMemberRoll] = 1; - updateVector[StateMemberPitch] = 1; - updateVector[StateMemberVz] = 1; - updateVector[StateMemberVroll] = 1; - updateVector[StateMemberVpitch] = 1; - updateVector[StateMemberAz] = 1; -} - -template -bool RosFilter::getFilteredOdometryMessage(nav_msgs::Odometry &message) { - // If the filter has received a measurement at some point... - if (filter_.getInitializedStatus()) { - // Grab our current state and covariance estimates - const Eigen::VectorXd &state = filter_.getState(); - const Eigen::MatrixXd &estimateErrorCovariance = - filter_.getEstimateErrorCovariance(); - - // Convert from roll, pitch, and yaw back to quaternion for - // orientation values - tf2::Quaternion quat; - quat.setRPY(state(StateMemberRoll), state(StateMemberPitch), - state(StateMemberYaw)); - - // Fill out the message - message.pose.pose.position.x = state(StateMemberX); - message.pose.pose.position.y = state(StateMemberY); - message.pose.pose.position.z = state(StateMemberZ); - message.pose.pose.orientation.x = quat.x(); - message.pose.pose.orientation.y = quat.y(); - message.pose.pose.orientation.z = quat.z(); - message.pose.pose.orientation.w = quat.w(); - message.twist.twist.linear.x = state(StateMemberVx); - message.twist.twist.linear.y = state(StateMemberVy); - message.twist.twist.linear.z = state(StateMemberVz); - message.twist.twist.angular.x = state(StateMemberVroll); - message.twist.twist.angular.y = state(StateMemberVpitch); - message.twist.twist.angular.z = state(StateMemberVyaw); - - // Our covariance matrix layout doesn't quite match - for (size_t i = 0; i < POSE_SIZE; i++) { - for (size_t j = 0; j < POSE_SIZE; j++) { - message.pose.covariance[POSE_SIZE * i + j] = - estimateErrorCovariance(i, j); - } - } - - // POSE_SIZE and TWIST_SIZE are currently the same size, but we can spare a - // few cycles to be meticulous and not index a twist covariance array on the - // size of a pose covariance array - for (size_t i = 0; i < TWIST_SIZE; i++) { - for (size_t j = 0; j < TWIST_SIZE; j++) { - message.twist.covariance[TWIST_SIZE * i + j] = estimateErrorCovariance( - i + POSITION_V_OFFSET, j + POSITION_V_OFFSET); - } - } - - message.header.stamp = ros::Time(filter_.getLastMeasurementTime()); - message.header.frame_id = worldFrameId_; - message.child_frame_id = baseLinkOutputFrameId_; - } - - return filter_.getInitializedStatus(); -} - -template -bool RosFilter::getFilteredAccelMessage( - geometry_msgs::AccelWithCovarianceStamped &message) { - // If the filter has received a measurement at some point... - if (filter_.getInitializedStatus()) { - // Grab our current state and covariance estimates - const Eigen::VectorXd &state = filter_.getState(); - const Eigen::MatrixXd &estimateErrorCovariance = - filter_.getEstimateErrorCovariance(); - - //! Fill out the accel_msg - message.accel.accel.linear.x = state(StateMemberAx); - message.accel.accel.linear.y = state(StateMemberAy); - message.accel.accel.linear.z = state(StateMemberAz); - - // Fill the covariance (only the left-upper matrix since we are not - // estimating the rotational accelerations arround the axes - for (size_t i = 0; i < ACCELERATION_SIZE; i++) { - for (size_t j = 0; j < ACCELERATION_SIZE; j++) { - // We use the POSE_SIZE since the accel cov matrix of ROS is 6x6 - message.accel.covariance[POSE_SIZE * i + j] = estimateErrorCovariance( - i + POSITION_A_OFFSET, j + POSITION_A_OFFSET); - } - } - - // Fill header information - message.header.stamp = ros::Time(filter_.getLastMeasurementTime()); - message.header.frame_id = baseLinkOutputFrameId_; - } - - return filter_.getInitializedStatus(); -} - -template -void RosFilter::imuCallback(const sensor_msgs::Imu::ConstPtr &msg, - const std::string &topicName, - const CallbackData &poseCallbackData, - const CallbackData &twistCallbackData, - const CallbackData &accelCallbackData) { - RF_DEBUG("------ RosFilter::imuCallback (" << topicName << ") ------\n" - << "IMU message:\n" - << *msg); - - // If we've just reset the filter, then we want to ignore any messages - // that arrive with an older timestamp - if (msg->header.stamp <= lastSetPoseTime_) { - std::stringstream stream; - stream - << "The " << topicName - << " message has a timestamp equal to or before the last filter reset, " - << "this message will be ignored. This may indicate an empty or bad " - "timestamp. (message time: " - << msg->header.stamp.toSec() << ")"; - addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, - topicName + "_timestamp", stream.str(), false); - RF_DEBUG("Received message that preceded the most recent pose reset. " - "Ignoring..."); - - return; - } - - // As with the odometry message, we can separate out the pose- and - // twist-related variables in the IMU message and pass them to the pose and - // twist callbacks (filters) - if (poseCallbackData.updateSum_ > 0) { - // Per the IMU message specification, if the IMU does not provide - // orientation, then its first covariance value should be set to -1, and we - // should ignore that portion of the message. robot_localization allows - // users to explicitly ignore data using its parameters, but we should also - // be compliant with message specs. - if (::fabs(msg->orientation_covariance[0] + 1) < 1e-9) { - RF_DEBUG("Received IMU message with -1 as its first covariance value for " - "orientation. " - "Ignoring orientation..."); - } else { - // Extract the pose (orientation) data, pass it to its filter - geometry_msgs::PoseWithCovarianceStamped *posPtr = - new geometry_msgs::PoseWithCovarianceStamped(); - posPtr->header = msg->header; - posPtr->pose.pose.orientation = msg->orientation; - - // Copy the covariance for roll, pitch, and yaw - for (size_t i = 0; i < ORIENTATION_SIZE; i++) { - for (size_t j = 0; j < ORIENTATION_SIZE; j++) { - posPtr->pose.covariance[POSE_SIZE * (i + ORIENTATION_SIZE) + - (j + ORIENTATION_SIZE)] = - msg->orientation_covariance[ORIENTATION_SIZE * i + j]; - } - } - - // IMU data gets handled a bit differently, since the message is ambiguous - // and has only a single frame_id, even though the data in it is reported - // in two different frames. As we assume users will specify a base_link to - // imu transform, we make the target frame baseLinkFrameId_ and tell the - // poseCallback that it is working with IMU data. This will cause it to - // apply different logic to the data. - geometry_msgs::PoseWithCovarianceStampedConstPtr pptr(posPtr); - poseCallback(pptr, poseCallbackData, baseLinkFrameId_, true); - } - } - - if (twistCallbackData.updateSum_ > 0) { - // Ignore rotational velocity if the first covariance value is -1 - if (::fabs(msg->angular_velocity_covariance[0] + 1) < 1e-9) { - RF_DEBUG("Received IMU message with -1 as its first covariance value for " - "angular " - "velocity. Ignoring angular velocity..."); - } else { - // Repeat for velocity - geometry_msgs::TwistWithCovarianceStamped *twistPtr = - new geometry_msgs::TwistWithCovarianceStamped(); - twistPtr->header = msg->header; - twistPtr->twist.twist.angular = msg->angular_velocity; - - // Copy the covariance - for (size_t i = 0; i < ORIENTATION_SIZE; i++) { - for (size_t j = 0; j < ORIENTATION_SIZE; j++) { - twistPtr->twist.covariance[TWIST_SIZE * (i + ORIENTATION_SIZE) + - (j + ORIENTATION_SIZE)] = - msg->angular_velocity_covariance[ORIENTATION_SIZE * i + j]; - } - } - - geometry_msgs::TwistWithCovarianceStampedConstPtr tptr(twistPtr); - twistCallback(tptr, twistCallbackData, baseLinkFrameId_); - } - } - - if (accelCallbackData.updateSum_ > 0) { - // Ignore linear acceleration if the first covariance value is -1 - if (::fabs(msg->linear_acceleration_covariance[0] + 1) < 1e-9) { - RF_DEBUG("Received IMU message with -1 as its first covariance value for " - "linear " - "acceleration. Ignoring linear acceleration..."); - } else { - // Pass the message on - accelerationCallback(msg, accelCallbackData, baseLinkFrameId_); - } - } - - RF_DEBUG("\n----- /RosFilter::imuCallback (" << topicName << ") ------\n"); -} - -template -void RosFilter::integrateMeasurements(const ros::Time ¤tTime) { - const double currentTimeSec = currentTime.toSec(); - - RF_DEBUG("------ RosFilter::integrateMeasurements ------\n\n" - "Integration time is " - << std::setprecision(20) << currentTimeSec << "\n" - << measurementQueue_.size() << " measurements in queue.\n"); - - bool predictToCurrentTime = predictToCurrentTime_; - - // If we have any measurements in the queue, process them - if (!measurementQueue_.empty()) { - // Check if the first measurement we're going to process is older than the - // filter's last measurement. This means we have received an out-of-sequence - // message (one with an old timestamp), and we need to revert both the - // filter state and measurement queue to the first state that preceded the - // time stamp of our first measurement. - const MeasurementPtr &firstMeasurement = measurementQueue_.top(); - int restoredMeasurementCount = 0; - if (smoothLaggedData_ && - firstMeasurement->time_ < filter_.getLastMeasurementTime()) { - RF_DEBUG("Received a measurement that was " - << filter_.getLastMeasurementTime() - firstMeasurement->time_ - << " seconds in the past. Reverting filter state and " - "measurement queue..."); - - int originalCount = static_cast(measurementQueue_.size()); - const double firstMeasurementTime = firstMeasurement->time_; - const std::string firstMeasurementTopic = firstMeasurement->topicName_; - if (!revertTo(firstMeasurementTime - - 1e-9)) // revertTo may invalidate firstMeasurement - { - RF_DEBUG("ERROR: history interval is too small to revert to time " - << firstMeasurementTime << "\n"); - ROS_WARN_STREAM_DELAYED_THROTTLE( - historyLength_, "Received old measurement for topic " - << firstMeasurementTopic - << ", but history interval is insufficiently " - "sized. Measurement time is " - << std::setprecision(20) << firstMeasurementTime - << ", current time is " << currentTime.toSec() - << ", history length is " << historyLength_ - << "."); - restoredMeasurementCount = 0; - } - - restoredMeasurementCount = - static_cast(measurementQueue_.size()) - originalCount; - } - - while (!measurementQueue_.empty() && ros::ok()) { - MeasurementPtr measurement = measurementQueue_.top(); - - // If we've reached a measurement that has a time later than now, it - // should wait until a future iteration. Since measurements are stored in - // a priority queue, all remaining measurements will be in the future. - if (measurement->time_ > currentTime.toSec()) { - break; - } - - measurementQueue_.pop(); - - // When we receive control messages, we call this directly in the control - // callback. However, we also associate a control with each sensor message - // so that we can support lagged smoothing. As we cannot guarantee that - // the new control callback will fire before a new measurement, we should - // only perform this operation if we are processing messages from the - // history. Otherwise, we may get a new measurement, store the "old" - // latest control, then receive a control, call setControl, and then - // overwrite that value with this one (i.e., with the "old" control we - // associated with the measurement). - if (useControl_ && restoredMeasurementCount > 0) { - filter_.setControl(measurement->latestControl_, - measurement->latestControlTime_); - restoredMeasurementCount--; - } - - // This will call predict and, if necessary, correct - filter_.processMeasurement(*(measurement.get())); - - // Store old states and measurements if we're smoothing - if (smoothLaggedData_) { - // Invariant still holds: measurementHistoryDeque_.back().time_ < - // measurementQueue_.top().time_ - measurementHistory_.push_back(measurement); - - // We should only save the filter state once per unique timstamp - if (measurementQueue_.empty() || - ::fabs(measurementQueue_.top()->time_ - - filter_.getLastMeasurementTime()) > 1e-9) { - saveFilterState(filter_); - } - } - } - } else if (filter_.getInitializedStatus()) { - // In the event that we don't get any measurements for a long time, - // we still need to continue to estimate our state. Therefore, we - // should project the state forward here. - double lastUpdateDelta = currentTimeSec - filter_.getLastMeasurementTime(); - - // If we get a large delta, then continuously predict until - if (lastUpdateDelta >= filter_.getSensorTimeout()) { - predictToCurrentTime = true; - - RF_DEBUG("Sensor timeout! Last measurement time was " - << filter_.getLastMeasurementTime() << ", current time is " - << currentTimeSec << ", delta is " << lastUpdateDelta << "\n"); - } - } else { - RF_DEBUG("Filter not yet initialized.\n"); - } - - if (filter_.getInitializedStatus() && predictToCurrentTime) { - double lastUpdateDelta = currentTimeSec - filter_.getLastMeasurementTime(); - - filter_.validateDelta(lastUpdateDelta); - filter_.predict(currentTimeSec, lastUpdateDelta); - - // Update the last measurement time and last update time - filter_.setLastMeasurementTime(filter_.getLastMeasurementTime() + - lastUpdateDelta); - } - - RF_DEBUG("\n----- /RosFilter::integrateMeasurements ------\n"); -} - -template void RosFilter::loadParams() { - /* For diagnostic purposes, collect information about how many different - * sources are measuring each absolute pose variable and do not have - * differential integration enabled. - */ - std::map absPoseVarCounts; - absPoseVarCounts[StateMemberX] = 0; - absPoseVarCounts[StateMemberY] = 0; - absPoseVarCounts[StateMemberZ] = 0; - absPoseVarCounts[StateMemberRoll] = 0; - absPoseVarCounts[StateMemberPitch] = 0; - absPoseVarCounts[StateMemberYaw] = 0; - - // Same for twist variables - std::map twistVarCounts; - twistVarCounts[StateMemberVx] = 0; - twistVarCounts[StateMemberVy] = 0; - twistVarCounts[StateMemberVz] = 0; - twistVarCounts[StateMemberVroll] = 0; - twistVarCounts[StateMemberVpitch] = 0; - twistVarCounts[StateMemberVyaw] = 0; - - // Determine if we'll be printing diagnostic information - nhLocal_.param("print_diagnostics", printDiagnostics_, true); - - // Check for custom gravitational acceleration value - nhLocal_.param("gravitational_acceleration", gravitationalAcc_, 9.80665); - - // Grab the debug param. If true, the node will produce a LOT of output. - bool debug; - nhLocal_.param("debug", debug, false); - - if (debug) { - std::string debugOutFile; - - try { - nhLocal_.param("debug_out_file", debugOutFile, - std::string("robot_localization_debug.txt")); - debugStream_.open(debugOutFile.c_str()); - - // Make sure we succeeded - if (debugStream_.is_open()) { - filter_.setDebug(debug, &debugStream_); - } else { - ROS_WARN_STREAM( - "RosFilter::loadParams() - unable to create debug output file " - << debugOutFile); - } - } catch (const std::exception &e) { - ROS_WARN_STREAM( - "RosFilter::loadParams() - unable to create debug output file" - << debugOutFile << ". Error was " << e.what() << "\n"); - } - } - - // These params specify the name of the robot's body frame (typically - // base_link) and odometry frame (typically odom) - nhLocal_.param("map_frame", mapFrameId_, std::string("map")); - nhLocal_.param("odom_frame", odomFrameId_, std::string("odom")); - nhLocal_.param("base_link_frame", baseLinkFrameId_, std::string("base_link")); - nhLocal_.param("base_link_frame_output", baseLinkOutputFrameId_, - baseLinkFrameId_); - - /* - * These parameters are designed to enforce compliance with REP-105: - * http://www.ros.org/reps/rep-0105.html - * When fusing absolute position data from sensors such as GPS, the state - * estimate can undergo discrete jumps. According to REP-105, we want three - * coordinate frames: map, odom, and base_link. The map frame can have - * discontinuities, but is the frame with the most accurate position estimate - * for the robot and should not suffer from drift. The odom frame drifts over - * time, but is guaranteed to be continuous and is accurate enough for local - * planning and navigation. The base_link frame is affixed to the robot. The - * intention is that some odometry source broadcasts the odom->base_link - * transform. The localization software should broadcast map->base_link. - * However, tf does not allow multiple parents for a coordinate frame, so - * we must *compute* map->base_link, but then use the existing odom->base_link - * transform to compute *and broadcast* map->odom. - * - * The state estimation nodes in robot_localization therefore have two - * "modes." If your world_frame parameter value matches the odom_frame - * parameter value, then robot_localization will assume someone else is - * broadcasting a transform from odom_frame->base_link_frame, and it will - * compute the map_frame->odom_frame transform. Otherwise, it will simply - * compute the odom_frame->base_link_frame transform. - * - * The default is the latter behavior (broadcast of odom->base_link). - */ - nhLocal_.param("world_frame", worldFrameId_, odomFrameId_); - - ROS_FATAL_COND( - mapFrameId_ == odomFrameId_ || odomFrameId_ == baseLinkFrameId_ || - mapFrameId_ == baseLinkFrameId_ || - odomFrameId_ == baseLinkOutputFrameId_ || - mapFrameId_ == baseLinkOutputFrameId_, - "Invalid frame configuration! The values for map_frame, odom_frame, " - "and base_link_frame must be unique. If using a base_link_frame_output " - "values, it " - "must not match the map_frame or odom_frame."); - - // Try to resolve tf_prefix - std::string tfPrefix = ""; - std::string tfPrefixPath = ""; - if (nhLocal_.searchParam("tf_prefix", tfPrefixPath)) { - nhLocal_.getParam(tfPrefixPath, tfPrefix); - } - - // Append the tf prefix in a tf2-friendly manner - FilterUtilities::appendPrefix(tfPrefix, mapFrameId_); - FilterUtilities::appendPrefix(tfPrefix, odomFrameId_); - FilterUtilities::appendPrefix(tfPrefix, baseLinkFrameId_); - FilterUtilities::appendPrefix(tfPrefix, baseLinkOutputFrameId_); - FilterUtilities::appendPrefix(tfPrefix, worldFrameId_); - - // Whether we're publshing the world_frame->base_link_frame transform - nhLocal_.param("publish_tf", publishTransform_, true); - - // Whether we're publishing the acceleration state transform - nhLocal_.param("publish_acceleration", publishAcceleration_, false); - - // Whether we'll allow old measurements to cause a re-publication of the - // updated state - nhLocal_.param("permit_corrected_publication", permitCorrectedPublication_, - false); - - // Transform future dating - double offsetTmp; - nhLocal_.param("transform_time_offset", offsetTmp, 0.0); - tfTimeOffset_.fromSec(offsetTmp); - - // Transform timeout - double timeoutTmp; - nhLocal_.param("transform_timeout", timeoutTmp, 0.0); - tfTimeout_.fromSec(timeoutTmp); - - // Update frequency and sensor timeout - double sensorTimeout; - nhLocal_.param("frequency", frequency_, 30.0); - nhLocal_.param("sensor_timeout", sensorTimeout, 1.0 / frequency_); - filter_.setSensorTimeout(sensorTimeout); - - // Determine if we're in 2D mode - nhLocal_.param("two_d_mode", twoDMode_, false); - - // Smoothing window size - nhLocal_.param("smooth_lagged_data", smoothLaggedData_, false); - nhLocal_.param("history_length", historyLength_, 0.0); - - // Wether we reset filter on jump back in time - nhLocal_.param("reset_on_time_jump", resetOnTimeJump_, false); - - if (!smoothLaggedData_ && ::fabs(historyLength_) > 1e-9) { - ROS_WARN_STREAM("Filter history interval of " - << historyLength_ - << " specified, but smooth_lagged_data is set to false. " - "Lagged data will not be smoothed."); - } - - if (smoothLaggedData_ && historyLength_ < -1e9) { - ROS_WARN_STREAM("Negative history interval of " - << historyLength_ - << " specified. Absolute value will be assumed."); - } - - historyLength_ = ::fabs(historyLength_); - - nhLocal_.param("predict_to_current_time", predictToCurrentTime_, false); - - // Determine if we're using a control term - bool stampedControl = false; - double controlTimeout = sensorTimeout; - std::vector controlUpdateVector(TWIST_SIZE, 0); - std::vector accelerationLimits(TWIST_SIZE, 1.0); - std::vector accelerationGains(TWIST_SIZE, 1.0); - std::vector decelerationLimits(TWIST_SIZE, 1.0); - std::vector decelerationGains(TWIST_SIZE, 1.0); - - nhLocal_.param("use_control", useControl_, false); - nhLocal_.param("stamped_control", stampedControl, false); - nhLocal_.param("control_timeout", controlTimeout, sensorTimeout); - - if (useControl_) { - if (nhLocal_.getParam("control_config", controlUpdateVector)) { - if (controlUpdateVector.size() != TWIST_SIZE) { - ROS_ERROR_STREAM("Control configuration must be of size " - << TWIST_SIZE - << ". Provided config was of " - "size " - << controlUpdateVector.size() - << ". No control term will be used."); - useControl_ = false; - } - } else { - ROS_ERROR_STREAM("use_control is set to true, but control_config is " - "missing. No control term will be used."); - useControl_ = false; - } - - if (nhLocal_.getParam("acceleration_limits", accelerationLimits)) { - if (accelerationLimits.size() != TWIST_SIZE) { - ROS_ERROR_STREAM("Acceleration configuration must be of size " - << TWIST_SIZE - << ". Provided config was of " - "size " - << accelerationLimits.size() - << ". No control term will be used."); - useControl_ = false; - } - } else { - ROS_WARN_STREAM("use_control is set to true, but acceleration_limits is " - "missing. Will use default values."); - } - - if (nhLocal_.getParam("acceleration_gains", accelerationGains)) { - const int size = accelerationGains.size(); - if (size != TWIST_SIZE) { - ROS_ERROR_STREAM("Acceleration gain configuration must be of size " - << TWIST_SIZE << ". Provided config was of size " - << size << ". All gains will be assumed to be 1."); - std::fill_n(accelerationGains.begin(), std::min(size, TWIST_SIZE), 1.0); - accelerationGains.resize(TWIST_SIZE, 1.0); - } - } - - if (nhLocal_.getParam("deceleration_limits", decelerationLimits)) { - if (decelerationLimits.size() != TWIST_SIZE) { - ROS_ERROR_STREAM("Deceleration configuration must be of size " - << TWIST_SIZE << ". Provided config was of size " - << decelerationLimits.size() - << ". No control term will be used."); - useControl_ = false; - } - } else { - ROS_INFO_STREAM("use_control is set to true, but no deceleration_limits " - "specified. Will use acceleration " - "limits."); - decelerationLimits = accelerationLimits; - } - - if (nhLocal_.getParam("deceleration_gains", decelerationGains)) { - const int size = decelerationGains.size(); - if (size != TWIST_SIZE) { - ROS_ERROR_STREAM("Deceleration gain configuration must be of size " - << TWIST_SIZE << ". Provided config was of size " - << size << ". All gains will be assumed to be 1."); - std::fill_n(decelerationGains.begin(), std::min(size, TWIST_SIZE), 1.0); - decelerationGains.resize(TWIST_SIZE, 1.0); - } - } else { - ROS_INFO_STREAM("use_control is set to true, but no deceleration_gains " - "specified. Will use acceleration " - "gains."); - decelerationGains = accelerationGains; - } - } - - bool dynamicProcessNoiseCovariance = false; - nhLocal_.param("dynamic_process_noise_covariance", - dynamicProcessNoiseCovariance, false); - filter_.setUseDynamicProcessNoiseCovariance(dynamicProcessNoiseCovariance); - - std::vector initialState(STATE_SIZE, 0.0); - if (nhLocal_.getParam("initial_state", initialState)) { - if (initialState.size() != STATE_SIZE) { - ROS_ERROR_STREAM("Initial state must be of size " - << STATE_SIZE << ". Provided config was of size " - << initialState.size() - << ". The initial state will be ignored."); - } else { - Eigen::Map eigenState(initialState.data(), - initialState.size()); - filter_.setState(eigenState); - } - } - - // Check if the filter should start or not - nhLocal_.param("disabled_at_startup", disabledAtStartup_, false); - enabled_ = !disabledAtStartup_; - - // Check if tf warnings should be suppressed - nh_.getParam("/silent_tf_failure", tfSilentFailure_); - - // Debugging writes to file - RF_DEBUG( - "tf_prefix is " - << tfPrefix << "\nmap_frame is " << mapFrameId_ << "\nodom_frame is " - << odomFrameId_ << "\nbase_link_frame is " << baseLinkFrameId_ - << "\base_link_frame_output is " << baseLinkOutputFrameId_ - << "\nworld_frame is " << worldFrameId_ << "\ntransform_time_offset is " - << tfTimeOffset_.toSec() << "\ntransform_timeout is " - << tfTimeout_.toSec() << "\nfrequency is " << frequency_ - << "\nsensor_timeout is " << filter_.getSensorTimeout() - << "\ntwo_d_mode is " << std::boolalpha << twoDMode_ - << "\nsmooth_lagged_data is " << std::boolalpha << smoothLaggedData_ - << "\nhistory_length is " << historyLength_ << "\nuse_control is " - << std::boolalpha << useControl_ << "\nstamped_control is " - << std::boolalpha << stampedControl << "\ncontrol_config is " - << controlUpdateVector << "\ncontrol_timeout is " << controlTimeout - << "\nacceleration_limits are " << accelerationLimits - << "\nacceleration_gains are " << accelerationGains - << "\ndeceleration_limits are " << decelerationLimits - << "\ndeceleration_gains are " << decelerationGains - << "\ninitial state is " << filter_.getState() - << "\ndynamic_process_noise_covariance is " << std::boolalpha - << dynamicProcessNoiseCovariance << "\npermit_corrected_publication is " - << std::boolalpha << permitCorrectedPublication_ - << "\nprint_diagnostics is " << std::boolalpha << printDiagnostics_ - << "\nsuppress tf warnings is " << std::boolalpha << tfSilentFailure_ - << "\n" - "\n"); - - // Create a subscriber for manually setting/resetting pose - setPoseSub_ = nh_.subscribe("set_pose", 1, &RosFilter::setPoseCallback, - this, ros::TransportHints().tcpNoDelay(false)); - - // Create a service for manually setting/resetting pose - setPoseSrv_ = - nh_.advertiseService("set_pose", &RosFilter::setPoseSrvCallback, this); - - // Create a service for manually enabling the filter - enableFilterSrv_ = nhLocal_.advertiseService( - "enable", &RosFilter::enableFilterSrvCallback, this); - - // Create a service for toggling processing new measurements while still - // publishing - toggleFilterProcessingSrv_ = nhLocal_.advertiseService( - "toggle", &RosFilter::toggleFilterProcessingCallback, this); - - // Init the last measurement time so we don't get a huge initial delta - filter_.setLastMeasurementTime(ros::Time::now().toSec()); - - // Now pull in each topic to which we want to subscribe. - // Start with odom. - size_t topicInd = 0; - bool moreParams = false; - do { - // Build the string in the form of "odomX", where X is the odom topic - // number, then check if we have any parameters with that value. Users need - // to make sure they don't have gaps in their configs (e.g., odom0 and then - // odom2) - std::stringstream ss; - ss << "odom" << topicInd++; - std::string odomTopicName = ss.str(); - moreParams = nhLocal_.hasParam(odomTopicName); - - if (moreParams) { - // Determine if we want to integrate this sensor differentially - bool differential; - nhLocal_.param(odomTopicName + std::string("_differential"), differential, - false); - - // Determine if we want to integrate this sensor relatively - bool relative; - nhLocal_.param(odomTopicName + std::string("_relative"), relative, false); - - if (relative && differential) { - ROS_WARN_STREAM( - "Both " << odomTopicName << "_differential" - << " and " << odomTopicName - << "_relative were set to true. Using differential mode."); - - relative = false; - } - - std::string odomTopic; - nhLocal_.getParam(odomTopicName, odomTopic); - - // Check for pose rejection threshold - double poseMahalanobisThresh; - nhLocal_.param(odomTopicName + std::string("_pose_rejection_threshold"), - poseMahalanobisThresh, std::numeric_limits::max()); - - // Check for twist rejection threshold - double twistMahalanobisThresh; - nhLocal_.param(odomTopicName + std::string("_twist_rejection_threshold"), - twistMahalanobisThresh, - std::numeric_limits::max()); - - // Now pull in its boolean update vector configuration. Create separate - // vectors for pose and twist data, and then zero out the opposite values - // in each vector (no pose data in the twist update vector and - // vice-versa). - std::vector updateVec = loadUpdateConfig(odomTopicName); - std::vector poseUpdateVec = updateVec; - std::fill(poseUpdateVec.begin() + POSITION_V_OFFSET, - poseUpdateVec.begin() + POSITION_V_OFFSET + TWIST_SIZE, 0); - std::vector twistUpdateVec = updateVec; - std::fill(twistUpdateVec.begin() + POSITION_OFFSET, - twistUpdateVec.begin() + POSITION_OFFSET + POSE_SIZE, 0); - - int poseUpdateSum = - std::accumulate(poseUpdateVec.begin(), poseUpdateVec.end(), 0); - int twistUpdateSum = - std::accumulate(twistUpdateVec.begin(), twistUpdateVec.end(), 0); - int odomQueueSize = 1; - nhLocal_.param(odomTopicName + "_queue_size", odomQueueSize, 1); - - const CallbackData poseCallbackData( - odomTopicName + "_pose", poseUpdateVec, poseUpdateSum, differential, - relative, poseMahalanobisThresh); - const CallbackData twistCallbackData( - odomTopicName + "_twist", twistUpdateVec, twistUpdateSum, false, - false, twistMahalanobisThresh); - - bool nodelayOdom = false; - nhLocal_.param(odomTopicName + "_nodelay", nodelayOdom, false); - - // Store the odometry topic subscribers so they don't go out of scope. - if (poseUpdateSum + twistUpdateSum > 0) { - topicSubs_.push_back(nh_.subscribe( - odomTopic, odomQueueSize, - boost::bind(&RosFilter::odometryCallback, this, _1, odomTopicName, - poseCallbackData, twistCallbackData), - ros::VoidPtr(), ros::TransportHints().tcpNoDelay(nodelayOdom))); - } else { - std::stringstream stream; - stream << odomTopic - << " is listed as an input topic, but all update variables are " - "false"; - - addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, - odomTopic + "_configuration", stream.str(), true); - } - - if (poseUpdateSum > 0) { - if (differential) { - twistVarCounts[StateMemberVx] += poseUpdateVec[StateMemberX]; - twistVarCounts[StateMemberVy] += poseUpdateVec[StateMemberY]; - twistVarCounts[StateMemberVz] += poseUpdateVec[StateMemberZ]; - twistVarCounts[StateMemberVroll] += poseUpdateVec[StateMemberRoll]; - twistVarCounts[StateMemberVpitch] += poseUpdateVec[StateMemberPitch]; - twistVarCounts[StateMemberVyaw] += poseUpdateVec[StateMemberYaw]; - } else { - absPoseVarCounts[StateMemberX] += poseUpdateVec[StateMemberX]; - absPoseVarCounts[StateMemberY] += poseUpdateVec[StateMemberY]; - absPoseVarCounts[StateMemberZ] += poseUpdateVec[StateMemberZ]; - absPoseVarCounts[StateMemberRoll] += poseUpdateVec[StateMemberRoll]; - absPoseVarCounts[StateMemberPitch] += poseUpdateVec[StateMemberPitch]; - absPoseVarCounts[StateMemberYaw] += poseUpdateVec[StateMemberYaw]; - } - } - - if (twistUpdateSum > 0) { - twistVarCounts[StateMemberVx] += twistUpdateVec[StateMemberVx]; - twistVarCounts[StateMemberVy] += twistUpdateVec[StateMemberVx]; - twistVarCounts[StateMemberVz] += twistUpdateVec[StateMemberVz]; - twistVarCounts[StateMemberVroll] += twistUpdateVec[StateMemberVroll]; - twistVarCounts[StateMemberVpitch] += twistUpdateVec[StateMemberVpitch]; - twistVarCounts[StateMemberVyaw] += twistUpdateVec[StateMemberVyaw]; - } - - RF_DEBUG("Subscribed to " - << odomTopic << " (" << odomTopicName << ")\n\t" << odomTopicName - << "_differential is " << (differential ? "true" : "false") - << "\n\t" << odomTopicName << "_pose_rejection_threshold is " - << poseMahalanobisThresh << "\n\t" << odomTopicName - << "_twist_rejection_threshold is " << twistMahalanobisThresh - << "\n\t" << odomTopicName << "_queue_size is " << odomQueueSize - << "\n\t" << odomTopicName << " pose update vector is " - << poseUpdateVec << "\t" << odomTopicName - << " twist update vector is " << twistUpdateVec); - } - } while (moreParams); - - // Repeat for pose - topicInd = 0; - moreParams = false; - do { - std::stringstream ss; - ss << "pose" << topicInd++; - std::string poseTopicName = ss.str(); - moreParams = nhLocal_.hasParam(poseTopicName); - - if (moreParams) { - bool differential; - nhLocal_.param(poseTopicName + std::string("_differential"), differential, - false); - - // Determine if we want to integrate this sensor relatively - bool relative; - nhLocal_.param(poseTopicName + std::string("_relative"), relative, false); - - if (relative && differential) { - ROS_WARN_STREAM( - "Both " << poseTopicName << "_differential" - << " and " << poseTopicName - << "_relative were set to true. Using differential mode."); - - relative = false; - } - - std::string poseTopic; - nhLocal_.getParam(poseTopicName, poseTopic); - - // Check for pose rejection threshold - double poseMahalanobisThresh; - nhLocal_.param(poseTopicName + std::string("_rejection_threshold"), - poseMahalanobisThresh, std::numeric_limits::max()); - - int poseQueueSize = 1; - nhLocal_.param(poseTopicName + "_queue_size", poseQueueSize, 1); - - bool nodelayPose = false; - nhLocal_.param(poseTopicName + "_nodelay", nodelayPose, false); - - // Pull in the sensor's config, zero out values that are invalid for the - // pose type - std::vector poseUpdateVec = loadUpdateConfig(poseTopicName); - std::fill(poseUpdateVec.begin() + POSITION_V_OFFSET, - poseUpdateVec.begin() + POSITION_V_OFFSET + TWIST_SIZE, 0); - std::fill(poseUpdateVec.begin() + POSITION_A_OFFSET, - poseUpdateVec.begin() + POSITION_A_OFFSET + ACCELERATION_SIZE, - 0); - - int poseUpdateSum = - std::accumulate(poseUpdateVec.begin(), poseUpdateVec.end(), 0); - - if (poseUpdateSum > 0) { - const CallbackData callbackData(poseTopicName, poseUpdateVec, - poseUpdateSum, differential, relative, - poseMahalanobisThresh); - - topicSubs_.push_back( - nh_.subscribe( - poseTopic, poseQueueSize, - boost::bind(&RosFilter::poseCallback, this, _1, callbackData, - worldFrameId_, false), - ros::VoidPtr(), ros::TransportHints().tcpNoDelay(nodelayPose))); - - if (differential) { - twistVarCounts[StateMemberVx] += poseUpdateVec[StateMemberX]; - twistVarCounts[StateMemberVy] += poseUpdateVec[StateMemberY]; - twistVarCounts[StateMemberVz] += poseUpdateVec[StateMemberZ]; - twistVarCounts[StateMemberVroll] += poseUpdateVec[StateMemberRoll]; - twistVarCounts[StateMemberVpitch] += poseUpdateVec[StateMemberPitch]; - twistVarCounts[StateMemberVyaw] += poseUpdateVec[StateMemberYaw]; - } else { - absPoseVarCounts[StateMemberX] += poseUpdateVec[StateMemberX]; - absPoseVarCounts[StateMemberY] += poseUpdateVec[StateMemberY]; - absPoseVarCounts[StateMemberZ] += poseUpdateVec[StateMemberZ]; - absPoseVarCounts[StateMemberRoll] += poseUpdateVec[StateMemberRoll]; - absPoseVarCounts[StateMemberPitch] += poseUpdateVec[StateMemberPitch]; - absPoseVarCounts[StateMemberYaw] += poseUpdateVec[StateMemberYaw]; - } - } else { - ROS_WARN_STREAM("Warning: " - << poseTopic - << " is listed as an input topic, " - "but all pose update variables are false"); - } - - RF_DEBUG("Subscribed to " - << poseTopic << " (" << poseTopicName << ")\n\t" << poseTopicName - << "_differential is " << (differential ? "true" : "false") - << "\n\t" << poseTopicName << "_rejection_threshold is " - << poseMahalanobisThresh << "\n\t" << poseTopicName - << "_queue_size is " << poseQueueSize << "\n\t" << poseTopicName - << " update vector is " << poseUpdateVec); - } - } while (moreParams); - - // Repeat for twist - topicInd = 0; - moreParams = false; - do { - std::stringstream ss; - ss << "twist" << topicInd++; - std::string twistTopicName = ss.str(); - moreParams = nhLocal_.hasParam(twistTopicName); - - if (moreParams) { - std::string twistTopic; - nhLocal_.getParam(twistTopicName, twistTopic); - - // Check for twist rejection threshold - double twistMahalanobisThresh; - nhLocal_.param(twistTopicName + std::string("_rejection_threshold"), - twistMahalanobisThresh, - std::numeric_limits::max()); - - int twistQueueSize = 1; - nhLocal_.param(twistTopicName + "_queue_size", twistQueueSize, 1); - - bool nodelayTwist = false; - nhLocal_.param(twistTopicName + "_nodelay", nodelayTwist, false); - - // Pull in the sensor's config, zero out values that are invalid for the - // twist type - std::vector twistUpdateVec = loadUpdateConfig(twistTopicName); - std::fill(twistUpdateVec.begin() + POSITION_OFFSET, - twistUpdateVec.begin() + POSITION_OFFSET + POSE_SIZE, 0); - - int twistUpdateSum = - std::accumulate(twistUpdateVec.begin(), twistUpdateVec.end(), 0); - - if (twistUpdateSum > 0) { - const CallbackData callbackData(twistTopicName, twistUpdateVec, - twistUpdateSum, false, false, - twistMahalanobisThresh); - - topicSubs_.push_back( - nh_.subscribe( - twistTopic, twistQueueSize, - boost::bind(&RosFilter::twistCallback, this, _1, - callbackData, baseLinkFrameId_), - ros::VoidPtr(), - ros::TransportHints().tcpNoDelay(nodelayTwist))); - - twistVarCounts[StateMemberVx] += twistUpdateVec[StateMemberVx]; - twistVarCounts[StateMemberVy] += twistUpdateVec[StateMemberVy]; - twistVarCounts[StateMemberVz] += twistUpdateVec[StateMemberVz]; - twistVarCounts[StateMemberVroll] += twistUpdateVec[StateMemberVroll]; - twistVarCounts[StateMemberVpitch] += twistUpdateVec[StateMemberVpitch]; - twistVarCounts[StateMemberVyaw] += twistUpdateVec[StateMemberVyaw]; - } else { - ROS_WARN_STREAM("Warning: " - << twistTopic - << " is listed as an input topic, " - "but all twist update variables are false"); - } - - RF_DEBUG("Subscribed to " - << twistTopic << " (" << twistTopicName << ")\n\t" - << twistTopicName << "_rejection_threshold is " - << twistMahalanobisThresh << "\n\t" << twistTopicName - << "_queue_size is " << twistQueueSize << "\n\t" - << twistTopicName << " update vector is " << twistUpdateVec); - } - } while (moreParams); - - // Repeat for IMU - topicInd = 0; - moreParams = false; - do { - std::stringstream ss; - ss << "imu" << topicInd++; - std::string imuTopicName = ss.str(); - moreParams = nhLocal_.hasParam(imuTopicName); - - if (moreParams) { - bool differential; - nhLocal_.param(imuTopicName + std::string("_differential"), differential, - false); - - // Determine if we want to integrate this sensor relatively - bool relative; - nhLocal_.param(imuTopicName + std::string("_relative"), relative, false); - - if (relative && differential) { - ROS_WARN_STREAM( - "Both " << imuTopicName << "_differential" - << " and " << imuTopicName - << "_relative were set to true. Using differential mode."); - - relative = false; - } - - std::string imuTopic; - nhLocal_.getParam(imuTopicName, imuTopic); - - // Check for pose rejection threshold - double poseMahalanobisThresh; - nhLocal_.param(imuTopicName + std::string("_pose_rejection_threshold"), - poseMahalanobisThresh, std::numeric_limits::max()); - - // Check for angular velocity rejection threshold - double twistMahalanobisThresh; - std::string imuTwistRejectionName = - imuTopicName + std::string("_twist_rejection_threshold"); - nhLocal_.param(imuTwistRejectionName, twistMahalanobisThresh, - std::numeric_limits::max()); - - // Check for acceleration rejection threshold - double accelMahalanobisThresh; - nhLocal_.param( - imuTopicName + - std::string("_linear_acceleration_rejection_threshold"), - accelMahalanobisThresh, std::numeric_limits::max()); - - bool removeGravAcc = false; - nhLocal_.param(imuTopicName + "_remove_gravitational_acceleration", - removeGravAcc, false); - removeGravitationalAcc_[imuTopicName + "_acceleration"] = removeGravAcc; - - // Now pull in its boolean update vector configuration and differential - // update configuration (as this contains pose information) - std::vector updateVec = loadUpdateConfig(imuTopicName); - - // sanity checks for update config settings - std::vector positionUpdateVec(updateVec.begin() + POSITION_OFFSET, - updateVec.begin() + POSITION_OFFSET + - POSITION_SIZE); - int positionUpdateSum = std::accumulate(positionUpdateVec.begin(), - positionUpdateVec.end(), 0); - if (positionUpdateSum > 0) { - ROS_WARN_STREAM( - "Warning: Some position entries in parameter " - << imuTopicName - << "_config are listed true, " - "but sensor_msgs/Imu contains no information about position"); - } - std::vector linearVelocityUpdateVec( - updateVec.begin() + POSITION_V_OFFSET, - updateVec.begin() + POSITION_V_OFFSET + LINEAR_VELOCITY_SIZE); - int linearVelocityUpdateSum = std::accumulate( - linearVelocityUpdateVec.begin(), linearVelocityUpdateVec.end(), 0); - if (linearVelocityUpdateSum > 0) { - ROS_WARN_STREAM("Warning: Some linear velocity entries in parameter " - << imuTopicName - << "_config are listed " - "true, but an sensor_msgs/Imu contains no " - "information about linear velocities"); - } - - std::vector poseUpdateVec = updateVec; - // IMU message contains no information about position, filter everything - // except orientation - std::fill(poseUpdateVec.begin() + POSITION_OFFSET, - poseUpdateVec.begin() + POSITION_OFFSET + POSITION_SIZE, 0); - std::fill(poseUpdateVec.begin() + POSITION_V_OFFSET, - poseUpdateVec.begin() + POSITION_V_OFFSET + TWIST_SIZE, 0); - std::fill(poseUpdateVec.begin() + POSITION_A_OFFSET, - poseUpdateVec.begin() + POSITION_A_OFFSET + ACCELERATION_SIZE, - 0); - - std::vector twistUpdateVec = updateVec; - // IMU message contains no information about linear speeds, filter - // everything except angular velocity - std::fill(twistUpdateVec.begin() + POSITION_OFFSET, - twistUpdateVec.begin() + POSITION_OFFSET + POSE_SIZE, 0); - std::fill( - twistUpdateVec.begin() + POSITION_V_OFFSET, - twistUpdateVec.begin() + POSITION_V_OFFSET + LINEAR_VELOCITY_SIZE, 0); - std::fill(twistUpdateVec.begin() + POSITION_A_OFFSET, - twistUpdateVec.begin() + POSITION_A_OFFSET + ACCELERATION_SIZE, - 0); - - std::vector accelUpdateVec = updateVec; - std::fill(accelUpdateVec.begin() + POSITION_OFFSET, - accelUpdateVec.begin() + POSITION_OFFSET + POSE_SIZE, 0); - std::fill(accelUpdateVec.begin() + POSITION_V_OFFSET, - accelUpdateVec.begin() + POSITION_V_OFFSET + TWIST_SIZE, 0); - - int poseUpdateSum = - std::accumulate(poseUpdateVec.begin(), poseUpdateVec.end(), 0); - int twistUpdateSum = - std::accumulate(twistUpdateVec.begin(), twistUpdateVec.end(), 0); - int accelUpdateSum = - std::accumulate(accelUpdateVec.begin(), accelUpdateVec.end(), 0); - - // Check if we're using control input for any of the acceleration - // variables; turn off if so - if (static_cast(controlUpdateVector[ControlMemberVx]) && - static_cast(accelUpdateVec[StateMemberAx])) { - ROS_WARN_STREAM("X acceleration is being measured from IMU; X velocity " - "control input is disabled"); - controlUpdateVector[ControlMemberVx] = 0; - } - if (static_cast(controlUpdateVector[ControlMemberVy]) && - static_cast(accelUpdateVec[StateMemberAy])) { - ROS_WARN_STREAM("Y acceleration is being measured from IMU; Y velocity " - "control input is disabled"); - controlUpdateVector[ControlMemberVy] = 0; - } - if (static_cast(controlUpdateVector[ControlMemberVz]) && - static_cast(accelUpdateVec[StateMemberAz])) { - ROS_WARN_STREAM("Z acceleration is being measured from IMU; Z velocity " - "control input is disabled"); - controlUpdateVector[ControlMemberVz] = 0; - } - - int imuQueueSize = 1; - nhLocal_.param(imuTopicName + "_queue_size", imuQueueSize, 1); - - bool nodelayImu = false; - nhLocal_.param(imuTopicName + "_nodelay", nodelayImu, false); - - if (poseUpdateSum + twistUpdateSum + accelUpdateSum > 0) { - const CallbackData poseCallbackData( - imuTopicName + "_pose", poseUpdateVec, poseUpdateSum, differential, - relative, poseMahalanobisThresh); - const CallbackData twistCallbackData( - imuTopicName + "_twist", twistUpdateVec, twistUpdateSum, - differential, relative, twistMahalanobisThresh); - const CallbackData accelCallbackData( - imuTopicName + "_acceleration", accelUpdateVec, accelUpdateSum, - differential, relative, accelMahalanobisThresh); - - topicSubs_.push_back(nh_.subscribe( - imuTopic, imuQueueSize, - boost::bind(&RosFilter::imuCallback, this, _1, imuTopicName, - poseCallbackData, twistCallbackData, accelCallbackData), - ros::VoidPtr(), ros::TransportHints().tcpNoDelay(nodelayImu))); - } else { - ROS_WARN_STREAM("Warning: " - << imuTopic - << " is listed as an input topic, " - "but all its update variables are false"); - } - - if (poseUpdateSum > 0) { - if (differential) { - twistVarCounts[StateMemberVroll] += poseUpdateVec[StateMemberRoll]; - twistVarCounts[StateMemberVpitch] += poseUpdateVec[StateMemberPitch]; - twistVarCounts[StateMemberVyaw] += poseUpdateVec[StateMemberYaw]; - } else { - absPoseVarCounts[StateMemberRoll] += poseUpdateVec[StateMemberRoll]; - absPoseVarCounts[StateMemberPitch] += poseUpdateVec[StateMemberPitch]; - absPoseVarCounts[StateMemberYaw] += poseUpdateVec[StateMemberYaw]; - } - } - - if (twistUpdateSum > 0) { - twistVarCounts[StateMemberVroll] += twistUpdateVec[StateMemberVroll]; - twistVarCounts[StateMemberVpitch] += twistUpdateVec[StateMemberVpitch]; - twistVarCounts[StateMemberVyaw] += twistUpdateVec[StateMemberVyaw]; - } - - RF_DEBUG("Subscribed to " - << imuTopic << " (" << imuTopicName << ")\n\t" << imuTopicName - << "_differential is " << (differential ? "true" : "false") - << "\n\t" << imuTopicName << "_pose_rejection_threshold is " - << poseMahalanobisThresh << "\n\t" << imuTopicName - << "_twist_rejection_threshold is " << twistMahalanobisThresh - << "\n\t" << imuTopicName - << "_linear_acceleration_rejection_threshold is " - << accelMahalanobisThresh << "\n\t" << imuTopicName - << "_remove_gravitational_acceleration is " - << (removeGravAcc ? "true" : "false") << "\n\t" << imuTopicName - << "_queue_size is " << imuQueueSize << "\n\t" << imuTopicName - << " pose update vector is " << poseUpdateVec << "\t" - << imuTopicName << " twist update vector is " << twistUpdateVec - << "\t" << imuTopicName << " acceleration update vector is " - << accelUpdateVec); - } - } while (moreParams); - - // Now that we've checked if IMU linear acceleration is being used, we can - // determine our final control parameters - if (useControl_ && std::accumulate(controlUpdateVector.begin(), - controlUpdateVector.end(), 0) == 0) { - ROS_ERROR_STREAM("use_control is set to true, but control_config has only " - "false values. No control term " - "will be used."); - useControl_ = false; - } - - // If we're using control, set the parameters and create the necessary - // subscribers - if (useControl_) { - latestControl_.resize(TWIST_SIZE); - latestControl_.setZero(); - - filter_.setControlParams(controlUpdateVector, controlTimeout, - accelerationLimits, accelerationGains, - decelerationLimits, decelerationGains); - - if (stampedControl) { - controlSub_ = nh_.subscribe( - "cmd_vel", 1, &RosFilter::controlCallback, this); - } else { - controlSub_ = nh_.subscribe( - "cmd_vel", 1, &RosFilter::controlCallback, this); - } - } - - /* Warn users about: - * 1. Multiple non-differential input sources - * 2. No absolute *or* velocity measurements for pose variables - */ - if (printDiagnostics_) { - for (int stateVar = StateMemberX; stateVar <= StateMemberYaw; ++stateVar) { - if (absPoseVarCounts[static_cast(stateVar)] > 1) { - std::stringstream stream; - stream << absPoseVarCounts[static_cast(stateVar - - POSITION_OFFSET)] - << " absolute pose inputs detected for " - << stateVariableNames_[stateVar] - << ". This may result in oscillations. Please ensure that your " - "variances for each " - "measured variable are set appropriately."; - - addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, - stateVariableNames_[stateVar] + "_configuration", - stream.str(), true); - } else if (absPoseVarCounts[static_cast(stateVar)] == 0) { - if ((static_cast(stateVar) == StateMemberX && - twistVarCounts[static_cast(StateMemberVx)] == 0) || - (static_cast(stateVar) == StateMemberY && - twistVarCounts[static_cast(StateMemberVy)] == 0) || - (static_cast(stateVar) == StateMemberZ && - twistVarCounts[static_cast(StateMemberVz)] == 0 && - twoDMode_ == false) || - (static_cast(stateVar) == StateMemberRoll && - twistVarCounts[static_cast(StateMemberVroll)] == 0 && - twoDMode_ == false) || - (static_cast(stateVar) == StateMemberPitch && - twistVarCounts[static_cast(StateMemberVpitch)] == - 0 && - twoDMode_ == false) || - (static_cast(stateVar) == StateMemberYaw && - twistVarCounts[static_cast(StateMemberVyaw)] == 0)) { - std::stringstream stream; - stream << "Neither " << stateVariableNames_[stateVar] - << " nor its " - "velocity is being measured. This will result in unbounded " - "error growth and erratic filter behavior."; - - addDiagnostic(diagnostic_msgs::DiagnosticStatus::ERROR, - stateVariableNames_[stateVar] + "_configuration", - stream.str(), true); - } - } - } - } - - // Load up the process noise covariance (from the launch file/parameter - // server) - Eigen::MatrixXd processNoiseCovariance(STATE_SIZE, STATE_SIZE); - processNoiseCovariance.setZero(); - XmlRpc::XmlRpcValue processNoiseCovarConfig; - - if (nhLocal_.hasParam("process_noise_covariance")) { - try { - nhLocal_.getParam("process_noise_covariance", processNoiseCovarConfig); - - ROS_ASSERT(processNoiseCovarConfig.getType() == - XmlRpc::XmlRpcValue::TypeArray); - - int matSize = processNoiseCovariance.rows(); - - for (int i = 0; i < matSize; i++) { - for (int j = 0; j < matSize; j++) { - try { - // These matrices can cause problems if all the types - // aren't specified with decimal points. Handle that - // using string streams. - std::ostringstream ostr; - ostr << processNoiseCovarConfig[matSize * i + j]; - std::istringstream istr(ostr.str()); - istr >> processNoiseCovariance(i, j); - } catch (XmlRpc::XmlRpcException &e) { - throw e; - } catch (...) { - throw; - } - } - } - - RF_DEBUG("Process noise covariance is:\n" - << processNoiseCovariance << "\n"); - } catch (XmlRpc::XmlRpcException &e) { - ROS_ERROR_STREAM("ERROR reading sensor config: " - << e.getMessage() - << " for process_noise_covariance (type: " - << processNoiseCovarConfig.getType() << ")"); - } - - filter_.setProcessNoiseCovariance(processNoiseCovariance); - } - - // Load up the process noise covariance (from the launch file/parameter - // server) - Eigen::MatrixXd initialEstimateErrorCovariance(STATE_SIZE, STATE_SIZE); - initialEstimateErrorCovariance.setZero(); - XmlRpc::XmlRpcValue estimateErrorCovarConfig; - - if (nhLocal_.hasParam("initial_estimate_covariance")) { - try { - nhLocal_.getParam("initial_estimate_covariance", - estimateErrorCovarConfig); - - ROS_ASSERT(estimateErrorCovarConfig.getType() == - XmlRpc::XmlRpcValue::TypeArray); - - int matSize = initialEstimateErrorCovariance.rows(); - - for (int i = 0; i < matSize; i++) { - for (int j = 0; j < matSize; j++) { - try { - // These matrices can cause problems if all the types - // aren't specified with decimal points. Handle that - // using string streams. - std::ostringstream ostr; - ostr << estimateErrorCovarConfig[matSize * i + j]; - std::istringstream istr(ostr.str()); - istr >> initialEstimateErrorCovariance(i, j); - } catch (XmlRpc::XmlRpcException &e) { - throw e; - } catch (...) { - throw; - } - } - } - - RF_DEBUG("Initial estimate error covariance is:\n" - << initialEstimateErrorCovariance << "\n"); - } catch (XmlRpc::XmlRpcException &e) { - ROS_ERROR_STREAM("ERROR reading initial_estimate_covariance (type: " - << estimateErrorCovarConfig.getType() - << "): " << e.getMessage()); - } catch (...) { - ROS_ERROR_STREAM("ERROR reading initial_estimate_covariance (type: " - << estimateErrorCovarConfig.getType() << ")"); - } - - filter_.setEstimateErrorCovariance(initialEstimateErrorCovariance); - } -} - -template -void RosFilter::odometryCallback(const nav_msgs::Odometry::ConstPtr &msg, - const std::string &topicName, - const CallbackData &poseCallbackData, - const CallbackData &twistCallbackData) { - // If we've just reset the filter, then we want to ignore any messages - // that arrive with an older timestamp - if (msg->header.stamp <= lastSetPoseTime_) { - std::stringstream stream; - stream - << "The " << topicName - << " message has a timestamp equal to or before the last filter reset, " - << "this message will be ignored. This may indicate an empty or bad " - "timestamp. (message time: " - << msg->header.stamp.toSec() << ")"; - addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, - topicName + "_timestamp", stream.str(), false); - RF_DEBUG("Received message that preceded the most recent pose reset. " - "Ignoring..."); - - return; - } - - RF_DEBUG("------ RosFilter::odometryCallback (" << topicName << ") ------\n" - << "Odometry message:\n" - << *msg); - - if (poseCallbackData.updateSum_ > 0) { - // Grab the pose portion of the message and pass it to the poseCallback - geometry_msgs::PoseWithCovarianceStamped *posPtr = - new geometry_msgs::PoseWithCovarianceStamped(); - posPtr->header = msg->header; - posPtr->pose = msg->pose; // Entire pose object, also copies covariance - - geometry_msgs::PoseWithCovarianceStampedConstPtr pptr(posPtr); - poseCallback(pptr, poseCallbackData, worldFrameId_, false); - } - - if (twistCallbackData.updateSum_ > 0) { - // Grab the twist portion of the message and pass it to the twistCallback - geometry_msgs::TwistWithCovarianceStamped *twistPtr = - new geometry_msgs::TwistWithCovarianceStamped(); - twistPtr->header = msg->header; - twistPtr->header.frame_id = msg->child_frame_id; - twistPtr->twist = msg->twist; // Entire twist object, also copies covariance - - geometry_msgs::TwistWithCovarianceStampedConstPtr tptr(twistPtr); - twistCallback(tptr, twistCallbackData, baseLinkFrameId_); - } - - RF_DEBUG("\n----- /RosFilter::odometryCallback (" << topicName - << ") ------\n"); -} - -template -void RosFilter::poseCallback( - const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg, - const CallbackData &callbackData, const std::string &targetFrame, - const bool imuData) { - const std::string &topicName = callbackData.topicName_; - - // If we've just reset the filter, then we want to ignore any messages - // that arrive with an older timestamp - if (msg->header.stamp <= lastSetPoseTime_) { - std::stringstream stream; - stream - << "The " << topicName - << " message has a timestamp equal to or before the last filter reset, " - << "this message will be ignored. This may indicate an empty or bad " - "timestamp. (message time: " - << msg->header.stamp.toSec() << ")"; - addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, - topicName + "_timestamp", stream.str(), false); - return; - } - - RF_DEBUG("------ RosFilter::poseCallback (" << topicName << ") ------\n" - << "Pose message:\n" - << *msg); - - // Put the initial value in the lastMessagTimes_ for this variable if it's - // empty - if (lastMessageTimes_.count(topicName) == 0) { - lastMessageTimes_.insert( - std::pair(topicName, msg->header.stamp)); - } - - // Make sure this message is newer than the last one - if (msg->header.stamp >= lastMessageTimes_[topicName]) { - RF_DEBUG("Update vector for " << topicName << " is:\n" - << callbackData.updateVector_); - - Eigen::VectorXd measurement(STATE_SIZE); - Eigen::MatrixXd measurementCovariance(STATE_SIZE, STATE_SIZE); - - measurement.setZero(); - measurementCovariance.setZero(); - - // Make sure we're actually updating at least one of these variables - std::vector updateVectorCorrected = callbackData.updateVector_; - - // Prepare the pose data for inclusion in the filter - if (preparePose(msg, topicName, targetFrame, callbackData.differential_, - callbackData.relative_, imuData, updateVectorCorrected, - measurement, measurementCovariance)) { - // Store the measurement. Add a "pose" suffix so we know what kind of - // measurement we're dealing with when we debug the core filter logic. - enqueueMeasurement(topicName, measurement, measurementCovariance, - updateVectorCorrected, - callbackData.rejectionThreshold_, msg->header.stamp); - - RF_DEBUG("Enqueued new measurement for " << topicName << "\n"); - } else { - RF_DEBUG("Did *not* enqueue measurement for " << topicName << "\n"); - } - - lastMessageTimes_[topicName] = msg->header.stamp; - - RF_DEBUG("Last message time for " << topicName << " is now " - << lastMessageTimes_[topicName] << "\n"); - } else if (resetOnTimeJump_ && ros::Time::isSimTime()) { - reset(); - } else { - std::stringstream stream; - stream << "The " << topicName - << " message has a timestamp before that of the previous message " - "received," - << " this message will be ignored. This may indicate a bad " - "timestamp. (message time: " - << msg->header.stamp.toSec() << ")"; - addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, - topicName + "_timestamp", stream.str(), false); - - RF_DEBUG("Message is too old. Last message time for " - << topicName << " is " << lastMessageTimes_[topicName] - << ", current message time is " << msg->header.stamp << ".\n"); - } - - RF_DEBUG("\n----- /RosFilter::poseCallback (" << topicName << ") ------\n"); -} - -template -void RosFilter::periodicUpdate(const ros::TimerEvent &event) { - // Warn the user if the update took too long (> 2 cycles) - const double loop_elapsed = - (event.current_real - event.last_expected).toSec(); - if (loop_elapsed > 2. / frequency_) { - ROS_WARN_STREAM("Failed to meet update rate! Took " << std::setprecision(20) - << loop_elapsed); - } - - // Wait for the filter to be enabled - if (!enabled_) { - ROS_INFO_STREAM_ONCE("Filter is disabled. To enable it call the " - << enableFilterSrv_.getService() << " service"); - return; - } - - ros::Time curTime = ros::Time::now(); - - if (toggledOn_) { - // Now we'll integrate any measurements we've received if requested - integrateMeasurements(curTime); - } else { - // clear out measurements since we're not currently processing new entries - clearMeasurementQueue(); - - // Reset last measurement time so we don't get a large time delta on toggle - // on - if (filter_.getInitializedStatus()) { - filter_.setLastMeasurementTime(ros::Time::now().toSec()); - } - } - - // Get latest state and publish it - nav_msgs::Odometry filteredPosition; - - bool corrected_data = false; - - if (getFilteredOdometryMessage(filteredPosition)) { - worldBaseLinkTransMsg_.transform = - tf2::toMsg(tf2::Transform::getIdentity()); - worldBaseLinkTransMsg_.header.stamp = - filteredPosition.header.stamp + tfTimeOffset_; - worldBaseLinkTransMsg_.header.frame_id = filteredPosition.header.frame_id; - worldBaseLinkTransMsg_.child_frame_id = filteredPosition.child_frame_id; - - worldBaseLinkTransMsg_.transform.translation.x = - filteredPosition.pose.pose.position.x; - worldBaseLinkTransMsg_.transform.translation.y = - filteredPosition.pose.pose.position.y; - worldBaseLinkTransMsg_.transform.translation.z = - filteredPosition.pose.pose.position.z; - worldBaseLinkTransMsg_.transform.rotation = - filteredPosition.pose.pose.orientation; - - // the filteredPosition is the message containing the state and covariances: - // nav_msgs Odometry - - if (!validateFilterOutput(filteredPosition)) { - ROS_ERROR_STREAM("Critical Error, NaNs were detected in the output state " - "of the filter." - << " This was likely due to poorly conditioned process, " - "noise, or sensor covariances."); - } - - // If we're trying to publish with the same time stamp, it means that we had - // a measurement get inserted into the filter history, and our state - // estimate was updated after it was already published. As of ROS Noetic, - // TF2 will issue warnings whenever this occurs, so we make this behavior - // optional. Just for safety, we also check for the condition where the last - // published stamp is *later* than this stamp. This should never happen, but - // we should handle the case anyway. - corrected_data = (!permitCorrectedPublication_ && - lastPublishedStamp_ >= filteredPosition.header.stamp); - - // If the worldFrameId_ is the odomFrameId_ frame, then we can just send the - // transform. If the worldFrameId_ is the mapFrameId_ frame, we'll have some - // work to do. - if (publishTransform_ && !corrected_data) { - if (filteredPosition.header.frame_id == odomFrameId_) { - worldTransformBroadcaster_.sendTransform(worldBaseLinkTransMsg_); - } else if (filteredPosition.header.frame_id == mapFrameId_) { - try { - tf2::Transform worldBaseLinkTrans; - tf2::fromMsg(worldBaseLinkTransMsg_.transform, worldBaseLinkTrans); - - tf2::Transform baseLinkOdomTrans; - tf2::fromMsg( - tfBuffer_ - .lookupTransform(baseLinkFrameId_, odomFrameId_, ros::Time(0)) - .transform, - baseLinkOdomTrans); - - /* - * First, see these two references: - * http://wiki.ros.org/tf/Overview/Using%20Published%20Transforms#lookupTransform - * http://wiki.ros.org/geometry/CoordinateFrameConventions#Transform_Direction - * We have a transform from mapFrameId_->baseLinkFrameId_, but it - * would actually transform a given pose from - * baseLinkFrameId_->mapFrameId_. We then used lookupTransform, whose - * first two arguments are target frame and source frame, to get a - * transform from baseLinkFrameId_->odomFrameId_. However, this - * transform would actually transform data from - * odomFrameId_->baseLinkFrameId_. Now imagine that we have a position - * in the mapFrameId_ frame. First, we multiply it by the inverse of - * the mapFrameId_->baseLinkFrameId, which will transform that data - * from mapFrameId_ to baseLinkFrameId_. Now we want to go from - * baseLinkFrameId_->odomFrameId_, but the transform we have takes - * data from odomFrameId_->baseLinkFrameId_, so we need its inverse as - * well. We have now transformed our data from mapFrameId_ to - * odomFrameId_. However, if we want other users to be able to do the - * same, we need to broadcast the inverse of that entire transform. - */ - - tf2::Transform mapOdomTrans; - mapOdomTrans.mult(worldBaseLinkTrans, baseLinkOdomTrans); - - geometry_msgs::TransformStamped mapOdomTransMsg; - mapOdomTransMsg.transform = tf2::toMsg(mapOdomTrans); - mapOdomTransMsg.header.stamp = - filteredPosition.header.stamp + tfTimeOffset_; - mapOdomTransMsg.header.frame_id = mapFrameId_; - mapOdomTransMsg.child_frame_id = odomFrameId_; - - worldTransformBroadcaster_.sendTransform(mapOdomTransMsg); - } catch (...) { - ROS_ERROR_STREAM_DELAYED_THROTTLE( - 5.0, "Could not obtain transform from " << odomFrameId_ << "->" - << baseLinkFrameId_); - } - } else { - ROS_ERROR_STREAM("Odometry message frame_id was " - << filteredPosition.header.frame_id << ", expected " - << mapFrameId_ << " or " << odomFrameId_); - } - } - - // Fire off the position and the transform - if (!corrected_data) { - positionPub_.publish(filteredPosition); - } - - // Retain the last published stamp so we can detect repeated transforms in - // future cycles - lastPublishedStamp_ = filteredPosition.header.stamp; - - if (printDiagnostics_) { - freqDiag_->tick(); - } - } - - // Publish the acceleration if desired and filter is initialized - geometry_msgs::AccelWithCovarianceStamped filteredAcceleration; - if (publishAcceleration_ && getFilteredAccelMessage(filteredAcceleration) && - !corrected_data) { - accelPub_.publish(filteredAcceleration); - } - - /* Diagnostics can behave strangely when playing back from bag - * files and using simulated time, so we have to check for - * time suddenly moving backwards as well as the standard - * timeout criterion before publishing. */ - double diagDuration = (curTime - lastDiagTime_).toSec(); - if (printDiagnostics_ && - (diagDuration >= diagnosticUpdater_.getPeriod() || diagDuration < 0.0)) { - diagnosticUpdater_.force_update(); - lastDiagTime_ = curTime; - } - - // Clear out expired history data - if (smoothLaggedData_) { - clearExpiredHistory(filter_.getLastMeasurementTime() - historyLength_); - } -} - -template -void RosFilter::setPoseCallback( - const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg) { - RF_DEBUG("------ RosFilter::setPoseCallback ------\nPose message:\n" << *msg); - - ROS_INFO_STREAM("Received set_pose request with value\n" << *msg); - - std::string topicName("setPose"); - - // Get rid of any initial poses (pretend we've never had a measurement) - initialMeasurements_.clear(); - previousMeasurements_.clear(); - previousMeasurementCovariances_.clear(); - - clearMeasurementQueue(); - - filterStateHistory_.clear(); - measurementHistory_.clear(); - - // Also set the last set pose time, so we ignore all messages - // that occur before it - lastSetPoseTime_ = msg->header.stamp; - - // Set the state vector to the reported pose - Eigen::VectorXd measurement(STATE_SIZE); - Eigen::MatrixXd measurementCovariance(STATE_SIZE, STATE_SIZE); - std::vector updateVector(STATE_SIZE, true); - - // We only measure pose variables, so initialize the vector to 0 - measurement.setZero(); - - // Set this to the identity and let the message reset it - measurementCovariance.setIdentity(); - measurementCovariance *= 1e-6; - - // Prepare the pose data (really just using this to transform it into the - // target frame). Twist data is going to get zeroed out. - preparePose(msg, topicName, worldFrameId_, false, false, false, updateVector, - measurement, measurementCovariance); - - // For the state - filter_.setState(measurement); - filter_.setEstimateErrorCovariance(measurementCovariance); - - filter_.setLastMeasurementTime(ros::Time::now().toSec()); - - RF_DEBUG("\n------ /RosFilter::setPoseCallback ------\n"); -} - -template -bool RosFilter::setPoseSrvCallback( - robot_localization::SetPose::Request &request, - robot_localization::SetPose::Response &) { - geometry_msgs::PoseWithCovarianceStamped::Ptr msg; - msg = boost::make_shared( - request.pose); - setPoseCallback(msg); - - return true; -} - -template -bool RosFilter::enableFilterSrvCallback(std_srvs::Empty::Request &, - std_srvs::Empty::Response &) { - RF_DEBUG("\n[" << ros::this_node::getName() << ":]" - << " ------ /RosFilter::enableFilterSrvCallback ------\n"); - if (enabled_) { - ROS_WARN_STREAM( - "[" << ros::this_node::getName() - << ":] Asking for enabling filter service, but the filter was " - "already enabled! Use param disabled_at_startup."); - } else { - ROS_INFO_STREAM("[" << ros::this_node::getName() - << ":] Enabling filter..."); - enabled_ = true; - } - return true; -} - -template -void RosFilter::twistCallback( - const geometry_msgs::TwistWithCovarianceStamped::ConstPtr &msg, - const CallbackData &callbackData, const std::string &targetFrame) { - const std::string &topicName = callbackData.topicName_; - - // If we've just reset the filter, then we want to ignore any messages - // that arrive with an older timestamp - if (msg->header.stamp <= lastSetPoseTime_) { - std::stringstream stream; - stream - << "The " << topicName - << " message has a timestamp equal to or before the last filter reset, " - << "this message will be ignored. This may indicate an empty or bad " - "timestamp. (message time: " - << msg->header.stamp.toSec() << ")"; - addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, - topicName + "_timestamp", stream.str(), false); - return; - } - - RF_DEBUG("------ RosFilter::twistCallback (" << topicName - << ") ------\n" - "Twist message:\n" - << *msg); - - if (lastMessageTimes_.count(topicName) == 0) { - lastMessageTimes_.insert( - std::pair(topicName, msg->header.stamp)); - } - - // Make sure this message is newer than the last one - if (msg->header.stamp >= lastMessageTimes_[topicName]) { - RF_DEBUG("Update vector for " << topicName << " is:\n" - << callbackData.updateVector_); - - Eigen::VectorXd measurement(STATE_SIZE); - Eigen::MatrixXd measurementCovariance(STATE_SIZE, STATE_SIZE); - - measurement.setZero(); - measurementCovariance.setZero(); - - // Make sure we're actually updating at least one of these variables - std::vector updateVectorCorrected = callbackData.updateVector_; - - // Prepare the twist data for inclusion in the filter - if (prepareTwist(msg, topicName, targetFrame, updateVectorCorrected, - measurement, measurementCovariance)) { - // Store the measurement. Add a "twist" suffix so we know what kind of - // measurement we're dealing with when we debug the core filter logic. - enqueueMeasurement(topicName, measurement, measurementCovariance, - updateVectorCorrected, - callbackData.rejectionThreshold_, msg->header.stamp); - - RF_DEBUG("Enqueued new measurement for " << topicName << "_twist\n"); - } else { - RF_DEBUG("Did *not* enqueue measurement for " << topicName << "_twist\n"); - } - - lastMessageTimes_[topicName] = msg->header.stamp; - - RF_DEBUG("Last message time for " << topicName << " is now " - << lastMessageTimes_[topicName] << "\n"); - } else if (resetOnTimeJump_ && ros::Time::isSimTime()) { - reset(); - } else { - std::stringstream stream; - stream << "The " << topicName - << " message has a timestamp before that of the previous message " - "received," - << " this message will be ignored. This may indicate a bad " - "timestamp. (message time: " - << msg->header.stamp.toSec() << ")"; - addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, - topicName + "_timestamp", stream.str(), false); - - RF_DEBUG("Message is too old. Last message time for " - << topicName << " is " << lastMessageTimes_[topicName] - << ", current message time is " << msg->header.stamp << ".\n"); - } - - RF_DEBUG("\n----- /RosFilter::twistCallback (" << topicName << ") ------\n"); -} - -template -void RosFilter::addDiagnostic(const int errLevel, - const std::string &topicAndClass, - const std::string &message, - const bool staticDiag) { - if (staticDiag) { - staticDiagnostics_[topicAndClass] = message; - staticDiagErrorLevel_ = std::max(staticDiagErrorLevel_, errLevel); - } else { - dynamicDiagnostics_[topicAndClass] = message; - dynamicDiagErrorLevel_ = std::max(dynamicDiagErrorLevel_, errLevel); - } -} - -template -void RosFilter::aggregateDiagnostics( - diagnostic_updater::DiagnosticStatusWrapper &wrapper) { - wrapper.clear(); - wrapper.clearSummary(); - - int maxErrLevel = std::max(staticDiagErrorLevel_, dynamicDiagErrorLevel_); - - // Report the overall status - switch (maxErrLevel) { - case diagnostic_msgs::DiagnosticStatus::ERROR: - wrapper.summary(maxErrLevel, "Erroneous data or settings detected for a " - "robot_localization state estimation node."); - break; - case diagnostic_msgs::DiagnosticStatus::WARN: - wrapper.summary(maxErrLevel, - "Potentially erroneous data or settings detected for " - "a robot_localization state estimation node."); - break; - case diagnostic_msgs::DiagnosticStatus::STALE: - wrapper.summary( - maxErrLevel, - "The state of the robot_localization state estimation node is stale."); - break; - case diagnostic_msgs::DiagnosticStatus::OK: - wrapper.summary(maxErrLevel, "The robot_localization state estimation node " - "appears to be functioning properly."); - break; - default: - break; - } - - // Aggregate all the static messages - for (std::map::iterator diagIt = - staticDiagnostics_.begin(); - diagIt != staticDiagnostics_.end(); ++diagIt) { - wrapper.add(diagIt->first, diagIt->second); - } - - // Aggregate all the dynamic messages, then clear them - for (std::map::iterator diagIt = - dynamicDiagnostics_.begin(); - diagIt != dynamicDiagnostics_.end(); ++diagIt) { - wrapper.add(diagIt->first, diagIt->second); - } - dynamicDiagnostics_.clear(); - - // Reset the warning level for the dynamic diagnostic messages - dynamicDiagErrorLevel_ = diagnostic_msgs::DiagnosticStatus::OK; -} - -template -void RosFilter::copyCovariance(const double *arr, - Eigen::MatrixXd &covariance, - const std::string &topicName, - const std::vector &updateVector, - const size_t offset, const size_t dimension) { - for (size_t i = 0; i < dimension; i++) { - for (size_t j = 0; j < dimension; j++) { - covariance(i, j) = arr[dimension * i + j]; - - if (printDiagnostics_) { - std::string iVar = stateVariableNames_[offset + i]; - - if (covariance(i, j) > 1e3 && - (updateVector[offset + i] || updateVector[offset + j])) { - std::string jVar = stateVariableNames_[offset + j]; - - std::stringstream stream; - stream << "The covariance at position (" << dimension * i + j - << "), which corresponds to " - << (i == j ? iVar + " variance" - : iVar + " and " + jVar + " covariance") - << ", the value is extremely large (" << covariance(i, j) - << "), but the update vector for " - << (i == j ? iVar : iVar + " and/or " + jVar) - << " is set to true. This may produce undesirable results."; - - addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, - topicName + "_covariance", stream.str(), false); - } else if (updateVector[i] && i == j && covariance(i, j) == 0) { - std::stringstream stream; - stream << "The covariance at position (" << dimension * i + j - << "), which corresponds to " << iVar - << " variance, was zero. This will be replaced with a small " - "value to maintain filter " - "stability, but should be corrected at the message origin " - "node."; - - addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, - topicName + "_covariance", stream.str(), false); - } else if (updateVector[i] && i == j && covariance(i, j) < 0) { - std::stringstream stream; - stream << "The covariance at position (" << dimension * i + j - << "), which corresponds to " << iVar - << " variance, was negative. This will be replaced with a " - "small positive value to maintain filter stability, but " - "should be corrected at the message " - "origin node."; - - addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, - topicName + "_covariance", stream.str(), false); - } - } - } - } -} - -template -void RosFilter::copyCovariance(const Eigen::MatrixXd &covariance, - double *arr, const size_t dimension) { - for (size_t i = 0; i < dimension; i++) { - for (size_t j = 0; j < dimension; j++) { - arr[dimension * i + j] = covariance(i, j); - } - } -} - -template -std::vector RosFilter::loadUpdateConfig(const std::string &topicName) { - XmlRpc::XmlRpcValue topicConfig; - std::vector updateVector(STATE_SIZE, 0); - std::string topicConfigName = topicName + "_config"; - - try { - nhLocal_.getParam(topicConfigName, topicConfig); - - ROS_ASSERT(topicConfig.getType() == XmlRpc::XmlRpcValue::TypeArray); - - if (topicConfig.size() != STATE_SIZE) { - ROS_WARN_STREAM("Configuration vector for " - << topicConfigName << " should have 15 entries."); - } - - for (int i = 0; i < topicConfig.size(); i++) { - // The double cast looks strange, but we'll get exceptions if we - // remove the cast to bool. vector is discouraged, so updateVector - // uses integers. - updateVector[i] = static_cast(static_cast(topicConfig[i])); - } - } catch (XmlRpc::XmlRpcException &e) { - ROS_FATAL_STREAM("Could not read sensor update configuration for topic " - << topicName << " (type: " << topicConfig.getType() - << ", expected: " << XmlRpc::XmlRpcValue::TypeArray - << "). Error was " << e.getMessage() << "\n"); - } - - return updateVector; -} - -template -bool RosFilter::prepareAcceleration(const sensor_msgs::Imu::ConstPtr &msg, - const std::string &topicName, - const std::string &targetFrame, - std::vector &updateVector, - Eigen::VectorXd &measurement, - Eigen::MatrixXd &measurementCovariance) { - RF_DEBUG("------ RosFilter::prepareAcceleration (" << topicName - << ") ------\n"); - - // 1. Get the measurement into a vector - tf2::Vector3 accTmp(msg->linear_acceleration.x, msg->linear_acceleration.y, - msg->linear_acceleration.z); - - // Set relevant header info - std::string msgFrame = - (msg->header.frame_id == "" ? baseLinkFrameId_ : msg->header.frame_id); - - // 2. robot_localization lets users configure which variables from the sensor - // should be - // fused with the filter. This is specified at the sensor level. However, - // the data may go through transforms before being fused with the state - // estimate. In that case, we need to know which of the transformed - // variables came from the pre-transformed "approved" variables (i.e., the - // ones that had "true" in their xxx_config parameter). To do this, we - // create a pose from the original upate vector, which contains only zeros - // and ones. This pose goes through the same transforms as the measurement. - // The non-zero values that result will be used to modify the updateVector. - tf2::Matrix3x3 maskAcc(updateVector[StateMemberAx], 0, 0, 0, - updateVector[StateMemberAy], 0, 0, 0, - updateVector[StateMemberAz]); - - // 3. We'll need to rotate the covariance as well - Eigen::MatrixXd covarianceRotated(ACCELERATION_SIZE, ACCELERATION_SIZE); - covarianceRotated.setZero(); - - this->copyCovariance(&(msg->linear_acceleration_covariance[0]), - covarianceRotated, topicName, updateVector, - POSITION_A_OFFSET, ACCELERATION_SIZE); - - RF_DEBUG("Original measurement as tf object: " - << accTmp << "\nOriginal update vector:\n" - << updateVector << "\nOriginal covariance matrix:\n" - << covarianceRotated << "\n"); - - // 4. We need to transform this into the target frame (probably base_link) - // It's unlikely that we'll get a velocity measurement in another frame, but - // we have to handle the situation. - tf2::Transform targetFrameTrans; - bool canTransform = RosFilterUtilities::lookupTransformSafe( - tfBuffer_, targetFrame, msgFrame, msg->header.stamp, tfTimeout_, - targetFrameTrans, tfSilentFailure_); - - if (canTransform) { - // We don't know if the user has already handled the removal - // of normal forces, so we use a parameter - if (removeGravitationalAcc_[topicName]) { - tf2::Vector3 normAcc(0, 0, gravitationalAcc_); - tf2::Transform trans; - - if (::fabs(msg->orientation_covariance[0] + 1) < 1e-9) { - // Imu message contains no orientation, so we should use orientation - // from filter state to transform and remove acceleration - const Eigen::VectorXd &state = filter_.getState(); - tf2::Matrix3x3 stateTmp; - stateTmp.setRPY(state(StateMemberRoll), state(StateMemberPitch), - state(StateMemberYaw)); - - // transform state orientation to IMU frame - tf2::Transform imuFrameTrans; - RosFilterUtilities::lookupTransformSafe( - tfBuffer_, targetFrame, msgFrame, msg->header.stamp, tfTimeout_, - imuFrameTrans, tfSilentFailure_); - trans.setBasis(stateTmp * imuFrameTrans.getBasis()); - } else { - tf2::Quaternion curAttitude; - tf2::fromMsg(msg->orientation, curAttitude); - if (fabs(curAttitude.length() - 1.0) > 0.01) { - ROS_WARN_ONCE("An input was not normalized, this should NOT happen, " - "but will normalize."); - curAttitude.normalize(); - } - trans.setRotation(curAttitude); - } - tf2::Vector3 rotNorm = trans.getBasis().inverse() * normAcc; - accTmp.setX(accTmp.getX() - rotNorm.getX()); - accTmp.setY(accTmp.getY() - rotNorm.getY()); - accTmp.setZ(accTmp.getZ() - rotNorm.getZ()); - - RF_DEBUG("Orientation is " - << trans.getRotation() << "Acceleration due to gravity is " - << rotNorm - << "After removing acceleration due to gravity, acceleration is " - << accTmp << "\n"); - } - - // Transform to correct frame - // @todo: This needs to take into account offsets from the origin. Right - // now, it assumes that if the sensor is placed at some non-zero offset from - // the vehicle's center, that the vehicle turns with constant velocity. This - // needs to be something like accTmp = targetFrameTrans.getBasis() * accTmp - // - targetFrameTrans.getOrigin().cross(rotation_acceleration); We can get - // rotational acceleration by differentiating the rotational velocity (if - // it's available) - accTmp = targetFrameTrans.getBasis() * accTmp; - maskAcc = targetFrameTrans.getBasis() * maskAcc; - - // Now use the mask values to determine which update vector values should be - // true - updateVector[StateMemberAx] = static_cast( - maskAcc.getRow(StateMemberAx - POSITION_A_OFFSET).length() >= 1e-6); - updateVector[StateMemberAy] = static_cast( - maskAcc.getRow(StateMemberAy - POSITION_A_OFFSET).length() >= 1e-6); - updateVector[StateMemberAz] = static_cast( - maskAcc.getRow(StateMemberAz - POSITION_A_OFFSET).length() >= 1e-6); - - RF_DEBUG(msg->header.frame_id - << "->" << targetFrame << " transform:\n" - << targetFrameTrans << "\nAfter applying transform to " - << targetFrame << ", update vector is:\n" - << updateVector << "\nAfter applying transform to " << targetFrame - << ", measurement is:\n" - << accTmp << "\n"); - - // 5. Now rotate the covariance: create an augmented - // matrix that contains a 3D rotation matrix in the - // upper-left and lower-right quadrants, and zeros - // elsewhere - tf2::Matrix3x3 rot(targetFrameTrans.getRotation()); - Eigen::MatrixXd rot3d(ACCELERATION_SIZE, ACCELERATION_SIZE); - rot3d.setIdentity(); - - for (size_t rInd = 0; rInd < ACCELERATION_SIZE; ++rInd) { - rot3d(rInd, 0) = rot.getRow(rInd).getX(); - rot3d(rInd, 1) = rot.getRow(rInd).getY(); - rot3d(rInd, 2) = rot.getRow(rInd).getZ(); - } - - // Carry out the rotation - covarianceRotated = rot3d * covarianceRotated.eval() * rot3d.transpose(); - - RF_DEBUG("Transformed covariance is \n" << covarianceRotated << "\n"); - - // 6. Store our corrected measurement and covariance - measurement(StateMemberAx) = accTmp.getX(); - measurement(StateMemberAy) = accTmp.getY(); - measurement(StateMemberAz) = accTmp.getZ(); - - // Copy the covariances - measurementCovariance.block(POSITION_A_OFFSET, POSITION_A_OFFSET, - ACCELERATION_SIZE, ACCELERATION_SIZE) = - covarianceRotated.block(0, 0, ACCELERATION_SIZE, ACCELERATION_SIZE); - - // 7. Handle 2D mode - if (twoDMode_) { - forceTwoD(measurement, measurementCovariance, updateVector); - } - } else { - RF_DEBUG("Could not transform measurement into " << targetFrame - << ". Ignoring...\n"); - } - - RF_DEBUG("\n----- /RosFilter::prepareAcceleration(" << topicName - << ") ------\n"); - - return canTransform; -} - -template -bool RosFilter::preparePose( - const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg, - const std::string &topicName, const std::string &targetFrame, - const bool differential, const bool relative, const bool imuData, - std::vector &updateVector, Eigen::VectorXd &measurement, - Eigen::MatrixXd &measurementCovariance) { - bool retVal = false; - - RF_DEBUG("------ RosFilter::preparePose (" << topicName << ") ------\n"); - - // 1. Get the measurement into a tf-friendly transform (pose) object - tf2::Stamped poseTmp; - - // We'll need this later for storing this measurement for differential - // integration - tf2::Transform curMeasurement; - - // Handle issues where frame_id data is not filled out properly - // @todo: verify that this is necessary still. New IMU handling may - // have rendered this obsolete. - std::string finalTargetFrame; - if (targetFrame == "" && msg->header.frame_id == "") { - // Blank target and message frames mean we can just - // use our world_frame - finalTargetFrame = worldFrameId_; - poseTmp.frame_id_ = finalTargetFrame; - } else if (targetFrame == "") { - // A blank target frame means we shouldn't bother - // transforming the data - finalTargetFrame = msg->header.frame_id; - poseTmp.frame_id_ = finalTargetFrame; - } else { - // Otherwise, we should use our target frame - finalTargetFrame = targetFrame; - poseTmp.frame_id_ = - (differential && !imuData ? finalTargetFrame : msg->header.frame_id); - } - - RF_DEBUG("Final target frame for " << topicName << " is " << finalTargetFrame - << "\n"); - - poseTmp.stamp_ = msg->header.stamp; - - // Fill out the position data - poseTmp.setOrigin(tf2::Vector3(msg->pose.pose.position.x, - msg->pose.pose.position.y, - msg->pose.pose.position.z)); - - tf2::Quaternion orientation; - - // Handle bad (empty) quaternions - if (msg->pose.pose.orientation.x == 0 && msg->pose.pose.orientation.y == 0 && - msg->pose.pose.orientation.z == 0 && msg->pose.pose.orientation.w == 0) { - orientation.setValue(0.0, 0.0, 0.0, 1.0); - - if (updateVector[StateMemberRoll] || updateVector[StateMemberPitch] || - updateVector[StateMemberYaw]) { - std::stringstream stream; - stream << "The " << topicName - << " message contains an invalid orientation quaternion, " - << "but its configuration is such that orientation data is being " - "used. Correcting..."; - - addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, - topicName + "_orientation", stream.str(), false); - } - } else { - tf2::fromMsg(msg->pose.pose.orientation, orientation); - if (fabs(orientation.length() - 1.0) > 0.01) { - ROS_WARN_ONCE("An input was not normalized, this should NOT happen, but " - "will normalize."); - orientation.normalize(); - } - } - - // Fill out the orientation data - poseTmp.setRotation(orientation); - - // 2. Get the target frame transformation - tf2::Transform targetFrameTrans; - bool canTransform = RosFilterUtilities::lookupTransformSafe( - tfBuffer_, finalTargetFrame, poseTmp.frame_id_, poseTmp.stamp_, - tfTimeout_, targetFrameTrans, tfSilentFailure_); - - // 3. Make sure we can work with this data before carrying on - if (canTransform) { - /* 4. robot_localization lets users configure which variables from the - * sensor should be fused with the filter. This is specified at the sensor - * level. However, the data may go through transforms before being fused - * with the state estimate. In that case, we need to know which of the - * transformed variables came from the pre-transformed "approved" variables - * (i.e., the ones that had "true" in their xxx_config parameter). To do - * this, we construct matrices using the update vector values on the - * diagonals, pass this matrix through the rotation, and use the length of - * each row to determine the transformed update vector. The process is - * slightly different for IMUs, as the coordinate frame transform is really - * the base_link->imu_frame transform, and not a transform from some other - * world-fixed frame (even though the IMU data itself *is* reported in a - * world fixed frame). */ - tf2::Matrix3x3 maskPosition(updateVector[StateMemberX], 0, 0, 0, - updateVector[StateMemberY], 0, 0, 0, - updateVector[StateMemberZ]); - - tf2::Matrix3x3 maskOrientation(updateVector[StateMemberRoll], 0, 0, 0, - updateVector[StateMemberPitch], 0, 0, 0, - updateVector[StateMemberYaw]); - - if (imuData) { - /* We have to treat IMU orientation data differently. Even though we are - * dealing with pose data when we work with orientations, for IMUs, the - * frame_id is the frame in which the sensor is mounted, and not the - * coordinate frame of the IMU. Imagine an IMU that is mounted facing - * sideways. The pitch in the IMU frame becomes roll for the vehicle. This - * means that we need to rotate roll and pitch angles by the IMU's - * mounting yaw offset, and we must apply - * similar treatment to its update mask and covariance. */ - - double dummy, yaw; - targetFrameTrans.getBasis().getRPY(dummy, dummy, yaw); - tf2::Matrix3x3 transTmp; - transTmp.setRPY(0.0, 0.0, yaw); - - maskPosition = transTmp * maskPosition; - maskOrientation = transTmp * maskOrientation; - } else { - maskPosition = targetFrameTrans.getBasis() * maskPosition; - maskOrientation = targetFrameTrans.getBasis() * maskOrientation; - } - - // Now copy the mask values back into the update vector: any row with a - // significant vector length indicates that we want to set that variable to - // true in the update vector. - updateVector[StateMemberX] = static_cast( - maskPosition.getRow(StateMemberX - POSITION_OFFSET).length() >= 1e-6); - updateVector[StateMemberY] = static_cast( - maskPosition.getRow(StateMemberY - POSITION_OFFSET).length() >= 1e-6); - updateVector[StateMemberZ] = static_cast( - maskPosition.getRow(StateMemberZ - POSITION_OFFSET).length() >= 1e-6); - updateVector[StateMemberRoll] = static_cast( - maskOrientation.getRow(StateMemberRoll - ORIENTATION_OFFSET).length() >= - 1e-6); - updateVector[StateMemberPitch] = static_cast( - maskOrientation.getRow(StateMemberPitch - ORIENTATION_OFFSET) - .length() >= 1e-6); - updateVector[StateMemberYaw] = static_cast( - maskOrientation.getRow(StateMemberYaw - ORIENTATION_OFFSET).length() >= - 1e-6); - - // 5a. We'll need to rotate the covariance as well. Create a container and - // copy over the covariance data - Eigen::MatrixXd covariance(POSE_SIZE, POSE_SIZE); - covariance.setZero(); - copyCovariance(&(msg->pose.covariance[0]), covariance, topicName, - updateVector, POSITION_OFFSET, POSE_SIZE); - - // 5b. Now rotate the covariance: create an augmented matrix that - // contains a 3D rotation matrix in the upper-left and lower-right - // quadrants, with zeros elsewhere. - tf2::Matrix3x3 rot; - Eigen::MatrixXd rot6d(POSE_SIZE, POSE_SIZE); - rot6d.setIdentity(); - Eigen::MatrixXd covarianceRotated; - - if (imuData) { - // Apply the same special logic to the IMU covariance rotation - double dummy, yaw; - targetFrameTrans.getBasis().getRPY(dummy, dummy, yaw); - rot.setRPY(0.0, 0.0, yaw); - } else { - rot.setRotation(targetFrameTrans.getRotation()); - } - - for (size_t rInd = 0; rInd < POSITION_SIZE; ++rInd) { - rot6d(rInd, 0) = rot.getRow(rInd).getX(); - rot6d(rInd, 1) = rot.getRow(rInd).getY(); - rot6d(rInd, 2) = rot.getRow(rInd).getZ(); - rot6d(rInd + POSITION_SIZE, 3) = rot.getRow(rInd).getX(); - rot6d(rInd + POSITION_SIZE, 4) = rot.getRow(rInd).getY(); - rot6d(rInd + POSITION_SIZE, 5) = rot.getRow(rInd).getZ(); - } - - // Now carry out the rotation - covarianceRotated = rot6d * covariance * rot6d.transpose(); - - RF_DEBUG("After rotating into the " << finalTargetFrame - << " frame, covariance is \n" - << covarianceRotated << "\n"); - - /* 6a. For IMU data, the transform that we get is the transform from the - * body frame of the robot (e.g., base_link) to the mounting frame of the - * robot. It is *not* the coordinate frame in which the IMU orientation data - * is reported. If the IMU is mounted in a non-neutral orientation, we need - * to remove those offsets, and then we need to potentially "swap" roll and - * pitch. Note that this transform does NOT handle NED->ENU conversions. - * Data is assumed to be in the ENU frame when it is received. - * */ - if (imuData) { - // First, convert the transform and measurement rotation to RPY - // @todo: There must be a way to handle this with quaternions. Need to - // look into it. - double rollOffset = 0; - double pitchOffset = 0; - double yawOffset = 0; - double roll = 0; - double pitch = 0; - double yaw = 0; - RosFilterUtilities::quatToRPY(targetFrameTrans.getRotation(), rollOffset, - pitchOffset, yawOffset); - RosFilterUtilities::quatToRPY(poseTmp.getRotation(), roll, pitch, yaw); - - // 6b. Apply the offset (making sure to bound them), and throw them in a - // vector - tf2::Vector3 rpyAngles( - FilterUtilities::clampRotation(roll - rollOffset), - FilterUtilities::clampRotation(pitch - pitchOffset), - FilterUtilities::clampRotation(yaw - yawOffset)); - - // 6c. Now we need to rotate the roll and pitch by the yaw offset value. - // Imagine a case where an IMU is mounted facing sideways. In that case - // pitch for the IMU's world frame is roll for the robot. - tf2::Matrix3x3 mat; - mat.setRPY(0.0, 0.0, yawOffset); - rpyAngles = mat * rpyAngles; - poseTmp.getBasis().setRPY(rpyAngles.getX(), rpyAngles.getY(), - rpyAngles.getZ()); - - // We will use this target transformation later on, but - // we've already transformed this data as if the IMU - // were mounted neutrall on the robot, so we can just - // make the transform the identity. - targetFrameTrans.setIdentity(); - } - - // 7. Two cases: if we're in differential mode, we need to generate a twist - // message. Otherwise, we just transform it to the target frame. - if (differential) { - bool success = false; - - // We're going to be playing with poseTmp, so store it, - // as we'll need to save its current value for the next - // measurement. - curMeasurement = poseTmp; - - // Make sure we have previous measurements to work with - if (previousMeasurements_.count(topicName) > 0 && - previousMeasurementCovariances_.count(topicName) > 0) { - // 7a. If we are carrying out differential integration and - // we have a previous measurement for this sensor,then we - // need to apply the inverse of that measurement to this new - // measurement to produce a "delta" measurement between the two. - // Even if we're not using all of the variables from this sensor, - // we need to use the whole measurement to determine the delta - // to the new measurement - tf2::Transform prevMeasurement = previousMeasurements_[topicName]; - poseTmp.setData(prevMeasurement.inverseTimes(poseTmp)); - - RF_DEBUG( - "Previous measurement:\n" - << previousMeasurements_[topicName] - << "\nAfter removing previous measurement, measurement delta is:\n" - << poseTmp << "\n"); - - // 7b. Now we we have a measurement delta in the frame_id of the - // message, but we want that delta to be in the target frame, so - // we need to apply the rotation of the target frame transform. - targetFrameTrans.setOrigin(tf2::Vector3(0.0, 0.0, 0.0)); - poseTmp.mult(targetFrameTrans, poseTmp); - - RF_DEBUG("After rotating to the target frame, measurement delta is:\n" - << poseTmp << "\n"); - - // 7c. Now use the time difference from the last message to compute - // translational and rotational velocities - double dt = - msg->header.stamp.toSec() - lastMessageTimes_[topicName].toSec(); - double xVel = poseTmp.getOrigin().getX() / dt; - double yVel = poseTmp.getOrigin().getY() / dt; - double zVel = poseTmp.getOrigin().getZ() / dt; - - double rollVel = 0; - double pitchVel = 0; - double yawVel = 0; - - RosFilterUtilities::quatToRPY(poseTmp.getRotation(), rollVel, pitchVel, - yawVel); - rollVel /= dt; - pitchVel /= dt; - yawVel /= dt; - - RF_DEBUG("Previous message time was " - << lastMessageTimes_[topicName].toSec() - << ", current message time is " << msg->header.stamp.toSec() - << ", delta is " << dt << ", velocity is (vX, vY, vZ): (" - << xVel << ", " << yVel << ", " << zVel << ")\n" - << "(vRoll, vPitch, vYaw): (" << rollVel << ", " << pitchVel - << ", " << yawVel << ")\n"); - - // 7d. Fill out the velocity data in the message - geometry_msgs::TwistWithCovarianceStamped *twistPtr = - new geometry_msgs::TwistWithCovarianceStamped(); - twistPtr->header = msg->header; - twistPtr->header.frame_id = baseLinkFrameId_; - twistPtr->twist.twist.linear.x = xVel; - twistPtr->twist.twist.linear.y = yVel; - twistPtr->twist.twist.linear.z = zVel; - twistPtr->twist.twist.angular.x = rollVel; - twistPtr->twist.twist.angular.y = pitchVel; - twistPtr->twist.twist.angular.z = yawVel; - std::vector twistUpdateVec(STATE_SIZE, false); - std::copy(updateVector.begin() + POSITION_OFFSET, - updateVector.begin() + POSE_SIZE, - twistUpdateVec.begin() + POSITION_V_OFFSET); - std::copy(twistUpdateVec.begin(), twistUpdateVec.end(), - updateVector.begin()); - geometry_msgs::TwistWithCovarianceStampedConstPtr ptr(twistPtr); - - // 7e. Now rotate the previous covariance for this measurement to get it - // into the target frame, and add the current measurement's rotated - // covariance to the previous measurement's rotated covariance, and - // multiply by the time delta. - Eigen::MatrixXd prevCovarRotated = - rot6d * previousMeasurementCovariances_[topicName] * - rot6d.transpose(); - covarianceRotated = (covarianceRotated.eval() + prevCovarRotated) * dt; - copyCovariance(covarianceRotated, &(twistPtr->twist.covariance[0]), - POSE_SIZE); - - RF_DEBUG("Previous measurement covariance:\n" - << previousMeasurementCovariances_[topicName] - << "\nPrevious measurement covariance rotated:\n" - << prevCovarRotated << "\nFinal twist covariance:\n" - << covarianceRotated << "\n"); - - // Now pass this on to prepareTwist, which will convert it to the - // required frame - success = - prepareTwist(ptr, topicName + "_twist", twistPtr->header.frame_id, - updateVector, measurement, measurementCovariance); - } - - // 7f. Update the previous measurement and measurement covariance - previousMeasurements_[topicName] = curMeasurement; - previousMeasurementCovariances_[topicName] = covariance; - - retVal = success; - } else { - // 7g. If we're in relative mode, remove the initial measurement - if (relative) { - if (initialMeasurements_.count(topicName) == 0) { - initialMeasurements_.insert( - std::pair(topicName, poseTmp)); - } - - tf2::Transform initialMeasurement = initialMeasurements_[topicName]; - poseTmp.setData(initialMeasurement.inverseTimes(poseTmp)); - } - - // 7h. Apply the target frame transformation to the pose object. - poseTmp.mult(targetFrameTrans, poseTmp); - poseTmp.frame_id_ = finalTargetFrame; - - // 7i. Finally, copy everything into our measurement and covariance - // objects - measurement(StateMemberX) = poseTmp.getOrigin().x(); - measurement(StateMemberY) = poseTmp.getOrigin().y(); - measurement(StateMemberZ) = poseTmp.getOrigin().z(); - - // The filter needs roll, pitch, and yaw values instead of quaternions - double roll, pitch, yaw; - RosFilterUtilities::quatToRPY(poseTmp.getRotation(), roll, pitch, yaw); - measurement(StateMemberRoll) = roll; - measurement(StateMemberPitch) = pitch; - measurement(StateMemberYaw) = yaw; - - measurementCovariance.block(0, 0, POSE_SIZE, POSE_SIZE) = - covarianceRotated.block(0, 0, POSE_SIZE, POSE_SIZE); - - // 8. Handle 2D mode - if (twoDMode_) { - forceTwoD(measurement, measurementCovariance, updateVector); - } - - retVal = true; - } - } else { - retVal = false; - - RF_DEBUG("Could not transform measurement into " << finalTargetFrame - << ". Ignoring..."); - } - - RF_DEBUG("\n----- /RosFilter::preparePose (" << topicName << ") ------\n"); - - return retVal; -} - -template -bool RosFilter::prepareTwist( - const geometry_msgs::TwistWithCovarianceStamped::ConstPtr &msg, - const std::string &topicName, const std::string &targetFrame, - std::vector &updateVector, Eigen::VectorXd &measurement, - Eigen::MatrixXd &measurementCovariance) { - RF_DEBUG("------ RosFilter::prepareTwist (" << topicName << ") ------\n"); - - // 1. Get the measurement into two separate vector objects. - tf2::Vector3 twistLin(msg->twist.twist.linear.x, msg->twist.twist.linear.y, - msg->twist.twist.linear.z); - tf2::Vector3 measTwistRot(msg->twist.twist.angular.x, - msg->twist.twist.angular.y, - msg->twist.twist.angular.z); - - // 1a. This sensor may or may not measure rotational velocity. Regardless, - // if it measures linear velocity, then later on, we'll need to remove "false" - // linear velocity resulting from angular velocity and the translational - // offset of the sensor from the vehicle origin. - const Eigen::VectorXd &state = filter_.getState(); - tf2::Vector3 stateTwistRot(state(StateMemberVroll), state(StateMemberVpitch), - state(StateMemberVyaw)); - - // Determine the frame_id of the data - std::string msgFrame = - (msg->header.frame_id == "" ? targetFrame : msg->header.frame_id); - - // 2. robot_localization lets users configure which variables from the sensor - // should be - // fused with the filter. This is specified at the sensor level. However, - // the data may go through transforms before being fused with the state - // estimate. In that case, we need to know which of the transformed - // variables came from the pre-transformed "approved" variables (i.e., the - // ones that had "true" in their xxx_config parameter). To do this, we - // construct matrices using the update vector values on the diagonals, pass - // this matrix through the rotation, and use the length of each row to - // determine the transformed update vector. - tf2::Matrix3x3 maskLin(updateVector[StateMemberVx], 0, 0, 0, - updateVector[StateMemberVy], 0, 0, 0, - updateVector[StateMemberVz]); - - tf2::Matrix3x3 maskRot(updateVector[StateMemberVroll], 0, 0, 0, - updateVector[StateMemberVpitch], 0, 0, 0, - updateVector[StateMemberVyaw]); - - // 3. We'll need to rotate the covariance as well - Eigen::MatrixXd covarianceRotated(TWIST_SIZE, TWIST_SIZE); - covarianceRotated.setZero(); - - copyCovariance(&(msg->twist.covariance[0]), covarianceRotated, topicName, - updateVector, POSITION_V_OFFSET, TWIST_SIZE); - - RF_DEBUG("Original measurement as tf object:\nLinear: " - << twistLin << "Rotational: " << measTwistRot - << "\nOriginal update vector:\n" - << updateVector << "\nOriginal covariance matrix:\n" - << covarianceRotated << "\n"); - - // 4. We need to transform this into the target frame (probably base_link) - tf2::Transform targetFrameTrans; - bool canTransform = RosFilterUtilities::lookupTransformSafe( - tfBuffer_, targetFrame, msgFrame, msg->header.stamp, tfTimeout_, - targetFrameTrans, tfSilentFailure_); - - if (canTransform) { - // Transform to correct frame. Note that we can get linear velocity - // as a result of the sensor offset and rotational velocity - measTwistRot = targetFrameTrans.getBasis() * measTwistRot; - twistLin = targetFrameTrans.getBasis() * twistLin + - targetFrameTrans.getOrigin().cross(stateTwistRot); - maskLin = targetFrameTrans.getBasis() * maskLin; - maskRot = targetFrameTrans.getBasis() * maskRot; - - // Now copy the mask values back into the update vector - updateVector[StateMemberVx] = static_cast( - maskLin.getRow(StateMemberVx - POSITION_V_OFFSET).length() >= 1e-6); - updateVector[StateMemberVy] = static_cast( - maskLin.getRow(StateMemberVy - POSITION_V_OFFSET).length() >= 1e-6); - updateVector[StateMemberVz] = static_cast( - maskLin.getRow(StateMemberVz - POSITION_V_OFFSET).length() >= 1e-6); - updateVector[StateMemberVroll] = static_cast( - maskRot.getRow(StateMemberVroll - ORIENTATION_V_OFFSET).length() >= - 1e-6); - updateVector[StateMemberVpitch] = static_cast( - maskRot.getRow(StateMemberVpitch - ORIENTATION_V_OFFSET).length() >= - 1e-6); - updateVector[StateMemberVyaw] = static_cast( - maskRot.getRow(StateMemberVyaw - ORIENTATION_V_OFFSET).length() >= - 1e-6); - - RF_DEBUG(msg->header.frame_id - << "->" << targetFrame << " transform:\n" - << targetFrameTrans << "\nAfter applying transform to " - << targetFrame << ", update vector is:\n" - << updateVector << "\nAfter applying transform to " << targetFrame - << ", measurement is:\n" - << "Linear: " << twistLin << "Rotational: " << measTwistRot - << "\n"); - - // 5. Now rotate the covariance: create an augmented - // matrix that contains a 3D rotation matrix in the - // upper-left and lower-right quadrants, and zeros - // elsewhere - tf2::Matrix3x3 rot(targetFrameTrans.getRotation()); - Eigen::MatrixXd rot6d(TWIST_SIZE, TWIST_SIZE); - rot6d.setIdentity(); - - for (size_t rInd = 0; rInd < POSITION_SIZE; ++rInd) { - rot6d(rInd, 0) = rot.getRow(rInd).getX(); - rot6d(rInd, 1) = rot.getRow(rInd).getY(); - rot6d(rInd, 2) = rot.getRow(rInd).getZ(); - rot6d(rInd + POSITION_SIZE, 3) = rot.getRow(rInd).getX(); - rot6d(rInd + POSITION_SIZE, 4) = rot.getRow(rInd).getY(); - rot6d(rInd + POSITION_SIZE, 5) = rot.getRow(rInd).getZ(); - } - - // Carry out the rotation - covarianceRotated = rot6d * covarianceRotated.eval() * rot6d.transpose(); - - RF_DEBUG("Transformed covariance is \n" << covarianceRotated << "\n"); - - // 6. Store our corrected measurement and covariance - measurement(StateMemberVx) = twistLin.getX(); - measurement(StateMemberVy) = twistLin.getY(); - measurement(StateMemberVz) = twistLin.getZ(); - measurement(StateMemberVroll) = measTwistRot.getX(); - measurement(StateMemberVpitch) = measTwistRot.getY(); - measurement(StateMemberVyaw) = measTwistRot.getZ(); - - // Copy the covariances - measurementCovariance.block(POSITION_V_OFFSET, POSITION_V_OFFSET, - TWIST_SIZE, TWIST_SIZE) = - covarianceRotated.block(0, 0, TWIST_SIZE, TWIST_SIZE); - - // 7. Handle 2D mode - if (twoDMode_) { - forceTwoD(measurement, measurementCovariance, updateVector); - } - } else { - RF_DEBUG("Could not transform measurement into " << targetFrame - << ". Ignoring..."); - } - - RF_DEBUG("\n----- /RosFilter::prepareTwist (" << topicName << ") ------\n"); - - return canTransform; -} - -template void RosFilter::saveFilterState(FilterBase &filter) { - FilterStatePtr state = FilterStatePtr(new FilterState()); - state->state_ = Eigen::VectorXd(filter.getState()); - state->estimateErrorCovariance_ = - Eigen::MatrixXd(filter.getEstimateErrorCovariance()); - state->lastMeasurementTime_ = filter.getLastMeasurementTime(); - state->latestControl_ = Eigen::VectorXd(filter.getControl()); - state->latestControlTime_ = filter.getControlTime(); - filterStateHistory_.push_back(state); - RF_DEBUG("Saved state with timestamp " - << std::setprecision(20) << state->lastMeasurementTime_ - << " to history. " << filterStateHistory_.size() - << " measurements are in the queue.\n"); -} - -template bool RosFilter::revertTo(const double time) { - RF_DEBUG("\n----- RosFilter::revertTo -----\n"); - RF_DEBUG("\nRequested time was " << std::setprecision(20) << time << "\n") - - size_t history_size = filterStateHistory_.size(); - - // Walk back through the queue until we reach a filter state whose time stamp - // is less than or equal to the requested time. Since every saved state after - // that time will be overwritten/corrected, we can pop from the queue. If the - // history is insufficiently short, we just take the oldest state we have. - FilterStatePtr lastHistoryState; - while (!filterStateHistory_.empty() && - filterStateHistory_.back()->lastMeasurementTime_ > time) { - lastHistoryState = filterStateHistory_.back(); - filterStateHistory_.pop_back(); - } - - // If the state history is not empty at this point, it means that our history - // was large enough, and we should revert to the state at the back of the - // history deque. - bool retVal = false; - if (!filterStateHistory_.empty()) { - retVal = true; - lastHistoryState = filterStateHistory_.back(); - } else { - RF_DEBUG("Insufficient history to revert to time " << time << "\n"); - - if (lastHistoryState) { - RF_DEBUG("Will revert to oldest state at " - << lastHistoryState->latestControlTime_ << ".\n"); - ROS_WARN_STREAM_DELAYED_THROTTLE( - historyLength_, "Could not revert to state with time " - << std::setprecision(20) << time - << ". Instead reverted to state with time " - << lastHistoryState->lastMeasurementTime_ - << ". History size was " << history_size); - } - } - - // If we have a valid reversion state, revert - if (lastHistoryState) { - // Reset filter to the latest state from the queue. - const FilterStatePtr &state = lastHistoryState; - filter_.setState(state->state_); - filter_.setEstimateErrorCovariance(state->estimateErrorCovariance_); - filter_.setLastMeasurementTime(state->lastMeasurementTime_); - - RF_DEBUG("Reverted to state with time " - << std::setprecision(20) << state->lastMeasurementTime_ << "\n"); - - // Repeat for measurements, but push every measurement onto the measurement - // queue as we go - int restored_measurements = 0; - while (!measurementHistory_.empty() && - measurementHistory_.back()->time_ > time) { - // Don't need to restore measurements that predate our earliest state time - if (state->lastMeasurementTime_ <= measurementHistory_.back()->time_) { - measurementQueue_.push(measurementHistory_.back()); - restored_measurements++; - } - - measurementHistory_.pop_back(); - } - - RF_DEBUG("Restored " << restored_measurements - << " to measurement queue.\n"); - } - - RF_DEBUG("\n----- /RosFilter::revertTo\n"); - - return retVal; -} - -template -bool RosFilter::validateFilterOutput(const nav_msgs::Odometry &message) { - return !std::isnan(message.pose.pose.position.x) && - !std::isinf(message.pose.pose.position.x) && - !std::isnan(message.pose.pose.position.y) && - !std::isinf(message.pose.pose.position.y) && - !std::isnan(message.pose.pose.position.z) && - !std::isinf(message.pose.pose.position.z) && - !std::isnan(message.pose.pose.orientation.x) && - !std::isinf(message.pose.pose.orientation.x) && - !std::isnan(message.pose.pose.orientation.y) && - !std::isinf(message.pose.pose.orientation.y) && - !std::isnan(message.pose.pose.orientation.z) && - !std::isinf(message.pose.pose.orientation.z) && - !std::isnan(message.pose.pose.orientation.w) && - !std::isinf(message.pose.pose.orientation.w) && - !std::isnan(message.twist.twist.linear.x) && - !std::isinf(message.twist.twist.linear.x) && - !std::isnan(message.twist.twist.linear.y) && - !std::isinf(message.twist.twist.linear.y) && - !std::isnan(message.twist.twist.linear.z) && - !std::isinf(message.twist.twist.linear.z) && - !std::isnan(message.twist.twist.angular.x) && - !std::isinf(message.twist.twist.angular.x) && - !std::isnan(message.twist.twist.angular.y) && - !std::isinf(message.twist.twist.angular.y) && - !std::isnan(message.twist.twist.angular.z) && - !std::isinf(message.twist.twist.angular.z); -} - -template -void RosFilter::clearExpiredHistory(const double cutOffTime) { - RF_DEBUG("\n----- RosFilter::clearExpiredHistory -----" - << "\nCutoff time is " << cutOffTime << "\n"); - - int poppedMeasurements = 0; - int poppedStates = 0; - - while (!measurementHistory_.empty() && - measurementHistory_.front()->time_ < cutOffTime) { - measurementHistory_.pop_front(); - poppedMeasurements++; - } - - while (!filterStateHistory_.empty() && - filterStateHistory_.front()->lastMeasurementTime_ < cutOffTime) { - filterStateHistory_.pop_front(); - poppedStates++; - } - - RF_DEBUG("\nPopped " << poppedMeasurements << " measurements and " - << poppedStates - << " states from their respective queues." - << "\n---- /RosFilter::clearExpiredHistory ----\n"); -} - -template void RosFilter::clearMeasurementQueue() { - while (!measurementQueue_.empty() && ros::ok()) { - measurementQueue_.pop(); - } - return; -} -} // namespace RobotLocalization - -// Instantiations of classes is required when template class code -// is placed in a .cpp file. -template class RobotLocalization::RosFilter; -template class RobotLocalization::RosFilter; diff --git a/navigation/robot_localization/src/ros_filter_utilities.cpp b/navigation/robot_localization/src/ros_filter_utilities.cpp deleted file mode 100644 index 3ef2dfd2..00000000 --- a/navigation/robot_localization/src/ros_filter_utilities.cpp +++ /dev/null @@ -1,178 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/ros_filter_utilities.h" -#include "robot_localization/filter_common.h" - -#include -#include - -#include -#include - -std::ostream &operator<<(std::ostream &os, const tf2::Vector3 &vec) { - os << "(" << std::setprecision(20) << vec.getX() << " " << vec.getY() << " " - << vec.getZ() << ")\n"; - - return os; -} - -std::ostream &operator<<(std::ostream &os, const tf2::Quaternion &quat) { - double roll, pitch, yaw; - tf2::Matrix3x3 orTmp(quat); - orTmp.getRPY(roll, pitch, yaw); - - os << "(" << std::setprecision(20) << roll << ", " << pitch << ", " << yaw - << ")\n"; - - return os; -} - -std::ostream &operator<<(std::ostream &os, const tf2::Transform &trans) { - os << "Origin: " << trans.getOrigin() - << "Rotation (RPY): " << trans.getRotation(); - - return os; -} - -std::ostream &operator<<(std::ostream &os, const std::vector &vec) { - os << "(" << std::setprecision(20); - - for (size_t i = 0; i < vec.size(); ++i) { - os << vec[i] << " "; - } - - os << ")\n"; - - return os; -} - -namespace RobotLocalization { -namespace RosFilterUtilities { - -double getYaw(const tf2::Quaternion quat) { - tf2::Matrix3x3 mat(quat); - - double dummy; - double yaw; - mat.getRPY(dummy, dummy, yaw); - - return yaw; -} - -bool lookupTransformSafe(const tf2_ros::Buffer &buffer, - const std::string &targetFrame, - const std::string &sourceFrame, const ros::Time &time, - const ros::Duration &timeout, - tf2::Transform &targetFrameTrans, const bool silent) { - bool retVal = true; - - // First try to transform the data at the requested time - try { - tf2::fromMsg(buffer.lookupTransform(targetFrame, sourceFrame, time, timeout) - .transform, - targetFrameTrans); - } catch (tf2::TransformException &ex) { - // The issue might be that the transforms that are available are not close - // enough temporally to be used. In that case, just use the latest available - // transform and warn the user. - try { - tf2::fromMsg( - buffer.lookupTransform(targetFrame, sourceFrame, ros::Time(0)) - .transform, - targetFrameTrans); - - if (!silent) { - ROS_WARN_STREAM_THROTTLE( - 2.0, "Transform from " << sourceFrame << " to " << targetFrame - << " was unavailable for the time " - "requested. Using latest instead.\n"); - } - } catch (tf2::TransformException &ex) { - if (!silent) { - ROS_WARN_STREAM_THROTTLE(2.0, "Could not obtain transform from " - << sourceFrame << " to " - << targetFrame << ". Error was " - << ex.what() << "\n"); - } - - retVal = false; - } - } - - // Transforming from a frame id to itself can fail when the tf tree isn't - // being broadcast (e.g., for some bag files). This is the only failure that - // would throw an exception, so check for this situation before giving up. - if (!retVal) { - if (targetFrame == sourceFrame) { - targetFrameTrans.setIdentity(); - retVal = true; - } - } - - return retVal; -} - -bool lookupTransformSafe(const tf2_ros::Buffer &buffer, - const std::string &targetFrame, - const std::string &sourceFrame, const ros::Time &time, - tf2::Transform &targetFrameTrans, const bool silent) { - return lookupTransformSafe(buffer, targetFrame, sourceFrame, time, - ros::Duration(0), targetFrameTrans, silent); -} - -void quatToRPY(const tf2::Quaternion &quat, double &roll, double &pitch, - double &yaw) { - tf2::Matrix3x3 orTmp(quat); - orTmp.getRPY(roll, pitch, yaw); -} - -void stateToTF(const Eigen::VectorXd &state, tf2::Transform &stateTF) { - stateTF.setOrigin(tf2::Vector3(state(StateMemberX), state(StateMemberY), - state(StateMemberZ))); - tf2::Quaternion quat; - quat.setRPY(state(StateMemberRoll), state(StateMemberPitch), - state(StateMemberYaw)); - - stateTF.setRotation(quat); -} - -void TFtoState(const tf2::Transform &stateTF, Eigen::VectorXd &state) { - state(StateMemberX) = stateTF.getOrigin().getX(); - state(StateMemberY) = stateTF.getOrigin().getY(); - state(StateMemberZ) = stateTF.getOrigin().getZ(); - quatToRPY(stateTF.getRotation(), state(StateMemberRoll), - state(StateMemberPitch), state(StateMemberYaw)); -} - -} // namespace RosFilterUtilities -} // namespace RobotLocalization diff --git a/navigation/robot_localization/src/ros_robot_localization_listener.cpp b/navigation/robot_localization/src/ros_robot_localization_listener.cpp deleted file mode 100644 index cf95ccf3..00000000 --- a/navigation/robot_localization/src/ros_robot_localization_listener.cpp +++ /dev/null @@ -1,527 +0,0 @@ -/* - * Copyright (c) 2016, TNO IVS Helmond. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/ros_robot_localization_listener.h" -#include "robot_localization/ros_filter_utilities.h" - -#include -#include -#include - -#include -#include -#include -#include -#include -#include - -#include - -namespace RobotLocalization { - -FilterType filterTypeFromString(const std::string &filter_type_str) { - if (filter_type_str == "ekf") { - return FilterTypes::EKF; - } else if (filter_type_str == "ukf") { - return FilterTypes::UKF; - } else { - return FilterTypes::NotDefined; - } -} - -RosRobotLocalizationListener::RosRobotLocalizationListener() - : nh_p_("robot_localization"), odom_sub_(nh_, "odometry/filtered", 1), - accel_sub_(nh_, "accel/filtered", 1), sync_(odom_sub_, accel_sub_, 10), - base_frame_id_(""), world_frame_id_(""), tf_listener_(tf_buffer_) { - int buffer_size; - nh_p_.param("buffer_size", buffer_size, 10); - - std::string param_ns; - nh_p_.param("parameter_namespace", param_ns, nh_p_.getNamespace()); - - ros::NodeHandle nh_param(param_ns); - - std::string filter_type_str; - nh_param.param("filter_type", filter_type_str, std::string("ekf")); - FilterType filter_type = filterTypeFromString(filter_type_str); - if (filter_type == FilterTypes::NotDefined) { - ROS_ERROR("RosRobotLocalizationListener: Parameter filter_type invalid"); - return; - } - - // Load up the process noise covariance (from the launch file/parameter - // server) - // TODO(reinzor): this code is copied from ros_filter. In a refactor, this - // could be moved to a function in ros_filter_utilities - Eigen::MatrixXd process_noise_covariance(STATE_SIZE, STATE_SIZE); - process_noise_covariance.setZero(); - XmlRpc::XmlRpcValue process_noise_covar_config; - - if (!nh_param.hasParam("process_noise_covariance")) { - ROS_FATAL_STREAM("Process noise covariance not found in the robot " - "localization listener config (namespace " - << nh_param.getNamespace() - << ")! Use the ~parameter_namespace to specify the " - "parameter namespace."); - } else { - try { - nh_param.getParam("process_noise_covariance", process_noise_covar_config); - - ROS_ASSERT(process_noise_covar_config.getType() == - XmlRpc::XmlRpcValue::TypeArray); - - int mat_size = process_noise_covariance.rows(); - - for (int i = 0; i < mat_size; i++) { - for (int j = 0; j < mat_size; j++) { - try { - // These matrices can cause problems if all the types - // aren't specified with decimal points. Handle that - // using string streams. - std::ostringstream ostr; - process_noise_covar_config[mat_size * i + j].write(ostr); - std::istringstream istr(ostr.str()); - istr >> process_noise_covariance(i, j); - } catch (XmlRpc::XmlRpcException &e) { - throw e; - } catch (...) { - throw; - } - } - } - - ROS_DEBUG_STREAM("Process noise covariance is:\n" - << process_noise_covariance << "\n"); - } catch (XmlRpc::XmlRpcException &e) { - ROS_ERROR_STREAM("ERROR reading robot localization listener config: " - << e.getMessage() - << " for process_noise_covariance (type: " - << process_noise_covar_config.getType() << ")"); - } - } - - std::vector filter_args; - nh_param.param("filter_args", filter_args, std::vector()); - - estimator_ = new RobotLocalizationEstimator( - buffer_size, filter_type, process_noise_covariance, filter_args); - - sync_.registerCallback(&RosRobotLocalizationListener::odomAndAccelCallback, - this); - - ROS_INFO_STREAM("Ros Robot Localization Listener: Listening to topics " - << odom_sub_.getTopic() << " and " << accel_sub_.getTopic()); - - // Wait until the base and world frames are set by the incoming messages - while (ros::ok() && base_frame_id_.empty()) { - ros::spinOnce(); - ROS_INFO_STREAM_THROTTLE(1.0, "Ros Robot Localization Listener: Waiting " - "for incoming messages on topics " - << odom_sub_.getTopic() << " and " - << accel_sub_.getTopic()); - ros::Duration(0.1).sleep(); - } -} - -RosRobotLocalizationListener::~RosRobotLocalizationListener() { - delete estimator_; -} - -void RosRobotLocalizationListener::odomAndAccelCallback( - const nav_msgs::Odometry &odom, - const geometry_msgs::AccelWithCovarianceStamped &accel) { - // Instantiate a state that can be added to the robot localization estimator - EstimatorState state; - - // Set its time stamp and the state received from the messages - state.time_stamp = odom.header.stamp.toSec(); - - // Get the base frame id from the odom message - if (base_frame_id_.empty()) - base_frame_id_ = odom.child_frame_id; - - // Get the world frame id from the odom message - if (world_frame_id_.empty()) - world_frame_id_ = odom.header.frame_id; - - // Pose: Position - state.state(StateMemberX) = odom.pose.pose.position.x; - state.state(StateMemberY) = odom.pose.pose.position.y; - state.state(StateMemberZ) = odom.pose.pose.position.z; - - // Pose: Orientation - tf2::Quaternion orientation_quat; - tf2::fromMsg(odom.pose.pose.orientation, orientation_quat); - double roll, pitch, yaw; - RosFilterUtilities::quatToRPY(orientation_quat, roll, pitch, yaw); - - state.state(StateMemberRoll) = roll; - state.state(StateMemberPitch) = pitch; - state.state(StateMemberYaw) = yaw; - - // Pose: Covariance - for (unsigned int i = 0; i < POSE_SIZE; i++) { - for (unsigned int j = 0; j < POSE_SIZE; j++) { - state.covariance(POSITION_OFFSET + i, POSITION_OFFSET + j) = - odom.pose.covariance[i * POSE_SIZE + j]; - } - } - - // Velocity: Linear - state.state(StateMemberVx) = odom.twist.twist.linear.x; - state.state(StateMemberVy) = odom.twist.twist.linear.y; - state.state(StateMemberVz) = odom.twist.twist.linear.z; - - // Velocity: Angular - state.state(StateMemberVroll) = odom.twist.twist.angular.x; - state.state(StateMemberVpitch) = odom.twist.twist.angular.y; - state.state(StateMemberVyaw) = odom.twist.twist.angular.z; - - // Velocity: Covariance - for (unsigned int i = 0; i < TWIST_SIZE; i++) { - for (unsigned int j = 0; j < TWIST_SIZE; j++) { - state.covariance(POSITION_V_OFFSET + i, POSITION_V_OFFSET + j) = - odom.twist.covariance[i * TWIST_SIZE + j]; - } - } - - // Acceleration: Linear - state.state(StateMemberAx) = accel.accel.accel.linear.x; - state.state(StateMemberAy) = accel.accel.accel.linear.y; - state.state(StateMemberAz) = accel.accel.accel.linear.z; - - // Acceleration: Angular is not available in state - - // Acceleration: Covariance - for (unsigned int i = 0; i < ACCELERATION_SIZE; i++) { - for (unsigned int j = 0; j < ACCELERATION_SIZE; j++) { - state.covariance(POSITION_A_OFFSET + i, POSITION_A_OFFSET + j) = - accel.accel.covariance[i * TWIST_SIZE + j]; - } - } - - // Add the state to the buffer, so that we can later interpolate between this - // and earlier states - estimator_->setState(state); - - return; -} - -bool findAncestorRecursiveYAML(YAML::Node &tree, - const std::string &source_frame, - const std::string &target_frame) { - if (source_frame == target_frame) { - return true; - } - - std::string parent_frame = tree[source_frame]["parent"].Scalar(); - - if (parent_frame.empty()) { - return false; - } - - return findAncestorRecursiveYAML(tree, parent_frame, target_frame); -} - -// Cache, assumption that the tree parent child order does not change over time -static std::map> ancestor_map; -static std::map> descendant_map; -bool findAncestor(const tf2_ros::Buffer &buffer, - const std::string &source_frame, - const std::string &target_frame) { - // Check cache - const std::vector &ancestors = ancestor_map[source_frame]; - if (std::find(ancestors.begin(), ancestors.end(), target_frame) != - ancestors.end()) { - return true; - } - const std::vector &descendants = descendant_map[source_frame]; - if (std::find(descendants.begin(), descendants.end(), target_frame) != - descendants.end()) { - return false; - } - - std::stringstream frames_stream(buffer.allFramesAsYAML()); - YAML::Node frames_yaml = YAML::Load(frames_stream); - - bool target_frame_is_ancestor = - findAncestorRecursiveYAML(frames_yaml, source_frame, target_frame); - bool target_frame_is_descendant = - findAncestorRecursiveYAML(frames_yaml, target_frame, source_frame); - - // Caching - if (target_frame_is_ancestor) { - ancestor_map[source_frame].push_back(target_frame); - } - if (target_frame_is_descendant) { - descendant_map[source_frame].push_back(target_frame); - } - - return target_frame_is_ancestor; -} - -bool RosRobotLocalizationListener::getState(const double time, - const std::string &frame_id, - Eigen::VectorXd &state, - Eigen::MatrixXd &covariance, - std::string world_frame_id) const { - EstimatorState estimator_state; - state.resize(STATE_SIZE); - state.setZero(); - covariance.resize(STATE_SIZE, STATE_SIZE); - covariance.setZero(); - - if (base_frame_id_.empty() || world_frame_id_.empty()) { - if (estimator_->getSize() == 0) { - ROS_WARN("Ros Robot Localization Listener: The base or world frame id is " - "not set. " - "No odom/accel messages have come in."); - } else { - ROS_ERROR("Ros Robot Localization Listener: The base or world frame id " - "is not set. " - "Are the child_frame_id and the header.frame_id in the odom " - "messages set?"); - } - - return false; - } - - if (estimator_->getState(time, estimator_state) == - EstimatorResults::ExtrapolationIntoPast) { - ROS_WARN("Ros Robot Localization Listener: A state is requested at a time " - "stamp older than the oldest in the " - "estimator buffer. The result is an extrapolation into the past. " - "Maybe you should increase the buffer " - "size?"); - } - - // If no world_frame_id is specified, we will default to the world frame_id of - // the received odometry message - if (world_frame_id.empty()) { - world_frame_id = world_frame_id_; - } - - if (frame_id == base_frame_id_ && world_frame_id == world_frame_id_) { - // If the state of the base frame is requested and the world frame equals - // the world frame of the robot_localization estimator, we can simply return - // the state we got from the state estimator - state = estimator_state.state; - covariance = estimator_state.covariance; - return true; - } - - // - - - - - - - - - - - - - - - - - - - // Get the transformation between the requested world frame and the - // world_frame of the estimator - // - - - - - - - - - - - - - - - - - - - Eigen::Affine3d world_pose_requested_frame; - - // If the requested frame is the same as the tracker, set to identity - if (world_frame_id == world_frame_id_) { - world_pose_requested_frame.setIdentity(); - } else { - geometry_msgs::TransformStamped world_requested_to_world_transform; - try { - // TODO(reinzor): magic number - world_requested_to_world_transform = tf_buffer_.lookupTransform( - world_frame_id, world_frame_id_, ros::Time(time), ros::Duration(0.1)); - - if (findAncestor(tf_buffer_, world_frame_id, base_frame_id_)) { - ROS_ERROR_STREAM( - "You are trying to get the state with respect to world frame " - << world_frame_id - << ", but this frame is a child of robot base frame " - << base_frame_id_ << ", so this doesn't make sense."); - return false; - } - } catch (const tf2::TransformException &e) { - ROS_WARN_STREAM( - "Ros Robot Localization Listener: Could not look up transform: " - << e.what()); - return false; - } - - // Convert to pose - tf::transformMsgToEigen(world_requested_to_world_transform.transform, - world_pose_requested_frame); - } - - // - - - - - - - - - - - - - - - - - - - // Calculate the state of the requested frame from the state of the base - // frame. - // - - - - - - - - - - - - - - - - - - - - // First get the transform from base to target - geometry_msgs::TransformStamped base_to_target_transform; - try { - base_to_target_transform = tf_buffer_.lookupTransform( - base_frame_id_, frame_id, ros::Time(time), - ros::Duration(0.1)); // TODO(reinzor): magic number - - // Check that frame_id is a child of the base frame. If it is not, it does - // not make sense to request its state. Do this after tf lookup, so we know - // that there is a connection. - if (!findAncestor(tf_buffer_, frame_id, base_frame_id_)) { - ROS_ERROR_STREAM("You are trying to get the state of " - << frame_id - << ", but this frame is not a child of the " - "base frame: " - << base_frame_id_ << "."); - return false; - } - } catch (const tf2::TransformException &e) { - ROS_WARN_STREAM( - "Ros Robot Localization Listener: Could not look up transform: " - << e.what()); - return false; - } - - // And convert it to an eigen Affine transformation - Eigen::Affine3d target_pose_base; - tf::transformMsgToEigen(base_to_target_transform.transform, target_pose_base); - - // Then convert the base pose to an Eigen Affine transformation - Eigen::Vector3d base_position(estimator_state.state(StateMemberX), - estimator_state.state(StateMemberY), - estimator_state.state(StateMemberZ)); - - Eigen::AngleAxisd roll_angle(estimator_state.state(StateMemberRoll), - Eigen::Vector3d::UnitX()); - Eigen::AngleAxisd pitch_angle(estimator_state.state(StateMemberPitch), - Eigen::Vector3d::UnitY()); - Eigen::AngleAxisd yaw_angle(estimator_state.state(StateMemberYaw), - Eigen::Vector3d::UnitZ()); - - Eigen::Quaterniond base_orientation(yaw_angle * pitch_angle * roll_angle); - - Eigen::Affine3d base_pose(Eigen::Translation3d(base_position) * - base_orientation); - - // Now we can calculate the transform from odom to the requested frame - // (target)... - Eigen::Affine3d target_pose_odom = - world_pose_requested_frame * base_pose * target_pose_base; - - // ... and put it in the output state - state(StateMemberX) = target_pose_odom.translation().x(); - state(StateMemberY) = target_pose_odom.translation().y(); - state(StateMemberZ) = target_pose_odom.translation().z(); - - Eigen::Vector3d ypr = target_pose_odom.rotation().eulerAngles(2, 1, 0); - - state(StateMemberRoll) = ypr[2]; - state(StateMemberPitch) = ypr[1]; - state(StateMemberYaw) = ypr[0]; - - // Now let's calculate the twist of the target frame - // First get the base's twist - Twist base_velocity; - Twist target_velocity_base; - base_velocity.linear = Eigen::Vector3d(estimator_state.state(StateMemberVx), - estimator_state.state(StateMemberVy), - estimator_state.state(StateMemberVz)); - base_velocity.angular = - Eigen::Vector3d(estimator_state.state(StateMemberVroll), - estimator_state.state(StateMemberVpitch), - estimator_state.state(StateMemberVyaw)); - - // Then calculate the target frame's twist as a result of the base's twist. - /* - * We first calculate the coordinates of the velocity vectors (linear and - * angular) in the base frame. We have to keep in mind that a rotation of the - * base frame, together with the translational offset of the target frame from - * the base frame, induces a translational velocity of the target frame. - */ - target_velocity_base.linear = - base_velocity.linear + - base_velocity.angular.cross(target_pose_base.translation()); - target_velocity_base.angular = base_velocity.angular; - - // Now we can transform that to the target frame - Twist target_velocity; - target_velocity.linear = - target_pose_base.rotation().transpose() * target_velocity_base.linear; - target_velocity.angular = - target_pose_base.rotation().transpose() * target_velocity_base.angular; - - state(StateMemberVx) = target_velocity.linear(0); - state(StateMemberVy) = target_velocity.linear(1); - state(StateMemberVz) = target_velocity.linear(2); - - state(StateMemberVroll) = target_velocity.angular(0); - state(StateMemberVpitch) = target_velocity.angular(1); - state(StateMemberVyaw) = target_velocity.angular(2); - - // Rotate the covariance as well - Eigen::MatrixXd rot_6d(POSE_SIZE, POSE_SIZE); - rot_6d.setIdentity(); - - rot_6d.block(POSITION_OFFSET, POSITION_OFFSET) = - target_pose_base.rotation(); - rot_6d.block( - ORIENTATION_OFFSET, ORIENTATION_OFFSET) = target_pose_base.rotation(); - - // Rotate the covariance - covariance.block(POSITION_OFFSET, POSITION_OFFSET) = - rot_6d * - estimator_state.covariance.block(POSITION_OFFSET, - POSITION_OFFSET) * - rot_6d.transpose(); - - return true; -} - -bool RosRobotLocalizationListener::getState( - const ros::Time &ros_time, const std::string &frame_id, - Eigen::VectorXd &state, Eigen::MatrixXd &covariance, - const std::string &world_frame_id) const { - double time; - if (ros_time.isZero()) { - ROS_INFO("Ros Robot Localization Listener: State requested at time = zero, " - "returning state at current time"); - time = ros::Time::now().toSec(); - } else { - time = ros_time.toSec(); - } - - return getState(time, frame_id, state, covariance, world_frame_id); -} - -const std::string &RosRobotLocalizationListener::getBaseFrameId() const { - return base_frame_id_; -} - -const std::string &RosRobotLocalizationListener::getWorldFrameId() const { - return world_frame_id_; -} - -} // namespace RobotLocalization diff --git a/navigation/robot_localization/src/ukf.cpp b/navigation/robot_localization/src/ukf.cpp deleted file mode 100644 index 6d63e831..00000000 --- a/navigation/robot_localization/src/ukf.cpp +++ /dev/null @@ -1,472 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/ukf.h" -#include "robot_localization/filter_common.h" - -#include -#include -#include - -#include - -namespace RobotLocalization { -Ukf::Ukf(std::vector args) - : FilterBase(), // Must initialize filter base! - uncorrected_(true) { - assert(args.size() == 3); - - double alpha = args[0]; - double kappa = args[1]; - double beta = args[2]; - - size_t sigmaCount = (STATE_SIZE << 1) + 1; - sigmaPoints_.resize(sigmaCount, Eigen::VectorXd(STATE_SIZE)); - - // Prepare constants - lambda_ = alpha * alpha * (STATE_SIZE + kappa) - STATE_SIZE; - - stateWeights_.resize(sigmaCount); - covarWeights_.resize(sigmaCount); - - stateWeights_[0] = lambda_ / (STATE_SIZE + lambda_); - covarWeights_[0] = stateWeights_[0] + (1 - (alpha * alpha) + beta); - sigmaPoints_[0].setZero(); - for (size_t i = 1; i < sigmaCount; ++i) { - sigmaPoints_[i].setZero(); - stateWeights_[i] = 1 / (2 * (STATE_SIZE + lambda_)); - covarWeights_[i] = stateWeights_[i]; - } -} - -Ukf::~Ukf() {} - -void Ukf::correct(const Measurement &measurement) { - FB_DEBUG("---------------------- Ukf::correct ----------------------\n" - << "State is:\n" - << state_ << "\nMeasurement is:\n" - << measurement.measurement_ << "\nMeasurement covariance is:\n" - << measurement.covariance_ << "\n"); - - // In our implementation, it may be that after we call predict once, we call - // correct several times in succession (multiple measurements with different - // time stamps). In that event, the sigma points need to be updated to reflect - // the current state. Throughout prediction and correction, we attempt to - // maximize efficiency in Eigen. - if (!uncorrected_) { - generateSigmaPoints(); - } - - // We don't want to update everything, so we need to build matrices that only - // update the measured parts of our state vector - - // First, determine how many state vector values we're updating - std::vector updateIndices; - for (size_t i = 0; i < measurement.updateVector_.size(); ++i) { - if (measurement.updateVector_[i]) { - // Handle nan and inf values in measurements - if (std::isnan(measurement.measurement_(i))) { - FB_DEBUG("Value at index " << i - << " was nan. Excluding from update.\n"); - } else if (std::isinf(measurement.measurement_(i))) { - FB_DEBUG("Value at index " << i - << " was inf. Excluding from update.\n"); - } else { - updateIndices.push_back(i); - } - } - } - - FB_DEBUG("Update indices are:\n" << updateIndices << "\n"); - - size_t updateSize = updateIndices.size(); - - // Now set up the relevant matrices - Eigen::VectorXd stateSubset(updateSize); // x (in most literature) - Eigen::VectorXd measurementSubset(updateSize); // z - Eigen::MatrixXd measurementCovarianceSubset(updateSize, updateSize); // R - Eigen::MatrixXd stateToMeasurementSubset(updateSize, STATE_SIZE); // H - Eigen::MatrixXd kalmanGainSubset(STATE_SIZE, updateSize); // K - Eigen::VectorXd innovationSubset(updateSize); // z - Hx - Eigen::VectorXd predictedMeasurement(updateSize); - Eigen::VectorXd sigmaDiff(updateSize); - Eigen::MatrixXd predictedMeasCovar(updateSize, updateSize); - Eigen::MatrixXd crossCovar(STATE_SIZE, updateSize); - - std::vector sigmaPointMeasurements( - sigmaPoints_.size(), Eigen::VectorXd(updateSize)); - - stateSubset.setZero(); - measurementSubset.setZero(); - measurementCovarianceSubset.setZero(); - stateToMeasurementSubset.setZero(); - kalmanGainSubset.setZero(); - innovationSubset.setZero(); - predictedMeasurement.setZero(); - predictedMeasCovar.setZero(); - crossCovar.setZero(); - - // Now build the sub-matrices from the full-sized matrices - for (size_t i = 0; i < updateSize; ++i) { - measurementSubset(i) = measurement.measurement_(updateIndices[i]); - stateSubset(i) = state_(updateIndices[i]); - - for (size_t j = 0; j < updateSize; ++j) { - measurementCovarianceSubset(i, j) = - measurement.covariance_(updateIndices[i], updateIndices[j]); - } - - // Handle negative (read: bad) covariances in the measurement. Rather - // than exclude the measurement or make up a covariance, just take - // the absolute value. - if (measurementCovarianceSubset(i, i) < 0) { - FB_DEBUG("WARNING: Negative covariance for index " - << i << " of measurement (value is" - << measurementCovarianceSubset(i, i) - << "). Using absolute value...\n"); - - measurementCovarianceSubset(i, i) = - ::fabs(measurementCovarianceSubset(i, i)); - } - - // If the measurement variance for a given variable is very - // near 0 (as in e-50 or so) and the variance for that - // variable in the covariance matrix is also near zero, then - // the Kalman gain computation will blow up. Really, no - // measurement can be completely without error, so add a small - // amount in that case. - if (measurementCovarianceSubset(i, i) < 1e-9) { - measurementCovarianceSubset(i, i) = 1e-9; - - FB_DEBUG("WARNING: measurement had very small error covariance for index " - << updateIndices[i] - << ". Adding some noise to maintain filter stability.\n"); - } - } - - // The state-to-measurement function, h, will now be a measurement_size x - // full_state_size matrix, with ones in the (i, i) locations of the values to - // be updated - for (size_t i = 0; i < updateSize; ++i) { - stateToMeasurementSubset(i, updateIndices[i]) = 1; - } - - FB_DEBUG("Current state subset is:\n" - << stateSubset << "\nMeasurement subset is:\n" - << measurementSubset << "\nMeasurement covariance subset is:\n" - << measurementCovarianceSubset - << "\nState-to-measurement subset is:\n" - << stateToMeasurementSubset << "\n"); - - double roll_sum_x{}; - double roll_sum_y{}; - double pitch_sum_x{}; - double pitch_sum_y{}; - double yaw_sum_x{}; - double yaw_sum_y{}; - - // (1) Generate sigma points, use them to generate a predicted measurement - for (size_t sigmaInd = 0; sigmaInd < sigmaPoints_.size(); ++sigmaInd) { - sigmaPointMeasurements[sigmaInd] = - stateToMeasurementSubset * sigmaPoints_[sigmaInd]; - predictedMeasurement.noalias() += - stateWeights_[sigmaInd] * sigmaPointMeasurements[sigmaInd]; - - // Euler angle averaging requires special care - for (size_t i = 0; i < updateSize; ++i) { - if (updateIndices[i] == StateMemberRoll) { - roll_sum_x += stateWeights_[sigmaInd] * - ::cos(sigmaPointMeasurements[sigmaInd](i)); - roll_sum_y += stateWeights_[sigmaInd] * - ::sin(sigmaPointMeasurements[sigmaInd](i)); - } else if (updateIndices[i] == StateMemberPitch) { - pitch_sum_x += stateWeights_[sigmaInd] * - ::cos(sigmaPointMeasurements[sigmaInd](i)); - pitch_sum_y += stateWeights_[sigmaInd] * - ::sin(sigmaPointMeasurements[sigmaInd](i)); - } else if (updateIndices[i] == StateMemberYaw) { - yaw_sum_x += stateWeights_[sigmaInd] * - ::cos(sigmaPointMeasurements[sigmaInd](i)); - yaw_sum_y += stateWeights_[sigmaInd] * - ::sin(sigmaPointMeasurements[sigmaInd](i)); - } - } - } - - // Wrap angles in the innovation - for (size_t i = 0; i < updateSize; ++i) { - if (updateIndices[i] == StateMemberRoll) { - predictedMeasurement(i) = ::atan2(roll_sum_y, roll_sum_x); - } else if (updateIndices[i] == StateMemberPitch) { - predictedMeasurement(i) = ::atan2(pitch_sum_y, pitch_sum_x); - } else if (updateIndices[i] == StateMemberYaw) { - predictedMeasurement(i) = ::atan2(yaw_sum_y, yaw_sum_x); - } - } - - // (2) Use the sigma point measurements and predicted measurement to compute a - // predicted measurement covariance matrix P_zz and a state/measurement - // cross-covariance matrix P_xz. - for (size_t sigmaInd = 0; sigmaInd < sigmaPoints_.size(); ++sigmaInd) { - sigmaDiff = sigmaPointMeasurements[sigmaInd] - predictedMeasurement; - Eigen::VectorXd sigmaStateDiff = sigmaPoints_[sigmaInd] - state_; - - for (size_t i = 0; i < updateSize; ++i) { - if (updateIndices[i] == StateMemberRoll || - updateIndices[i] == StateMemberPitch || - updateIndices[i] == StateMemberYaw) { - sigmaDiff(i) = angles::normalize_angle(sigmaDiff(i)); - sigmaStateDiff(i) = angles::normalize_angle(sigmaStateDiff(i)); - } - } - - predictedMeasCovar.noalias() += - covarWeights_[sigmaInd] * (sigmaDiff * sigmaDiff.transpose()); - crossCovar.noalias() += - covarWeights_[sigmaInd] * (sigmaStateDiff * sigmaDiff.transpose()); - } - - // (3) Compute the Kalman gain, making sure to use the actual measurement - // covariance: K = P_xz * (P_zz + R)^-1 - Eigen::MatrixXd invInnovCov = - (predictedMeasCovar + measurementCovarianceSubset).inverse(); - kalmanGainSubset = crossCovar * invInnovCov; - - // (4) Apply the gain to the difference between the actual and predicted - // measurements: x = x + K(z - z_hat) - innovationSubset = (measurementSubset - predictedMeasurement); - - // Wrap angles in the innovation - for (size_t i = 0; i < updateSize; ++i) { - if (updateIndices[i] == StateMemberRoll || - updateIndices[i] == StateMemberPitch || - updateIndices[i] == StateMemberYaw) { - innovationSubset(i) = angles::normalize_angle(innovationSubset(i)); - } - } - - // (5) Check Mahalanobis distance of innovation - if (checkMahalanobisThreshold(innovationSubset, invInnovCov, - measurement.mahalanobisThresh_)) { - state_.noalias() += kalmanGainSubset * innovationSubset; - - // (6) Compute the new estimate error covariance P = P - (K * P_zz * K') - estimateErrorCovariance_.noalias() -= - (kalmanGainSubset * predictedMeasCovar * kalmanGainSubset.transpose()); - - wrapStateAngles(); - - // Mark that we need to re-compute sigma points for successive corrections - uncorrected_ = false; - - FB_DEBUG( - "Predicated measurement covariance is:\n" - << predictedMeasCovar << "\nCross covariance is:\n" - << crossCovar << "\nKalman gain subset is:\n" - << kalmanGainSubset << "\nInnovation:\n" - << innovationSubset << "\nCorrected full state is:\n" - << state_ << "\nCorrected full estimate error covariance is:\n" - << estimateErrorCovariance_ - << "\n\n---------------------- /Ukf::correct ----------------------\n"); - } -} - -void Ukf::predict(const double referenceTime, const double delta) { - FB_DEBUG("---------------------- Ukf::predict ----------------------\n" - << "delta is " << delta << "\nstate is " << state_ << "\n"); - - prepareControl(referenceTime, delta); - - generateSigmaPoints(); - - double roll_sum_x{}; - double roll_sum_y{}; - double pitch_sum_x{}; - double pitch_sum_y{}; - double yaw_sum_x{}; - double yaw_sum_y{}; - - // Sum the weighted sigma points to generate a new state prediction - state_.setZero(); - for (size_t sigmaInd = 0; sigmaInd < sigmaPoints_.size(); ++sigmaInd) { - // Apply the state transition function to this sigma point - projectSigmaPoint(sigmaPoints_[sigmaInd], delta); - state_.noalias() += stateWeights_[sigmaInd] * sigmaPoints_[sigmaInd]; - - // Euler angle averaging requires special care - roll_sum_x += stateWeights_[sigmaInd] * - ::cos(sigmaPoints_[sigmaInd](StateMemberRoll)); - roll_sum_y += stateWeights_[sigmaInd] * - ::sin(sigmaPoints_[sigmaInd](StateMemberRoll)); - pitch_sum_x += stateWeights_[sigmaInd] * - ::cos(sigmaPoints_[sigmaInd](StateMemberPitch)); - pitch_sum_y += stateWeights_[sigmaInd] * - ::sin(sigmaPoints_[sigmaInd](StateMemberPitch)); - yaw_sum_x += - stateWeights_[sigmaInd] * ::cos(sigmaPoints_[sigmaInd](StateMemberYaw)); - yaw_sum_y += - stateWeights_[sigmaInd] * ::sin(sigmaPoints_[sigmaInd](StateMemberYaw)); - } - - // Recover average Euler angles - state_(StateMemberRoll) = ::atan2(roll_sum_y, roll_sum_x); - state_(StateMemberPitch) = ::atan2(pitch_sum_y, pitch_sum_x); - state_(StateMemberYaw) = ::atan2(yaw_sum_y, yaw_sum_x); - - // Now use the sigma points and the predicted state to compute a predicted - // covariance - estimateErrorCovariance_.setZero(); - Eigen::VectorXd sigmaDiff(STATE_SIZE); - for (size_t sigmaInd = 0; sigmaInd < sigmaPoints_.size(); ++sigmaInd) { - sigmaDiff = (sigmaPoints_[sigmaInd] - state_); - - sigmaDiff(StateMemberRoll) = - angles::normalize_angle(sigmaDiff(StateMemberRoll)); - sigmaDiff(StateMemberPitch) = - angles::normalize_angle(sigmaDiff(StateMemberPitch)); - sigmaDiff(StateMemberYaw) = - angles::normalize_angle(sigmaDiff(StateMemberYaw)); - - estimateErrorCovariance_.noalias() += - covarWeights_[sigmaInd] * (sigmaDiff * sigmaDiff.transpose()); - } - - // Not strictly in the theoretical UKF formulation, but necessary here - // to ensure that we actually incorporate the processNoiseCovariance_ - Eigen::MatrixXd *processNoiseCovariance = &processNoiseCovariance_; - - if (useDynamicProcessNoiseCovariance_) { - computeDynamicProcessNoiseCovariance(state_, delta); - processNoiseCovariance = &dynamicProcessNoiseCovariance_; - } - - estimateErrorCovariance_.noalias() += delta * (*processNoiseCovariance); - - // Keep the angles bounded - wrapStateAngles(); - - // Mark that we can keep these sigma points - uncorrected_ = true; - - FB_DEBUG( - "Predicted state is:\n" - << state_ << "\nPredicted estimate error covariance is:\n" - << estimateErrorCovariance_ - << "\n\n--------------------- /Ukf::predict ----------------------\n"); -} - -void Ukf::generateSigmaPoints() { - // Take the square root of a small fraction of the estimateErrorCovariance_ - // using LL' decomposition - weightedCovarSqrt_ = - ((static_cast(STATE_SIZE) + lambda_) * estimateErrorCovariance_) - .llt() - .matrixL(); - - // Compute sigma points - - // First sigma point is the current state - sigmaPoints_[0] = state_; - - // Next STATE_SIZE sigma points are state + weightedCovarSqrt_[ith column] - // STATE_SIZE sigma points after that are state - weightedCovarSqrt_[ith - // column] - for (size_t sigmaInd = 0; sigmaInd < STATE_SIZE; ++sigmaInd) { - sigmaPoints_[sigmaInd + 1] = state_ + weightedCovarSqrt_.col(sigmaInd); - sigmaPoints_[sigmaInd + 1 + STATE_SIZE] = - state_ - weightedCovarSqrt_.col(sigmaInd); - } -} - -void Ukf::projectSigmaPoint(Eigen::VectorXd &sigmaPoint, double delta) { - double roll = sigmaPoint(StateMemberRoll); - double pitch = sigmaPoint(StateMemberPitch); - double yaw = sigmaPoint(StateMemberYaw); - - // We'll need these trig calculations a lot. - double sp = ::sin(pitch); - double cp = ::cos(pitch); - double cpi = 1.0 / cp; - double tp = sp * cpi; - - double sr = ::sin(roll); - double cr = ::cos(roll); - - double sy = ::sin(yaw); - double cy = ::cos(yaw); - - // Prepare the transfer function - transferFunction_(StateMemberX, StateMemberVx) = cy * cp * delta; - transferFunction_(StateMemberX, StateMemberVy) = - (cy * sp * sr - sy * cr) * delta; - transferFunction_(StateMemberX, StateMemberVz) = - (cy * sp * cr + sy * sr) * delta; - transferFunction_(StateMemberX, StateMemberAx) = - 0.5 * transferFunction_(StateMemberX, StateMemberVx) * delta; - transferFunction_(StateMemberX, StateMemberAy) = - 0.5 * transferFunction_(StateMemberX, StateMemberVy) * delta; - transferFunction_(StateMemberX, StateMemberAz) = - 0.5 * transferFunction_(StateMemberX, StateMemberVz) * delta; - transferFunction_(StateMemberY, StateMemberVx) = sy * cp * delta; - transferFunction_(StateMemberY, StateMemberVy) = - (sy * sp * sr + cy * cr) * delta; - transferFunction_(StateMemberY, StateMemberVz) = - (sy * sp * cr - cy * sr) * delta; - transferFunction_(StateMemberY, StateMemberAx) = - 0.5 * transferFunction_(StateMemberY, StateMemberVx) * delta; - transferFunction_(StateMemberY, StateMemberAy) = - 0.5 * transferFunction_(StateMemberY, StateMemberVy) * delta; - transferFunction_(StateMemberY, StateMemberAz) = - 0.5 * transferFunction_(StateMemberY, StateMemberVz) * delta; - transferFunction_(StateMemberZ, StateMemberVx) = -sp * delta; - transferFunction_(StateMemberZ, StateMemberVy) = cp * sr * delta; - transferFunction_(StateMemberZ, StateMemberVz) = cp * cr * delta; - transferFunction_(StateMemberZ, StateMemberAx) = - 0.5 * transferFunction_(StateMemberZ, StateMemberVx) * delta; - transferFunction_(StateMemberZ, StateMemberAy) = - 0.5 * transferFunction_(StateMemberZ, StateMemberVy) * delta; - transferFunction_(StateMemberZ, StateMemberAz) = - 0.5 * transferFunction_(StateMemberZ, StateMemberVz) * delta; - transferFunction_(StateMemberRoll, StateMemberVroll) = delta; - transferFunction_(StateMemberRoll, StateMemberVpitch) = sr * tp * delta; - transferFunction_(StateMemberRoll, StateMemberVyaw) = cr * tp * delta; - transferFunction_(StateMemberPitch, StateMemberVpitch) = cr * delta; - transferFunction_(StateMemberPitch, StateMemberVyaw) = -sr * delta; - transferFunction_(StateMemberYaw, StateMemberVpitch) = sr * cpi * delta; - transferFunction_(StateMemberYaw, StateMemberVyaw) = cr * cpi * delta; - transferFunction_(StateMemberVx, StateMemberAx) = delta; - transferFunction_(StateMemberVy, StateMemberAy) = delta; - transferFunction_(StateMemberVz, StateMemberAz) = delta; - - sigmaPoint.applyOnTheLeft(transferFunction_); -} -} // namespace RobotLocalization diff --git a/navigation/robot_localization/src/ukf_localization_node.cpp b/navigation/robot_localization/src/ukf_localization_node.cpp deleted file mode 100644 index adc26156..00000000 --- a/navigation/robot_localization/src/ukf_localization_node.cpp +++ /dev/null @@ -1,56 +0,0 @@ -/* - * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/ros_filter_types.h" - -#include - -#include -#include - -int main(int argc, char **argv) { - ros::init(argc, argv, "ukf_navigation_node"); - ros::NodeHandle nh; - ros::NodeHandle nhLocal("~"); - - std::vector args(3, 0); - - nhLocal.param("alpha", args[0], 0.001); - nhLocal.param("kappa", args[1], 0.0); - nhLocal.param("beta", args[2], 2.0); - - RobotLocalization::RosUkf ukf(nh, nhLocal, args); - ukf.initialize(); - ros::spin(); - - return EXIT_SUCCESS; -} diff --git a/navigation/robot_localization/src/ukf_localization_nodelet.cpp b/navigation/robot_localization/src/ukf_localization_nodelet.cpp deleted file mode 100644 index 15ad3fdd..00000000 --- a/navigation/robot_localization/src/ukf_localization_nodelet.cpp +++ /dev/null @@ -1,68 +0,0 @@ -/* - * Copyright (c) 2017 Simon Gene Gottlieb - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "robot_localization/ros_filter_types.h" - -#include -#include -#include - -#include -#include - -namespace RobotLocalization { - -class UkfNodelet : public nodelet::Nodelet { -private: - std::unique_ptr ukf; - -public: - virtual void onInit() { - NODELET_DEBUG("Initializing nodelet..."); - - ros::NodeHandle nh = getNodeHandle(); - ros::NodeHandle nh_priv = getPrivateNodeHandle(); - - std::vector args(3, 0); - - nh_priv.param("alpha", args[0], 0.001); - nh_priv.param("kappa", args[1], 0.0); - nh_priv.param("beta", args[2], 2.0); - - ukf = std::make_unique(nh, nh_priv, getName(), args); - ukf->initialize(); - } -}; - -} // namespace RobotLocalization - -PLUGINLIB_EXPORT_CLASS(RobotLocalization::UkfNodelet, nodelet::Nodelet); diff --git a/navigation/robot_localization/srv/FromLL.srv b/navigation/robot_localization/srv/FromLL.srv deleted file mode 100644 index 60c9d545..00000000 --- a/navigation/robot_localization/srv/FromLL.srv +++ /dev/null @@ -1,3 +0,0 @@ -geographic_msgs/GeoPoint ll_point ---- -geometry_msgs/Point map_point diff --git a/navigation/robot_localization/srv/GetState.srv b/navigation/robot_localization/srv/GetState.srv deleted file mode 100644 index 3d9bb86c..00000000 --- a/navigation/robot_localization/srv/GetState.srv +++ /dev/null @@ -1,8 +0,0 @@ -time time_stamp -string frame_id ---- -# State vector: x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az -float64[15] state - -# Covariance matrix in row-major order -float64[225] covariance diff --git a/navigation/robot_localization/srv/SetDatum.srv b/navigation/robot_localization/srv/SetDatum.srv deleted file mode 100644 index 25cbe4a1..00000000 --- a/navigation/robot_localization/srv/SetDatum.srv +++ /dev/null @@ -1,2 +0,0 @@ -geographic_msgs/GeoPose geo_pose ---- diff --git a/navigation/robot_localization/srv/SetPose.srv b/navigation/robot_localization/srv/SetPose.srv deleted file mode 100644 index 7089d1a5..00000000 --- a/navigation/robot_localization/srv/SetPose.srv +++ /dev/null @@ -1,2 +0,0 @@ -geometry_msgs/PoseWithCovarianceStamped pose ---- diff --git a/navigation/robot_localization/srv/SetUTMZone.srv b/navigation/robot_localization/srv/SetUTMZone.srv deleted file mode 100644 index c96c3c4f..00000000 --- a/navigation/robot_localization/srv/SetUTMZone.srv +++ /dev/null @@ -1,4 +0,0 @@ -# Set an UTM zone navsat_transform should stick to. -# Example: 31U -string utm_zone ---- diff --git a/navigation/robot_localization/srv/ToLL.srv b/navigation/robot_localization/srv/ToLL.srv deleted file mode 100644 index e99723d2..00000000 --- a/navigation/robot_localization/srv/ToLL.srv +++ /dev/null @@ -1,3 +0,0 @@ -geometry_msgs/Point map_point ---- -geographic_msgs/GeoPoint ll_point diff --git a/navigation/robot_localization/srv/ToggleFilterProcessing.srv b/navigation/robot_localization/srv/ToggleFilterProcessing.srv deleted file mode 100644 index 01f8bcd4..00000000 --- a/navigation/robot_localization/srv/ToggleFilterProcessing.srv +++ /dev/null @@ -1,3 +0,0 @@ -bool on ---- -bool status diff --git a/navigation/robot_localization/test/record_all_stats.sh b/navigation/robot_localization/test/record_all_stats.sh deleted file mode 100755 index 9a397601..00000000 --- a/navigation/robot_localization/test/record_all_stats.sh +++ /dev/null @@ -1,9 +0,0 @@ -#!/bin/bash - -./stat_recorder.sh test_ekf_localization_node_bag1.test $1/ekf1.txt -./stat_recorder.sh test_ekf_localization_node_bag2.test $1/ekf2.txt -./stat_recorder.sh test_ekf_localization_node_bag3.test $1/ekf3.txt - -./stat_recorder.sh test_ukf_localization_node_bag1.test $1/ukf1.txt -./stat_recorder.sh test_ukf_localization_node_bag2.test $1/ukf2.txt -./stat_recorder.sh test_ukf_localization_node_bag3.test $1/ukf3.txt diff --git a/navigation/robot_localization/test/stat_recorder.sh b/navigation/robot_localization/test/stat_recorder.sh deleted file mode 100755 index afc236c0..00000000 --- a/navigation/robot_localization/test/stat_recorder.sh +++ /dev/null @@ -1,18 +0,0 @@ -#!/bin/bash - -rm $2 -echo "x = [" > $2 - -i="0" - -while [ $i -lt 30 ] -do -rostest robot_localization $1 output_final_position:=true output_location:=$2 -i=$[$i+1] -sleep 3 -done - -echo "]" >> $2 -echo "mean(x)" >> $2 -echo "sqrt(sum((4 * std(x)).^2))" >> $2 - diff --git a/navigation/robot_localization/test/test1.bag b/navigation/robot_localization/test/test1.bag deleted file mode 100644 index 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