diff --git a/src/ZLAC8015D_python/examples/ZLAC8015D.py b/src/ZLAC8015D_python/examples/ZLAC8015D.py new file mode 100644 index 0000000..274fa36 --- /dev/null +++ b/src/ZLAC8015D_python/examples/ZLAC8015D.py @@ -0,0 +1,331 @@ + +from pymodbus.client.sync import ModbusSerialClient as ModbusClient +import numpy as np + +class Controller: + + def __init__(self, port="/dev/ttyUSB0"): + + self._port = port + + self.client = ModbusClient(method='rtu', port=self._port, baudrate=115200, timeout=1) + + self.client.connect() + + self.ID = 1 + + ###################### + ## Register Address ## + ###################### + ## Common + self.CONTROL_REG = 0x200E + self.OPR_MODE = 0x200D + self.L_ACL_TIME = 0x2080 + self.R_ACL_TIME = 0x2081 + self.L_DCL_TIME = 0x2082 + self.R_DCL_TIME = 0x2083 + + ## Velocity control + self.L_CMD_RPM = 0x2088 + self.R_CMD_RPM = 0x2089 + self.L_FB_RPM = 0x20AB + self.R_FB_RPM = 0x20AC + + ## Position control + self.POS_CONTROL_TYPE = 0x200F + + self.L_MAX_RPM_POS = 0x208E + self.R_MAX_RPM_POS = 0x208F + + self.L_CMD_REL_POS_HI = 0x208A + self.L_CMD_REL_POS_LO = 0x208B + self.R_CMD_REL_POS_HI = 0x208C + self.R_CMD_REL_POS_LO = 0x208D + + self.L_FB_POS_HI = 0x20A7 + self.L_FB_POS_LO = 0x20A8 + self.R_FB_POS_HI = 0x20A9 + self.R_FB_POS_LO = 0x20AA + + ## Troubleshooting + self.L_FAULT = 0x20A5 + self.R_FAULT = 0x20A6 + + ######################## + ## Control CMDs (REG) ## + ######################## + self.EMER_STOP = 0x05 + self.ALRM_CLR = 0x06 + self.DOWN_TIME = 0x07 + self.ENABLE = 0x08 + self.POS_SYNC = 0x10 + self.POS_L_START = 0x11 + self.POS_R_START = 0x12 + + #################### + ## Operation Mode ## + #################### + self.POS_REL_CONTROL = 1 + self.POS_ABS_CONTROL = 2 + self.VEL_CONTROL = 3 + + self.ASYNC = 0 + self.SYNC = 1 + + ################# + ## Fault codes ## + ################# + self.NO_FAULT = 0x0000 + self.OVER_VOLT = 0x0001 + self.UNDER_VOLT = 0x0002 + self.OVER_CURR = 0x0004 + self.OVER_LOAD = 0x0008 + self.CURR_OUT_TOL = 0x0010 + self.ENCOD_OUT_TOL = 0x0020 + self.MOTOR_BAD = 0x0040 + self.REF_VOLT_ERROR = 0x0080 + self.EEPROM_ERROR = 0x0100 + self.WALL_ERROR = 0x0200 + self.HIGH_TEMP = 0x0400 + self.FAULT_LIST = [self.OVER_VOLT, self.UNDER_VOLT, self.OVER_CURR, self.OVER_LOAD, self.CURR_OUT_TOL, self.ENCOD_OUT_TOL, \ + self.MOTOR_BAD, self.REF_VOLT_ERROR, self.EEPROM_ERROR, self.WALL_ERROR, self.HIGH_TEMP] + + ############## + ## Odometry ## + ############## + ## 8 inches wheel + self.travel_in_one_rev = 0.655 + self.cpr = 16385 + self.R_Wheel = 0.105 #meter + print(self.R_Wheel) + + ## Some time if read immediatly after write, it would show ModbusIOException when get data from registers + def modbus_fail_read_handler(self, ADDR, WORD): + + read_success = False + reg = [None]*WORD + while not read_success: + result = self.client.read_holding_registers(ADDR, WORD, unit=self.ID) + try: + for i in range(WORD): + reg[i] = result.registers[i] + read_success = True + except AttributeError as e: + print(e) + pass + + return reg + + def rpm_to_radPerSec(self, rpm): + return rpm*2*np.pi/60.0 + + def rpm_to_linear(self, rpm): + + W_Wheel = self.rpm_to_radPerSec(rpm) + V = W_Wheel*self.R_Wheel + + return V + + def set_mode(self, MODE): + if MODE == 1: + print("Set relative position control") + elif MODE == 2: + print("Set absolute position control") + elif MODE == 3: + print("Set speed rpm control") + else: + print("set_mode ERROR: set only 1, 2, or 3") + return 0 + + result = self.client.write_register(self.OPR_MODE, MODE, unit=self.ID) + return result + + def get_mode(self): + + # result = self.client.read_holding_registers(self.OPR_MODE, 1, unit=self.ID) + registers = self.modbus_fail_read_handler(self.OPR_MODE, 1) + + mode = registers[0] + + return mode + + def enable_motor(self): + result = self.client.write_register(self.CONTROL_REG, self.ENABLE, unit=self.ID) + + def disable_motor(self): + result = self.client.write_register(self.CONTROL_REG, self.DOWN_TIME, unit=self.ID) + + def get_fault_code(self): + + fault_codes = self.client.read_holding_registers(self.L_FAULT, 2, unit=self.ID) + + L_fault_code = fault_codes.registers[0] + R_fault_code = fault_codes.registers[1] + + L_fault_flag = L_fault_code in self.FAULT_LIST + R_fault_flag = R_fault_code in self.FAULT_LIST + + return (L_fault_flag, L_fault_code), (R_fault_flag, R_fault_code) + + def clear_alarm(self): + result = self.client.write_register(self.CONTROL_REG, self.ALRM_CLR, unit=self.ID) + + def set_accel_time(self, L_ms, R_ms): + + if L_ms > 32767: + L_ms = 32767 + elif L_ms < 0: + L_ms = 0 + + if R_ms > 32767: + R_ms = 32767 + elif R_ms < 0: + R_ms = 0 + + result = self.client.write_registers(self.L_ACL_TIME, [int(L_ms),int(R_ms)], unit=self.ID) + + + def set_decel_time(self, L_ms, R_ms): + + if L_ms > 32767: + L_ms = 32767 + elif L_ms < 0: + L_ms = 0 + + if R_ms > 32767: + R_ms = 32767 + elif R_ms < 0: + R_ms = 0 + + result = self.client.write_registers(self.L_DCL_TIME, [int(L_ms), int(R_ms)], unit=self.ID) + + def int16Dec_to_int16Hex(self,int16): + + lo_byte = (int16 & 0x00FF) + hi_byte = (int16 & 0xFF00) >> 8 + + all_bytes = (hi_byte << 8) | lo_byte + + return all_bytes + + + def set_rpm(self, L_rpm, R_rpm): + + if L_rpm > 3000: + L_rpm = 3000 + elif L_rpm < -3000: + L_rpm = -3000 + + if R_rpm > 3000: + R_rpm = 3000 + elif R_rpm < -3000: + R_rpm = -3000 + + left_bytes = self.int16Dec_to_int16Hex(L_rpm) + right_bytes = self.int16Dec_to_int16Hex(R_rpm) + + result = self.client.write_registers(self.L_CMD_RPM, [left_bytes, right_bytes], unit=self.ID) + + def get_rpm(self): + + + # rpms = self.client.read_holding_registers(self.L_FB_RPM, 2, unit=self.ID) + # fb_L_rpm = np.int16(rpms.registers[0])/10.0 + # fb_R_rpm = np.int16(rpms.registers[1])/10.0 + + registers = self.modbus_fail_read_handler(self.L_FB_RPM, 2) + fb_L_rpm = np.int16(registers[0])/10.0 + fb_R_rpm = np.int16(registers[1])/10.0 + + return fb_L_rpm, fb_R_rpm + + def get_linear_velocities(self): + + rpmL, rpmR = self.get_rpm() + + VL = self.rpm_to_linear(rpmL) + VR = self.rpm_to_linear(-rpmR) + + return VL, VR + + def map(self, val, in_min, in_max, out_min, out_max): + + return (val - in_min) * (out_max - out_min) / (in_max - in_min) + out_min + + def set_maxRPM_pos(self, max_L_rpm, max_R_rpm): + + if max_L_rpm > 1000: + max_L_rpm = 1000 + elif max_L_rpm < 1: + max_L_rpm = 1 + + if max_R_rpm > 1000: + max_R_rpm = 1000 + elif max_R_rpm < 1: + max_R_rpm = 1 + + result = self.client.write_registers(self.L_MAX_RPM_POS, [int(max_L_rpm), int(max_R_rpm)], unit=self.ID) + + def set_position_async_control(self): + + result = self.client.write_register(self.POS_CONTROL_TYPE, self.ASYNC, unit=self.ID) + + def move_left_wheel(self): + + result = self.client.write_register(self.CONTROL_REG, self.POS_L_START, unit=self.ID) + + def move_right_wheel(self): + + result = self.client.write_register(self.CONTROL_REG, self.POS_R_START, unit=self.ID) + + def deg_to_32bitArray(self, deg): + + dec = int(self.map(deg, -1440, 1440, -65536, 65536)) + HI_WORD = (dec & 0xFFFF0000) >> 16 + LO_WORD = dec & 0x0000FFFF + + return [HI_WORD, LO_WORD] + + def set_relative_angle(self, ang_L, ang_R): + + L_array = self.deg_to_32bitArray(ang_L) + R_array = self.deg_to_32bitArray(ang_R) + all_cmds_array = L_array + R_array + + result = self.client.write_registers(self.L_CMD_REL_POS_HI, all_cmds_array, unit=self.ID) + + def get_wheels_travelled(self): + + # read_success = False + # while not read_success: + + # result = self.client.read_holding_registers(self.L_FB_POS_HI, 4, unit=self.ID) + # try: + # l_pul_hi = result.registers[0] + # l_pul_lo = result.registers[1] + # r_pul_hi = result.registers[2] + # r_pul_lo = result.registers[3] + + # l_pulse = ((l_pul_hi & 0xFFFF) << 16) | (l_pul_lo & 0xFFFF) + # r_pulse = ((r_pul_hi & 0xFFFF) << 16) | (r_pul_lo & 0xFFFF) + # l_travelled = (float(l_pulse)/self.cpr)*self.travel_in_one_rev # unit in meter + # r_travelled = (float(r_pulse)/self.cpr)*self.travel_in_one_rev # unit in meter + + # read_success = True + + # except AttributeError: + # # print("error") + # pass + + registers = self.modbus_fail_read_handler(self.L_FB_POS_HI, 4) + l_pul_hi = registers[0] + l_pul_lo = registers[1] + r_pul_hi = registers[2] + r_pul_lo = registers[3] + + l_pulse = np.int32(((l_pul_hi & 0xFFFF) << 16) | (l_pul_lo & 0xFFFF)) + r_pulse = np.int32(((r_pul_hi & 0xFFFF) << 16) | (r_pul_lo & 0xFFFF)) + l_travelled = (float(l_pulse)/self.cpr)*self.travel_in_one_rev # unit in meter + r_travelled = (float(r_pulse)/self.cpr)*self.travel_in_one_rev # unit in meter + + return l_travelled, r_travelled diff --git a/src/ZLAC8015D_python/examples/test_speed_control.py b/src/ZLAC8015D_python/examples/test_speed_control.py index fcff88c..de92eb6 100644 --- a/src/ZLAC8015D_python/examples/test_speed_control.py +++ b/src/ZLAC8015D_python/examples/test_speed_control.py @@ -1,23 +1,21 @@ -from zlac8015d import ZLAC8015D -import importlib -importlib.reload(ZLAC8015D) +import ZLAC8015D import time motors = ZLAC8015D.Controller(port="/dev/ZLAC8015D") motors.disable_motor() -motors.set_accel_time(500,500) +motors.set_accel_time(1000,1000) motors.set_decel_time(1000,1000) motors.set_mode(3) motors.enable_motor() -cmds = [-140, 170] +# cmds = [140, 170] #cmds = [100, 50] #cmds = [150, -100] -#cmds = [-50, 30] +cmds = [-50, 30] motors.set_rpm(cmds[0],cmds[1]) @@ -29,13 +27,12 @@ # motors.set_rpm(cmds[0],cmds[1]) rpmL, rpmR = motors.get_rpm() - #print("period: {:.4f} rpmL: {:.1f} | rpmR: {:.1f}".format(period,rpmL,rpmR)) - print("{:.4f},{:.1f},{:.1f}".format(period,rpmL,rpmR)) + print("period: {:.4f} rpmL: {:.1f} | rpmR: {:.1f}".format(period,rpmL,rpmR)) time.sleep(0.01) - + except KeyboardInterrupt: motors.disable_motor() break - #last_time = time.time() + last_time = time.time() diff --git a/src/ZLAC8015D_python/zlac8015d/ZLAC8015D.py b/src/ZLAC8015D_python/zlac8015d/ZLAC8015D.py index 45541fe..cbc8c30 100644 --- a/src/ZLAC8015D_python/zlac8015d/ZLAC8015D.py +++ b/src/ZLAC8015D_python/zlac8015d/ZLAC8015D.py @@ -1,6 +1,7 @@ from pymodbus.client.sync import ModbusSerialClient as ModbusClient import numpy as np +import time class Controller: @@ -110,6 +111,7 @@ reg[i] = result.registers[i] read_success = True except AttributeError as e: + time.sleep(0.5) print(e) pass @@ -131,8 +133,7 @@ elif MODE == 2: print("Set absolute position control") elif MODE == 3: - dummy = 0 - #print("Set speed rpm control") + print("Set speed rpm control") else: print("set_mode ERROR: set only 1, 2, or 3") return 0 diff --git a/src/ira_laser_tools b/src/ira_laser_tools new file mode 160000 index 0000000..958d0ac --- /dev/null +++ b/src/ira_laser_tools @@ -0,0 +1 @@ +Subproject commit 958d0ac8e103822ce9ce04c0bb9c3b499322575d diff --git a/src/junk/tsukuba2022/config/gps_parameters.yaml b/src/junk/tsukuba2022/config/gps_parameters.yaml new file mode 100644 index 0000000..38970f9 --- /dev/null +++ b/src/junk/tsukuba2022/config/gps_parameters.yaml @@ -0,0 +1,37 @@ +# maintainer:kbkn/mori +# +# name of the port that connects to gps device +dev_name: /dev/sensors/rtkgps +# directory of the file where waypoints will be saved +output_file: /home/ubuntu/catkin_ws/src/igvc2022/config/gps_waypoints/gps_waypoints.yaml +#output_file: /home/ubuntu/catkin_ws/src/igvc2022/config/gps_waypoints/qualification_waypoints.yaml +# country_id: 0, then Japan +# country_id: 1, then USA +country_id: 0 +# true north is 0 degrees, clockwise angle +azimuth: 180 +# latitude and longitude information given by the organizer at IGVC +# - - latitude(1) +# - longitude(1) +# - - latitude(2) +# - longitude(2) +# ............ +latitude_longitude: + - - 42.66792770 + - -83.21932764 + - - 42.66807663 + - -83.21935915 + - - 42.66812064 + - -83.21936060 + - - 42.66826972 + - -83.21934030 + + +# - - 42.66826972 +# - -83,21934030 +# - - 42.66812064 +# - -83.21936060 +# - - 42.66807663 +# - -83.21935915 +# - - 42.66792770 +# - -83.21932764 diff --git a/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints.yaml b/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints.yaml new file mode 100644 index 0000000..1de4c59 --- /dev/null +++ b/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: 23.832395277342513 + y: -39.51859423889264 + z: 0 + - point: + x: 7.288423107180874 + y: -42.101774823056566 + z: 0 + - point: + x: 2.399529025831852 + y: -42.22065671153237 + z: 0 + - point: + x: -14.161232871434652 + y: -40.556537994560074 + z: 0 diff --git a/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_north.yaml b/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_north.yaml new file mode 100644 index 0000000..ff46ecf --- /dev/null +++ b/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_north.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: 18.6965 + y: 41.0993 + z: 0 + - point: + x: 4.5435 + y: 41.0993 + z: 0 + - point: + x: -5.1435 + y: 41.0993 + z: 0 + - point: + x: -19.2965 + y: 41.0993 + z: 0 diff --git a/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation.yaml b/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation.yaml new file mode 100644 index 0000000..01d3b85 --- /dev/null +++ b/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: 15.799 + y: 30.600 + z: 0 + - point: + x: 4.700 + y: 30.142 + z: 0 + - point: + x: -4.420 + y: 30.514 + z: 0 + - point: + x: -15.912 + y: 30.702 + z: 0 diff --git a/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation_reverse.yaml b/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation_reverse.yaml new file mode 100644 index 0000000..9897947 --- /dev/null +++ b/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation_reverse.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: -15.799 + y: -30.600 + z: 0 + - point: + x: -4.700 + y: -30.142 + z: 0 + - point: + x: 4.420 + y: -30.514 + z: 0 + - point: + x: 15.912 + y: -30.702 + z: 0 diff --git a/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_south.yaml b/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_south.yaml new file mode 100644 index 0000000..f08bc57 --- /dev/null +++ b/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_south.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: 19.2965 + y: -41.0993 + z: 0 + - point: + x: 5.1435 + y: -41.0993 + z: 0 + - point: + x: -4.5435 + y: -41.0993 + z: 0 + - point: + x: -18.6965 + y: -41.0993 + z: 0 diff --git a/src/junk/tsukuba2022/config/gps_waypoints/qualification_waypoints.yaml b/src/junk/tsukuba2022/config/gps_waypoints/qualification_waypoints.yaml new file mode 100644 index 0000000..de097ab --- /dev/null +++ b/src/junk/tsukuba2022/config/gps_waypoints/qualification_waypoints.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: 7.058685 + y: 0.5 + z: 0 + - point: + x: 14.117370781974484 + y: 1 + z: 0 + - point: + x: 14.117370781974484 + y: -2.1647149478696024 + z: 0 + - point: + x: -258532440.12709326 + y: 18422863.225660857 + z: 0 diff --git a/src/junk/tsukuba2022/config/igvc_robot_control.yaml b/src/junk/tsukuba2022/config/igvc_robot_control.yaml new file mode 100644 index 0000000..bb3afc4 --- /dev/null +++ b/src/junk/tsukuba2022/config/igvc_robot_control.yaml @@ -0,0 +1,43 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 100 + +igvc_robot: + type : "diff_drive_controller/DiffDriveController" + left_wheel : 'right_wheel_hinge' + right_wheel : 'left_wheel_hinge' + publish_rate: 100 + + enable_odom_tf: false + + pose_covariance_diagonal : [0.00001, 0.00001, 1000000000000.0, 1000000000000.0, 1000000000000.0, 0.001] + twist_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + + # Wheel separation and radius multipliers + wheel_separation_multiplier: 1.0 # default: 1.0 + wheel_radius_multiplier : 1.0 # default: 1.0 + + # Velocity commands timeout [s], default 0.5 + cmd_vel_timeout: 1.0 + + # Base frame_id + base_frame_id: base_link + + # Velocity and acceleration limits + # Whenever a min_* is unspecified, default to -max_* + linear: + x: + has_velocity_limits : true + max_velocity : 0.8 # m/s + min_velocity : -0.8 # m/s + has_acceleration_limits: true + max_acceleration : 0.8 # m/s^2 + min_acceleration : -0.8 # m/s^2 + angular: + z: + has_velocity_limits : true + max_velocity : 0.4 # rad/s + min_velocity : -0.4 # rad/s + has_acceleration_limits: true + max_acceleration : 0.3 # rad/s^2 + min_acceleration : -0.3 # rad/s^2 diff --git a/src/junk/tsukuba2022/config/igvc_robot_control_sim.yaml b/src/junk/tsukuba2022/config/igvc_robot_control_sim.yaml new file mode 100644 index 0000000..cb6b6b3 --- /dev/null +++ b/src/junk/tsukuba2022/config/igvc_robot_control_sim.yaml @@ -0,0 +1,45 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 100 + +igvc_robot: + #type: "icart_mini_controller/ICartMiniController" + type : "diff_drive_controller/DiffDriveController" + left_wheel : 'left_wheel_hinge' + right_wheel : 'right_wheel_hinge' + publish_rate: 100 + + enable_odom_tf: false + + #pose_covariance_diagonal : [0.00001, 0.00001, 1000000000000.0, 1000000000000.0, 1000000000000.0, 0.001] + #twist_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + pose_covariance_diagonal : [0.01, 0.01, 10000.0, 10000.0, 10000.0, 10.0] + twist_covariance_diagonal: [0.01, 0.01, 10000.0, 10000.0, 10000.0, 10.0] + + # Wheel separation and radius multipliers + wheel_separation_multiplier: 1.0 # default: 1.0 + wheel_radius_multiplier : 1.0 # default: 1.0 + + # Velocity commands timeout [s], default 0.5 + cmd_vel_timeout: 1.0 + + # Base frame_id + base_frame_id: base_link + + # Velocity and acceleration limits + # Whenever a min_* is unspecified, default to -max_* + linear: + x: + has_velocity_limits : false + #max_velocity : 0.9 # m/s + #min_velocity : -0.9 # m/s + has_acceleration_limits: true + max_acceleration : 1.5 # m/s^2 + min_acceleration : -1.5 # m/s^2 + angular: + z: + has_velocity_limits : false + #max_velocity : 0.5 # rad/s + has_acceleration_limits: false + #max_acceleration : 1.5 # rad/s^2 + diff --git a/src/junk/tsukuba2022/urdf/igvc_robot.gazebo b/src/junk/tsukuba2022/urdf/igvc_robot.gazebo new file mode 100644 index 0000000..f32242a --- /dev/null +++ b/src/junk/tsukuba2022/urdf/igvc_robot.gazebo @@ -0,0 +1,76 @@ + + + + + + + + + igvc_robot/cmd_vel + igvc_robot/odom + base_link + odom + world + + true + false + false + + true + + true + + 30 + left_wheel_hinge + right_wheel_hinge + 0.670 + 0.192 + 1 + 10 + na + false + + + + + + + Gazebo/Black + + + + + 5.0 + 5.0 + 1000000.0 + 100.0 + 0.001 + 1.0 + + + + + 5.0 + 5.0 + 1000000.0 + 100.0 + 0.001 + 1.0 + + + + + 0.0 + 0.0 + + + + 0.0 + 0.0 + + + diff --git a/src/junk/tsukuba2022/urdf/igvc_robot.xacro b/src/junk/tsukuba2022/urdf/igvc_robot.xacro new file mode 100644 index 0000000..513d453 --- /dev/null +++ b/src/junk/tsukuba2022/urdf/igvc_robot.xacro @@ -0,0 +1,221 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + left_wheel + base_link + + + + + + + + + + + + + + + + + + + + + + + + + + + + right_wheel + base_link + + + + + + + transmission_interface/SimpleTransmission + + VelocityJointInterface + + + VelocityJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + VelocityJointInterface + + + VelocityJointInterface + 1 + + + + diff --git a/src/junk/tsukuba2022/urdf/igvc_robot_cp.urdf b/src/junk/tsukuba2022/urdf/igvc_robot_cp.urdf new file mode 100644 index 0000000..3ecfca1 --- /dev/null +++ b/src/junk/tsukuba2022/urdf/igvc_robot_cp.urdf @@ -0,0 +1,220 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + left_wheel + base_link + + + + + + + + + + + + + + + + + + + + + + + + + + + + right_wheel + base_link + + + + + + + transmission_interface/SimpleTransmission + + VelocityJointInterface + + + VelocityJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + VelocityJointInterface + + + VelocityJointInterface + 1 + + + diff --git a/src/junk/tsukuba2022/urdf/sensors/camera.urdf.xacro b/src/junk/tsukuba2022/urdf/sensors/camera.urdf.xacro new file mode 100644 index 0000000..9326083 --- /dev/null +++ b/src/junk/tsukuba2022/urdf/sensors/camera.urdf.xacro @@ -0,0 +1,76 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 30.0 + + 0 0 0 0 ${PI/2} 0 + 3.1415 + + R8G8B8 + 800 + 800 + + + 0.01 + 100 + + + stereographic + 1 + 1.5707 + 512 + + + + + true + 0.0 + cv_camera + image_raw + camera_info + camera_link + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + Gazebo/DarkGray + + + + + + diff --git a/src/tsukuba2022/config/elecom_joy.yaml b/src/tsukuba2022/config/elecom_joy.yaml index ed40e4b..de1c032 100644 --- a/src/tsukuba2022/config/elecom_joy.yaml +++ b/src/tsukuba2022/config/elecom_joy.yaml @@ -1,6 +1,6 @@ axis_linear: 1 scale_linear: 0.4 #0.4 -scale_linear_turbo: 1.0 #0.8 +scale_linear_turbo: 0.8 #0.8 axis_angular: 0 scale_angular: 0.5 #0.9 diff --git a/src/tsukuba2022/config/orange2022_control.yaml b/src/tsukuba2022/config/orange2022_control.yaml new file mode 100644 index 0000000..60740d6 --- /dev/null +++ b/src/tsukuba2022/config/orange2022_control.yaml @@ -0,0 +1,43 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 100 + +diff_drive_controller: + type : "diff_drive_controller/DiffDriveController" + left_wheel : 'left_wheel_hinge' + right_wheel : 'right_wheel_hinge' + publish_rate: 100 + + enable_odom_tf: false + + pose_covariance_diagonal : [0.00001, 0.00001, 1000000000000.0, 1000000000000.0, 1000000000000.0, 0.001] + twist_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + + # Wheel separation and radius multipliers + wheel_separation_multiplier: 1.0 # default: 1.0 + wheel_radius_multiplier : 1.0 # default: 1.0 + + # Velocity commands timeout [s], default 0.5 + cmd_vel_timeout: 1.0 + + # Base frame_id + base_frame_id: base_link + + # Velocity and acceleration limits + # Whenever a min_* is unspecified, default to -max_* + linear: + x: + has_velocity_limits : true + max_velocity : 0.8 # m/s + min_velocity : -0.8 # m/s + has_acceleration_limits: true + max_acceleration : 0.8 # m/s^2 + min_acceleration : -0.8 # m/s^2 + angular: + z: + has_velocity_limits : true + max_velocity : 0.4 # rad/s + min_velocity : -0.4 # rad/s + has_acceleration_limits: true + max_acceleration : 0.3 # rad/s^2 + min_acceleration : -0.3 # rad/s^2 diff --git a/src/tsukuba2022/config/orange2022_control_sim.yaml b/src/tsukuba2022/config/orange2022_control_sim.yaml new file mode 100644 index 0000000..edc0632 --- /dev/null +++ b/src/tsukuba2022/config/orange2022_control_sim.yaml @@ -0,0 +1,41 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 100 + +diff_drive_controller: + type : "diff_drive_controller/DiffDriveController" + left_wheel : 'left_wheel_hinge' + right_wheel : 'right_wheel_hinge' + publish_rate: 100 + + enable_odom_tf: false + + pose_covariance_diagonal : [0.01, 0.01, 10000.0, 10000.0, 10000.0, 10.0] + twist_covariance_diagonal: [0.01, 0.01, 10000.0, 10000.0, 10000.0, 10.0] + + # Wheel separation and radius multipliers + wheel_separation_multiplier: 1.0 # default: 1.0 + wheel_radius_multiplier : 1.0 # default: 1.0 + + # Velocity commands timeout [s], default 0.5 + cmd_vel_timeout: 1.0 + + # Base frame_id + base_frame_id: base_link + + # Velocity and acceleration limits + # Whenever a min_* is unspecified, default to -max_* + linear: + x: + has_velocity_limits : false + #max_velocity : 0.9 # m/s + #min_velocity : -0.9 # m/s + has_acceleration_limits: true + max_acceleration : 1.5 # m/s^2 + min_acceleration : -1.5 # m/s^2 + angular: + z: + has_velocity_limits : false + #max_velocity : 0.5 # rad/s + has_acceleration_limits: false + #max_acceleration : 1.5 # rad/s^2 diff --git a/src/tsukuba2022/config/waypoints/waypoints.yaml b/src/tsukuba2022/config/waypoints/waypoints.yaml index ebd8cfe..ddac05b 100644 --- a/src/tsukuba2022/config/waypoints/waypoints.yaml +++ b/src/tsukuba2022/config/waypoints/waypoints.yaml @@ -1,28 +1,19 @@ waypoints: - - point: - x: 22.5481 - y: -1.70773 - z: 0 - - point: - x: 28.3916 - y: -0.557724 - z: 0 - - point: - x: 34.159 - y: -1.72355 - z: 0 +- point: {x: 3.82361, y: 0.164189, z: 0.00511169, vel: 1, rad: 1, stop: false} +- point: {x: 11.1774, y: 0.0853908, z: -0.00192642, vel: 1, rad: 1, stop: false} +- point: {x: 15.6239, y: 0.174851, z: 0.00251579, vel: 1, rad: 1, stop: false} +- point: {x: 15.7556, y: 8.48258, z: 0.00242996, vel: 1, rad: 1, stop: false} +- point: {x: 15.8543, y: 16.8748, z: 0.0023098, vel: 1, rad: 1, stop: false} +- point: {x: 9.36751, y: 17.0985, z: 0.00177956, vel: 1, rad: 1, stop: false} +- point: {x: 2.68957, y: 17.1423, z: 0.000879288, vel: 1, rad: 1, stop: false} +- point: {x: 4.72936, y: 13.403, z: 0.00301743, vel: 1, rad: 1, stop: false} +- point: {x: 6.72777, y: 10.9204, z: 0.00507927, vel: 1, rad: 1, stop: false} +- point: {x: 7.85304, y: 8.43392, z: 0.00030899, vel: 1, rad: 1, stop: false} +- point: {x: 9.32663, y: 6.47157, z: 0.00183296, vel: 1, rad: 1, stop: false} +- point: {x: 11.2611, y: 3.52007, z: 0.00384521, vel: 1, rad: 1, stop: false} +- point: {x: 11.2283, y: 0.737249, z: 0.00480747, vel: 1, rad: 1, stop: false} finish_pose: - header: - seq: 0 - stamp: 1651810719.399999678 - frame_id: map - pose: - position: - x: 38.532 - y: -1.92273 - z: 0 - orientation: - x: 0 - y: 0 - z: 0.00701728 - w: 0.999975 + header: {seq: 0, stamp: 113.132000000, frame_id: map} + pose: + position: {x: 9.27349, y: 0.143879, z: 0} + orientation: {x: 0, y: 0, z: 0.999983, w: 0.00578372} diff --git a/src/tsukuba2022/config/waypoints/waypoints_nakaniwa.yaml b/src/tsukuba2022/config/waypoints/waypoints_nakaniwa.yaml new file mode 100644 index 0000000..03e07a4 --- /dev/null +++ b/src/tsukuba2022/config/waypoints/waypoints_nakaniwa.yaml @@ -0,0 +1,33 @@ +waypoints: +- point: {x: 4.8992, y: 0.0763934, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 17.334, y: -0.0478781, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 25.9562, y: -0.150485, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 34.8965, y: -2.35386, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 43.2493, y: -4.61744, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 52.0631, y: -4.78826, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 53.2674, y: 7.98859, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 53.0977, y: 20.0885, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 52.5512, y: 29.5179, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 52.225629, y: 42.300035, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 51.282771, y: 54.557184, z: 0, vel: 1, rad: 0.6, stop: false} +- point: {x: 37.976717, y: 54.326666, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 27.652743, y: 54.28618, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 16.033212, y: 54.367152, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 5.061459, y: 53.516942, z: 0, vel: 1, rad: 0.5, stop: true} +- point: {x: 6.397503, y: 50.520966, z: 0, vel: 0.3, rad: 0.3, stop: false} +- point: {x: 9.777492, y: 43.91924, z: 0, vel: 0.3, rad: 0.3, stop: false} +- point: {x: 12.326369, y: 38.156927, z: 0.0, vel: 1.0, rad: 0.4, stop: false} +- point: {x: 14.7664, y: 33.8169, z: 0, vel: 0.3, rad: 0.3, stop: false} +- point: {x: 18.112117, y: 26.331971, z: 0, vel: 0.3, rad: 0.3, stop: false} +- point: {x: 20.711327, y: 20.328163, z: 0, vel: 0.3, rad: 0.3, stop: false} +- point: {x: 22.614973, y: 15.935132, z: 0, vel: 0.3, rad: 0.3, stop: false} +- point: {x: 24.408794, y: 12.164447, z: 0, vel: 0.3, rad: 0.3, stop: false} +- point: {x: 29.131302, y: 2.572996, z: 0, vel: 0.3, rad: 0.3, stop: false} +- point: {x: 28.801589, y: 0.126455, z: 0, vel: 0.3, rad: 0.5, stop: false} +- point: {x: 19.9255, y: 0.305246, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 9.62386, y: 1.54376, z: 0, vel: 1, rad: 1.0, stop: false} +finish_pose: + header: {seq: 0, stamp: 1663209268.6905353, frame_id: map} + pose: + position: {x: -0.0241434, y: 1.60681, z: 0} + orientation: {x: 0, y: 0, z: 0.999995, w: 0.00303693} \ No newline at end of file diff --git a/src/tsukuba2022/config/waypoints/waypoints_sim_nakaniwa.yaml b/src/tsukuba2022/config/waypoints/waypoints_sim_nakaniwa.yaml new file mode 100644 index 0000000..ddac05b --- /dev/null +++ b/src/tsukuba2022/config/waypoints/waypoints_sim_nakaniwa.yaml @@ -0,0 +1,19 @@ +waypoints: +- point: {x: 3.82361, y: 0.164189, z: 0.00511169, vel: 1, rad: 1, stop: false} +- point: {x: 11.1774, y: 0.0853908, z: -0.00192642, vel: 1, rad: 1, stop: false} +- point: {x: 15.6239, y: 0.174851, z: 0.00251579, vel: 1, rad: 1, stop: false} +- point: {x: 15.7556, y: 8.48258, z: 0.00242996, vel: 1, rad: 1, stop: false} +- point: {x: 15.8543, y: 16.8748, z: 0.0023098, vel: 1, rad: 1, stop: false} +- point: {x: 9.36751, y: 17.0985, z: 0.00177956, vel: 1, rad: 1, stop: false} +- point: {x: 2.68957, y: 17.1423, z: 0.000879288, vel: 1, rad: 1, stop: false} +- point: {x: 4.72936, y: 13.403, z: 0.00301743, vel: 1, rad: 1, stop: false} +- point: {x: 6.72777, y: 10.9204, z: 0.00507927, vel: 1, rad: 1, stop: false} +- point: {x: 7.85304, y: 8.43392, z: 0.00030899, vel: 1, rad: 1, stop: false} +- point: {x: 9.32663, y: 6.47157, z: 0.00183296, vel: 1, rad: 1, stop: false} +- point: {x: 11.2611, y: 3.52007, z: 0.00384521, vel: 1, rad: 1, stop: false} +- point: {x: 11.2283, y: 0.737249, z: 0.00480747, vel: 1, rad: 1, stop: false} +finish_pose: + header: {seq: 0, stamp: 113.132000000, frame_id: map} + pose: + position: {x: 9.27349, y: 0.143879, z: 0} + orientation: {x: 0, y: 0, z: 0.999983, w: 0.00578372} diff --git a/src/tsukuba2022/launch/buildmap_from_bag.launch b/src/tsukuba2022/launch/buildmap_from_bag.launch new file mode 100644 index 0000000..bd635a5 --- /dev/null +++ b/src/tsukuba2022/launch/buildmap_from_bag.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/src/tsukuba2022/launch/buildmap_teleop_joy.launch b/src/tsukuba2022/launch/buildmap_teleop_joy.launch new file mode 100644 index 0000000..acdc48d --- /dev/null +++ b/src/tsukuba2022/launch/buildmap_teleop_joy.launch @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/tsukuba2022/launch/motor.launch b/src/tsukuba2022/launch/motor.launch new file mode 100644 index 0000000..e41ec65 --- /dev/null +++ b/src/tsukuba2022/launch/motor.launch @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/tsukuba2022/launch/segmentaion.launch b/src/tsukuba2022/launch/segmentaion.launch new file mode 100644 index 0000000..6141ea3 --- /dev/null +++ b/src/tsukuba2022/launch/segmentaion.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/tsukuba2022/launch/start.launch b/src/tsukuba2022/launch/start.launch new file mode 100644 index 0000000..6c5fd1e --- /dev/null +++ b/src/tsukuba2022/launch/start.launch @@ -0,0 +1,140 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/tsukuba2022/launch/start_sim.launch b/src/tsukuba2022/launch/start_sim.launch index 287dc1b..dedba07 100644 --- a/src/tsukuba2022/launch/start_sim.launch +++ b/src/tsukuba2022/launch/start_sim.launch @@ -1,47 +1,40 @@ - - - + - - - - + + + + - - + - - + + - - - + + + - - + args="-urdf -model orange2022 -param robot_description -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg roll) -P $(arg pitch) -Y $(arg yaw)"/> - - - + + + - @@ -49,33 +42,30 @@ - - - - - - - - - - + + + + + + + + - - + !-----> - - - - - - + - + + + + + + + diff --git a/src/tsukuba2022/launch/teb_local_planner_test.launch b/src/tsukuba2022/launch/teb_local_planner_test.launch new file mode 100644 index 0000000..27664e6 --- /dev/null +++ b/src/tsukuba2022/launch/teb_local_planner_test.launch @@ -0,0 +1,47 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/tsukuba2022/launch/teleop_joy.launch b/src/tsukuba2022/launch/teleop_joy.launch new file mode 100644 index 0000000..8b8fe08 --- /dev/null +++ b/src/tsukuba2022/launch/teleop_joy.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/tsukuba2022/launch/waypoint_navigation.launch b/src/tsukuba2022/launch/waypoint_navigation.launch new file mode 100644 index 0000000..a896ca9 --- /dev/null +++ b/src/tsukuba2022/launch/waypoint_navigation.launch @@ -0,0 +1,47 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/tsukuba2022/maps/mymap.pgm b/src/tsukuba2022/maps/mymap.pgm new file mode 100644 index 0000000..7bedc78 --- /dev/null +++ b/src/tsukuba2022/maps/mymap.pgm Binary files differ diff --git a/src/tsukuba2022/maps/mymap.yaml b/src/tsukuba2022/maps/mymap.yaml new file mode 100644 index 0000000..ca6f07f --- /dev/null +++ b/src/tsukuba2022/maps/mymap.yaml @@ -0,0 +1,7 @@ +image: /home/ubuntu/catkin_ws/src/tsukuba2022/maps/mymap.pgm +resolution: 0.050000 +origin: [-60.000000, -60.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/tsukuba2022/maps/mymap_nakaniwa.pgm b/src/tsukuba2022/maps/mymap_nakaniwa.pgm new file mode 100644 index 0000000..86ebccd --- /dev/null +++ b/src/tsukuba2022/maps/mymap_nakaniwa.pgm Binary files differ diff --git a/src/tsukuba2022/maps/mymap_nakaniwa.yaml b/src/tsukuba2022/maps/mymap_nakaniwa.yaml new file mode 100644 index 0000000..deebdb7 --- /dev/null +++ b/src/tsukuba2022/maps/mymap_nakaniwa.yaml @@ -0,0 +1,7 @@ +image: /home/ubuntu/catkin_ws/src/tsukuba2022/maps/mymap_nakaniwa.pgm +resolution: 0.050000 +origin: [-60.000000, -60.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/tsukuba2022/maps/mymap_sim_nakaniwa.pgm b/src/tsukuba2022/maps/mymap_sim_nakaniwa.pgm new file mode 100644 index 0000000..7bedc78 --- /dev/null +++ b/src/tsukuba2022/maps/mymap_sim_nakaniwa.pgm Binary files differ diff --git a/src/tsukuba2022/maps/mymap_sim_nakaniwa.yaml b/src/tsukuba2022/maps/mymap_sim_nakaniwa.yaml new file mode 100644 index 0000000..e95a921 --- /dev/null +++ b/src/tsukuba2022/maps/mymap_sim_nakaniwa.yaml @@ -0,0 +1,7 @@ +image: /home/ubuntu/catkin_ws/src/tsukuba2022/maps/mymap_sim_nakaniwa.pgm +resolution: 0.050000 +origin: [-60.000000, -60.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/tsukuba2022/meshes/chassis.dae b/src/tsukuba2022/meshes/chassis.dae index 5a23062..e6494a9 100644 --- a/src/tsukuba2022/meshes/chassis.dae +++ b/src/tsukuba2022/meshes/chassis.dae @@ -2,9 +2,9 @@ - 2022-05-02T17:34:38 - 2022-05-02T17:34:38 - + 2022-09-07T15:25:12 + 2022-09-07T15:25:12 + Z_UP @@ -12,9 +12,6 @@ - - - @@ -23,29 +20,7 @@ - 0.913725 0.913725 0.913725 1 - - - 1 1 1 1 - - - 1 - - - - - - 1 - - - - - - - - - - 0.301961 0.301961 0.301961 1 + 0.647059 0.647059 0.647059 1 1 1 1 1 @@ -68,9 +43,9 @@ - 0.557468 0.671506 -0.2 0.529468 0.671506 0.2 0.557468 0.671506 0.2 0.529468 0.671506 -0.2 0.529468 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 diff --git a/src/tsukuba2022/meshes/right_back_wheel.dae b/src/tsukuba2022/meshes/right_back_wheel.dae index d69c6ad..86ec930 100644 --- a/src/tsukuba2022/meshes/right_back_wheel.dae +++ b/src/tsukuba2022/meshes/right_back_wheel.dae @@ -2,9 +2,9 @@ - 2022-05-02T17:48:39 - 2022-05-02T17:48:39 - + 2022-09-07T14:56:31 + 2022-09-07T14:56:31 + Z_UP @@ -68,9 +68,9 @@ - -3.10097e-18 0 0.0035 -0.000607769 0.032 0.00344683 -0.000607769 -0.007 0.00344683 -0.00119707 0.032 0.00328892 -3.10097e-18 -0.007 0.0035 -0.00175 0.032 0.00303109 -0.00119707 -0.007 0.00328892 -0.00175 -0.007 0.00303109 -0.00224976 0.032 0.00268116 -0.00268116 0.032 0.00224976 -0.00224976 -0.007 0.00268116 -0.00303109 0.032 0.00175 -0.00268116 -0.007 0.00224976 -0.00303109 -0.007 0.00175 -0.00328892 0.032 0.00119707 -0.00344683 0.032 0.000607769 -0.00328892 -0.007 0.00119707 -0.0035 0.032 7.10543e-18 -0.00344683 -0.007 0.000607769 -0.0035 -0.007 7.10543e-18 -0.00344683 0.032 -0.000607769 -0.00328892 0.032 -0.00119707 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0 1 2 1 3 4 3 1 0 5 4 6 3 6 4 7 8 5 5 6 7 8 9 10 9 8 7 11 10 12 9 12 10 13 14 11 11 12 13 14 15 16 15 14 13 17 16 18 15 18 16 19 20 17 17 18 19 20 21 22 21 20 19 23 22 24 21 24 22 25 26 23 23 24 25 26 27 28 27 26 25 29 28 30 27 30 28 31 32 29 29 30 31 32 33 34 33 32 31 35 34 36 33 36 34 37 38 35 35 36 37 38 39 40 39 38 37 41 40 42 39 42 40 43 44 41 41 42 43 44 45 46 45 44 43 47 46 48 45 48 46 49 50 47 47 48 49 50 51 52 51 50 49 53 52 54 51 54 52 55 56 53 53 54 55 56 57 58 57 56 55 59 58 60 57 60 58 61 62 59 59 60 61 62 63 64 63 62 61 65 64 66 63 66 64 67 68 65 65 66 67 68 69 70 69 68 67 71 70 72 69 72 70 73 74 71 71 72 73 74 75 76 75 74 73 77 76 78 75 78 76 79 80 77 77 78 79 80 81 82 81 80 79 83 82 84 81 84 82 85 86 83 83 84 85 86 87 88 87 86 85 89 88 90 87 90 88 91 92 89 89 90 91 92 93 94 93 92 91 95 94 96 93 96 94 97 98 95 95 96 97 98 99 100 99 98 97 101 100 102 99 102 100 103 104 101 101 102 103 104 105 106 105 104 103 107 106 108 105 108 106 109 110 107 107 108 109 111 110 109 111 112 110 0 2 113 114 113 115 2 115 113 116 117 114 114 115 116 117 118 119 118 117 116 120 119 121 118 121 119 122 123 120 120 121 122 123 124 125 124 123 122 126 125 127 124 127 125 128 129 126 126 127 128 129 130 131 130 129 128 132 131 133 130 133 131 134 135 132 132 133 134 135 136 137 136 135 134 138 137 139 136 139 137 140 141 138 138 139 140 141 142 143 142 141 140 144 143 145 142 145 143 146 147 144 144 145 146 147 148 149 148 147 146 150 149 151 148 151 149 152 153 150 150 151 152 153 154 155 154 153 152 156 155 157 154 157 155 158 159 156 156 157 158 159 160 161 160 159 158 162 161 163 160 163 161 164 165 162 162 163 164 165 166 167 166 165 164 168 167 169 166 169 167 170 171 168 168 169 170 171 172 173 172 171 170 174 173 175 172 175 173 176 177 174 174 175 176 177 178 179 178 177 176 180 179 181 178 181 179 182 183 180 180 181 182 183 184 185 184 183 182 186 185 187 184 187 185 188 189 186 186 187 188 189 190 191 190 189 188 192 191 193 190 193 191 194 195 192 192 193 194 195 196 197 196 195 194 198 197 199 196 199 197 200 201 198 198 199 200 201 202 203 202 201 200 204 203 205 202 205 203 206 207 204 204 205 206 207 208 209 208 207 206 210 209 211 208 211 209 212 213 210 210 211 212 213 214 215 214 213 212 216 215 217 214 217 215 218 219 216 216 217 218 219 220 221 220 219 218 220 112 221 221 112 111

+

382 384 383 385 387 386 388 390 389 391 393 392 394 396 395 397 399 398 400 402 401 403 405 404 406 408 407 409 411 410 412 414 413 415 417 416 418 420 419 421 423 422 424 426 425 427 429 428 430 432 431 433 435 434 436 438 437 439 441 440 440 434 439 442 443 441 440 441 443 444 442 445 442 444 443 445 447 446 446 444 445 448 449 447 446 447 449 450 448 451 448 450 449 451 453 452 452 450 451 454 455 453 452 453 455 383 454 456 454 383 455 435 433 437 434 435 439 429 438 436 436 437 433 432 427 428 427 438 429 430 431 421 432 428 431 422 423 424 430 421 422 426 416 425 423 426 424 415 419 417 416 417 425 411 420 418 418 419 415 414 409 410 409 420 411 410 413 414 412 403 404 412 413 403 405 408 406 404 405 406 398 399 407 408 398 407 400 401 397 397 401 399 391 402 393 393 402 400 396 392 395 396 391 392 394 385 386 394 395 385 387 388 389 386 387 389 384 382 390 388 384 390 383 456 382

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126 123 125 124 127 128 126 125 126 128 127 129 130 130 128 127 131 129 4 129 131 130 132 133 134 131 4 3 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 215 214 217 218 213 213 215 217 218 219 220 219 218 217 221 220 222 219 222 220 223 224 221 221 222 223 224 225 226 225 224 223 227 226 228 225 228 226 229 230 227 227 228 229 230 231 232 231 230 229 233 232 234 231 234 232 235 236 233 233 234 235 236 237 238 237 236 235 239 238 240 237 240 238 65 63 239 239 240 65 207 209 216 207 216 214 208 210 212 208 212 209 211 202 201 210 202 211 204 203 205 201 203 204 196 206 197 206 205 197 200 199 195 199 196 195 189 191 198 189 198 200 190 192 194 190 194 191 193 184 183 192 184 193 186 185 187 183 185 186 178 188 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1946 1948 1947 1949 1947 1950 1948 1950 1947 1951 1952 1949 1949 1950 1951 1952 1954 1953 1954 1952 1951 1955 1953 1956 1954 1956 1953 1957 1958 1955 1955 1956 1957 1958 1960 1959 1960 1958 1957 1961 1959 1962 1960 1962 1959 1963 1964 1961 1961 1962 1963 1964 1966 1965 1966 1964 1963 1967 1965 1968 1966 1968 1965 1969 1970 1967 1967 1968 1969 1970 1972 1971 1972 1970 1969 1973 1971 1974 1972 1974 1971 1975 1976 1973 1973 1974 1975 1976 1978 1977 1978 1976 1975 1979 1977 1980 1978 1980 1977 1981 1982 1979 1979 1980 1981 1982 1984 1983 1984 1982 1981 1985 1983 1986 1984 1986 1983 1987 1988 1985 1985 1986 1987 1988 1990 1989 1990 1988 1987 1991 1989 1992 1990 1992 1989 1993 1994 1991 1991 1992 1993 1994 1996 1995 1996 1994 1993 1997 1995 1998 1996 1998 1995 1999 2000 1997 1997 1998 1999 2000 2002 2001 2002 2000 1999 2003 2001 2004 2002 2004 2001 2005 2006 2003 2003 2004 2005 2006 2008 2007 2008 2006 2005 2009 2007 2010 2008 2010 2007 2011 2012 2009 2009 2010 2011 2012 2014 2013 2014 2012 2011 2015 2013 2016 2014 2016 2013 2017 2018 2015 2015 2016 2017 2018 2020 2019 2020 2018 2017 2021 2019 2022 2020 2022 2019 2023 2024 2021 2021 2022 2023 2024 2026 2025 2026 2024 2023 2027 2025 2028 2026 2028 2025 2029 2030 2027 2027 2028 2029 2030 2032 2031 2032 2030 2029 2033 2031 2034 2032 2034 2031 2035 2036 2033 2033 2034 2035 2036 2038 2037 2038 2036 2035 2039 2037 2040 2038 2040 2037 2041 2042 2039 2039 2040 2041 2042 2044 2043 2044 2042 2041 2045 2043 2046 2044 2046 2043 2047 2048 2045 2045 2046 2047 2048 2050 2049 2050 2048 2047 2051 2049 2052 2050 2052 2049 2053 2054 2051 2051 2052 2053 2054 2056 2055 2056 2054 2053 2057 2055 2058 2056 2058 2055 2059 2060 2057 2057 2058 2059 2060 2062 2061 2062 2060 2059 2063 2061 2064 2062 2064 2061 2065 2066 2063 2063 2064 2065 2066 2068 2067 2068 2066 2065 2069 2067 2070 2068 2070 2067 2071 2072 2069 2069 2070 2071 2072 2074 2073 2074 2072 2071 2075 2073 2076 2074 2076 2073 2077 2078 2075 2075 2076 2077 2078 2080 2079 2080 2078 2077 2081 2079 2082 2080 2082 2079 2083 2084 2081 2081 2082 2083 2085 2084 2083 2085 2086 2084 1948 1946 2087 2088 2089 2087 2087 1946 2088 2089 2091 2090 2091 2089 2088 2092 2090 2093 2091 2093 2090 2094 2095 2092 2092 2093 2094 2095 2097 2096 2097 2095 2094 2098 2096 2099 2097 2099 2096 2100 2101 2098 2098 2099 2100 2101 2103 2102 2103 2101 2100 2104 2102 2105 2103 2105 2102 2106 2107 2104 2104 2105 2106 2107 2109 2108 2109 2107 2106 2110 2108 2111 2109 2111 2108 2112 2113 2110 2110 2111 2112 2113 2115 2114 2115 2113 2112 2116 2114 2117 2115 2117 2114 2118 2119 2116 2116 2117 2118 2119 2121 2120 2121 2119 2118 2122 2120 2123 2121 2123 2120 2124 2125 2122 2122 2123 2124 2125 2127 2126 2127 2125 2124 2128 2126 2129 2127 2129 2126 2130 2131 2128 2128 2129 2130 2131 2133 2132 2133 2131 2130 2134 2132 2135 2133 2135 2132 2136 2137 2134 2134 2135 2136 2137 2139 2138 2139 2137 2136 2140 2138 2141 2139 2141 2138 2142 2143 2140 2140 2141 2142 2143 2145 2144 2145 2143 2142 2146 2144 2147 2145 2147 2144 2148 2149 2146 2146 2147 2148 2149 2151 2150 2151 2149 2148 2152 2150 2153 2151 2153 2150 2154 2155 2152 2152 2153 2154 2155 2157 2156 2157 2155 2154 2158 2156 2159 2157 2159 2156 2160 2161 2158 2158 2159 2160 2161 2163 2162 2163 2161 2160 2164 2162 2165 2163 2165 2162 2166 2167 2164 2164 2165 2166 2167 2169 2168 2169 2167 2166 2170 2168 2171 2169 2171 2168 2172 2173 2170 2170 2171 2172 2173 2175 2174 2175 2173 2172 2176 2174 2177 2175 2177 2174 2178 2179 2176 2176 2177 2178 2179 2181 2180 2181 2179 2178 2182 2180 2183 2181 2183 2180 2184 2185 2182 2182 2183 2184 2185 2187 2186 2187 2185 2184 2188 2186 2189 2187 2189 2186 2190 2191 2188 2188 2189 2190 2191 2193 2192 2193 2191 2190 2194 2192 2195 2193 2195 2192 2196 2197 2194 2194 2195 2196 2197 2199 2198 2199 2197 2196 2200 2198 2201 2199 2201 2198 2202 2203 2200 2200 2201 2202 2203 2205 2204 2205 2203 2202 2206 2204 2207 2205 2207 2204 2208 2209 2206 2206 2207 2208 2209 2211 2210 2211 2209 2208 2212 2210 2213 2211 2213 2210 2214 2215 2212 2212 2213 2214 2215 2217 2216 2217 2215 2214 2218 2216 2219 2217 2219 2216 2220 2221 2218 2218 2219 2220 2221 2223 2222 2223 2221 2220 2223 2086 2222 2222 2086 2085

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 @@ -336,31 +163,11 @@ - + - 6.245e-17 1 0 0 -1 6.245e-17 0 0 0 0 1 0 0 0 0 1 + -1 5.97682e-29 -1.249e-16 0.0055865 -2.35922e-16 2.33487e-16 1 -1.20714e-17 5.99403e-29 1 -2.33487e-16 -0.0363488 0 0 0 1 - - 6.245e-17 1 0 0 -1 6.245e-17 0 0 0 0 1 0 0 0 0 1 - - - - 6.245e-17 1 0 0 -1 6.245e-17 0 0 0 0 1 0 0 0 0 1 - - - - 6.245e-17 1 0 0 -1 6.245e-17 0 0 0 0 1 0 0 0 0 1 - - - - 6.245e-17 1 0 0 -1 6.245e-17 0 0 0 0 1 0 0 0 0 1 - - - - 6.245e-17 1 0 0 -1 6.245e-17 0 0 0 0 1 0 0 0 0 1 - - @@ -370,56 +177,14 @@ - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + diff --git a/src/tsukuba2022/params/VLP16db.yaml b/src/tsukuba2022/params/VLP16db.yaml new file mode 100644 index 0000000..4717aea --- /dev/null +++ b/src/tsukuba2022/params/VLP16db.yaml @@ -0,0 +1,51 @@ +lasers: +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, rot_correction: 0.0, + vert_correction: -0.2617993877991494, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, rot_correction: 0.0, + vert_correction: 0.017453292519943295, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, rot_correction: 0.0, + vert_correction: -0.22689280275926285, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, rot_correction: 0.0, + vert_correction: 0.05235987755982989, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, rot_correction: 0.0, + vert_correction: -0.19198621771937624, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, rot_correction: 0.0, + vert_correction: 0.08726646259971647, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, rot_correction: 0.0, + vert_correction: -0.15707963267948966, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, rot_correction: 0.0, + vert_correction: 0.12217304763960307, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, rot_correction: 0.0, + vert_correction: -0.12217304763960307, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, rot_correction: 0.0, + vert_correction: 0.15707963267948966, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, rot_correction: 0.0, + vert_correction: -0.08726646259971647, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, rot_correction: 0.0, + vert_correction: 0.19198621771937624, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, rot_correction: 0.0, + vert_correction: -0.05235987755982989, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, rot_correction: 0.0, + vert_correction: 0.22689280275926285, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, rot_correction: 0.0, + vert_correction: -0.017453292519943295, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, rot_correction: 0.0, + vert_correction: 0.2617993877991494, vert_offset_correction: 0.0} +num_lasers: 16 +distance_resolution: 0.002 diff --git a/src/tsukuba2022/params/base_global_planner_params.yaml b/src/tsukuba2022/params/base_global_planner_params.yaml new file mode 100644 index 0000000..267db3d --- /dev/null +++ b/src/tsukuba2022/params/base_global_planner_params.yaml @@ -0,0 +1,17 @@ +base_global_planner: global_planner/GlobalPlanner + +GlobalPlanner: + allow_unknown: true + default_tolerance: 0.0 + visualize_potential: false + use_dijkstra: true + use_quadratic: true + use_grid_path: false + old_navfn_behavior: false + lethal_cost: 253 + neutral_cost: 66 + cost_factor: 0.55 + publish_potential: false + orientation_mode: 0 + orientation_window_size: 1 + outline_map: true \ No newline at end of file diff --git a/src/tsukuba2022/params/base_local_planner_params.yaml b/src/tsukuba2022/params/base_local_planner_params.yaml new file mode 100644 index 0000000..9ac04fc --- /dev/null +++ b/src/tsukuba2022/params/base_local_planner_params.yaml @@ -0,0 +1,33 @@ +base_local_planner: base_local_planner/TrajectoryPlannerROS + +TrajectoryPlannerROS: + # Robot Configuration Parameters + holonomic_robot: false + acc_lim_x: 3.5 + acc_lim_theta: 1.0 #1.5 + max_vel_x: 2.0 + min_vel_x: 0.1 + max_vel_theta: 0.3 + min_vel_theta: -0.3 #-0.4 + min_in_place_vel_theta: 0.3 #0.2 + escape_vel: -0.2 + + # Goal Tolerance Parameters + yaw_goal_tolerance: 0.5 + xy_goal_tolerance: 0.4 + + # Forward Simulation Parameters + sim_time: 3 + sim_granularity: 0.05 + vx_samples: 7 + vtheta_samples: 30 + + # Trajectory Scoring Parameters + dwa: true + meter_scoring: true + path_distance_bias: 0.4 #0.7 + goal_distance_bias: 1.0 #0.8 + occdist_scale : 0.05 #0.01 + heading_lookahead: 0.325 + heading_scoring: true + heading_scoring_timestep: 1.2 diff --git a/src/tsukuba2022/params/costmap_common_params.yaml b/src/tsukuba2022/params/costmap_common_params.yaml new file mode 100644 index 0000000..13b542b --- /dev/null +++ b/src/tsukuba2022/params/costmap_common_params.yaml @@ -0,0 +1,18 @@ +#max_obstacle_height: 0.60 # assume something like an arm is mounted on top of the robot +#obstacle_range: 4.0 #2.5 +#raytrace_range: 3.0 +#inflation_radius: 0.25 +#update_frequency: 2 + +#width: 5.0 +#height: 5.0 +#resolution: 0.15 + + +#observation_sources: scan point_cloud + +#scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, inf_is_valid: true, min_obstacle_height: 0.08, max_obstacle_height: 1.0} + +#point_cloud: {data_type: PointCloud, topic: /filtered_cloud, marking: true, clearing: true} + + diff --git a/src/tsukuba2022/params/dwa_local_planner_params.yaml b/src/tsukuba2022/params/dwa_local_planner_params.yaml new file mode 100644 index 0000000..5d40319 --- /dev/null +++ b/src/tsukuba2022/params/dwa_local_planner_params.yaml @@ -0,0 +1,32 @@ +base_local_planner: dwa_local_planner/DWAPlannerROS + +DWAPlannerROS: + # Robot Configuration Parameters + holonomic_robot: false + acc_lim_x: 0.8 + acc_lim_theta: 0.2 + max_vel_x: 1.0 + min_vel_x: -0.1 + max_vel_trans: 1.0 + min_vel_trans: -0.1 + max_rot_vel: 0.4 #0.1 #0.8 + min_rot_vel: -0.4 #-0.1 #-0.8 + + # Goal Tolerance Parameters + yaw_goal_tolerance: 0.3 + xy_goal_tolerance: 0.1 + + # Forward Simulation Parameters + sim_time: 1.0 + sim_granularity: 0.03 + vx_samples: 3 + vth_samples: 16 + + # Trajectory Scoring Parameters + path_distance_bias: 36 + goal_distance_bias: 24 + occdist_scale : 0.01 + forward_point_destance: 0.325 + stop_time_buffer: 0.2 + scaling_speed: 0.25 + max_scaling_factor: 0.2 diff --git a/src/tsukuba2022/params/foot_print.yaml b/src/tsukuba2022/params/foot_print.yaml new file mode 100644 index 0000000..9b61904 --- /dev/null +++ b/src/tsukuba2022/params/foot_print.yaml @@ -0,0 +1 @@ +footprint: [ [0.25, 0.45], [0.25, -0.45], [-0.65, -0.45], [-0.65, 0.45] ] diff --git a/src/tsukuba2022/params/global_costmap_params.yaml b/src/tsukuba2022/params/global_costmap_params.yaml new file mode 100644 index 0000000..79eb8ec --- /dev/null +++ b/src/tsukuba2022/params/global_costmap_params.yaml @@ -0,0 +1,24 @@ +global_costmap: + map_topic: map #map_for_costmap + global_frame: map + robot_base_frame: base_footprint + update_frequency: 1.0 + publish_frequency: 1.0 + transform_tolerance: 1.0 + always_send_full_costmap: false + rolling_window: false + resolution: 0.1 + + plugins: + - {name: static_layer, type: "costmap_2d::StaticLayer"} + - {name: inflater_layer, type: "costmap_2d::InflationLayer"} + + static_layer: + map_topic: map + subscribe_to_updates: true + lethal_cost_threshold: 50 + track_unknown_space: false + + inflater_layer: + inflation_radius: 1.5 + cost_scaling_factor: 2.0 diff --git a/src/tsukuba2022/params/gmapping_common_params.yaml b/src/tsukuba2022/params/gmapping_common_params.yaml new file mode 100644 index 0000000..0261dbb --- /dev/null +++ b/src/tsukuba2022/params/gmapping_common_params.yaml @@ -0,0 +1,35 @@ +inverted_laser: false +throttle_scans: 1 +base_frame: base_footprint +map_frame: map +odom_frame: odom +map_update_interval: 2.0 +maxUrange: 40.0 +sigma: 0.05 +kernelSize: 1 +lstep: 0.05 +astep: 0.05 +iterations: 5 +lsigma: 0.075 +ogain: 3.0 +lskip: 1 +minimumScore: 0.0 +srr: 0.01 +srt: 0.02 +str: 0.01 +stt: 0.02 +linearUpdate: 0.5 +angularUpdate: 0.2 +temporalUpdate: -1.0 +resampleThreshold: 0.5 +particles: 20 +xmin: -60.0 +ymin: -60.0 +xmax: 60.0 +ymax: 60.0 +delta: 0.05 +llsamplerange: 0.01 +llsamplestep: 0.01 +lasamplerange: 0.005 +transform_publish_period: 0.05 +occ_thresh: 0.2 diff --git a/src/tsukuba2022/params/local_costmap_params.yaml b/src/tsukuba2022/params/local_costmap_params.yaml new file mode 100644 index 0000000..dae69df --- /dev/null +++ b/src/tsukuba2022/params/local_costmap_params.yaml @@ -0,0 +1,36 @@ +local_costmap: + global_frame: map + robot_base_frame: base_footprint + update_frequency: 5.0 + publish_frequency: 5.0 + rolling_window: true + resolution: 0.1 + width: 10.0 + height: 10.0 + always_send_full_costmap: true + transform_tolerance: 1.0 + + plugins: + - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"} + - {name: inflater_layer, type: "costmap_2d::InflationLayer"} + + obstacle_layer: + observation_sources: scan + scan: + data_type: LaserScan + topic: /scan + sensor_frame: velodyne_link + marking: true + clearing: true + inf_is_valid: true + max_obstacle_height: 2.5 + min_obstacle_height: 0.0 + obstacle_range: 8 + raytrace_range: 8 + observation_persistence: 0.0 + + inflater_layer: + inflation_radius: 0.2 + cost_scaling_factor: 3.0 + +# https://answers.ros.org/question/326867/local_costmap-not-showing-every-obstacle/ diff --git a/src/tsukuba2022/params/localization_params.yaml b/src/tsukuba2022/params/localization_params.yaml new file mode 100644 index 0000000..58cc5f4 --- /dev/null +++ b/src/tsukuba2022/params/localization_params.yaml @@ -0,0 +1,30 @@ +odom_model_type: diff +odom_alpha5: 0.1 +transform_tolerance: 0.5 #0.2 +gui_publish_rate: 10.0 +laser_max_beams: 30 +min_particles: 100 +max_particles: 5000 +kld_err: 0.05 +kld_z: 0.99 +odom_alpha1: 0.2 +odom_alpha2: 0.2 +odom_alpha4: 0.4 +laser_z_hit: 0.5 +laser_z_short: 0.05 +laser_z_max: 0.05 +laser_z_rand: 0.5 +laser_sigma_hit: 0.2 +laser_lambda_short: 0.1 +laser_lambda_short: 0.1 +laser_model_type: likelihood_field +laser_likelihood_max_dist: 2.0 +update_min_d: 0.2 +update_min_a: 0.5 +odom_frame_id: odom +base_frame_od: base_footprint +resample_interval: 1 +recovery_alpha_slow: 0.0 +recovery_alpha_fast: 0.0 + +reset_th_alpha: 0.003 diff --git a/src/tsukuba2022/params/move_base_params.yaml b/src/tsukuba2022/params/move_base_params.yaml new file mode 100644 index 0000000..5acfd08 --- /dev/null +++ b/src/tsukuba2022/params/move_base_params.yaml @@ -0,0 +1,15 @@ +# Move base node parameters. For full documentation of the parameters in this file, please see +# +# http://www.ros.org/wiki/move_base +# + +shutdown_costmaps: true + +controller_frequency: 6 +controller_patience: 3.0 + +planner_frequency: 0.5 +planner_patience: 5.0 + +oscillation_timeout: 10.0 +oscillation_distance: 0.2 diff --git a/src/tsukuba2022/params/pointcloud_to_laserscan_params.yaml b/src/tsukuba2022/params/pointcloud_to_laserscan_params.yaml index 3687b3d..4df1b20 100644 --- a/src/tsukuba2022/params/pointcloud_to_laserscan_params.yaml +++ b/src/tsukuba2022/params/pointcloud_to_laserscan_params.yaml @@ -1,7 +1,7 @@ target_frame: velodyne_link # Leave disabled to output scan in pointcloud frame transform_tolerance: 0.01 min_height: -0.7 #-0.4 -max_height: 1.5 +max_height: 0.3 #1.5 angle_min: -2.3565 angle_max: 2.3565 angle_increment: 0.008711645 @@ -14,4 +14,4 @@ # 0 : Detect number of cores # 1 : Single threaded # 2->inf : Parallelism level -concurrency_level: 1 \ No newline at end of file +concurrency_level: 1 diff --git a/src/tsukuba2022/params/recovery_params.yaml b/src/tsukuba2022/params/recovery_params.yaml new file mode 100644 index 0000000..92afe1a --- /dev/null +++ b/src/tsukuba2022/params/recovery_params.yaml @@ -0,0 +1,4 @@ +recovery_behaviors: [{name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}, + {name: simple_lead_out, type: simple_lead_out/SimpleLeadOut}, + {name: rotate_recovery, type: rotate_recovery/RotateRecovery}, + {name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}] diff --git a/src/tsukuba2022/params/segmentation_params.yaml b/src/tsukuba2022/params/segmentation_params.yaml index ec4aeb1..2a6b3af 100644 --- a/src/tsukuba2022/params/segmentation_params.yaml +++ b/src/tsukuba2022/params/segmentation_params.yaml @@ -5,15 +5,15 @@ n_bins: 200 ## number of radial bins. n_segments: 720 ## number of radial segments. -max_dist_to_line: 0.1 ## maximum vertical distance of point to line to be considered ground. +max_dist_to_line: 0.35 #0.1 ## maximum vertical distance of point to line to be considered ground. -sensor_height: 1.205 # sensor height above ground. +sensor_height: 1.0 #1.205 # sensor height above ground. min_slope: 0.0 # minimum slope of a ground line. -max_slope: 1.5 ## maximum slope of a ground line. -max_fit_error: 0.05 # maximum error of a point during line fit. -long_threshold: 2.0 ## distance between points after which they are considered far from each other. -max_long_height: 0.2 # maximum height change to previous point in long line. -max_start_height: 0.3 ## maximum difference to estimated ground height to start a new line. +max_slope: 3.0 ## maximum slope of a ground line. +max_fit_error: 0.15 #0.05 # maximum error of a point during line fit. +long_threshold: 10.0 ## distance between points after which they are considered far from each other. +max_long_height: 0.3 # maximum height change to previous point in long line. +max_start_height: 0.5 ## maximum difference to estimated ground height to start a new line. line_search_angle: 0.2 ## how far to search in angular direction to find a line [rad]. gravity_aligned_frame: "" # Frame which has its z axis aligned with gravity. (Sensor frame if empty.) diff --git a/src/tsukuba2022/params/teb_local_planner_params.yaml b/src/tsukuba2022/params/teb_local_planner_params.yaml new file mode 100644 index 0000000..3198655 --- /dev/null +++ b/src/tsukuba2022/params/teb_local_planner_params.yaml @@ -0,0 +1,78 @@ +base_local_planner: teb_local_planner/TebLocalPlannerROS + +TebLocalPlannerROS: + + odom_topic: odom + map_frame: /map + + # Trajectory + teb_autosize: True + dt_ref: 0.5 #0.3 + dt_hysteresis: 0.1 + global_plan_overwrite_orientation: True + max_global_plan_lookahead_dist: 2.0 + feasibility_check_no_poses: 5 + + # Robot + max_vel_x: 1.6 + max_vel_x_backwards: 0.2 + max_vel_theta: 0.4 + acc_lim_x: 2.0 + acc_lim_theta: 1.0 + min_turning_radius: 0.0 + footprint_model: # types: "point", "circular", "two_circles", "line", "polygon" + type: "polygon" + # radius: 0.2 # for type "circular" + # line_start: [-0.3, 0.0] # for type "line" + # line_end: [0.3, 0.0] # for type "line" + # front_offset: 0.2 # for type "two_circles" + # front_radius: 0.2 # for type "two_circles" + # rear_offset: 0.2 # for type "two_circles" + # rear_radius: 0.2 # for type "two_circles" + vertices: [ [0.25, 0.4], [0.25, -0.4], [-0.65, -0.4], [-0.65, 0.4] ] # for type "polygon" + + # GoalTolerance + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.3 + free_goal_vel: False + + # Obstacles + min_obstacle_dist: 0.4 + inflation_dist: 0.0 #0.6 + include_costmap_obstacles: True + costmap_obstacles_behind_robot_dist: 1.0 + obstacle_poses_affected: 30 + costmap_converter_plugin: "" + costmap_converter_spin_thread: True + costmap_converter_rate: 5 + + # Optimization + no_inner_iterations: 4 #5 + no_outer_iterations: 3 #4 + optimization_activate: True + optimization_verbose: False + penalty_epsilon: 0.1 + weight_max_vel_x: 1000 #2 + weight_max_vel_theta: 1000 #1 + weight_acc_lim_x: 100 #1 + weight_acc_lim_theta: 100 #1 + weight_kinematics_nh: 1000 + weight_kinematics_forward_drive: 100 #1 + weight_kinematics_turning_radius: 1 + weight_optimaltime: 1 + weight_obstacle: 50 + weight_dynamic_obstacle: 10 # not in use yet + selection_alternative_time_cost: False # not in use yet + + # Homotopy Class Planner + enable_homotopy_class_planning: True + enable_multithreading: True + simple_exploration: False + max_number_classes: 3 #4 + roadmap_graph_no_samples: 15 + roadmap_graph_area_width: 5 + h_signature_prescaler: 0.5 + h_signature_threshold: 0.1 + obstacle_keypoint_offset: 0.1 + obstacle_heading_threshold: 0.45 + visualize_hc_graph: False \ No newline at end of file diff --git a/src/tsukuba2022/rviz_cfg/teb_nav.rviz b/src/tsukuba2022/rviz_cfg/teb_nav.rviz new file mode 100644 index 0000000..2f214d7 --- /dev/null +++ b/src/tsukuba2022/rviz_cfg/teb_nav.rviz @@ -0,0 +1,386 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 538 + - 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 + Name: Time + SyncMode: 0 + SyncSource: LaserScan + - Class: orne_rviz_plugins/StateTriggerPanel + Name: StateTriggerPanel +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: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + hokuyo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_caster_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_caster_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 0; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 170; 0; 0 + Min Color: 0; 85; 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 5 + Size (m): 0.10000000149011612 + Style: Points + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: Particles + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /particlecloud + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Global Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base/TebLocalPlannerROS/global_plan + Unreliable: false + Value: true + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Billboards + Line Width: 0.10000000149011612 + Name: Local Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base/TebLocalPlannerROS/local_plan + Unreliable: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: true + Enabled: true + Name: GlobalCostmap + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: LocalCostmap + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 0; 0; 127 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: Waypoints + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /waypoints + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 0; 0; 127 + Enabled: false + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Pose + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /move_base_simple/goal + Unreliable: false + Value: false + - Alpha: 1 + Class: rviz/PointStamped + Color: 204; 41; 204 + Enabled: false + History Length: 10 + Name: PointStamped + Queue Size: 10 + Radius: 0.20000000298023224 + Topic: /target_point + Unreliable: false + Value: false + - Alpha: 1 + Class: rviz/PointStamped + Color: 239; 41; 41 + Enabled: false + History Length: 1 + Name: PointStamped + Queue Size: 10 + Radius: 0.4000000059604645 + Topic: /filtered_target_point + Unreliable: false + Value: false + - Class: rviz/Marker + Enabled: true + Marker Topic: /move_base/TebLocalPlannerROS/teb_markers + Name: Teb Marker + Namespaces: + PointObstacles: true + RobotFootprintModel: true + TebContainer: true + Queue Size: 100 + Value: true + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 0; 0; 255 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: Teb Poses + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /move_base/TebLocalPlannerROS/teb_poses + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 10 + 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/ThirdPersonFollower + Distance: 29.42242431640625 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: -1.3679986000061035 + Y: 0.15001505613327026 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.5647963285446167 + Target Frame: base_link + Yaw: 3.135395050048828 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 786 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd000000040000000000000193000002b7fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e00000257000000cb00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000002200530074006100740065005400720069006700670065007200500061006e0065006c010000029b0000005a0000004100ffffff000000010000010f000002b3fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003e000002b3000000a500fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005e00000003bfc0100000002fb0000000800540069006d00650000000000000005e00000039300fffffffb0000000800540069006d0065010000000000000450000000000000000000000369000002b700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + StateTriggerPanel: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1282 + X: 218 + Y: 21 diff --git a/src/tsukuba2022/scripts/rename.sh b/src/tsukuba2022/scripts/rename.sh old mode 100644 new mode 100755 diff --git a/src/tsukuba2022/urdf/orange2022.gazebo b/src/tsukuba2022/urdf/orange2022.gazebo new file mode 100644 index 0000000..ae2b002 --- /dev/null +++ b/src/tsukuba2022/urdf/orange2022.gazebo @@ -0,0 +1,63 @@ + + + + + + cmd_vel + odom + base_link + odom + world + + true + false + false + + true + + true + + 30 + left_wheel_hinge + right_wheel_hinge + 0.670 + 0.192 + 1 + 10 + na + false + + + + + + + 5.0 + 5.0 + 1000000.0 + 100.0 + 0.001 + 1.0 + + + + + 5.0 + 5.0 + 1000000.0 + 100.0 + 0.001 + 1.0 + + + + + 0.0 + 0.0 + + + + 0.0 + 0.0 + + diff --git a/src/tsukuba2022/urdf/orange2022.xacro b/src/tsukuba2022/urdf/orange2022.xacro new file mode 100644 index 0000000..622cff8 --- /dev/null +++ b/src/tsukuba2022/urdf/orange2022.xacro @@ -0,0 +1,179 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + left_wheel + base_link + + + + + + + right_wheel + base_link + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/tsukuba2022/urdf/sensors/imu.urdf.xacro b/src/tsukuba2022/urdf/sensors/imu.urdf.xacro index dc674a6..2c54901 100644 --- a/src/tsukuba2022/urdf/sensors/imu.urdf.xacro +++ b/src/tsukuba2022/urdf/sensors/imu.urdf.xacro @@ -45,7 +45,7 @@ 0 0 0 - Gazebo/Turquoise + Gazebo/White diff --git a/src/tsukuba2022/world/hoseicourse.world b/src/tsukuba2022/world/hoseicourse.world index 55401b4..be81612 100644 --- a/src/tsukuba2022/world/hoseicourse.world +++ b/src/tsukuba2022/world/hoseicourse.world @@ -25,4 +25,4 @@ Course - \ No newline at end of file + diff --git a/src/turtlebot3/ISSUE_TEMPLATE.md b/src/turtlebot3/ISSUE_TEMPLATE.md new file mode 100644 index 0000000..c36cfc2 --- /dev/null +++ b/src/turtlebot3/ISSUE_TEMPLATE.md @@ -0,0 +1,57 @@ +ISSUE TEMPLATE ver. 0.4.0 + +1. Which TurtleBot3 platform do you use? + + - [ ] Burger + - [ ] Waffle + - [ ] Waffle Pi + +2. Which ROS is working with TurtleBot3? + + - [ ] ROS 1 Kinetic Kame + - [ ] ROS 1 Melodic Morenia + - [ ] ROS 1 Noetic Ninjemys + - [ ] ROS 2 Dashing Diademata + - [ ] ROS 2 Eloquent Elusor + - [ ] ROS 2 Foxy Fitzroy + - [ ] etc (Please specify your ROS Version here) + +3. Which SBC(Single Board Computer) is working on TurtleBot3? + + - [ ] Intel Joule 570x + - [ ] Raspberry Pi 3B+ + - [ ] Raspberry Pi 4 + - [ ] etc (Please specify your SBC here) + +4. Which OS you installed on SBC? + + - [ ] Raspbian distributed by ROBOTIS + - [ ] Ubuntu MATE (16.04/18.04/20.04) + - [ ] Ubuntu preinstalled server (18.04/20.04) + - [ ] etc (Please specify your OS here) + +5. Which OS you installed on Remote PC? + + - [ ] Ubuntu 16.04 LTS (Xenial Xerus) + - [ ] Ubuntu 18.04 LTS (Bionic Beaver) + - [ ] Ubuntu 20.04 LTS (Focal Fossa) + - [ ] Windows 10 + - [ ] MAC OS X (Specify version) + - [ ] etc (Please specify your OS here) + +6. Specify the software and firmware version(Can be found from Bringup messages) + + - Software version: [x.x.x] + - Firmware version: [x.x.x] + +7. Specify the commands or instructions to reproduce the issue. + + - HERE + +8. Copy and Paste the error messages on terminal. + + - HERE + +9. Please describe the issue in detail. + + - HERE diff --git a/src/turtlebot3/LICENSE b/src/turtlebot3/LICENSE new file mode 100644 index 0000000..8dada3e --- /dev/null +++ b/src/turtlebot3/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/kinetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/kinetic-devel) + +[![melodic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/melodic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/melodic-devel) + +[![noetic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/noetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/noetic-devel) + +[![dashing-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/dashing-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/dashing-devel) + +[![foxy-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/foxy-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/foxy-devel) + +[![galactic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/galactic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/galactic-devel) + +## ROBOTIS e-Manual for TurtleBot3 +- [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/) + +## Wiki for turtlebot3 Packages +- http://wiki.ros.org/turtlebot3 (metapackage) +- http://wiki.ros.org/turtlebot3_bringup +- http://wiki.ros.org/turtlebot3_description +- http://wiki.ros.org/turtlebot3_example +- http://wiki.ros.org/turtlebot3_navigation +- http://wiki.ros.org/turtlebot3_slam +- http://wiki.ros.org/turtlebot3_teleop + +## Open Source related to TurtleBot3 +- [turtlebot3](https://github.com/ROBOTIS-GIT/turtlebot3) +- [turtlebot3_msgs](https://github.com/ROBOTIS-GIT/turtlebot3_msgs) +- [turtlebot3_simulations](https://github.com/ROBOTIS-GIT/turtlebot3_simulations) +- [turtlebot3_applications_msgs](https://github.com/ROBOTIS-GIT/turtlebot3_applications_msgs) +- [turtlebot3_applications](https://github.com/ROBOTIS-GIT/turtlebot3_applications) +- [turtlebot3_autorace](https://github.com/ROBOTIS-GIT/turtlebot3_autorace) +- [turtlebot3_deliver](https://github.com/ROBOTIS-GIT/turtlebot3_deliver) +- [hls_lfcd_lds_driver](https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver) +- [turtlebot3_manipulation](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation.git) +- [turtlebot3_manipulation_simulations](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation_simulations.git) +- [open_manipulator_msgs](https://github.com/ROBOTIS-GIT/open_manipulator_msgs) +- [open_manipulator](https://github.com/ROBOTIS-GIT/open_manipulator) +- [open_manipulator_simulations](https://github.com/ROBOTIS-GIT/open_manipulator_simulations) +- [open_manipulator_perceptions](https://github.com/ROBOTIS-GIT/open_manipulator_perceptions) +- [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK) +- [OpenCR-Hardware](https://github.com/ROBOTIS-GIT/OpenCR-Hardware) +- [OpenCR](https://github.com/ROBOTIS-GIT/OpenCR) + +## Documents and Videos related to TurtleBot3 +- [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/) +- [ROBOTIS e-Manual for OpenManipulator](http://emanual.robotis.com/docs/en/platform/openmanipulator/) +- [ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/) +- [Website for TurtleBot Series](http://www.turtlebot.com/) +- [e-Book for TurtleBot3](https://community.robotsource.org/t/download-the-ros-robot-programming-book-for-free/51/) +- [Videos for TurtleBot3 ](https://www.youtube.com/playlist?list=PLRG6WP3c31_XI3wlvHlx2Mp8BYqgqDURU) diff --git a/src/turtlebot3/turtlebot3/CHANGELOG.rst b/src/turtlebot3/turtlebot3/CHANGELOG.rst new file mode 100644 index 0000000..7a5e478 --- /dev/null +++ b/src/turtlebot3/turtlebot3/CHANGELOG.rst @@ -0,0 +1,155 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package turtlebot3 +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.2.6 (2022-02-24) +------------------ +* add LDS-02 support +* Use OpenCV for Picam(Noetic only) +* Fix teleop_key on Windows 10 +* Contributors: Rushikesh Kamalapurkar, Ashe Kim, Will Son + +1.2.5 (2020-12-30) +------------------ +* Python 2/3 compatibility fix +* Rectify IMU update rate to 0 on Gazebo +* Contributors: Sean Yen, PinkDraconian + +1.2.4 (2020-09-29) +------------------ +* Package info updated +* Contributors: Will Son + +1.2.3 (2020-03-03) +------------------ +* Updated inertial data in turtlebot3_waffle_for_open_manipulator.urdf.xacro, turtlebot3_waffle_pi_for_open_manipulator.urdf.xacro +* Added turtlebot3_manipulation_slam.launch for TurtleBot3 SLAM with OpenMANIPULATOR +* Contributors: Ryan Shim, Will Son + +1.2.2 (2019-08-20) +------------------ +* Fixed `dwa local planner params` for dwa_local_planner 1.16.2 `#415 `_ +* This patch only applies to ROS 1 Melodic. +* Contributors: atinfinity, Kayman + +1.2.1 (2019-08-20) +------------------ +* Fixed typo `#436 `_ +* Fixed ROS_ASSERT bug `#416 `_ +* Deleted '/' to sync tf2 `#402 `_ +* Added turtlebot3_remote.launch to turtlebot3_model.launch `#389 `_ +* Contributors: Jonathan Hechtbauer, Pallav Bhalla, ant, Ryan Shim, Kayman, Darby Lim, Gilbert, Pyo + +1.2.0 (2019-01-22) +------------------ +* changed math.ceil() operation `#373 `_ +* fixed TypeError integers +* fixed read of scanned samples when there isn't 360 +* updated map.yaml `#348 `_ +* added an additional argument move_forward_only to prohibit backward locomotion in navigation `#339 `_ +* fixed typo `#280 `_ +* added windows port `#358 `_ +* Contributors: Gilbert, Darby Lim, linzhibo, oiz5201618, yoshimalucky, Steven Macenski, Eduardo Avelar, Sean Yen, Pyo + +1.1.0 (2018-07-23) +------------------ +* added bringup to load multiple robot simply #251 +* added arguments for multiple robot +* added odometrySource +* modified camera topic name +* modified base_scan update_rate and add param on diff_drive #258 +* modified the laser scanner update_rate in the gazebo xacro files #258 +* modified origin of collision in Waffle URDF +* updated turtlebot3_diagnostic node +* updated firmware version from 1.2.0 to 1.2.2 +* updated get firmware version +* updated version check function +* updated warn msg for version check +* deleted unused get_scan function #227 +* Contributors: Darby Lim, Gilbert, Eduardo Avelar, shtseng, Pyo + +1.0.0 (2018-05-29) +------------------ +* added cartographer +* added hector mapping +* added karto SLAM +* added frontier_exploration +* added launch files to run various SLAMs +* added robot model for OpenManipulator and turtlebot3_autorace +* added exec python nodes like marker_server in catkin_install_python +* added frameName for imu on gazebo (however, there is no effect.) +* added variable to check version only once (turtlebot3_bringup) +* modified global names `#211 `_ from FurqanHabibi/fix_global_topic_name +* modified gmapping parameters +* modified navigation parameters +* modified version check and firmware version (turtlebot3_bringup) +* modified robot names +* modified range of lidar, lidar position, scan param +* modified camera position and fixed slip bug +* modified waffle_pi stl files +* modified initial value, profile function, limit velocity msg (teleop) +* merged pull request `#154 `_ `#153 `_ `#148 `_ `#147 `_ `#146 `_ `#145 `_ +* Contributors: Darby Lim, Leon Jung, Gilbert, KurtE, ncnynl, FurqanHabibi, skasperski, ihadzic, Pyo + +0.2.1 (2018-03-14) +------------------ +* added install directory +* refactoring for release +* Contributors: Pyo + +0.2.0 (2018-03-12) +------------------ +* added turtlebot3_rpicamera.launch for raspberry pi camera +* added waffle pi model (urdf and gazebo) +* added verion check function +* added diagnostics node +* added scripts for reload rules +* added example package +* modified firmware version +* modified param config +* modified topic of gazebo plugin +* modified r200 tf tree +* modified gazebo imu link +* removed the large bag file and added download command from other site +* refactoring for release +* Contributors: Darby Lim, Gilbert, Leon Jung, Pyo + +0.1.6 (2017-08-14) +------------------ +* fixed typo +* fixed xacro.py deprecation +* modified file location +* updated nav param +* updated SLAM param +* updated model.launch +* updated IMU link +* updated gazebo config +* Contributors: Darby Lim, Hunter L. Allen + +0.1.5 (2017-05-25) +------------------ +* updated turtlebot3 waffle URDF +* changed the node name from hlds_laser_publisher to turtlebot3_lds +* modified bag and map files +* added SLAM bag file +* Contributors: Darby Lim, Pyo + +0.1.4 (2017-05-23) +------------------ +* modified launch file name +* added teleop package +* Contributors: Darby Lim + +0.1.3 (2017-04-24) +------------------ +* Detached turtlebot3_msgs package from turtlebot3 package for uploading to rosdistro +* modified the package information for release +* modified SLAM param +* modified the description, authors, depend option and delete the core package +* modified the turtlebot bringup files +* modified pkg setting for turtlebot3_core +* modified the navigation package and turtlebot3 node for demo +* modified the wheel speed gain +* added Intel RealSense R200 +* added LDS sensor +* Contributors: Darby Lim, Leon Jung, Pyo diff --git a/src/turtlebot3/turtlebot3/CMakeLists.txt b/src/turtlebot3/turtlebot3/CMakeLists.txt new file mode 100644 index 0000000..64469eb --- /dev/null +++ b/src/turtlebot3/turtlebot3/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 3.0.2) +project(turtlebot3) +find_package(catkin REQUIRED) +catkin_metapackage() diff --git a/src/turtlebot3/turtlebot3/package.xml b/src/turtlebot3/turtlebot3/package.xml new file mode 100644 index 0000000..e766173 --- /dev/null +++ b/src/turtlebot3/turtlebot3/package.xml @@ -0,0 +1,29 @@ + + + turtlebot3 + 1.2.6 + + ROS packages for the Turtlebot3 (meta package) + + Apache 2.0 + BSD + Pyo + Darby Lim + Gilbert + HanCheol Cho + Ashe Kim + Leon Jung + Will Son + http://wiki.ros.org/turtlebot3 + http://turtlebot3.robotis.com + https://github.com/ROBOTIS-GIT/turtlebot3 + https://github.com/ROBOTIS-GIT/turtlebot3/issues + catkin + turtlebot3_bringup + turtlebot3_description + turtlebot3_example + turtlebot3_navigation + turtlebot3_slam + turtlebot3_teleop + + diff --git a/src/turtlebot3/turtlebot3_teleop/CHANGELOG.rst b/src/turtlebot3/turtlebot3_teleop/CHANGELOG.rst new file mode 100644 index 0000000..d266a37 --- /dev/null +++ b/src/turtlebot3/turtlebot3_teleop/CHANGELOG.rst @@ -0,0 +1,73 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package turtlebot3_teleop +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.2.6 (2022-02-24) +------------------ +* Fix teleop_key on Windows 10 +* Contributors: Rushikesh Kamalapurkar + +1.2.5 (2020-12-30) +------------------ +* Python 2/3 compatibility fix +* Contributors: Sean Yen + +1.2.4 (2020-09-29) +------------------ +* Package info updated +* Contributors: Will Son + +1.2.3 (2020-03-03) +------------------ +* none + +1.2.2 (2019-08-20) +------------------ +* none + +1.2.1 (2019-08-20) +------------------ +* none + +1.2.0 (2019-01-22) +------------------ +* added windows port `#358 `_ +* Contributors: Sean Yen, Taehun Lim + +1.1.0 (2018-07-23) +------------------ +* none + +1.0.0 (2018-05-29) +------------------ +* added constrain to limit velocity +* modified initial value, profile function, limit velocity msg +* modified global names `#211 `_ from FurqanHabibi/fix_global_topic_name +* Contributors: Darby Lim, Muhammad Furqan Habibi, Pyo + +0.2.1 (2018-03-14) +------------------ +* none + +0.2.0 (2018-03-12) +------------------ +* refactoring for release +* Contributors: Pyo + +0.1.6 (2017-08-14) +------------------ +* none + +0.1.5 (2017-05-25) +------------------ +* none + +0.1.4 (2017-05-23) +------------------ +* modified launch file name +* added teleop package +* Contributors: Darby Lim + +0.1.3 (2017-04-24) +------------------ +* none diff --git a/src/turtlebot3/turtlebot3_teleop/CMakeLists.txt b/src/turtlebot3/turtlebot3_teleop/CMakeLists.txt new file mode 100644 index 0000000..48a5b1e --- /dev/null +++ b/src/turtlebot3/turtlebot3_teleop/CMakeLists.txt @@ -0,0 +1,53 @@ +################################################################################ +# Set minimum required version of cmake, project name and compile options +################################################################################ +cmake_minimum_required(VERSION 3.0.2) +project(turtlebot3_teleop) + +################################################################################ +# Find catkin packages and libraries for catkin and system dependencies +################################################################################ +find_package(catkin REQUIRED COMPONENTS + rospy + geometry_msgs +) + +################################################################################ +# Setup for python modules and scripts +################################################################################ +catkin_python_setup() + +################################################################################ +# Declare ROS messages, services and actions +################################################################################ + +################################################################################ +# Declare ROS dynamic reconfigure parameters +################################################################################ + +################################################################################ +# Declare catkin specific configuration to be passed to dependent projects +################################################################################ +catkin_package( + CATKIN_DEPENDS rospy geometry_msgs +) + +################################################################################ +# Build +################################################################################ + +################################################################################ +# Install +################################################################################ +catkin_install_python(PROGRAMS + nodes/turtlebot3_teleop_key + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +################################################################################ +# Test +################################################################################ diff --git a/src/turtlebot3/turtlebot3_teleop/launch/turtlebot3_teleop_key.launch b/src/turtlebot3/turtlebot3_teleop/launch/turtlebot3_teleop_key.launch new file mode 100644 index 0000000..b6753ab --- /dev/null +++ b/src/turtlebot3/turtlebot3_teleop/launch/turtlebot3_teleop_key.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/src/turtlebot3/turtlebot3_teleop/nodes/turtlebot3_teleop_key b/src/turtlebot3/turtlebot3_teleop/nodes/turtlebot3_teleop_key new file mode 100755 index 0000000..f6b5d7d --- /dev/null +++ b/src/turtlebot3/turtlebot3_teleop/nodes/turtlebot3_teleop_key @@ -0,0 +1,202 @@ +#!/usr/bin/env python + +# Copyright (c) 2011, Willow Garage, 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 Willow Garage, Inc. 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 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. + +import rospy +from geometry_msgs.msg import Twist +import sys, select, os +if os.name == 'nt': + import msvcrt, time +else: + import tty, termios + +BURGER_MAX_LIN_VEL = 1.6 +BURGER_MAX_ANG_VEL = 2.84 + +WAFFLE_MAX_LIN_VEL = 0.26 +WAFFLE_MAX_ANG_VEL = 1.82 + +LIN_VEL_STEP_SIZE = 0.1 +ANG_VEL_STEP_SIZE = 0.1 + +msg = """ +Control Your TurtleBot3! +--------------------------- +Moving around: + w + a s d + x + +w/x : increase/decrease linear velocity (Burger : ~ 0.22, Waffle and Waffle Pi : ~ 0.26) +a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82) + +space key, s : force stop + +CTRL-C to quit +""" + +e = """ +Communications Failed +""" + +def getKey(): + if os.name == 'nt': + timeout = 0.1 + startTime = time.time() + while(1): + if msvcrt.kbhit(): + if sys.version_info[0] >= 3: + return msvcrt.getch().decode() + else: + return msvcrt.getch() + elif time.time() - startTime > timeout: + return '' + + tty.setraw(sys.stdin.fileno()) + rlist, _, _ = select.select([sys.stdin], [], [], 0.1) + if rlist: + key = sys.stdin.read(1) + else: + key = '' + + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) + return key + +def vels(target_linear_vel, target_angular_vel): + return "currently:\tlinear vel %s\t angular vel %s " % (target_linear_vel,target_angular_vel) + +def makeSimpleProfile(output, input, slop): + if input > output: + output = min( input, output + slop ) + elif input < output: + output = max( input, output - slop ) + else: + output = input + + return output + +def constrain(input, low, high): + if input < low: + input = low + elif input > high: + input = high + else: + input = input + + return input + +def checkLinearLimitVelocity(vel): + if turtlebot3_model == "burger": + vel = constrain(vel, -BURGER_MAX_LIN_VEL, BURGER_MAX_LIN_VEL) + elif turtlebot3_model == "waffle" or turtlebot3_model == "waffle_pi": + vel = constrain(vel, -WAFFLE_MAX_LIN_VEL, WAFFLE_MAX_LIN_VEL) + else: + vel = constrain(vel, -BURGER_MAX_LIN_VEL, BURGER_MAX_LIN_VEL) + + return vel + +def checkAngularLimitVelocity(vel): + if turtlebot3_model == "burger": + vel = constrain(vel, -BURGER_MAX_ANG_VEL, BURGER_MAX_ANG_VEL) + elif turtlebot3_model == "waffle" or turtlebot3_model == "waffle_pi": + vel = constrain(vel, -WAFFLE_MAX_ANG_VEL, WAFFLE_MAX_ANG_VEL) + else: + vel = constrain(vel, -BURGER_MAX_ANG_VEL, BURGER_MAX_ANG_VEL) + + return vel + +if __name__=="__main__": + if os.name != 'nt': + settings = termios.tcgetattr(sys.stdin) + + rospy.init_node('turtlebot3_teleop') + pub = rospy.Publisher('cmd_vel', Twist, queue_size=10) + + turtlebot3_model = rospy.get_param("model", "burger") + + status = 0 + target_linear_vel = 0.0 + target_angular_vel = 0.0 + control_linear_vel = 0.0 + control_angular_vel = 0.0 + + try: + print(msg) + while not rospy.is_shutdown(): + key = getKey() + if key == 'w' : + target_linear_vel = checkLinearLimitVelocity(target_linear_vel + LIN_VEL_STEP_SIZE) + status = status + 1 + print(vels(target_linear_vel,target_angular_vel)) + elif key == 'x' : + target_linear_vel = checkLinearLimitVelocity(target_linear_vel - LIN_VEL_STEP_SIZE) + status = status + 1 + print(vels(target_linear_vel,target_angular_vel)) + elif key == 'a' : + target_angular_vel = checkAngularLimitVelocity(target_angular_vel + ANG_VEL_STEP_SIZE) + status = status + 1 + print(vels(target_linear_vel,target_angular_vel)) + elif key == 'd' : + target_angular_vel = checkAngularLimitVelocity(target_angular_vel - ANG_VEL_STEP_SIZE) + status = status + 1 + print(vels(target_linear_vel,target_angular_vel)) + elif key == ' ' or key == 's' : + target_linear_vel = 0.0 + control_linear_vel = 0.0 + target_angular_vel = 0.0 + control_angular_vel = 0.0 + print(vels(target_linear_vel, target_angular_vel)) + else: + if (key == '\x03'): + break + + if status == 20 : + print(msg) + status = 0 + + twist = Twist() + + control_linear_vel = makeSimpleProfile(control_linear_vel, target_linear_vel, (LIN_VEL_STEP_SIZE/2.0)) + twist.linear.x = control_linear_vel; twist.linear.y = 0.0; twist.linear.z = 0.0 + + control_angular_vel = makeSimpleProfile(control_angular_vel, target_angular_vel, (ANG_VEL_STEP_SIZE/2.0)) + twist.angular.x = 0.0; twist.angular.y = 0.0; twist.angular.z = control_angular_vel + + pub.publish(twist) + + except: + print(e) + + finally: + twist = Twist() + twist.linear.x = 0.0; twist.linear.y = 0.0; twist.linear.z = 0.0 + twist.angular.x = 0.0; twist.angular.y = 0.0; twist.angular.z = 0.0 + pub.publish(twist) + + if os.name != 'nt': + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) diff --git a/src/turtlebot3/turtlebot3_teleop/package.xml b/src/turtlebot3/turtlebot3_teleop/package.xml new file mode 100644 index 0000000..5deb078 --- /dev/null +++ b/src/turtlebot3/turtlebot3_teleop/package.xml @@ -0,0 +1,20 @@ + + + turtlebot3_teleop + 1.2.6 + + Provides teleoperation using keyboard for TurtleBot3. + + BSD + Melonee Wise + Darby Lim + Pyo + Will Son + http://wiki.ros.org/turtlebot3_teleop + http://turtlebot3.robotis.com + https://github.com/ROBOTIS-GIT/turtlebot3 + https://github.com/ROBOTIS-GIT/turtlebot3/issues + catkin + rospy + geometry_msgs + diff --git a/src/turtlebot3/turtlebot3_teleop/setup.py b/src/turtlebot3/turtlebot3_teleop/setup.py new file mode 100644 index 0000000..0621677 --- /dev/null +++ b/src/turtlebot3/turtlebot3_teleop/setup.py @@ -0,0 +1,12 @@ +## ! 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=['turtlebot3_teleop'], + package_dir={'': 'src'} +) + +setup(**setup_args) diff --git a/src/turtlebot3/turtlebot3_teleop/src/turtlebot3_teleop/__init__.py b/src/turtlebot3/turtlebot3_teleop/src/turtlebot3_teleop/__init__.py new file mode 100644 index 0000000..e69de29 --- /dev/null +++ b/src/turtlebot3/turtlebot3_teleop/src/turtlebot3_teleop/__init__.py diff --git a/src/velodyne/velodyne/CHANGELOG.rst b/src/velodyne/velodyne/CHANGELOG.rst index a0b4d68..813f4b7 100644 --- a/src/velodyne/velodyne/CHANGELOG.rst +++ b/src/velodyne/velodyne/CHANGELOG.rst @@ -1,6 +1,9 @@ Change history ============== +1.7.0 (2022-07-08) +------------------ + 1.6.1 (2020-11-09) ------------------ diff --git a/src/velodyne/velodyne/package.xml b/src/velodyne/velodyne/package.xml index a81a960..7c3389c 100644 --- a/src/velodyne/velodyne/package.xml +++ b/src/velodyne/velodyne/package.xml @@ -1,7 +1,7 @@ velodyne - 1.6.1 + 1.7.0 Basic ROS support for the Velodyne 3D LIDARs. diff --git a/src/velodyne/velodyne_driver/CHANGELOG.rst b/src/velodyne/velodyne_driver/CHANGELOG.rst index 1215fbf..37af3d6 100644 --- a/src/velodyne/velodyne_driver/CHANGELOG.rst +++ b/src/velodyne/velodyne_driver/CHANGELOG.rst @@ -1,6 +1,25 @@ Change history ============== +1.7.0 (2022-07-08) +------------------ +* Fix non-responsive node on packet timeout (`#466 `_) + * No abort on packet timeout + Changed getPacket() to return 0 on timeout and 1 on success. + * Removed trailing whitespace +* reuse Velodyne UDP port (`#427 `_) +* add missing include to pcap.h that prevents tests from being built (`#406 `_) +* PCAP timestamps & PCAP+GPS timestamps (`#384 `_) + * Add pcap_time param and implement gps_time with it + * If gps_time == true, ignore pcap_time +* Add support for the velodyne Alpha Prime (`#370 `_) + * Add support for the velodyne Alpha Prime + * Change packet rate for the VLS128 according to the times specified in the manual + * Organize setup functions to avoid code duplication. Add a constant for the model ID of the VLS128. + * Use the defined constants to calculate the time offset of the points for the VLS128 + Co-authored-by: jugo +* Contributors: HMellor, Institute for Autonomous Systems Technology, JKaniarz, Nagy Dániel Zoltán, Sebastian Scherer + 1.6.1 (2020-11-09) ------------------ diff --git a/src/velodyne/velodyne_driver/package.xml b/src/velodyne/velodyne_driver/package.xml index 4d6f21a..bd82707 100644 --- a/src/velodyne/velodyne_driver/package.xml +++ b/src/velodyne/velodyne_driver/package.xml @@ -1,7 +1,7 @@ velodyne_driver - 1.6.1 + 1.7.0 ROS device driver for Velodyne 3D LIDARs. diff --git a/src/velodyne/velodyne_driver/src/driver/driver.cc b/src/velodyne/velodyne_driver/src/driver/driver.cc index f3b4a72..be9ef29 100644 --- a/src/velodyne/velodyne_driver/src/driver/driver.cc +++ b/src/velodyne/velodyne_driver/src/driver/driver.cc @@ -220,8 +220,9 @@ while(true) { int rc = input_->getPacket(&tmp_packet, config_.time_offset); - if (rc == 0) break; // got a full packet? + if (rc == 1) break; // got a full packet? if (rc < 0) return false; // end of file reached? + if (rc == 0) continue; //timeout? } scan->packets.push_back(tmp_packet); @@ -255,8 +256,9 @@ { // keep reading until full packet received int rc = input_->getPacket(&scan->packets[i], config_.time_offset); - if (rc == 0) break; // got a full packet? + if (rc == 1) break; // got a full packet? if (rc < 0) return false; // end of file reached? + if (rc == 0) continue; //timeout? } } } diff --git a/src/velodyne/velodyne_driver/src/lib/input.cc b/src/velodyne/velodyne_driver/src/lib/input.cc index 76ee219..ba49c1f 100644 --- a/src/velodyne/velodyne_driver/src/lib/input.cc +++ b/src/velodyne/velodyne_driver/src/lib/input.cc @@ -189,7 +189,7 @@ if (retval == 0) // poll() timeout? { ROS_WARN("Velodyne poll() timeout"); - return -1; + return 0; } if ((fds[0].revents & POLLERR) || (fds[0].revents & POLLHUP) @@ -243,7 +243,7 @@ pkt->stamp = rosTimeFromGpsTimestamp(&(pkt->data[1200])); } - return 0; + return 1; } //////////////////////////////////////////////////////////////////////// @@ -339,7 +339,7 @@ pkt->stamp = rosTimeFromGpsTimestamp(&(pkt->data[1200]), header); } empty_ = false; - return 0; // success + return 1; // success } if (empty_) // no data in file? diff --git a/src/velodyne/velodyne_laserscan/CHANGELOG.rst b/src/velodyne/velodyne_laserscan/CHANGELOG.rst index 00db0c5..a48de9a 100644 --- a/src/velodyne/velodyne_laserscan/CHANGELOG.rst +++ b/src/velodyne/velodyne_laserscan/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package velodyne_laserscan ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.7.0 (2022-07-08) +------------------ + 1.6.1 (2020-11-09) ------------------ diff --git a/src/velodyne/velodyne_laserscan/package.xml b/src/velodyne/velodyne_laserscan/package.xml index 205d49d..47a88c5 100644 --- a/src/velodyne/velodyne_laserscan/package.xml +++ b/src/velodyne/velodyne_laserscan/package.xml @@ -1,7 +1,7 @@ velodyne_laserscan - 1.6.1 + 1.7.0 Extract a single ring of a Velodyne PointCloud2 and publish it as a LaserScan message diff --git a/src/velodyne/velodyne_msgs/CHANGELOG.rst b/src/velodyne/velodyne_msgs/CHANGELOG.rst index 7d0d1ab..fd70ea0 100644 --- a/src/velodyne/velodyne_msgs/CHANGELOG.rst +++ b/src/velodyne/velodyne_msgs/CHANGELOG.rst @@ -1,6 +1,9 @@ Change history ============== +1.7.0 (2022-07-08) +------------------ + 1.6.1 (2020-11-09) ------------------ diff --git a/src/velodyne/velodyne_msgs/package.xml b/src/velodyne/velodyne_msgs/package.xml index f585130..1e46bf2 100644 --- a/src/velodyne/velodyne_msgs/package.xml +++ b/src/velodyne/velodyne_msgs/package.xml @@ -1,7 +1,7 @@ velodyne_msgs - 1.6.1 + 1.7.0 ROS message definitions for Velodyne 3D LIDARs. diff --git a/src/velodyne/velodyne_pcl/CHANGELOG.rst b/src/velodyne/velodyne_pcl/CHANGELOG.rst index 6c4c260..ebad296 100644 --- a/src/velodyne/velodyne_pcl/CHANGELOG.rst +++ b/src/velodyne/velodyne_pcl/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package velodyne_pcl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.7.0 (2022-07-08) +------------------ +* Use std::uint16_t to reduce build warnings from PCL (`#449 `_) +* Contributors: icolwell-as + 1.6.1 (2020-11-09) ------------------ * Fix typo in velodyne_pcl/point_types.h (`#357 `_) diff --git a/src/velodyne/velodyne_pcl/package.xml b/src/velodyne/velodyne_pcl/package.xml index b8bd708..a57d315 100644 --- a/src/velodyne/velodyne_pcl/package.xml +++ b/src/velodyne/velodyne_pcl/package.xml @@ -1,7 +1,7 @@ velodyne_pcl - 1.6.1 + 1.7.0 The velodyne_pcl package Josh Whitley diff --git a/src/velodyne/velodyne_pointcloud/CHANGELOG.rst b/src/velodyne/velodyne_pointcloud/CHANGELOG.rst index 58741ab..c6e3427 100644 --- a/src/velodyne/velodyne_pointcloud/CHANGELOG.rst +++ b/src/velodyne/velodyne_pointcloud/CHANGELOG.rst @@ -1,6 +1,36 @@ Change history ============== +1.7.0 (2022-07-08) +------------------ +* build timings in offline setup (`#428 `_) + Currently when using the offline setup, it does not build the per-point timing offsets which means when unpacking the packets in the offline mode, you cannot timestamp each point with its packet time. + This commit does the following: + - call buildTimings from setupOffline function + - add model to setupOffline interface + - set config model param which is needed by buildTimings +* vls128: add line only once all four banks are processed (`#413 `_) +* PCAP timestamps & PCAP+GPS timestamps (`#384 `_) + * Add pcap_time param and implement gps_time with it + * If gps_time == true, ignore pcap_time +* Fixed row_step=0 when init_width=0 (dense cloud) (`#404 `_) + The PointCloud2 msg will be then valid: http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/PointCloud2.html + Referred issues: + * https://answers.ros.org/question/377470/rtabmap-icp_odometrycpp453callbackcloud-fatal-error/ + * http://official-rtab-map-forum.67519.x6.nabble.com/Condition-scan3dMsg-data-size-scan3dMsg-row-step-scan3dMsg-height-not-met-td7852.html +* Fix accidental integer division (`#391 `_) + Intensity values for VLP-16 were being calculated incorrectly. +* Add VLS128 launch and calibration file (`#382 `_) +* Fixing incorrect type in velodyne_pointcloud. +* Fixing typo. +* Add support for the velodyne Alpha Prime (`#370 `_) + * Add support for the velodyne Alpha Prime + * Change packet rate for the VLS128 according to the times specified in the manual + * Organize setup functions to avoid code duplication. Add a constant for the model ID of the VLS128. + * Use the defined constants to calculate the time offset of the points for the VLS128 + Co-authored-by: jugo +* Contributors: Daisuke Nishimatsu, HMellor, Institute for Autonomous Systems Technology, Joshua Whitley, Martin Valgur, Nick Charron, Sebastian Scherer, matlabbe + 1.6.1 (2020-11-09) ------------------ * Add invalid points in organized cloud (`#360 `_) diff --git a/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/rawdata.h b/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/rawdata.h index 76b4262..95e9453 100644 --- a/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/rawdata.h +++ b/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/rawdata.h @@ -176,12 +176,14 @@ * through a communication overhead. * * @param calibration_file path to the calibration file + * @param model sensor model type * @param max_range_ cutoff for maximum range * @param min_range_ cutoff for minimum range * @returns 0 if successful; * errno value for failure */ - int setupOffline(std::string calibration_file, double max_range_, double min_range_); + int setupOffline(std::string calibration_file, std::string model, double max_range_, + double min_range_); void unpack(const velodyne_msgs::VelodynePacket& pkt, DataContainerBase& data, const ros::Time& scan_start_time); diff --git a/src/velodyne/velodyne_pointcloud/package.xml b/src/velodyne/velodyne_pointcloud/package.xml index 639e00a..89c8315 100644 --- a/src/velodyne/velodyne_pointcloud/package.xml +++ b/src/velodyne/velodyne_pointcloud/package.xml @@ -1,7 +1,7 @@ velodyne_pointcloud - 1.6.1 + 1.7.0 Point cloud conversions for Velodyne 3D LIDARs. diff --git a/src/velodyne/velodyne_pointcloud/src/lib/calibration.cc b/src/velodyne/velodyne_pointcloud/src/lib/calibration.cc index 4940a4f..9f19dd4 100644 --- a/src/velodyne/velodyne_pointcloud/src/lib/calibration.cc +++ b/src/velodyne/velodyne_pointcloud/src/lib/calibration.cc @@ -188,8 +188,7 @@ calibration.laser_corrections[next_index].laser_ring = ring; next_angle = min_seen; if (calibration.ros_info) { - ROS_INFO("laser_ring[%2u] = %2u, angle = %+.6f", - next_index, ring, next_angle); + //ROS_INFO("laser_ring[%2u] = %2u, angle = %+.6f", next_index, ring, next_angle); } } } diff --git a/src/velodyne/velodyne_pointcloud/src/lib/rawdata.cc b/src/velodyne/velodyne_pointcloud/src/lib/rawdata.cc index 2600bca..e870db4 100644 --- a/src/velodyne/velodyne_pointcloud/src/lib/rawdata.cc +++ b/src/velodyne/velodyne_pointcloud/src/lib/rawdata.cc @@ -202,12 +202,12 @@ if (timing_offsets.size()){ // ROS_INFO("VELODYNE TIMING TABLE:"); - for (size_t x = 0; x < timing_offsets.size(); ++x){ - for (size_t y = 0; y < timing_offsets[x].size(); ++y){ - printf("%04.3f ", timing_offsets[x][y] * 1e6); - } - printf("\n"); - } + // for (size_t x = 0; x < timing_offsets.size(); ++x){ + // for (size_t y = 0; y < timing_offsets[x].size(); ++y){ + // printf("%04.3f ", timing_offsets[x][y] * 1e6); + // } + // printf("\n"); + // } return true; } else{ @@ -253,9 +253,13 @@ } /** Set up for offline operation */ - int RawData::setupOffline(std::string calibration_file, double max_range_, double min_range_) + int RawData::setupOffline(std::string calibration_file, std::string model, + double max_range_, double min_range_) { + config_.model = model; + buildTimings(); + config_.max_range = max_range_; config_.min_range = min_range_; ROS_INFO_STREAM("data ranges to publish: [" @@ -313,7 +317,7 @@ } } else{ - ROS_WARN("No Azimuth Cache configured for model %s", config_.model.c_str()); + // ROS_WARN("No Azimuth Cache configured for model %s", config_.model.c_str()); } } @@ -676,7 +680,7 @@ // some packets contain an angle overflow where azimuth_diff < 0 if(raw_azimuth_diff < 0)//raw->blocks[block+1].rotation - raw->blocks[block].rotation < 0) { - ROS_WARN_STREAM_THROTTLE(60, "Packet containing angle overflow, first angle: " << raw->blocks[block].rotation << " second angle: " << raw->blocks[block+1].rotation); + // ROS_WARN_STREAM_THROTTLE(60, "Packet containing angle overflow, first angle: " << raw->blocks[block].rotation << " second angle: " << raw->blocks[block+1].rotation); // if last_azimuth_diff was not zero, we can assume that the velodyne's speed did not change very much and use the same difference if(last_azimuth_diff > 0){ azimuth_diff = last_azimuth_diff; diff --git a/src/waypoint_navigation/README.md b/src/waypoint_navigation/README.md new file mode 100644 index 0000000..693cfbc --- /dev/null +++ b/src/waypoint_navigation/README.md @@ -0,0 +1,8 @@ +- Python 3.8.10 +- Tkinter 8.6 +- Pillow 9.2.0 +- ruamel.yaml 0.17.21 + +waypoint_manager 参考 +- https://imagingsolution.net/category/program/python/tkinter/ +- https://daeudaeu.com/tkinter-mousewheel/ diff --git a/src/waypoint_navigation/orne_rviz_plugins/CMakeLists.txt b/src/waypoint_navigation/orne_rviz_plugins/CMakeLists.txt new file mode 100644 index 0000000..54a4b6d --- /dev/null +++ b/src/waypoint_navigation/orne_rviz_plugins/CMakeLists.txt @@ -0,0 +1,52 @@ +cmake_minimum_required(VERSION 2.8.3) +project(orne_rviz_plugins) +find_package(catkin REQUIRED COMPONENTS rviz std_srvs) +catkin_package() +include_directories(${catkin_INCLUDE_DIRS}) +link_directories(${catkin_LIBRARY_DIRS}) + +## This setting causes Qt's "MOC" generation to happen automatically. +set(CMAKE_AUTOMOC ON) + +## This plugin includes Qt widgets, so we must include Qt. +## We'll use the version that rviz used so they are compatible. +if(rviz_QT_VERSION VERSION_LESS "5") + message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") + find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui) + ## pull in all required include dirs, define QT_LIBRARIES, etc. + include(${QT_USE_FILE}) +else() + message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") + find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) + ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies + set(QT_LIBRARIES Qt5::Widgets) +endif() + +add_definitions(-DQT_NO_KEYWORDS) + +set(SOURCE_FILES + src/state_trigger_panel.cpp + ${MOC_FILES} +) + +add_library(${PROJECT_NAME} ${SOURCE_FILES}) + +target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES} ${catkin_LIBRARIES}) + +install(TARGETS + ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(FILES + plugin_description.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(DIRECTORY media/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/media) + +install(DIRECTORY icons/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/icons) + diff --git a/src/waypoint_navigation/orne_rviz_plugins/icons/classes/Imu.png b/src/waypoint_navigation/orne_rviz_plugins/icons/classes/Imu.png new file mode 100644 index 0000000..7d90110 --- /dev/null +++ b/src/waypoint_navigation/orne_rviz_plugins/icons/classes/Imu.png Binary files differ diff --git a/src/waypoint_navigation/orne_rviz_plugins/icons/classes/PlantFlag.png b/src/waypoint_navigation/orne_rviz_plugins/icons/classes/PlantFlag.png new file mode 100644 index 0000000..d11c0ee --- /dev/null +++ b/src/waypoint_navigation/orne_rviz_plugins/icons/classes/PlantFlag.png Binary files differ diff --git a/src/waypoint_navigation/orne_rviz_plugins/icons/classes/Teleop.png b/src/waypoint_navigation/orne_rviz_plugins/icons/classes/Teleop.png new file mode 100644 index 0000000..d96e6c1 --- /dev/null +++ b/src/waypoint_navigation/orne_rviz_plugins/icons/classes/Teleop.png Binary files differ diff --git a/src/waypoint_navigation/orne_rviz_plugins/media/flag.dae b/src/waypoint_navigation/orne_rviz_plugins/media/flag.dae new file mode 100644 index 0000000..e56a734 --- /dev/null +++ b/src/waypoint_navigation/orne_rviz_plugins/media/flag.dae @@ -0,0 +1,323 @@ + 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+ + + + + + + + -0.29478 -1.99835 2.70248 + 0 0 1 0.00000 + 0 1 0 -0.00000 + 1 0 0 0.00000 + 1.00000 1.00000 1.00000 + + + + 0.00334 -0.00071 0.00118 + 0 0 1 0.00000 + 0 1 0 -0.00000 + 1 0 0 0.00000 + 1.00000 1.00000 1.00000 + + + + + + + + + + + + 0.22856 0.00372 1.80362 + 0 0 1 0.00000 + 0 1 0 -0.00000 + 1 0 0 0.00000 + 0.18803 0.18803 0.18803 + + + + + + + + + + + + 0.00580 0.01041 0.99794 + 0 0 1 0.00000 + 0 1 0 -0.00000 + 1 0 0 0.00000 + 1.00000 1.00000 1.00000 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/src/waypoint_navigation/orne_rviz_plugins/package.xml b/src/waypoint_navigation/orne_rviz_plugins/package.xml new file mode 100644 index 0000000..55c71fc --- /dev/null +++ b/src/waypoint_navigation/orne_rviz_plugins/package.xml @@ -0,0 +1,22 @@ + + orne_rviz_plugins + 0.0.1 + + The orne_rviz_plugins package + + Daiki Maekawa + BSD + + Daiki Maekawa + + catkin + rviz + std_srvs + rviz + std_srvs + + + + + + diff --git a/src/waypoint_navigation/orne_rviz_plugins/plugin_description.xml b/src/waypoint_navigation/orne_rviz_plugins/plugin_description.xml new file mode 100644 index 0000000..ccb9e11 --- /dev/null +++ b/src/waypoint_navigation/orne_rviz_plugins/plugin_description.xml @@ -0,0 +1,9 @@ + + + + TODO + + + diff --git a/src/waypoint_navigation/orne_rviz_plugins/src/state_trigger_panel.cpp b/src/waypoint_navigation/orne_rviz_plugins/src/state_trigger_panel.cpp new file mode 100644 index 0000000..7e2a334 --- /dev/null +++ b/src/waypoint_navigation/orne_rviz_plugins/src/state_trigger_panel.cpp @@ -0,0 +1,63 @@ +#include + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "state_trigger_panel.h" + +namespace orne_rviz_plugins +{ + +StateTriggerPanel::StateTriggerPanel( QWidget* parent ) + : rviz::Panel( parent ) +{ + start_client_ = nh_.serviceClient("start_wp_nav", false); + resume_client_ = nh_.serviceClient("resume_nav", false); + + start_nav_button_ = new QPushButton("StartWaypointsNavigation"); + resume_nav_button_ = new QPushButton("ResumeWaypointsNavigation"); + + QHBoxLayout* layout = new QHBoxLayout; + layout->addWidget(start_nav_button_); + layout->addWidget(resume_nav_button_); + setLayout( layout ); + + connect(start_nav_button_, SIGNAL(clicked()), this, SLOT(pushStartNavigation())); + connect(resume_nav_button_, SIGNAL(clicked()), this, SLOT(pushResumeNavigation())); +} + +void StateTriggerPanel::save( rviz::Config config ) const +{ + rviz::Panel::save( config ); +} + +void StateTriggerPanel::load( const rviz::Config& config ) +{ + rviz::Panel::load( config ); +} + +void StateTriggerPanel::pushStartNavigation() { + ROS_INFO("Service call: start waypoints navigation"); + + std_srvs::Trigger trigger; + start_client_.call(trigger); +} + +void StateTriggerPanel::pushResumeNavigation() { + ROS_INFO("Service call: resume waypoints navigation"); + + std_srvs::Trigger trigger; + resume_client_.call(trigger); +} + +} // end namespace orne_rviz_plugins + +#include +PLUGINLIB_EXPORT_CLASS(orne_rviz_plugins::StateTriggerPanel,rviz::Panel ) diff --git a/src/waypoint_navigation/orne_rviz_plugins/src/state_trigger_panel.h b/src/waypoint_navigation/orne_rviz_plugins/src/state_trigger_panel.h new file mode 100644 index 0000000..461b3a0 --- /dev/null +++ b/src/waypoint_navigation/orne_rviz_plugins/src/state_trigger_panel.h @@ -0,0 +1,38 @@ +#ifndef STATE_TRIGGER_PANEL_H +#define STATE_TRIGGER_PANEL_H + +#ifndef Q_MOC_RUN +# include + +# include +#endif + +class QPushButton; + +namespace orne_rviz_plugins +{ + +class StateTriggerPanel: public rviz::Panel +{ +Q_OBJECT +public: + StateTriggerPanel( QWidget* parent = 0 ); + + virtual void load( const rviz::Config& config ); + virtual void save( rviz::Config config ) const; + +public Q_SLOTS: + void pushStartNavigation(); + void pushResumeNavigation(); + +protected: + ros::NodeHandle nh_; + ros::ServiceClient start_client_, resume_client_; + QPushButton *start_nav_button_; + QPushButton *resume_nav_button_; + +}; + +} // end namespace orne_rviz_plugins + +#endif // STATE_TRIGGER_PANEL_H diff --git a/src/waypoint_navigation/waypoint_manager/CMakeLists.txt b/src/waypoint_navigation/waypoint_manager/CMakeLists.txt new file mode 100644 index 0000000..2941813 --- /dev/null +++ b/src/waypoint_navigation/waypoint_manager/CMakeLists.txt @@ -0,0 +1,202 @@ +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) + +## 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 waypoint_manager +# 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/${PROJECT_NAME}/waypoint_manager.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/waypoint_manager_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_waypoint_manager.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/src/waypoint_navigation/waypoint_manager/launch/start_manager.launch b/src/waypoint_navigation/waypoint_manager/launch/start_manager.launch new file mode 100644 index 0000000..e69de29 --- /dev/null +++ b/src/waypoint_navigation/waypoint_manager/launch/start_manager.launch diff --git a/src/waypoint_navigation/waypoint_manager/package.xml b/src/waypoint_navigation/waypoint_manager/package.xml new file mode 100644 index 0000000..e77ca19 --- /dev/null +++ b/src/waypoint_navigation/waypoint_manager/package.xml @@ -0,0 +1,59 @@ + + + waypoint_manager + 0.0.0 + The waypoint_manager package + + + + + ubuntu + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/src/waypoint_navigation/waypoint_manager/scripts/lib/__init__.py b/src/waypoint_navigation/waypoint_manager/scripts/lib/__init__.py new file mode 100644 index 0000000..e69de29 --- /dev/null +++ b/src/waypoint_navigation/waypoint_manager/scripts/lib/__init__.py diff --git a/src/waypoint_navigation/waypoint_manager/scripts/lib/__pycache__/__init__.cpython-38.pyc b/src/waypoint_navigation/waypoint_manager/scripts/lib/__pycache__/__init__.cpython-38.pyc new file mode 100644 index 0000000..0227a91 --- /dev/null +++ b/src/waypoint_navigation/waypoint_manager/scripts/lib/__pycache__/__init__.cpython-38.pyc Binary files differ diff --git a/src/waypoint_navigation/waypoint_manager/scripts/lib/__pycache__/mymaplib.cpython-38.pyc b/src/waypoint_navigation/waypoint_manager/scripts/lib/__pycache__/mymaplib.cpython-38.pyc new file mode 100644 index 0000000..5048aa5 --- /dev/null +++ b/src/waypoint_navigation/waypoint_manager/scripts/lib/__pycache__/mymaplib.cpython-38.pyc Binary files differ diff --git a/src/waypoint_navigation/waypoint_manager/scripts/lib/__pycache__/waypointlib.cpython-38.pyc b/src/waypoint_navigation/waypoint_manager/scripts/lib/__pycache__/waypointlib.cpython-38.pyc new file mode 100644 index 0000000..f8c3b92 --- /dev/null +++ b/src/waypoint_navigation/waypoint_manager/scripts/lib/__pycache__/waypointlib.cpython-38.pyc Binary files differ diff --git a/src/waypoint_navigation/waypoint_manager/scripts/lib/mymaplib.py b/src/waypoint_navigation/waypoint_manager/scripts/lib/mymaplib.py new file mode 100644 index 0000000..884b300 --- /dev/null +++ b/src/waypoint_navigation/waypoint_manager/scripts/lib/mymaplib.py @@ -0,0 +1,85 @@ +import numpy as np +from PIL import Image, ImageTk +from pathlib import Path + + +class MyMap(): + + def __init__(self, path: Path, map_yaml): + if map_yaml["image"][0] == "/": + img_path = map_yaml["image"] + else: + img_path = path.with_name(map_yaml["image"]).resolve() + self.pil_img = Image.open(img_path).convert("RGBA") + self.tk_img = ImageTk.PhotoImage(self.pil_img) + self.origin = map_yaml["origin"] + self.resolution = map_yaml["resolution"] + self.img_origin = [-self.origin[0]/self.resolution, self.origin[1]/self.resolution+self.height()] + self.mat_affine = np.eye(3) + return + + + def translate(self, x, y): + self.affine_tf(x, y, 1) + return + + + def scale_at(self, x, y, scale): + self.affine_tf(-x, -y, 1) + self.affine_tf(0, 0, scale) + self.affine_tf(x, y, 1) + return + + + def affine_tf(self, x, y, scale): + x = float(x) + y = float(y) + scale = float(scale) + mat = np.array([[scale,0,x], [0,scale,y], [0,0,1]]) + self.mat_affine = np.dot(mat, self.mat_affine) + return + + + def get_draw_image(self, canvas_size): + mat_inv = np.linalg.inv(self.mat_affine) + img = self.pil_img.transform(canvas_size, + Image.Transform.AFFINE, tuple(mat_inv.flatten()), + Image.Resampling.NEAREST, + fillcolor="#0000" + ) + self.tk_img = ImageTk.PhotoImage(image=img) + return self.tk_img + + + def real2image(self, real_x, real_y): + img_x = self.img_origin[0] + real_x / self.resolution + img_y = self.img_origin[1] - real_y / self.resolution + return img_x, img_y + + + def image2real(self, img_x, img_y): + real_x = (img_x - self.img_origin[0]) * self.resolution + real_y = -(img_y - self.img_origin[1]) * self.resolution + real_x = round(real_x, 6) + real_y = round(real_y, 6) + return real_x, real_y + + + def transform(self, img_x, img_y): + mat = [img_x, img_y, 1] + tf_mat = np.dot(self.mat_affine, mat) + return tf_mat[0], tf_mat[1] + + + def inv_transform(self, x, y): + mat = [x, y, 1] + inv_affine = np.linalg.inv(self.mat_affine) + inv = np.dot(inv_affine, mat) + return inv[0], inv[1] + + + def width(self): + return self.pil_img.width + + def height(self): + return self.pil_img.height \ No newline at end of file diff --git a/src/waypoint_navigation/waypoint_manager/scripts/lib/waypointlib.py b/src/waypoint_navigation/waypoint_manager/scripts/lib/waypointlib.py new file mode 100644 index 0000000..ab54d33 --- /dev/null +++ b/src/waypoint_navigation/waypoint_manager/scripts/lib/waypointlib.py @@ -0,0 +1,118 @@ +import numpy as np +import quaternion + + +class WaypointList(): + def __init__(self, wp_yaml): + self.waypoints = [] + for point in wp_yaml["waypoints"]: + wp = {} + for key, val in point["point"].items(): + wp[key] = val + self.append(wp) + + self.point_keys = self.waypoints[0].keys() + self.number_dict = {} + return + + + def append(self, waypoint: dict, id=None): + self.waypoints.append(waypoint) + if id: self.set_id(len(self.waypoints), id) + return len(self.waypoints) + + + def insert(self, num, waypoint: dict, id=None): + self.waypoints.insert(num-1, waypoint) + for i, n in self.number_dict.items(): + self.number_dict[i] = n+1 if (n>=num) else n + if id: self.set_id(num, id) + return + + + def remove(self, id): + num = self.get_num(str(id)) + self.waypoints.pop(num-1) + self.number_dict.pop(str(id)) + for i, n in self.number_dict.items(): + self.number_dict[i] = n-1 if (n>num) else n + return + + + def set_waypoint_val(self, id, key, val): + self.waypoints[self.get_num(id)-1][key] = val + return + + + def get_waypoint(self, id=None, num=None): + if id: return self.waypoints[self.get_num(str(id)) - 1] + if num: return self.waypoints[num-1] + return self.waypoints + + + def get_id_list(self): + return self.number_dict.keys() + + + def set_id(self, num, id): + self.number_dict[str(id)] = num + return + + + def get_num(self, id): + return self.number_dict[str(id)] + + + + +class FinishPose(): + def __init__(self, wp_yaml): + super().__init__() + + self.header = {} + for key, val in wp_yaml["finish_pose"]["header"].items(): + self.header[key] = val + + self.position = {} + for key, val in wp_yaml["finish_pose"]["pose"]["position"].items(): + self.position[key] = val + + self.orientation = {} + for key, val in wp_yaml["finish_pose"]["pose"]["orientation"].items(): + self.orientation[key] = val + + self.x = self.position["x"] + self.y = self.position["y"] + self.yaw = self.get_euler() + self.id = None + return + + + def get_euler(self): + o = self.orientation + q = np.quaternion(o["x"], o["y"], o["z"], o["w"]) + return quaternion.as_euler_angles(q)[1] + + + +def get_waypoint_yaml(waypoints: WaypointList, finish_pose: FinishPose): + s = ["waypoints:" + "\n"] + for point in waypoints.get_waypoint(): + s.append("- point: {") + for i, (key, val) in enumerate(point.items()): + if (i != 0): s.append(", ") + s.append(key + ": " + str(val).lower()) + s.append("}" + "\n") + + s.append("finish_pose:" + "\n") + seq, stamp, frame = (finish_pose.header["seq"], finish_pose.header["stamp"], finish_pose.header["frame_id"]) + s.append(" header: {" + "seq: {}, stamp: {}, frame_id: {}".format(seq,stamp,frame) + "}" + "\n") + s.append(" pose:" + "\n") + p = finish_pose.position + s.append(" position: {" + "x: {}, y: {}, z: {}".format(p["x"], p["y"], p["z"]) + "}" + "\n") + o = finish_pose.orientation + s.append(" orientation: {" + "x: {}, y: {}, z: {}, w: {}".format(o["x"],o["y"],o["z"],o["w"]) + "}") + return "".join(s) + + + \ No newline at end of file diff --git a/src/waypoint_navigation/waypoint_manager/scripts/manager_GUI.py b/src/waypoint_navigation/waypoint_manager/scripts/manager_GUI.py new file mode 100755 index 0000000..9bd2d1f --- /dev/null +++ b/src/waypoint_navigation/waypoint_manager/scripts/manager_GUI.py @@ -0,0 +1,705 @@ +import tkinter as tk +import tkinter.filedialog +import math +import ruamel.yaml +from pathlib import Path +from lib.mymaplib import MyMap +from lib.waypointlib import WaypointList, FinishPose, get_waypoint_yaml + + + + +class Application(tk.Frame): + + def __init__(self, master): + super().__init__(master) # スーパークラスのコンストラクタを実行 + self.master.title("Waypoints Manager") + + #### 画面上部のメニューを作成 #### + self.menu_bar = tk.Menu(self) # メニューバーを配置 + self.file_menu = tk.Menu(self.menu_bar, tearoff=tk.OFF) # バーに追加するメニューを作成 + self.menu_bar.add_cascade(label="File", menu=self.file_menu) # Fileメニューとしてバーに追加 + self.open_menu = tk.Menu(self.file_menu, tearoff=tk.OFF) # Openメニュー + self.open_menu.add_command(label="Map", command=self.menu_open_map) + self.open_menu.add_command(label="Waypoints", command=self.menu_open_waypoints, state=tk.DISABLED) + self.file_menu.add_cascade(label="Open", menu=self.open_menu) + self.file_menu.add_command(label="Save", command=self.menu_save, #コールバック関数を設定 + accelerator="Ctrl+S", state=tk.DISABLED + ) + self.file_menu.add_command(label="Save As", command=self.menu_saveas, + accelerator="Ctrl+Shift+S", state=tk.DISABLED + ) + self.file_menu.add_separator() + self.file_menu.add_command(label="Exit", command=self.menu_exit, accelerator="Ctrl+Q") + self.bind_all("", self.menu_save) #キーボードショートカットを設定 + self.bind_all("", self.menu_saveas) + self.bind_all("", self.menu_exit) + self.master.config(menu=self.menu_bar) # 大元に作成したメニューバーを設定 + + #### 画面上部に、システムからのメッセージを表示するラベルを配置 #### + self.msg_label = tk.Label(self.master, text="Please open map file ", anchor=tk.E) + self.msg_label.pack(fill=tk.X, padx=5) + + #### 画面下部に、カーソルの座標やピクセル情報を表示するステータスバーを表示 #### + self.status_bar = tk.Frame(self.master) + self.mouse_position = tk.Label(self.status_bar, relief=tk.SUNKEN, + text=" (x, y) = ", anchor=tk.W, font=("", 15) + ) + self.mouse_position.pack(side=tk.LEFT, padx=3) + self.waypoint_num = tk.Label(self.status_bar, relief=tk.SUNKEN, + text=" Waypoint No. -----", anchor=tk.W, font=("", 15) + ) + self.waypoint_num.pack(side=tk.RIGHT, padx=3) + self.status_bar.pack(side=tk.BOTTOM, fill=tk.X) + + #### 右クリックしたときに表示するポップアップメニューを作成 #### + self.popup_menu = tk.Menu(self, tearoff=tk.OFF) + self.popup_menu.add_command(label="Add waypoint here", command=self.add_waypoint_here, state=tk.DISABLED) + self.right_click_coord = None # 右クリックしたときの座標を保持する変数 + + #### canvasを配置、サイズを取得 #### + self.canvas = tk.Canvas(self.master, bg="#034") # 画像を描画するcanvas + self.canvas.pack(expand=True, fill=tk.BOTH) # canvasを配置 + self.update() # 情報の更新をする(canvasのサイズなどの情報が更新される) + self.canv_w = self.canvas.winfo_width() # canvasの幅を取得 + self.canv_h = self.canvas.winfo_height() # canvasの高さを取得 + + #### イベントに対するコールバックを設定 #### + self.master.bind("", self.mouse_move) + self.master.bind("", self.mouse_wheel) + self.master.bind("", self.left_click_move) + self.master.bind("", self.left_click) + self.master.bind("", self.left_click_release) + self.master.bind("", self.right_click) + self.master.bind("", self.ctrl_left_click) + self.master.bind("", self.ctrl_right_click) + self.master.bind("", self.window_resize_callback) + + #### その他必要になる変数 #### + self.mymap = None + self.waypoints = None + self.finish_pose = None + self.waypoints_filepath = None + self.editing_waypoint_id = None # 編集中のウェイポイントを示す図形のオブジェクトID + self.moving_waypoint = False # ウェイポイントをDnDで動かしている最中かどうか + self.old_click_point = None # 最後にカーソルのあった座標を保持 + self.wp_info_win = None # ウェイポイント情報を表示するウィンドウ + self.point_rad = 10 # 画像上に示すポイントの半径ピクセル + return + + + + """ + ############################### + メニューコールバック関数 + ############################### + """ + """ + +++++ File -> Open -> Map +++++ + """ + def menu_open_map(self): + map_path = tkinter.filedialog.askopenfilename( + parent=self.master, + title="Select map yaml file", + initialdir=str(Path(".")), + filetypes=[("YAML", ".yaml")] + ) + if not map_path: return + + with open(map_path) as file: # .yamlを読み込む + map_yaml = ruamel.yaml.YAML().load(file) + self.mymap = MyMap(Path(map_path), map_yaml) + ## キャンバスサイズに合わせて画像を表示 + scale = 1 + offset_x = 0 + offset_y = 0 + if (self.canv_w / self.canv_h) > (self.mymap.width() / self.mymap.height()): + # canvasの方が横長　画像をcanvasの縦に合わせてリサイズ + scale = self.canv_h / self.mymap.height() + offset_x = (self.canv_w - self.mymap.width()*scale) / 2 + else: + # canvasの方が縦長　画像をcanvasの横に合わせてリサイズ + scale = self.canv_w / self.mymap.width() + offset_y = (self.canv_h - self.mymap.height()*scale) / 2 + + self.mymap.scale_at(0, 0, scale) + self.mymap.translate(offset_x, offset_y) + self.draw_image() # 画像を描画 + self.plot_origin() # 原点を示す円を描画 + self.master.title(Path(map_path).name + " - " + self.master.title()) + self.open_menu.entryconfigure("Map", state=tk.DISABLED) + self.open_menu.entryconfigure("Waypoints", state=tk.NORMAL) + self.message("Please open waypoints file ") + return + + + """ + +++++ File -> Open -> Waypionts +++++ + """ + def menu_open_waypoints(self): + filepath = tkinter.filedialog.askopenfilename( + parent=self.master, + title="Select map yaml file", + initialdir=str(Path(".")), + filetypes=[("YAML", ".yaml")] + ) + if not filepath: return + with open(filepath) as file: + wp_yaml = ruamel.yaml.YAML().load(file) + self.waypoints = WaypointList(wp_yaml) + self.finish_pose = FinishPose(wp_yaml) + self.waypoints_filepath = Path(filepath) + self.plot_waypoints() + self.master.title(Path(filepath).name + " - " + self.master.title()) + self.file_menu.entryconfigure("Save", state=tk.NORMAL) + self.file_menu.entryconfigure("Save As", state=tk.NORMAL) + self.popup_menu.entryconfigure("Add waypoint here", state=tk.NORMAL) + return + + + """ + +++++ File -> Save +++++ + """ + def menu_save(self, event=None): + self.save_waypoints(str(self.waypoints_filepath)) + self.message("Saved changes!") + return + + + """ + +++++ File -> Save As +++++ + """ + def menu_saveas(self, event=None): + new_filepath = tkinter.filedialog.asksaveasfilename( + parent=self.master, + title="Save As", + initialdir=str(Path('..','..','waypoint_nav','param')), + filetypes=[("YAML", ".yaml")], + defaultextension=".yaml" + ) + if len(new_filepath) == 0: return # cancel + self.save_waypoints(new_filepath) + current_title = self.master.title() + old_filename = self.waypoints_filepath.name + self.waypoints_filepath = Path(new_filepath) + self.master.title(current_title.replace(old_filename, self.waypoints_filepath.name)) + self.message("Save As" + "\"" + str(new_filepath) + "\"") + return + + + """ + +++++ File -> Exit +++++ + """ + def menu_exit(self, event=None): + self.master.destroy() + + + """ + +++++ 現在のウェイポイント情報を指定のファイルに書き込む +++++ + """ + def save_waypoints(self, path): + with open(path, 'w') as f: + f.write(get_waypoint_yaml(self.waypoints, self.finish_pose)) + return + + + + """ + ################################# + 原点とウェイポイントの表示 + ################################# + """ + """ + +++++ 地図上の原点に円を描画 +++++ + """ + def plot_origin(self): + x, y = self.mymap.transform(self.mymap.img_origin[0], self.mymap.img_origin[1]) + r = self.point_rad # 円の半径（ピクセル） + x0 = x - r + y0 = y - r + x1 = x + r + 1 + y1 = y + r + 1 + if self.canvas.find_withtag("origin"): + self.canvas.moveto("origin", x0, y0) + else: + self.canvas.create_oval(x0, y0, x1, y1, tags="origin", fill='cyan', outline='blue') + return + + + """ + +++++ 地図上にウェイポイントとフィニッシュポーズを描画 +++++ + """ + def plot_waypoints(self, id=None): + if not self.waypoints: return + # 引数にidが指定された場合、そのポイントのみを再描画して終了 + if id: + wp = self.waypoints.get_waypoint(id) + cx, cy = self.real2canvas(float(wp["x"]), float(wp["y"])) + x0 = cx - self.point_rad + y0 = cy - self.point_rad + self.canvas.moveto(id, round(x0), round(y0)) + return + + if len(self.waypoints.get_id_list()) == 0: + # 初めて描画する場合 + for n, wp in enumerate(self.waypoints.get_waypoint()): + id = self.create_waypoint(wp) + self.waypoints.set_id(num=n+1, id=id) + else: + # 既に描画されている場合 + for id in self.waypoints.get_id_list(): + wp = self.waypoints.get_waypoint(id) + cx, cy = self.real2canvas(float(wp["x"]), float(wp["y"])) + x0 = cx - self.point_rad + y0 = cy - self.point_rad + self.canvas.moveto(id, round(x0), round(y0)) + # Finish poseを描画 + cx, cy = self.real2canvas(self.finish_pose.x, self.finish_pose.y) + x0 = cx + y0 = cy + x1 = x0 + math.cos(self.finish_pose.yaw) * self.point_rad * 3 + y1 = y0 - math.sin(self.finish_pose.yaw) * self.point_rad * 3 + if self.finish_pose.id is not None: + # movetoだと上手くいかないので、毎回削除、再描画 + self.canvas.delete(self.finish_pose.id) + self.finish_pose.id = self.canvas.create_line(x0, y0, x1, y1, tags="finish_pose", + width=10, arrow=tk.LAST, arrowshape=(12,15,9), fill="#AAF" + ) + return + + + """ + +++++ キャンバスに新たなウェイポイントを描画する +++++ + """ + def create_waypoint(self, waypoint: dict): + cx, cy = self.real2canvas(float(waypoint["x"]), float(waypoint["y"])) + x0 = round(cx - self.point_rad) + y0 = round(cy - self.point_rad) + x1 = round(cx + self.point_rad + 1) + y1 = round(cy + self.point_rad + 1) + id = self.canvas.create_oval(x0, y0, x1, y1, fill='#FDD', outline='red', activefill='red') + self.canvas.tag_bind(id, "", lambda event, wp_id=id: self.waypoint_clicked(event, wp_id)) + self.canvas.tag_bind(id, "", lambda event, wp_id=id: self.waypoint_enter(event, wp_id)) + self.canvas.tag_bind(id, "", self.waypoint_leave) + self.canvas.tag_bind(id, "", self.waypoint_click_move) + return id + + + """ + +++++ ウェイポイントが左クリックされたときのコールバック +++++ + """ + def waypoint_clicked(self, event, wp_id): + if wp_id != self.editing_waypoint_id: # 編集中のウェイポイントを切り替え + self.canvas.itemconfig(self.editing_waypoint_id, fill='#FDD') + self.editing_waypoint_id = wp_id + self.canvas.itemconfig(wp_id, fill='red') + self.disp_waypoint_info(wp_id) + self.message("Show selected waypoint information") + return + + + """ + +++++ ウェイポイントを左クリックしながら動かしたときのコールバック +++++ + """ + def waypoint_click_move(self, event): + if not self.moving_waypoint: return + if self.old_click_point is None: + self.old_click_point = [event.x, event.y] + return + delta_x = event.x-self.old_click_point[0] + delta_y = event.y-self.old_click_point[1] + self.canvas.move(self.editing_waypoint_id, delta_x, delta_y) + box = self.canvas.bbox(self.editing_waypoint_id) + px = (box[2] + box[0]) / 2 # ウィンドウ上の座標 + py = (box[3] + box[1]) / 2 + img_x, img_y = self.mymap.inv_transform(px, py) + # マップ画像上の座標を、実際の座標に変換 + x, y = self.mymap.image2real(img_x, img_y) + # 編集中のウェイポイント情報を更新 + self.waypoints.set_waypoint_val(self.editing_waypoint_id, "x", x) + self.waypoints.set_waypoint_val(self.editing_waypoint_id, "y", y) + # 表示中のウェイポイント情報を更新 + txt_box = self.wp_info_win.grid_slaves(column=1, row=0)[0] + txt_box.delete(0, tk.END) + txt_box.insert(tk.END, x) + txt_box = self.wp_info_win.grid_slaves(column=1, row=1)[0] + txt_box.delete(0, tk.END) + txt_box.insert(tk.END, y) + self.old_click_point = [event.x, event.y] + return + + + """ + +++++ ウェイポイントを示す円にカーソルが入ったときと出たときのコールバック +++++ + """ + def waypoint_enter(self, event, wp_id): + wp_num = self.waypoints.get_num(wp_id) + self.waypoint_num["text"] = " Waypoint No. {} " .format(str(wp_num)) + + def waypoint_leave(self, event): + self.waypoint_num["text"] = " Waypoint No. ----- " + + + + """ + ###################################### + 別窓でのウェイポイントの情報表示 + ###################################### + """ + """ + +++++ ウェイポイントが左クリックされたとき、別窓で情報を表示する関数 +++++ + """ + def disp_waypoint_info(self, id): + point = self.waypoints.get_waypoint(id=id) + if (self.wp_info_win is None) or (not self.wp_info_win.winfo_exists()): + # ウィンドウが表示されてない場合、初期化 + self.wp_info_win = tk.Toplevel() + self.wp_info_win.lower() + self.wp_info_win.protocol("WM_DELETE_WINDOW", self.close_wp_info) + # ウェイポイントファイルのキーを取得し、ラベルとテキストボックスを配置 + for i, key in enumerate(point.keys()): + key_label = tk.Label(self.wp_info_win, text=key+":", width=6, font=("Consolas",15), anchor=tk.E) + key_label.grid(column=0, row=i, padx=2, pady=5) + txt_box = tk.Entry(self.wp_info_win, width=20, font=("Consolas", 15)) + txt_box.insert(tk.END, str(point[key]).lower()) + txt_box.grid(column=1, row=i, padx=2, pady=2, ipady=3, sticky=tk.EW) + # Apply, DnD(Drag & Drop), remove ボタン + canv = tk.Canvas(self.wp_info_win) + canv.grid(column=0, columnspan=2, row=self.wp_info_win.grid_size()[1], sticky=tk.EW) + apply_btn = tk.Button(canv, text="Apply", width=5, height=1, bg="#FDD", + command=self.apply_btn_callback) + apply_btn.pack(side=tk.RIGHT, anchor=tk.SE, padx=5, pady=5) + dnd_btn = tk.Button(canv, text="DnD", width=5, height=1, bg="#EEE") + dnd_btn["command"] = lambda obj=dnd_btn: self.dnd_btn_callback(dnd_btn) + dnd_btn.pack(side=tk.RIGHT, anchor=tk.SE, padx=5, pady=5) + remove_btn = tk.Button(canv, text="Remove", width=7, height=1, bg="#F00", + command=self.remove_btn_callback) + remove_btn.pack(side=tk.LEFT, anchor=tk.SE, padx=5, pady=5) + # 位置とサイズを設定 + self.wp_info_win.update() + w = self.wp_info_win.winfo_width() + h = self.wp_info_win.winfo_height() + x = self.master.winfo_x() + self.canv_w - w + y = self.master.winfo_y() + self.canv_h - h + geometry = "{}x{}+{}+{}".format(w, h, x, y) + self.wp_info_win.geometry(geometry) + self.wp_info_win.lift() + self.wp_info_win.attributes('-topmost', True) # サブウィンドウを最前面で固定 + else: + # 既にウィンドウが表示されている場合、テキストボックスの中身を変える + for i, key in enumerate(point): + txt_box = self.wp_info_win.grid_slaves(column=1, row=i)[0] + txt_box.delete(0, tk.END) + txt_box.insert(tk.END, str(point[key]).lower()) + self.wp_info_win.title("Waypoint " + str(self.waypoints.get_num(id))) # タイトルを設定 + return + + + """ + +++++ Applyボタンを押したときのコールバック +++++ + """ + def apply_btn_callback(self): + point = self.waypoints.get_waypoint(id=self.editing_waypoint_id) + for i, key in enumerate(point.keys()): + txt_box = self.wp_info_win.grid_slaves(column=1, row=i)[0] + self.waypoints.set_waypoint_val(self.editing_waypoint_id, key, txt_box.get()) + self.plot_waypoints(id=self.editing_waypoint_id) + self.message("Apply changes of waypoint parameters") + return + + + """ + +++++ ドラッグ&ドロップボタン(DnD)を押したときのコールバック +++++ + """ + def dnd_btn_callback(self, obj=None): + if obj is None: return + btn = obj + # 押された状態とそうでない状態を切り替える + if btn["relief"] == tk.RAISED: + btn["relief"] = tk.SUNKEN + btn["bg"] = "#AAA" + self.moving_waypoint = True + self.message("Drag & Drop to move waypoint") + elif btn["relief"] == tk.SUNKEN: + btn["relief"] = tk.RAISED + btn["bg"] = "#EEE" + self.moving_waypoint = False + self.message("Show selected waypoint information") + return + + + """ + +++++ removeボタンを押したときのコールバック +++++ + """ + def remove_btn_callback(self): + self.waypoints.remove(self.editing_waypoint_id) + self.canvas.delete(self.editing_waypoint_id) # ウェイポイントを示す円を削除 + self.close_wp_info() + self.message("Removed waypoint") + return + + + """ + +++++ ウェイポイント情報を表示するサブウィンドウを閉じたときのコールバック +++++ + """ + def close_wp_info(self): + self.canvas.itemconfig(self.editing_waypoint_id, fill='#FDD') + self.editing_waypoint_id = None + self.wp_info_win.destroy() + return + + + + """ + ########################### + ウェイポイントの追加 + ########################### + """ + """ + +++++ 右クリックしてポップアップメニューのadd waypoint hereをクリックしたときのコールバック関数 +++++ + """ + def add_waypoint_here(self): + if (self.wp_info_win is not None) and (self.wp_info_win.winfo_exists()): + self.close_wp_info() + img_xy = self.right_click_coord + if self.mymap.pil_img.getpixel((img_xy[0], img_xy[1]))[0] == 0: + self.message("There is obstacles") + return + # 何番目のウェイポイントの次に追加するか入力させる + add_wp_win = tk.Toplevel() + add_wp_win.title("Add waypoint") + add_wp_win.protocol("WM_DELETE_WINDOW") + add_wp_win.attributes('-topmost', True) # サブウィンドウを最前面で固定 + msg = tk.Label(add_wp_win, text="Add waypoint after no. ", font=("Consolas",15), anchor=tk.E) + msg.grid(column=0, row=0, padx=10, pady=10, sticky=tk.EW) + txt_box = tk.Entry(add_wp_win, width=4, font=("Consolas",15)) + txt_box.grid(column=1, row=0, pady=10, sticky=tk.W) + # Add ボタン + add_btn = tk.Button(add_wp_win, text="Add", width=5, height=1, + command=lambda num_box=txt_box, win=add_wp_win: self.add_btn_callback(num_box, win) + ) + add_btn.grid(column=0, columnspan=2, row=1, padx=10, pady=10) + add_wp_win.update() + w = add_wp_win.winfo_width() + 10 + h = add_wp_win.winfo_height() + x = int((self.canv_w - w) / 2) + y = int((self.canv_h - h) / 2) + geometry = "{}x{}+{}+{}".format(w, h, x, y) + add_wp_win.geometry(geometry) + self.message("Add waypoint") + return + + + """ + +++++ add waypoint hereをクリックして開いた別窓のAddボタンのコールバック +++++ + """ + def add_btn_callback(self, num_box: tk.Entry, win: tk.Toplevel): + prev_num = num_box.get() + if (prev_num == ""): + self.message("Please enter number") + return + win.destroy() + prev_num = int(prev_num) + img_xy = self.right_click_coord + # ウェイポイント座標を計算 + x, y = self.mymap.image2real(img_xy[0], img_xy[1]) + # ウェイポイントを追加 + point = {} + for key in self.waypoints.point_keys: + if (key=="x"): point[key] = x + elif (key=="y"): point[key] = y + elif (key=="z"): point[key] = 0.0 + else: point[key] = "" + id = self.create_waypoint(point) + self.waypoints.insert(prev_num+1, point, id=id) + self.plot_waypoints(id=id) + self.editing_waypoint_id = id + self.canvas.itemconfig(id, fill='red') + self.disp_waypoint_info(id) + return + + + + """ + ############################### + イベントコールバック関数 + ############################### + """ + """ + +++++ キャンバス内でマウスを動かしたとき +++++ + """ + def mouse_move(self, event): + if not self.mymap: return + img_x, img_y = self.mymap.inv_transform(event.x, event.y) + if (img_x < 0) or (img_y < 0) or (img_x > self.mymap.width()) or (img_y > self.mymap.height()): + self.mouse_position["text"] = " Out of map " + return + x, y = self.mymap.image2real(img_x, img_y) + self.mouse_position["text"] = " ( x, y ) = ( {}, {} ) ".format(x, y) + return + + + """ + +++++ マウスホイールを回転したとき（タッチパッドをドラッグしたとき） +++++ + """ + def mouse_wheel(self, event): + if not self.mymap: return + if event.delta > 0: + # 上に回転（タッチパッドなら下にドラッグ）=> 拡大 + self.mymap.scale_at(event.x, event.y, 1.1) + else: + # 下に回転（タッチパッドなら上にドラッグ）=> 縮小 + self.mymap.scale_at(event.x, event.y, 0.9) + self.draw_image() + self.plot_origin() + self.plot_waypoints() + return + + + """ + +++++ 左クリックされたとき +++++ + """ + def left_click(self, event): + self.popup_menu.unpost() # 右クリックで出るポップアップメニューを非表示 + return + + + """ + +++++ マウスを左クリックしながらドラッグしたとき +++++ + """ + def left_click_move(self, event): + if not self.mymap: return + if self.moving_waypoint: return + if self.old_click_point is None: + self.old_click_point = [event.x, event.y] + return + # カーソルの移動量を計算 + delta_x = event.x - self.old_click_point[0] + delta_y = event.y - self.old_click_point[1] + # ウェイポイント移動モードでないとき、地図を平行移動 + self.mymap.translate(delta_x, delta_y) + self.draw_image() + # origin, waypoints finish_pose を平行移動 + self.canvas.move("origin", delta_x, delta_y) + if self.waypoints: + for id in self.waypoints.get_id_list(): + self.canvas.move(id, delta_x, delta_y) + self.canvas.move("finish_pose", delta_x, delta_y) + self.old_click_point = [event.x, event.y] + return + + + """ + +++++ マウスの左クリックを離したとき +++++ + """ + def left_click_release(self, event): + self.old_click_point = None + return + + + """ + +++++ 右クリックしたとき +++++ + """ + def right_click(self, event): + if not self.mymap: return + # クリックした座標の近くにあるオブジェクトを取得 + clicked_obj = self.canvas.find_enclosed(event.x-20, event.y-20, event.x+20, event.y+20) + if clicked_obj: # 何かオブジェクトがクリックされていた場合 + return + # クリックされた座標 => 元画像の座標 の変換 + img_x, img_y = self.mymap.inv_transform(event.x, event.y) + # 変換後の元画像の座標がサイズから外れている場合（地図画像の外をクリックしている） + if (img_x < 0) or (img_y < 0) or (img_x > self.mymap.width()) or (img_y > self.mymap.height()): + return + self.popup_menu.post(event.x_root, event.y_root) # メニューをポップアップ + self.right_click_coord = [img_x, img_y] # クリックされた元画像上の座標を変数に格納 + return + + + """ + +++++ Ctrl押しながら左クリックしたとき +++++ + """ + def ctrl_left_click(self, event): + if not self.mymap: return + self.mymap.scale_at(event.x, event.y, 1.2) + self.draw_image() + self.plot_origin() + self.plot_waypoints() + self.message("Zoom In") + return + + + """ + +++++ Ctrl押しながら右クリックしたとき +++++ + """ + def ctrl_right_click(self, event): + if not self.mymap: return + self.mymap.scale_at(event.x, event.y, 0.8) + self.draw_image() + self.plot_origin() + self.plot_waypoints() + self.message("Zoom Out") + return + + + """ + +++++ ウィンドウサイズが変更されたとき、情報を更新する +++++ + """ + def window_resize_callback(self, event): + cw = self.canvas.winfo_width() + ch = self.canvas.winfo_height() + if (self.canv_w != cw) or (self.canv_h != ch): + self.canv_w = cw + self.canv_h = ch + self.draw_image() + return + + + + """ + ############################################## + 地図画像の表示、メッセージ表示、座標変換 + ############################################## + """ + """ + +++++ 元画像をaffne変換して描画 +++++ + """ + def draw_image(self): + if not self.mymap: return + if not self.canvas.find_withtag("map_image"): # 初めて画像を描画するとき + self.canvas.create_image(0, 0, anchor='nw', tags="map_image", + image=self.mymap.get_draw_image((self.canv_w, self.canv_h)) + ) + else: + # 既に描画された画像を差し替える + self.canvas.itemconfig("map_image", image=self.mymap.get_draw_image((self.canv_w, self.canv_h))) + return + + + """ + +++++ 画面上部にメッセージを表示する +++++ + """ + def message(self, msg): + if not isinstance(msg, str): + msg = str(msg) + self.msg_label["text"] = str(msg) + + + """ + +++++ 実際の座標をキャンバス上の座標に変換 +++++ + """ + def real2canvas(self, x, y): + img_x, img_y = self.mymap.real2image(x,y) + real_x, real_y = self.mymap.transform(img_x, img_y) + return real_x, real_y + + + + + +if __name__ == "__main__": + root = tk.Tk() # 大元になるウィンドウ + w, h = root.winfo_screenwidth()-10, root.winfo_screenheight()-100 + root.geometry("%dx%d+0+0" % (w, h)) + app = Application(master=root) # tk.Frameを継承したApplicationクラスのインスタンス + app.mainloop() diff --git a/src/waypoint_navigation/waypoint_nav/CMakeLists.txt b/src/waypoint_navigation/waypoint_nav/CMakeLists.txt new file mode 100644 index 0000000..b4c1003 --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/CMakeLists.txt @@ -0,0 +1,61 @@ +cmake_minimum_required(VERSION 3.0.2) +project(waypoint_nav) + +## 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 + move_base_msgs + geometry_msgs + move_base + roscpp + actionlib_msgs + actionlib + tf + std_srvs + dynamic_reconfigure + base_local_planner + dwa_local_planner + std_msgs +) + + + +find_package(PkgConfig) +pkg_search_module(yaml-cpp REQUIRED yaml-cpp) +pkg_search_module(waypoint_saver REQUIRED waypoint_saver) + +if(NOT ${yaml-cpp_VERSION} VERSION_LESS "0.5") +add_definitions(-DNEW_YAMLCPP) +endif() + +catkin_package( + INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME} + DEPENDS waypoint_saver +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${yaml-cpp_INCLUDE_DIRS} + ${waypoint_saver_INCLUDE_DIRS} + ../waypoint_saver/include +) + +add_executable(waypoint_nav src/waypoint_nav.cpp) + +target_link_libraries(waypoint_nav + ${catkin_LIBRARIES} + ${yaml-cpp_LIBRARIES} +) + +add_executable(velocity_controller src/velocity_controller.cpp) + +target_link_libraries(velocity_controller + ${catkin_LIBRARIES} +) + diff --git a/src/waypoint_navigation/waypoint_nav/include/waypoint_nav.h b/src/waypoint_navigation/waypoint_nav/include/waypoint_nav.h new file mode 100644 index 0000000..de4896e --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/include/waypoint_nav.h @@ -0,0 +1,34 @@ +// #include +// #include // include Waypoint class +// #include + + +// class WaypointArray : public geometry_msgs::PoseArray { +// /* +// std_msgs/Header header +// geometry_msgs/Pose[] poses +// */ +// public: +// std::vector waypoint_list; + + +// void add_waypoint(double x, double y, double z, float vel, float rad) +// { +// Waypoint point; +// point.set_x(x); +// point.set_y(y); +// point.set_z(z); +// point.set_vel(vel); +// point.set_rad(rad); +// waypoint_list.push_back(point); +// } + + +// geometry_msgs::PoseArray get_posearray_msg() +// { +// geometry_msgs::PoseArray posearray; +// posearray.header = header; +// posearray.poses = poses; +// return posearray; +// } +// }; \ No newline at end of file diff --git a/src/waypoint_navigation/waypoint_nav/launch/waypoint_nav.launch b/src/waypoint_navigation/waypoint_nav/launch/waypoint_nav.launch new file mode 100644 index 0000000..eaa8101 --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/launch/waypoint_nav.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + diff --git a/src/waypoint_navigation/waypoint_nav/maps/map.pgm b/src/waypoint_navigation/waypoint_nav/maps/map.pgm new file mode 100644 index 0000000..10700a1 --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/maps/map.pgm Binary files differ diff --git a/src/waypoint_navigation/waypoint_nav/maps/map.yaml b/src/waypoint_navigation/waypoint_nav/maps/map.yaml new file mode 100644 index 0000000..8cf0bd4 --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/maps/map.yaml @@ -0,0 +1,7 @@ +image: ./map.pgm +resolution: 0.050000 +origin: [-10.000000, -10.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/waypoint_navigation/waypoint_nav/maps/map_gakunai.pgm b/src/waypoint_navigation/waypoint_nav/maps/map_gakunai.pgm new file mode 100644 index 0000000..8a70604 --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/maps/map_gakunai.pgm Binary files differ diff --git a/src/waypoint_navigation/waypoint_nav/maps/map_gakunai.yaml b/src/waypoint_navigation/waypoint_nav/maps/map_gakunai.yaml new file mode 100644 index 0000000..27872d5 --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/maps/map_gakunai.yaml @@ -0,0 +1,7 @@ +image: map_gakunai.pgm +resolution: 0.050000 +origin: [-100.000000, -100.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/waypoint_navigation/waypoint_nav/package.xml b/src/waypoint_navigation/waypoint_nav/package.xml new file mode 100644 index 0000000..b993d36 --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/package.xml @@ -0,0 +1,56 @@ + + + waypoint_nav + 0.0.0 + The waypoint_nav package + + + + + ubuntu + + + + + + TODO + + + catkin + + move_base + yaml-cpp + move_base_msgs + geometry_msgs + roscpp + actionlib_msgs + actionlib + tf + std_srvs + dynamic_reconfigure + base_local_planner + dwa_local_planner + waypoint_saver + std_msgs + + move_base + yaml-cpp + move_base_msgs + geometry_msgs + roscpp + actionlib_msgs + actionlib + tf + dynamic_reconfigure + base_local_planner + dwa_local_planner + waypoint_saver + std_msgs + + + + + + + + diff --git a/src/waypoint_navigation/waypoint_nav/rviz_cfg/nav.rviz b/src/waypoint_navigation/waypoint_nav/rviz_cfg/nav.rviz new file mode 100644 index 0000000..e0e7674 --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/rviz_cfg/nav.rviz @@ -0,0 +1,368 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 636 + - 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 + Name: Time + SyncMode: 0 + SyncSource: "" + - Class: orne_rviz_plugins/StateTriggerPanel + Name: StateTriggerPanel +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: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + hokuyo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_caster_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_caster_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 0; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 170; 0; 0 + Min Color: 0; 85; 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 5 + Size (m): 0.10000000149011612 + Style: Points + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: Particles + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /particlecloud + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Footprint + Queue Size: 10 + Topic: /move_base/global_costmap/obstacle_layer_footprint/footprint_stamped + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Global Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base/NavfnROS/plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Billboards + Line Width: 0.10000000149011612 + Name: Local Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base/TrajectoryPlannerROS/local_plan + Unreliable: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: true + Enabled: true + Name: GlobalCostmap + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: LocalCostmap + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 0; 0; 127 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: Waypoints + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /waypoints + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 0; 0; 127 + Enabled: false + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Pose + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /move_base_simple/goal + Unreliable: false + Value: false + - Alpha: 1 + Class: rviz/PointStamped + Color: 204; 41; 204 + Enabled: false + History Length: 10 + Name: PointStamped + Queue Size: 10 + Radius: 0.20000000298023224 + Topic: /target_point + Unreliable: false + Value: false + - Alpha: 1 + Class: rviz/PointStamped + Color: 239; 41; 41 + Enabled: false + History Length: 1 + Name: PointStamped + Queue Size: 10 + Radius: 0.4000000059604645 + Topic: /filtered_target_point + Unreliable: false + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 10 + 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/ThirdPersonFollower + Distance: 35.39775466918945 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: -0.3276565670967102 + Y: -0.7599051594734192 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.339796543121338 + Target Frame: base_link + Yaw: 3.1153953075408936 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 897 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + StateTriggerPanel: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1269 + X: 564 + Y: -20 diff --git a/src/waypoint_navigation/waypoint_nav/src/velocity_controller.cpp b/src/waypoint_navigation/waypoint_nav/src/velocity_controller.cpp new file mode 100644 index 0000000..d064beb --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/src/velocity_controller.cpp @@ -0,0 +1,81 @@ +#include +#include +#include +#include +#include + +#include + + +class VelocityController { +public: + VelocityController() : + move_base_action_("move_base", true), + standard_vel_(1.0), + current_max_vel_(1.0), + min_vel_(0.0) + { + while((move_base_action_.waitForServer(ros::Duration(1.0)) == false) && (ros::ok() == true)) { + ROS_INFO("Waiting..."); + } + + ros::NodeHandle nh; + max_vel_sub_ = nh.subscribe("/max_vel", 1, &VelocityController::maxVelCallback, this); + cmd_vel_sub_ = nh.subscribe("/cmd_vel_in", 10, &VelocityController::cmdVelCallback, this); + cmd_vel_pub_ = nh.advertise("/cmd_vel_out", 10); + + std::string planner = "base_local_planner/TrajectoryPlannerROS"; + std::string param_max = "/move_base/TrajectoryPlannerROS/max_vel_x"; + std::string param_min = "/move_base/TrajectoryPlannerROS/min_vel_x"; + nh.param("/move_base/base_local_planner", planner, planner); + if (planner == "dwa_local_planner/DWAPlannerROS") { + param_max = "/move_base/DWAPlannerROS/max_vel_trans"; + param_min = "/move_base/DWAPlannerROS/min_vel_trans"; + } + nh.param(param_max, standard_vel_, standard_vel_); + nh.param(param_min, min_vel_, min_vel_); + ROS_INFO_STREAM("Standard max vel: " << standard_vel_); + } + + + + void maxVelCallback(const std_msgs::Float32 &msg) + { + current_max_vel_ = standard_vel_ * msg.data; + current_max_vel_ = std::max(current_max_vel_, min_vel_); + ROS_INFO_STREAM("Set max vel: " << current_max_vel_); + } + + + + void cmdVelCallback(const geometry_msgs::Twist &msg) + { + pub_msg_.linear.x = std::min(float(msg.linear.x), current_max_vel_); + pub_msg_.angular = msg.angular; + cmd_vel_pub_.publish(pub_msg_); + } + + + +private: + actionlib::SimpleActionClient move_base_action_; + ros::Subscriber max_vel_sub_; + ros::Subscriber cmd_vel_sub_; + ros::Publisher cmd_vel_pub_; + float standard_vel_, current_max_vel_, min_vel_; + geometry_msgs::Twist pub_msg_; +}; + + + + + + + +int main(int argc, char *argv[]) { + ros::init(argc, argv, "velocity_controller"); + VelocityController vc; + + ros::spin(); + return 0; +} \ No newline at end of file diff --git a/src/waypoint_navigation/waypoint_nav/src/waypoint_nav.cpp b/src/waypoint_navigation/waypoint_nav/src/waypoint_nav.cpp new file mode 100644 index 0000000..d251054 --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/src/waypoint_nav.cpp @@ -0,0 +1,471 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +// #include +// #include +// #include + +#include +#include // include Waypoint class + +#include +#include +#include +#include +#include + +#ifdef NEW_YAMLCPP +template +void operator >> (const YAML::Node& node, T& i) +{ + i = node.as(); +} +#endif + + +class SwitchRunningStatus : public std::exception { +public: + SwitchRunningStatus() : std::exception() { } +}; + + + +class WaypointsNavigation{ +public: + /* + ++++++++++ Constructer ++++++++++ + */ + WaypointsNavigation() : + has_activate_(false), + move_base_action_("move_base", true), + rate_(10), + last_moved_time_(0), + dist_err_(1.0) + { + while((move_base_action_.waitForServer(ros::Duration(1.0)) == false) && (ros::ok() == true)) + { + ROS_INFO("Waiting..."); + } + ros::NodeHandle private_nh("~"); + private_nh.param("robot_frame", robot_frame_, std::string("base_link")); + private_nh.param("world_frame", world_frame_, std::string("map")); + + double max_update_rate; + private_nh.param("max_update_rate", max_update_rate, 10.0); + rate_ = ros::Rate(max_update_rate); + std::string filename = ""; + private_nh.param("filename", filename, filename); + if (filename != "") { + ROS_INFO_STREAM("Read waypoints data from " << filename); + if (!readFile(filename)) { + ROS_ERROR("Failed loading waypoints file"); + } else { + finish_pose_ = waypoints_.poses.end()-1; + computeWpOrientation(); + } + current_waypoint_ = waypoints_.poses.begin(); + wp_num_.data = 1; + } else { + ROS_ERROR("waypoints file doesn't have name"); + } + + ros::NodeHandle nh; + start_server_ = nh.advertiseService("start_wp_nav", &WaypointsNavigation::startNavigationCallback, this); + stop_server_ = nh.advertiseService("stop_wp_nav", &WaypointsNavigation::stopNavigationCallback, this); + resume_server_ = nh.advertiseService("resume_nav", &WaypointsNavigation::resumeNavigationCallback, this); + cmd_vel_sub_ = nh.subscribe("cmd_vel", 1, &WaypointsNavigation::cmdVelCallback, this); + wp_pub_ = nh.advertise("waypoints", 10); + max_vel_pub_ = nh.advertise("max_vel", 5); + wp_num_pub_ = nh.advertise("waypoint_number", 5); + clear_costmaps_srv_ = nh.serviceClient("/move_base/clear_costmaps"); + } + + + + /* + ++++++++++ Read waypoints file ++++++++++ + */ + bool readFile(const std::string &filename) + { + waypoints_.poses.clear(); + try { + std::ifstream ifs(filename.c_str(), std::ifstream::in); + if (ifs.good() == false) return false; + + YAML::Node node; + #ifdef NEW_YAMLCPP + node = YAML::Load(ifs); + #else + YAML::Parser parser(ifs); + parser.GetNextDocument(node); + #endif + + // Read waypoints from yaml file + #ifdef NEW_YAMLCPP + const YAML::Node &wp_node_tmp = node["waypoints"]; + const YAML::Node *wp_node = wp_node_tmp ? &wp_node_tmp : NULL; + #else + const YAML::Node *wp_node = node.FindValue("waypoints"); + #endif + geometry_msgs::Pose pose; + Waypoint point; + if (wp_node != NULL) { + for(int i=0; i < wp_node->size(); i++) { + (*wp_node)[i]["point"]["x"] >> pose.position.x; + (*wp_node)[i]["point"]["y"] >> pose.position.y; + (*wp_node)[i]["point"]["z"] >> pose.position.z; + waypoints_.poses.push_back(pose); + point.x = pose.position.x; + point.y = pose.position.y; + point.z = pose.position.z; + (*wp_node)[i]["point"]["vel"] >> point.vel; + (*wp_node)[i]["point"]["rad"] >> point.rad; + (*wp_node)[i]["point"]["stop"] >> point.stop; + waypoint_list_.push_back(point); + } + } else { + return false; + } + + // Read finish_pose + #ifdef NEW_YAMLCPP + const YAML::Node &fp_node_tmp = node["finish_pose"]; + const YAML::Node *fp_node = fp_node_tmp ? &fp_node_tmp : NULL; + #else + const YAML::Node *fp_node = node.FindValue("finish_pose"); + #endif + if (fp_node != NULL) { + (*fp_node)["pose"]["position"]["x"] >> pose.position.x; + (*fp_node)["pose"]["position"]["y"] >> pose.position.y; + (*fp_node)["pose"]["position"]["z"] >> pose.position.z; + (*fp_node)["pose"]["orientation"]["x"] >> pose.orientation.x; + (*fp_node)["pose"]["orientation"]["y"] >> pose.orientation.y; + (*fp_node)["pose"]["orientation"]["z"] >> pose.orientation.z; + (*fp_node)["pose"]["orientation"]["w"] >> pose.orientation.w; + waypoints_.poses.push_back(pose); + point.x = pose.position.x; + point.y = pose.position.y; + point.z = pose.position.z; + waypoint_list_.push_back(point); + } else { + return false; + } + + } catch(YAML::ParserException &e) { + return false; + + } catch(YAML::RepresentationException &e) { + return false; + } + + return true; + } + + + + /* + ++++++++++ Compute target orientation for each waypoint ++++++++++ + */ + void computeWpOrientation() + { + for(std::vector::iterator it = waypoints_.poses.begin(); it != finish_pose_; it++) { + double goal_direction = atan2((it+1)->position.y - (it)->position.y, + (it+1)->position.x - (it)->position.x); + (it)->orientation = tf::createQuaternionMsgFromYaw(goal_direction); + } + waypoints_.header.frame_id = world_frame_; + } + + + + /* + ++++++++++ Callback function for "StartWaypointsNavigation" button on rviz ++++++++++ + */ + bool startNavigationCallback(std_srvs::Trigger::Request &request, std_srvs::Trigger::Response &response) + { + if ((has_activate_) || (current_waypoint_ != waypoints_.poses.begin())) { + ROS_WARN("Waypoint navigation is already started"); + response.success = false; + return false; + } + std_srvs::Empty empty; + while(!clear_costmaps_srv_.call(empty)) { + ROS_WARN("Resend clear costmap service"); + sleep(); + } + current_waypoint_ = waypoints_.poses.begin(); + wp_num_.data = 1; + has_activate_ = true; + response.success = true; + return true; + } + + + + /* + ++++++++++ Callback function for "ResumeWaypointsNavigation" button on rviz ++++++++++ + */ + bool resumeNavigationCallback(std_srvs::Trigger::Request &request, std_srvs::Trigger::Response &response) + { + if (has_activate_) { + ROS_WARN("Navigation is already active"); + response.success = false; + } else { + ROS_INFO("Navigation has resumed"); + has_activate_ = true; + response.success = true; + } + return true; + } + + + + /* + ++++++++++ Callback function for service of "stop_wp_nav" ++++++++++ + */ + bool stopNavigationCallback(std_srvs::Trigger::Request &request, std_srvs::Trigger::Response &response) + { + if (has_activate_) { + ROS_INFO("Waypoint navigation has been stopped"); + has_activate_ = false; + response.success = true; + } else { + ROS_WARN("Waypoint navigation is already stopped"); + response.success = false; + } + return true; + } + + + + /* + ++++++++++ Callback function for cmd_vel topic ++++++++++ + */ + void cmdVelCallback(const geometry_msgs::Twist &msg) + { + if (has_activate_ && + msg.linear.x > -0.001 && msg.linear.x < 0.001 && + msg.linear.y > -0.001 && msg.linear.y < 0.001 && + msg.linear.z > -0.001 && msg.linear.z < 0.001 && + msg.angular.x > -0.001 && msg.angular.x < 0.001 && + msg.angular.y > -0.001 && msg.angular.y < 0.001 && + msg.angular.z > -0.001 && msg.angular.z < 0.001) + { + // ROS_INFO("command velocity all zero"); + } else { + last_moved_time_ = ros::Time::now().toSec(); + } + } + + + + /* + ++++++++++ Check if robot reached the goal sent to move_base ++++++++++ + */ + bool navigationFinished() + { + return move_base_action_.getState() == actionlib::SimpleClientGoalState::SUCCEEDED; + } + + + + /* + ++++++++++ Check if robot reached current waypoint ++++++++++ + */ + bool onNavigationPoint(const geometry_msgs::Point &dest, double dist_err = 0.8) + { + if (waypoint_list_[wp_num_.data-1].stop) { + return navigationFinished(); + } + tf::StampedTransform robot_gl = getRobotPosGL(); + const double wx = dest.x; + const double wy = dest.y; + const double rx = robot_gl.getOrigin().x(); + const double ry = robot_gl.getOrigin().y(); + const double dist = std::sqrt(std::pow(wx - rx, 2) + std::pow(wy - ry, 2)); + return dist < dist_err; + } + + + + /* + ++++++++++ Get gloabl position of robot ++++++++++ + */ + tf::StampedTransform getRobotPosGL() + { + tf::StampedTransform robot_gl; + try { + tf_listener_.lookupTransform(world_frame_, robot_frame_, ros::Time(0.0), robot_gl); + } catch(tf::TransformException &e) { + ROS_WARN_STREAM("tf::TransformException: " << e.what()); + } + return robot_gl; + } + + + + /* + ++++++++++ Sleep function used in main loop function ++++++++++ + */ + void sleep() + { + rate_.sleep(); + ros::spinOnce(); + publishPoseArray(); + } + + + + /* + ++++++++++ Publish waypoints to be displayed as arrows on rviz ++++++++++ + */ + void publishPoseArray() + { + waypoints_.header.stamp = ros::Time::now(); + wp_pub_.publish(waypoints_); + } + + + + /* + ++++++++++ Send goal to move_base ++++++++++ + */ + void startNavigationGL(const geometry_msgs::Pose &dest) + { + setMaxVel(); + move_base_msgs::MoveBaseGoal move_base_goal; + move_base_goal.target_pose.header.stamp = ros::Time::now(); + move_base_goal.target_pose.header.frame_id = world_frame_; + move_base_goal.target_pose.pose.position = dest.position; + move_base_goal.target_pose.pose.orientation = dest.orientation; + move_base_action_.sendGoal(move_base_goal); + } + + + + /* + ++++++++++ Publish ratio to maximum speed ++++++++++ + */ + void setMaxVel() + { + float max_vel_rate = waypoint_list_[wp_num_.data-1].vel; + max_vel_msg_.data = max_vel_rate; + max_vel_pub_.publish(max_vel_msg_); + } + + + + /* + ++++++++++ Main loop function ++++++++++ + */ + void run() + { + while(ros::ok()) { + // has_activate_ is false, nothing to do + if (!has_activate_) { + sleep(); + continue; + } + // go to fianal goal and finish process + if (current_waypoint_ == finish_pose_) { + ROS_INFO_STREAM("Go to final goal"); + startNavigationGL(*current_waypoint_); + while(!navigationFinished() && ros::ok()) sleep(); + ROS_INFO("Final goal reached!!"); + has_activate_ = false; + continue; + } + // go to current waypoint + ROS_INFO_STREAM("Go to waypoint " << wp_num_.data); + ROS_INFO_STREAM("x: " << waypoint_list_[wp_num_.data-1].x << ", y: " << waypoint_list_[wp_num_.data-1].y); + startNavigationGL(*current_waypoint_); + int resend_goal = 0; + double start_nav_time = ros::Time::now().toSec(); + dist_err_ = waypoint_list_[wp_num_.data-1].rad; + try { + // loop until reach waypoint + while(!onNavigationPoint(current_waypoint_->position, dist_err_)) { + if (!has_activate_) { + throw SwitchRunningStatus(); + } + double time = ros::Time::now().toSec(); + if (time - start_nav_time > 10.0 && time - last_moved_time_ > 10.0) { + ROS_WARN("Resend the navigation goal."); + std_srvs::Empty empty; + clear_costmaps_srv_.call(empty); + startNavigationGL(*current_waypoint_); + resend_goal++; + if (resend_goal == 3) { + ROS_WARN("Skip waypoint."); + current_waypoint_++; + wp_num_.data++; + startNavigationGL(*current_waypoint_); + } + start_nav_time = time; + } + wp_num_pub_.publish(wp_num_); + sleep(); + } + // if current waypoint is stop point + if (waypoint_list_[wp_num_.data-1].stop) { + has_activate_ = false; + move_base_action_.cancelAllGoals(); + ROS_INFO("Waiting for navigation to resume..."); + } + // update current waypoint + current_waypoint_++; + wp_num_.data++; + + } catch(const SwitchRunningStatus &e) { + ROS_INFO_STREAM("Running status switched"); + } + sleep(); + } + } + + + + +private: + actionlib::SimpleActionClient move_base_action_; + geometry_msgs::PoseArray waypoints_; + visualization_msgs::MarkerArray marker_; + std::vector waypoint_list_; + std::vector::iterator current_waypoint_; + std::vector::iterator finish_pose_; + bool has_activate_; + std::string robot_frame_, world_frame_; + tf::TransformListener tf_listener_; + ros::Rate rate_; + ros::ServiceServer start_server_, stop_server_, resume_server_; + ros::Subscriber cmd_vel_sub_; + ros::Publisher wp_pub_, max_vel_pub_, wp_num_pub_; + ros::ServiceClient clear_costmaps_srv_; + double last_moved_time_, dist_err_; + std_msgs::UInt16 wp_num_; + std_msgs::Float32 max_vel_msg_; +}; + + + + + + +int main(int argc, char *argv[]) { + ros::init(argc, argv, ROS_PACKAGE_NAME); + WaypointsNavigation w_nav; + w_nav.run(); + + return 0; +} diff --git a/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints.yaml b/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints.yaml new file mode 100644 index 0000000..92f70d6 --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints.yaml @@ -0,0 +1,10 @@ +waypoints: +- point: {x: -0.45, y: -0.499032, z: 0.0, vel: 1.0, rad: 0.3, stop: false} +- point: {x: 0.50, y: -0.576395, z: 0.0, vel: 0.5, rad: 0.1, stop: true} +- point: {x: 0.50, y: 0.80, z: 0.0, vel: 1.0, rad: 0.3, stop: false} +- point: {x: 0.515219, y: 1.8, z: 0.0, vel: 0.3, rad: 0.1, stop: true} +finish_pose: + header: {seq: 0.0, stamp: 1620367430.3803937, frame_id: base_link} + pose: + position: {x: -0.550981, y: 1.8, z: 0.0} + orientation: {x: 0.0, y: 0.0, z: 0.99749, w: 0.07074} \ No newline at end of file diff --git a/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints_gakunai.yaml b/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints_gakunai.yaml new file mode 100644 index 0000000..1b42abe --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints_gakunai.yaml @@ -0,0 +1,27 @@ +waypoints: +- point: {x: 15.549, y: 1.99887, z: 0} +- point: {x: 27.7033, y: 0.740999, z: 0} +- point: {x: 44.367489, y: -3.73285, z: 0.0} +- point: {x: 53.4473, y: -1.98026, z: 0} +- point: {x: 53.5381, y: 13.9875, z: 0} +- point: {x: 53.0202, y: 25.7033, z: 0} +- point: {x: 52.624, y: 40.8326, z: 0} +- point: {x: 52.4651, y: 56.1678, z: 0} +- point: {x: 47.4651, y: 55.9678, z: 0} +- point: {x: 41.1833, y: 55.7508, z: 0} +- point: {x: 30.9773, y: 56.3972, z: 0} +- point: {x: 19.605, y: 55.9349, z: 0} +- point: {x: 9.74244, y: 57.775, z: 0} +- point: {x: 9.04664, y: 53.1814, z: 0} +- point: {x: 12.2474, y: 45.1187, z: 0} +- point: {x: 17.5568, y: 32.2592, z: 0} +- point: {x: 19.6331, y: 27.0299, z: 0} +- point: {x: 23.7635, y: 17.3945, z: 0} +- point: {x: 27.6797, y: 6.92171, z: 0} +- point: {x: 29.8247, y: 1.30448, z: 0} +- point: {x: 12.7818, y: 1.13019, z: 0} +finish_pose: + header: {seq: 0, stamp: 1623386648.025251, frame_id: base_link} + pose: + position: {x: -0.8863756, y: 0.5020624, z: 0} + orientation: {x: 0, y: 0, z: 0.999797, w: -0.0201511} \ No newline at end of file diff --git a/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints_gakunai_edit.yaml b/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints_gakunai_edit.yaml new file mode 100644 index 0000000..5d13f3a --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints_gakunai_edit.yaml @@ -0,0 +1,27 @@ +waypoints: +- point: {x: 15.549, y: 1.99887, z: 0} +- point: {x: 27.7033, y: 0.740999, z: 0} +- point: {x: 44.5033, y: -3.88193, z: 0} +- point: {x: 53.4473, y: -1.98026, z: 0} +- point: {x: 53.5381, y: 13.9875, z: 0} +- point: {x: 53.0202, y: 25.7033, z: 0} +- point: {x: 52.624, y: 40.8326, z: 0} +- point: {x: 52.4651, y: 56.1678, z: 0} +- point: {x: 47.4651, y: 55.9678, z: 0} +- point: {x: 41.1833, y: 55.7508, z: 0} +- point: {x: 30.9773, y: 56.3972, z: 0} +- point: {x: 19.605, y: 55.9349, z: 0} +- point: {x: 9.74244, y: 57.775, z: 0} +- point: {x: 9.04664, y: 53.1814, z: 0} +- point: {x: 12.2474, y: 45.1187, z: 0} +- point: {x: 17.5568, y: 32.2592, z: 0} +- point: {x: 19.6331, y: 27.0299, z: 0} +- point: {x: 23.7635, y: 17.3945, z: 0} +- point: {x: 27.6797, y: 6.92171, z: 0} +- point: {x: 29.8247, y: 1.30448, z: 0} +- point: {x: 12.7818, y: 1.13019, z: 0} +finish_pose: + header: {seq: 0, stamp: 1623386648.025251, frame_id: base_link} + pose: + position: {x: -0.8863756, y: 0.5020624, z: 0} + orientation: {x: 0, y: 0, z: 0.999797, w: -0.0201511} \ No newline at end of file diff --git a/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints_test.yaml b/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints_test.yaml new file mode 100644 index 0000000..713cc07 --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints_test.yaml @@ -0,0 +1,13 @@ +waypoints: +- point: {x: -1.01321, y: -0.528956, z: -0.000870705, vel: 1, rad: 0.8, stop: 0} +- point: {x: -0.0284393, y: -0.471859, z: 0.00520468, vel: 1, rad: 0.8, stop: 0} +- point: {x: 0.981428, y: -0.5452, z: 0.00261879, vel: 1, rad: 0.8, stop: 0} +- point: {x: 1.90456, y: -0.536331, z: 0.00246334, vel: 1, rad: 0.8, stop: 0} +- point: {x: 1.95224, y: 0.538929, z: 0.00476408, vel: 1, rad: 0.8, stop: 0} +- point: {x: 0.603558, y: 0.551442, z: 0.00079298, vel: 1, rad: 0.8, stop: 0} +- point: {x: 0.539775, y: 1.787, z: 0.00275993, vel: 1, rad: 0.8, stop: 0} +finish_pose: + header: {seq: 0, stamp: 244.465000000, frame_id: map} + pose: + position: {x: -0.488029, y: 1.82672, z: 0} + orientation: {x: 0, y: 0, z: 0.999992, w: 0.00399584} diff --git a/src/waypoint_navigation/waypoint_saver/CMakeLists.txt b/src/waypoint_navigation/waypoint_saver/CMakeLists.txt new file mode 100644 index 0000000..4134cad --- /dev/null +++ b/src/waypoint_navigation/waypoint_saver/CMakeLists.txt @@ -0,0 +1,89 @@ +cmake_minimum_required(VERSION 3.0.2) +project(waypoint_saver) + + + +find_package(catkin REQUIRED + geometry_msgs + visualization_msgs + roscpp + tf +) + + +catkin_package( + INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME} +) + + + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${yaml-cpp_INCLUDE_DIRS} +) + + + + +add_executable(waypoint_saver src/waypoint_saver.cpp) + +target_link_libraries(waypoint_saver + ${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_waypoint_saver.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/src/waypoint_navigation/waypoint_saver/include/waypoint_saver.h b/src/waypoint_navigation/waypoint_saver/include/waypoint_saver.h new file mode 100644 index 0000000..9cf23da --- /dev/null +++ b/src/waypoint_navigation/waypoint_saver/include/waypoint_saver.h @@ -0,0 +1,36 @@ +#include +#include + +class Waypoint { +public: + double x, y, z; + float vel; + float rad; + bool stop; + + Waypoint() : + x(0.0), + y(0.0), + z(0.0), + vel(1.0), + rad(0.8), + stop(false) + { + } + + + std::string getYAMLstr() + { + std::stringstream ss; + ss << "{"; + ss << "x: " << x << ", " ; + ss << "y: " << y << ", " ; + ss << "z: " << z << ", " ; + ss << "vel: " << vel << ", " ; + ss << "rad: " << rad << ", " ; + ss << "stop: " << (stop ? "true" : "false") << "}" ; + return ss.str(); + // {x: *, y: *, z: *, vel: *, rad: *, stop: *} + } + +}; \ No newline at end of file diff --git a/src/waypoint_navigation/waypoint_saver/launch/waypoint_saver.launch b/src/waypoint_navigation/waypoint_saver/launch/waypoint_saver.launch new file mode 100644 index 0000000..9873494 --- /dev/null +++ b/src/waypoint_navigation/waypoint_saver/launch/waypoint_saver.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/waypoint_navigation/waypoint_saver/package.xml b/src/waypoint_navigation/waypoint_saver/package.xml new file mode 100644 index 0000000..1ce6999 --- /dev/null +++ b/src/waypoint_navigation/waypoint_saver/package.xml @@ -0,0 +1,38 @@ + + + waypoint_saver + 0.0.0 + The waypoint_saver package + + + + + ubuntu + + + + + + TODO + + + catkin + + + geometry_msgs + visualization_msgs + roscpp + tf + + geometry_msgs + visualization_msgs + roscpp + tf + + + + + + + + diff --git a/src/waypoint_navigation/waypoint_saver/rviz_cfg/record_waypoints.rviz b/src/waypoint_navigation/waypoint_saver/rviz_cfg/record_waypoints.rviz new file mode 100644 index 0000000..659846c --- /dev/null +++ b/src/waypoint_navigation/waypoint_saver/rviz_cfg/record_waypoints.rviz @@ -0,0 +1,240 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 418 + - 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: LaserScan +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: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_scan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_back_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + wheel_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /waypoints + Name: Waypoints + Namespaces: + {} + Queue Size: 100 + Value: true + - Alpha: 1 + Class: rviz/PointStamped + Color: 204; 41; 204 + Enabled: true + History Length: 1 + Name: PointStamped + Queue Size: 10 + Radius: 0.20000000298023224 + Topic: /clicked_point + Unreliable: false + 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: Pose + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /move_base_simple/goal + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 10 + 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: 9.116127014160156 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: -0.43540072441101074 + Y: -0.04363036900758743 + Z: 0.47935307025909424 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.179796576499939 + Target Frame: + Yaw: 3.1354191303253174 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 716 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000001560000022dfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e0000022d000000cb00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000252fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000252000000a500fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000026c00fffffffb0000000800540069006d00650100000000000004500000000000000000000003540000022d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 195 + Y: 59 diff --git a/src/waypoint_navigation/waypoint_saver/src/waypoint_saver.cpp b/src/waypoint_navigation/waypoint_saver/src/waypoint_saver.cpp new file mode 100644 index 0000000..61b6e02 --- /dev/null +++ b/src/waypoint_navigation/waypoint_saver/src/waypoint_saver.cpp @@ -0,0 +1,229 @@ +#include +#include + +#include +#include +#include +#include +#include + +#include +#include +#include + +#include // include Waypoint class + + + +class WaypointsSaver{ +public: + WaypointsSaver() : + filename_("waypoints.yaml"), + default_rad_(0.8) + { + waypoints_viz_sub_ = nh_.subscribe("waypoints_viz", 1, &WaypointsSaver::waypointsVizCallback, this); + waypoints_joy_sub_ = nh_.subscribe("waypoints_joy", 1, &WaypointsSaver::waypointsJoyCallback, this); + finish_pose_sub_ = nh_.subscribe("finish_pose", 1, &WaypointsSaver::finishPoseCallback, this); + markers_pub_ = nh_.advertise("waypoints", 10); + + ros::NodeHandle private_nh("~"); + private_nh.param("filename", filename_, filename_); + private_nh.param("save_joy_button", save_joy_button_, 0); + private_nh.param("robot_frame", robot_frame_, std::string("base_link")); + private_nh.param("world_frame", world_frame_, std::string("map")); + private_nh.param("default_rad", default_rad_, default_rad_); + } + + + + /* + ++++++++++ Save waypoint by joy stick button ++++++++++ + */ + void waypointsJoyCallback(const sensor_msgs::Joy &msg) + { + static ros::Time saved_time(0.0); + if (msg.buttons[save_joy_button_] == 1 && (ros::Time::now() - saved_time).toSec() > 3.0) { + pushbackWaypoint(); + saved_time = ros::Time::now(); + } + publishMarkerArray(); + } + + + + /* + ++++++++++ Save waypoint by "Publish Point" on rviz ++++++++++ + */ + void waypointsVizCallback(const geometry_msgs::PointStamped &msg) + { + Waypoint point; + point.x = msg.point.x; + point.y = msg.point.y; + point.z = msg.point.z; + point.rad = default_rad_; + waypoints_.push_back(point); + addWaypointMarker(point); + publishMarkerArray(); + } + + + + /* + ++++++++++ Save finish pose by "2D Nav Goal" on rviz ++++++++++ + */ + void finishPoseCallback(const geometry_msgs::PoseStamped &msg) + { + finish_pose_ = msg; + save(); + waypoints_.clear(); + } + + + + /* + ++++++++++ Get robot's pose and add waypoint ++++++++++ + */ + void pushbackWaypoint() + { + tf::StampedTransform robot_gl; + try { + tf_listener_.lookupTransform(world_frame_, robot_frame_, ros::Time(0.0), robot_gl); + Waypoint point; + point.x = robot_gl.getOrigin().x(); + point.y = robot_gl.getOrigin().y(); + point.z = robot_gl.getOrigin().z(); + point.rad = default_rad_; + waypoints_.push_back(point); + addWaypointMarker(point); + } + catch(tf::TransformException &e) { + ROS_WARN_STREAM("tf::TransformException: " << e.what()); + } + } + + + + /* + ++++++++++ Add marker to display on rviz ++++++++++ + */ + void addWaypointMarker(Waypoint point) + { + double scale = 0.2; + int number = waypoints_.size(); + std::stringstream name; + name << "Waypoint " << number; + + visualization_msgs::Marker marker; + marker.header.frame_id = world_frame_; + marker.header.stamp = ros::Time::now(); + marker.ns = name.str(); + marker.id = number; + marker.type = visualization_msgs::Marker::SPHERE; + marker.action = visualization_msgs::Marker::ADD; + marker.pose.position.x = point.x; + marker.pose.position.y = point.y; + marker.pose.position.z = scale/2; + marker.scale.x = scale; + marker.scale.y = scale; + marker.scale.z = scale; + marker.color.r=0.8f; + marker.color.g=0.2f; + marker.color.b=0.2f; + marker.color.a = 1.0f; + + markers_.push_back(marker); + } + + + + /* + ++++++++++ Publish markerArray to display waypoints on rviz ++++++++++ + */ + void publishMarkerArray() + { + visualization_msgs::MarkerArray marker_array; + marker_array.markers = markers_; + markers_pub_.publish(marker_array); + } + + + + /* + ++++++++++ Save waypoints as yaml file ++++++++++ + */ + void save() + { + std::ofstream ofs(filename_.c_str(), std::ios::out); + /* + waypoints: + - point: {x: *, y: *, z: *, ...} + */ + ofs << "waypoints:" << std::endl; + for(int i=0; i < waypoints_.size(); i++) { + ofs << "- point: " << waypoints_[i].getYAMLstr() << std::endl; + } + /* + finish_pose: + header: {seq: *, stamp: *, frame_id: *} + pose: + positioin: {x: *, y: *, z: *} + orientation: {x: *, y: *, z: *, w: *} + */ + ofs << "finish_pose:" << std::endl; + ofs << " header: {" ; + ofs << "seq: " << finish_pose_.header.seq << ", " ; + ofs << "stamp: " << finish_pose_.header.stamp << ", " ; + ofs << "frame_id: " << finish_pose_.header.frame_id << "}" << std::endl; + ofs << " pose: " << std::endl; + ofs << " position: {" ; + ofs << "x: " << finish_pose_.pose.position.x << ", " ; + ofs << "y: " << finish_pose_.pose.position.y << ", " ; + ofs << "z: " << finish_pose_.pose.position.z << "}" << std::endl; + ofs << " orientation: {" ; + ofs << "x: " << finish_pose_.pose.orientation.x << ", " ; + ofs << "y: " << finish_pose_.pose.orientation.y << ", " ; + ofs << "z: " << finish_pose_.pose.orientation.z << ", " ; + ofs << "w: " << finish_pose_.pose.orientation.w << "}" << std::endl; + + ofs.close(); + ROS_INFO_STREAM("write success"); + } + + + + void run() + { + ros::spin(); + } + + + +private: + ros::Subscriber waypoints_viz_sub_; + ros::Subscriber waypoints_joy_sub_; + ros::Subscriber finish_pose_sub_; + ros::Publisher markers_pub_; + std::vector waypoints_; + std::vector markers_; + geometry_msgs::PoseStamped finish_pose_; + tf::TransformListener tf_listener_; + int save_joy_button_; + ros::NodeHandle nh_; + std::string filename_; + std::string world_frame_; + std::string robot_frame_; + float default_rad_; +}; + + + + + +int main(int argc, char *argv[]) +{ + ros::init(argc, argv, "waypoints_saver"); + WaypointsSaver saver; + saver.run(); + + return 0; +} diff --git a/src/zlac8015d_ros/LICENSE b/src/zlac8015d_ros/LICENSE new file mode 100644 index 0000000..f288702 --- /dev/null +++ b/src/zlac8015d_ros/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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Interpretation of Sections 15 and 16. + + If the disclaimer of warranty and limitation of liability provided +above cannot be given local legal effect according to their terms, +reviewing courts shall apply local law that most closely approximates +an absolute waiver of all civil liability in connection with the +Program, unless a warranty or assumption of liability accompanies a +copy of the Program in return for a fee. + + END OF TERMS AND CONDITIONS + + How to Apply These Terms to Your New Programs + + If you develop a new program, and you want it to be of the greatest +possible use to the public, the best way to achieve this is to make it +free software which everyone can redistribute and change under these terms. + + To do so, attach the following notices to the program. It is safest +to attach them to the start of each source file to most effectively +state the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. + + + Copyright (C) + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/src/zlac8015d_ros/README.md b/src/zlac8015d_ros/README.md index bf8aa92..d38891e 100644 --- a/src/zlac8015d_ros/README.md +++ b/src/zlac8015d_ros/README.md @@ -37,10 +37,10 @@ - `max_left_rpm`: Maximum rpm of left tire. Default is `150`. - `max_right_rpm`: Maximum rpm of right tire. Default is `150`. - `deadband_rpm`: Width of rpm to be regarded as 0. If `3`, then -3 to 3 is considered rpm 0. Default is `3`. -- `TF_header_flame`: Header flame of TF. Default is `odom`. -- `TF_child_flame`: Child flame of TF. Default is `base_link`. -- `odom_header_flame`: Header flame of odom. Default is `odom`. -- `odom_child_flame`: Child flame of odom. Default is `base_link`. +- `TF_header_frame`: Header frame of TF. Default is `odom`. +- `TF_child_frame`: Child frame of TF. Default is `base_link`. +- `odom_header_frame`: Header frame of odom. Default is `odom`. +- `odom_child_frame`: Child frame of odom. Default is `base_link`. ### Topics This node publishes the following topics. diff --git a/src/zlac8015d_ros/emergency_stop/emergency_stop.ino b/src/zlac8015d_ros/emergency_stop/emergency_stop.ino new file mode 100644 index 0000000..e8ad546 --- /dev/null +++ b/src/zlac8015d_ros/emergency_stop/emergency_stop.ino @@ -0,0 +1,109 @@ +/* +Copyright (C) 2022 Alpaca-zip + +This program is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program. If not, see . + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +For the emergency stop to work correctly, you will need to: + +1, Edit ModbusMaster.h + +2, Line 252: static const uint16_t ku16MBResponseTimeout = 2000; => static const uint16_t ku16MBResponseTimeout = 100; +*/ + +#include +#define MAX485_DE 3 +#define MAX485_RE_NEG 2 + +ModbusMaster node; // instantiate ModbusMaster object + +// set pin numbers: +const int estop_buttonPin = 7; // the number of the estop button pin +const int reset_buttonPin = 8; // the number of the reset button pin +const int ledPin = 13; // the number of the LED pin +int estop_buttonState = 0; // variable for reading the estop button status +int reset_buttonState = 0; // variable for reading the reset button status +bool estop_flag; // flag for emer_stop() +bool reset_flag; // flag for reset() + +void preTransmission(){ + digitalWrite(MAX485_RE_NEG, 1); + digitalWrite(MAX485_DE, 1); +} + +void postTransmission(){ + digitalWrite(MAX485_RE_NEG, 0); + digitalWrite(MAX485_DE, 0); +} + +void emer_stop(){ + uint8_t estop_response; + while(estop_flag){ + estop_response = node.writeSingleRegister(0x200E, 0x05); // 0x05: emergency stop + if(estop_response == 0){ + digitalWrite(ledPin, HIGH); // turn LED on + estop_flag = false; + reset_flag = true; + } + } +} + +void reset(){ + uint8_t reset_response; + while(reset_flag){ + reset_response = node.writeSingleRegister(0x200E, 0x06); // 0x06: clear fault + if(reset_response == 0) continue; + reset_response = node.writeSingleRegister(0x200E, 0x07); // 0x07: stop + if(reset_response == 0) continue; + reset_response = node.writeSingleRegister(0x200E, 0x08); // 0x08: enable + if(reset_response == 0){ + digitalWrite(ledPin, LOW); // turn LED off + estop_flag = true; + reset_flag = false; + } + } +} + +void setup(){ + pinMode(ledPin, OUTPUT); // initialize the LED pin as an output: + pinMode(estop_buttonPin, INPUT_PULLUP); // initialize the estop button pin as an input + pinMode(reset_buttonPin, INPUT_PULLUP); // initialize the reset button pin as an input + pinMode(MAX485_RE_NEG, OUTPUT); // initialize the MAX485_RE_NEG pin as an output + pinMode(MAX485_DE, OUTPUT); // initialize the MAX485_DE pin as an output + + // Init in receive mode + digitalWrite(MAX485_RE_NEG, 0); + digitalWrite(MAX485_DE, 0); + + Serial.begin(115200); // modbus communication runs at 115200 baud + node.begin(1, Serial); // modbus slave ID 1 + // callbacks allow us to configure the RS485 transceiver correctly + node.preTransmission(preTransmission); + node.postTransmission(postTransmission); + + estop_flag = true; // initialize the flag as a TRUE + reset_flag = false; // initialize the flag as a FALSE +} + +void loop(){ + estop_buttonState = digitalRead(estop_buttonPin); // read the state of the estop_buttonPin value + reset_buttonState = digitalRead(reset_buttonPin); // read the state of the reset_buttonPin value + + if(estop_buttonState == LOW){ // estop button is pressed + emer_stop(); + }else if(reset_buttonState == LOW){ // reset button is pressed + reset(); + } +} diff --git a/src/zlac8015d_ros/emergency_stop/module_PCB/emergency_stop.fzz b/src/zlac8015d_ros/emergency_stop/module_PCB/emergency_stop.fzz new file mode 100644 index 0000000..b2e7678 --- /dev/null +++ b/src/zlac8015d_ros/emergency_stop/module_PCB/emergency_stop.fzz Binary files differ diff --git a/src/zlac8015d_ros/emergency_stop/module_PCB/gerber/emergency_stop_contour.gm1 b/src/zlac8015d_ros/emergency_stop/module_PCB/gerber/emergency_stop_contour.gm1 new file mode 100644 index 0000000..367d0be --- /dev/null +++ b/src/zlac8015d_ros/emergency_stop/module_PCB/gerber/emergency_stop_contour.gm1 @@ -0,0 +1,26 @@ +G04 MADE WITH FRITZING* +G04 WWW.FRITZING.ORG* +G04 DOUBLE SIDED* +G04 HOLES PLATED* +G04 CONTOUR ON CENTER OF CONTOUR VECTOR* +%ASAXBY*% +%FSLAX23Y23*% +%MOIN*% +%OFA0B0*% +%SFA1.0B1.0*% +%ADD10R,2.602410X1.799010*% +%ADD11C,0.008000*% +%ADD10C,0.008*% +%LNCONTOUR*% +G90* 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b/src/zlac8015d_ros/emergency_stop/module_PCB/gerber/emergency_stop_maskBottom.gbs @@ -0,0 +1,76 @@ +G04 MADE WITH FRITZING* +G04 WWW.FRITZING.ORG* +G04 DOUBLE SIDED* +G04 HOLES PLATED* +G04 CONTOUR ON CENTER OF CONTOUR VECTOR* +%ASAXBY*% +%FSLAX23Y23*% +%MOIN*% +%OFA0B0*% +%SFA1.0B1.0*% +%ADD10C,0.080000*% +%ADD11C,0.088000*% +%ADD12C,0.096614*% +%ADD13R,0.079972X0.080000*% +%LNMASK0*% +G90* +G70* +G54D10* +X1699Y1599D03* +X1699Y1499D03* +X1699Y1399D03* +X1699Y1299D03* +X1699Y1199D03* +X1699Y1099D03* +X1699Y999D03* +X1699Y899D03* +X1699Y799D03* +X1699Y699D03* +X1699Y599D03* +X1699Y499D03* +X1699Y399D03* +X1699Y299D03* +X1699Y199D03* +X2299Y1599D03* +X2299Y1499D03* +X2299Y1399D03* +X2299Y1299D03* +X2299Y1199D03* +X2299Y1099D03* +X2299Y999D03* +X2299Y899D03* +X2299Y799D03* +X2299Y699D03* +X2299Y599D03* +X2299Y499D03* +X2299Y399D03* +X2299Y299D03* +X2299Y199D03* +G54D11* +X1199Y1699D03* +X1299Y1699D03* +X1399Y1699D03* +X1499Y1699D03* +X1199Y99D03* +X1299Y99D03* +X1399Y99D03* 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new file mode 100644 index 0000000..8c47f66 --- /dev/null +++ b/src/zlac8015d_ros/emergency_stop/module_PCB/gerber/emergency_stop_pnp.txt @@ -0,0 +1,33 @@ +*Pick And Place List +*Company= +*Author= +*eMail= +* +*Project=emergency_stop +*Date=14:38:19 +*CreatedBy=Fritzing 0.9.10b.2022-07-01.CD-2134-0-40d23c29 +* +* +*Coordinates in mm, always center of component +*Origin 0/0=Lower left corner of PCB +*Rotation in degree (0-360, math. pos.) +* +*No;Value;Package;X;Y;Rotation;Side;Name +1;;;15.6175;-12.3318;0;Bottom;TXT1 +2;;;50.7814;-22.8277;0;Bottom;�p�[�c1 +3;;;2.52128;-43.1561;0;Bottom;Hole2 +4;;THT;16.4914;-27.9161;-90;Bottom;J1 +5;;;25.3492;-22.7586;0;Bottom;Copper Fill5 +6;;THT;25.3814;-41.8861;0;Bottom;J2 +7;;;63.4813;-2.51621;0;Bottom;Hole4 +8;;;33.0454;-22.8602;0;Bottom;Copper Fill3 +9;;;29.21;-21.4886;0;Bottom;Copper Fill4 +10;;THT;34.2714;-2.51612;-90;Bottom;J5 +11;;THT;7.60137;-41.8861;0;Bottom;J3 +12;;;63.4813;-43.1561;0;Bottom;Hole1 +13;;;39.37;-36.7286;0;Bottom;Copper Fill2 +14;;;33.0454;-22.8602;0;Bottom;Copper Fill7 +15;;THT;34.2714;-43.1561;-90;Bottom;J4 +16;;;2.52128;-2.51621;0;Bottom;Hole3 +17;;;44.4754;-22.8094;0;Bottom;Copper Fill6 +18;;;38.1;-35.4586;0;Bottom;Copper Fill1 diff --git a/src/zlac8015d_ros/emergency_stop/module_PCB/gerber/emergency_stop_silkBottom.gbo b/src/zlac8015d_ros/emergency_stop/module_PCB/gerber/emergency_stop_silkBottom.gbo new file mode 100644 index 0000000..f015c28 --- /dev/null +++ b/src/zlac8015d_ros/emergency_stop/module_PCB/gerber/emergency_stop_silkBottom.gbo @@ -0,0 +1,24 @@ +G04 MADE WITH FRITZING* +G04 WWW.FRITZING.ORG* +G04 DOUBLE SIDED* +G04 HOLES PLATED* +G04 CONTOUR ON CENTER OF CONTOUR VECTOR* +%ASAXBY*% +%FSLAX23Y23*% +%MOIN*% +%OFA0B0*% +%SFA1.0B1.0*% +%ADD10R,2.602410X1.799010X2.586410X1.783010*% +%ADD11C,0.008000*% +%LNSILK0*% +G90* +G70* +G54D11* +X4Y1795D02* +X2598Y1795D01* +X2598Y4D01* +X4Y4D01* +X4Y1795D01* +D02* +G04 End of Silk0* +M02* \ No newline at end of file diff --git a/src/zlac8015d_ros/emergency_stop/module_PCB/gerber/emergency_stop_silkTop.gto b/src/zlac8015d_ros/emergency_stop/module_PCB/gerber/emergency_stop_silkTop.gto new file mode 100644 index 0000000..5b2ba5c --- /dev/null +++ b/src/zlac8015d_ros/emergency_stop/module_PCB/gerber/emergency_stop_silkTop.gto @@ -0,0 +1,9583 @@ +G04 MADE WITH FRITZING* +G04 WWW.FRITZING.ORG* +G04 DOUBLE SIDED* +G04 HOLES PLATED* +G04 CONTOUR ON CENTER OF CONTOUR VECTOR* +%ASAXBY*% +%FSLAX23Y23*% +%MOIN*% +%OFA0B0*% +%SFA1.0B1.0*% +%ADD10C,0.010000*% +%ADD11C,0.005000*% +%ADD12C,0.008000*% +%ADD13R,0.001000X0.001000*% +%LNSILK1*% +G90* +G70* +G54D10* +X1149Y1649D02* +X1549Y1649D01* +D02* +X1549Y1649D02* +X1549Y1749D01* +D02* +X1549Y1749D02* +X1149Y1749D01* +D02* +X1149Y1749D02* +X1149Y1649D01* +D02* +X1149Y49D02* +X1549Y49D01* +D02* +X1549Y49D02* +X1549Y149D01* +D02* +X1549Y149D02* +X1149Y149D01* +D02* +X1149Y149D02* +X1149Y49D01* +D02* +X349Y1049D02* +X949Y1049D01* +D02* +X949Y1049D02* +X949Y1149D01* +D02* 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b/src/zlac8015d_ros/launch/motor_driver_node.launch new file mode 100644 index 0000000..9d10fa5 --- /dev/null +++ b/src/zlac8015d_ros/launch/motor_driver_node.launch @@ -0,0 +1,53 @@ + + +　 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/zlac8015d_ros/params/motor_driver_params.yaml b/src/zlac8015d_ros/params/motor_driver_params.yaml index 5ce5850..b31cdcd 100644 --- a/src/zlac8015d_ros/params/motor_driver_params.yaml +++ b/src/zlac8015d_ros/params/motor_driver_params.yaml @@ -1,25 +1,20 @@ -# Name of USB port for zlac8015d -port: /dev/ttyUSB0 - # Tire & Encoder Parameters # Default: 8 inches wheel ############################### -# Tire circumference -travel_in_one_rev: 0.655 # meter # Tire radius -R_Wheel: 0.105 # meter +left_wheel_radius: 0.0974 # meter 0.1015 +right_wheel_radius: 0.0974 # meter 0.1015 + +# For odometry computation +computation_left_wheel_radius: 0.09806 # meter 0.1015 0.09735 +computation_right_wheel_radius: 0.09794 # meter 0.1015 + # Encoder CPR(counts per revolution) cpr: 16385 ############################### # Distance between tires -wheels_base_width: 0.440 # meter -# Control mode -# 1: relative position control mode -# Subscribe to "/zlac8015d/pos/cmd_deg" and "/zlac8015d/pos/cmd_dist" -# 3: Speed rpm control mode -# Subscribe to "/zlac8015d/twist/cmd_vel", "/zlac8015d/vel/cmd_vel" and "/zlac8015d/vel/cmd_rpm" -control_mode: 3 +wheels_base_width: 0.608 # meter 0.5668 # Motor automatically stops if no topics are received for a certain period of time callback_timeout: 0.5 # seconds # Smaller values will cause small changes in tire motion to have a greater impact on the odometry calculations @@ -27,10 +22,10 @@ decimil_coefficient: 0.001 # Time to reach target position -set_accel_time_left: 200 # ms -set_accel_time_right: 200 # ms -set_decel_time_left: 200 # ms -set_decel_time_right: 200 # ms +set_accel_time_left: 1000 # ms +set_accel_time_right: 1000 # ms +set_decel_time_left: 1000 # ms +set_decel_time_right: 1000 # ms # Maximum rpm max_left_rpm: 150 @@ -38,13 +33,3 @@ # Width of rpm to be regarded as 0 # If 3, then -3 to 3 is considered rpm 0 deadband_rpm: 3 - -# Header flame of TF -TF_header_flame: odom -# Child flame of TF -TF_child_flame: base_link - -# Header flame of odom -odom_header_flame: odom -# Child flame of odom -odom_child_flame: base_link \ No newline at end of file diff --git a/src/zlac8015d_ros/scripts/ZLAC8015D.py b/src/zlac8015d_ros/scripts/ZLAC8015D.py old mode 100644 new mode 100755 index 04b9536..c4ffd1f --- a/src/zlac8015d_ros/scripts/ZLAC8015D.py +++ b/src/zlac8015d_ros/scripts/ZLAC8015D.py @@ -1,8 +1,25 @@ -# This script is taken from the following Python API. -# https://github.com/rasheeddo/ZLAC8015D_python.git +#!/usr/bin/env python3 +""" +Copyright (C) 2022 rasheeddo +Copyright (C) 2022 Alpaca-zip + +This program is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program. If not, see . +""" from pymodbus.client.sync import ModbusSerialClient as ModbusClient import numpy as np +import time class Controller: @@ -96,9 +113,15 @@ ## Odometry ## ############## ## 8 inches wheel - self.travel_in_one_rev = 0.655 + #self.travel_in_one_rev = 0.655 self.cpr = 16385 - self.R_Wheel = 0.105 #meter + #self.R_Wheel = 0.105 #meter + self.left_wheel_radius = 0.105 #meter + self.right_wheel_radius = 0.105 #meter + self.left_circumference = 0.655 + self.right_circumference = 0.655 + self.computation_left_wheel_radius = 0.105 + self.computation_right_wheel_radius = 0.105 ## Some time if read immediatly after write, it would show ModbusIOException when get data from registers def modbus_fail_read_handler(self, ADDR, WORD): @@ -113,19 +136,23 @@ read_success = True except AttributeError as e: print(e) + time.sleep(2) + #time.sleep(0.5) pass return reg def rpm_to_radPerSec(self, rpm): return rpm*2*np.pi/60.0 - + + """ def rpm_to_linear(self, rpm): W_Wheel = self.rpm_to_radPerSec(rpm) V = W_Wheel*self.R_Wheel return V + """ def set_mode(self, MODE): """ @@ -157,6 +184,9 @@ def disable_motor(self): result = self.client.write_register(self.CONTROL_REG, self.DOWN_TIME, unit=self.ID) + + def estop(self): + result = self.client.write_register(self.CONTROL_REG, self.EMER_STOP, unit=self.ID) def get_fault_code(self): @@ -333,7 +363,7 @@ #l_travelled = (float(l_pulse)/self.cpr)*self.travel_in_one_rev # unit in meter #r_travelled = (float(r_pulse)/self.cpr)*self.travel_in_one_rev # unit in meter - l_travelled = (float(l_pulse)/self.cpr)*self.travel_in_one_rev*4 # unit in meter - r_travelled = (float(r_pulse)/self.cpr)*self.travel_in_one_rev*4 # unit in meter + l_travelled = (float(l_pulse)/self.cpr)*self.computation_left_wheel_radius*np.pi*8 # unit in meter + r_travelled = (float(r_pulse)/self.cpr)*self.computation_right_wheel_radius*np.pi*8 # unit in meter return l_travelled, r_travelled diff --git a/src/zlac8015d_ros/scripts/__pycache__/ZLAC8015D.cpython-38.pyc b/src/zlac8015d_ros/scripts/__pycache__/ZLAC8015D.cpython-38.pyc new file mode 100644 index 0000000..7357f31 --- /dev/null +++ b/src/zlac8015d_ros/scripts/__pycache__/ZLAC8015D.cpython-38.pyc Binary files differ diff --git a/src/zlac8015d_ros/scripts/motor_driver_node.py b/src/zlac8015d_ros/scripts/motor_driver_node.py old mode 100644 new mode 100755 index 066c921..a857603 --- a/src/zlac8015d_ros/scripts/motor_driver_node.py +++ b/src/zlac8015d_ros/scripts/motor_driver_node.py @@ -1,13 +1,31 @@ #!/usr/bin/env python3 +""" +Copyright (C) 2022 rasheeddo +Copyright (C) 2022 Alpaca-zip + +This program is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program. If not, see . +""" import rospy import ZLAC8015D +import tf import tf2_ros import numpy as np import time -import yaml from decimal import Decimal, ROUND_HALF_UP from std_msgs.msg import Float32MultiArray +from std_msgs.msg import Bool from geometry_msgs.msg import Twist from nav_msgs.msg import Odometry from tf.transformations import quaternion_from_euler @@ -18,38 +36,39 @@ print("\033[32m" + "Start motor driver node!!" + "\033[0m") print("#########################") #-----Initialize publisher----- - self.wheels_rpm_pub = rospy.Publisher("/wheels_rpm", Float32MultiArray, queue_size=10) - self.wheels_rpm_msg = Float32MultiArray() self.odom_pub = rospy.Publisher("/odom", Odometry, queue_size=10) self.odom_msg = Odometry() #-----Initialize subscriber----- - rospy.Subscriber("/zlac8015d/twist/cmd_vel", Twist, self.zlac8015d_twist_cmd_callback) - rospy.Subscriber("/zlac8015d/vel/cmd_vel", Float32MultiArray, self.zlac8015d_vel_cmd_callback) - rospy.Subscriber("/zlac8015d/vel/cmd_rpm", Float32MultiArray, self.zlac8015d_rpm_cmd_callback) - rospy.Subscriber("/zlac8015d/pos/cmd_deg", Float32MultiArray, self.zlac8015d_deg_cmd_callback) - rospy.Subscriber("/zlac8015d/pos/cmd_dist", Float32MultiArray, self.zlac8015d_dist_cmd_callback) - - #-----Import parameters from yaml file----- - self.load_file = "/home/ubuntu/catkin_ws/src/zlac8015d_ros/params/motor_driver_params.yaml" - with open(self.load_file) as file: - self.obj = yaml.safe_load(file) + rospy.Subscriber(rospy.get_param("/motor_driver_node/twist_cmd_vel_topic"), Twist, self.zlac8015d_twist_cmd_callback) + rospy.Subscriber(rospy.get_param("/motor_driver_node/cmd_vel_topic"), Float32MultiArray, self.zlac8015d_vel_cmd_callback) + rospy.Subscriber(rospy.get_param("/motor_driver_node/cmd_rpm_topic"), Float32MultiArray, self.zlac8015d_rpm_cmd_callback) + rospy.Subscriber(rospy.get_param("/motor_driver_node/cmd_deg_topic"), Float32MultiArray, self.zlac8015d_deg_cmd_callback) + rospy.Subscriber(rospy.get_param("/motor_driver_node/cmd_dist_topic"), Float32MultiArray, self.zlac8015d_dist_cmd_callback) + #-For E-stop- + rospy.Subscriber("/estop", Bool, self.zlac8015d_estop_callback) #-----Initialize ZLAC8015D----- - self.zlc = ZLAC8015D.Controller(self.obj["port"]) - self.zlc.travel_in_one_rev = float(self.obj["travel_in_one_rev"]) - self.zlc.cpr = int(self.obj["cpr"]) - self.zlc.R_Wheel = float(self.obj["R_Wheel"]) - self.control_mode = int(self.obj["control_mode"]) - if self.control_mode == 3: + self.zlc = ZLAC8015D.Controller(rospy.get_param("/motor_driver_node/port")) + self.zlc.cpr = int(rospy.get_param("/motor_driver_node/cpr")) + self.zlc.left_wheel_radius = float(rospy.get_param("/motor_driver_node/left_wheel_radius")) + self.zlc.right_wheel_radius = float(rospy.get_param("/motor_driver_node/right_wheel_radius")) + self.zlc.left_circumference = self.zlc.left_wheel_radius * 2 * np.pi + self.zlc.right_circumference = self.zlc.right_wheel_radius * 2 * np.pi + self.zlc.computation_left_wheel_radius = float(rospy.get_param("/motor_driver_node/computation_left_wheel_radius")) + self.zlc.computation_right_wheel_radius = float(rospy.get_param("/motor_driver_node/computation_right_wheel_radius")) + + + self.control_mode = int(rospy.get_param("/motor_driver_node/control_mode")) + if (self.control_mode == 3): self.zlac8015d_speed_mode_init() - elif self.control_mode == 1: + elif (self.control_mode == 1): self.zlac8015d_position_mode_init() #-----Initialize variable----- self.last_subscribed_time = 0.0 - self.callback_timeout = float(self.obj["callback_timeout"]) - self.deadband_rpm = int(self.obj["deadband_rpm"]) + self.callback_timeout = float(rospy.get_param("/motor_driver_node/callback_timeout")) + self.deadband_rpm = int(rospy.get_param("/motor_driver_node/deadband_rpm")) self.linear_vel_cmd = 0.0 self.angular_vel_cmd = 0.0 self.got_twist_cmd = False @@ -73,15 +92,32 @@ self.theta = 0.0 self.x = 0.0 self.y = 0.0 + self.Wr = 0.0 + self.Wl = 0.0 self.period = 0.05 self.l_meter = 0.0 self.r_meter = 0.0 self.l_meter_init, self.r_meter_init = self.zlc.get_wheels_travelled() self.prev_l_meter = 0.0 self.prev_r_meter = 0.0 + self.wheels_base_width = float(rospy.get_param("/motor_driver_node/wheels_base_width")) self.br = tf2_ros.TransformBroadcaster() self.t = TransformStamped() + self.state_vector = np.zeros((3, 1)) + + #-For E-stop- + self.estop = False + + + """ + ++++++++++++++++++++++++++++++++++++++++++ + zlac8015d_estop_callback function + ++++++++++++++++++++++++++++++++++++++++++ + Callback function to subscribe for "/estop". + """ + def zlac8015d_estop_callback(self, msg): + self.estop = msg.data """ ++++++++++++++++++++++++++++++++++++++++++ @@ -93,7 +129,7 @@ self.linear_vel_cmd = msg.linear.x self.angular_vel_cmd = msg.angular.z self.got_twist_cmd = True - self.last_subscribed_time = rospy.Time.now().nsecs + self.last_subscribed_time = time.perf_counter() """ ++++++++++++++++++++++++++++++++++++++++++ @@ -149,8 +185,8 @@ """ def zlac8015d_speed_mode_init(self): self.zlc.disable_motor() - self.zlc.set_accel_time(int(self.obj["set_accel_time_left"]), int(self.obj["set_accel_time_right"])) - self.zlc.set_decel_time(int(self.obj["set_decel_time_left"]), int(self.obj["set_decel_time_right"])) + self.zlc.set_accel_time(int(rospy.get_param("/motor_driver_node/set_accel_time_left")), int(rospy.get_param("/motor_driver_node/set_accel_time_right"))) + self.zlc.set_decel_time(int(rospy.get_param("/motor_driver_node/set_decel_time_left")), int(rospy.get_param("/motor_driver_node/set_accel_time_right"))) self.zlc.set_mode(3) self.zlc.enable_motor() @@ -162,11 +198,11 @@ """ def zlac8015d_position_mode_init(self): self.zlc.disable_motor() - self.zlc.set_accel_time(int(self.obj["set_accel_time_left"]), int(self.obj["set_accel_time_right"])) - self.zlc.set_decel_time(int(self.obj["set_decel_time_left"]), int(self.obj["set_decel_time_right"])) + self.zlc.set_accel_time(int(rospy.get_param("/motor_driver_node/set_accel_time_left")), int(rospy.get_param("/motor_driver_node/set_accel_time_right"))) + self.zlc.set_decel_time(int(rospy.get_param("/motor_driver_node/set_decel_time_left")), int(rospy.get_param("/motor_driver_node/set_decel_time_right"))) self.zlc.set_mode(1) self.zlc.set_position_async_control() - self.zlc.set_maxRPM_pos(int(self.obj["max_left_rpm"]), int(self.obj["max_right_rpm"])) + self.zlc.set_maxRPM_pos(int(rospy.get_param("/motor_driver_node/max_left_rpm")), int(rospy.get_param("/motor_driver_node/max_right_rpm"))) self.zlc.enable_motor() """ @@ -176,8 +212,8 @@ Convert from twist to rpm. """ def twist_to_rpm(self, linear_vel, angular_vel): - left_vel = linear_vel - float(self.obj["wheels_base_width"]) / 2 * angular_vel - right_vel = linear_vel + float(self.obj["wheels_base_width"]) / 2 * angular_vel + left_vel = linear_vel - self.wheels_base_width / 2 * angular_vel + right_vel = linear_vel + self.wheels_base_width / 2 * angular_vel left_rpm, right_rpm = self.vel_to_rpm(left_vel, -right_vel) return left_rpm, right_rpm @@ -188,8 +224,8 @@ Convert from speed to rpm. """ def vel_to_rpm(self, left_vel, right_vel): - left_rpm = 60 * left_vel / (2 * np.pi * self.zlc.R_Wheel) - right_rpm = 60 * right_vel / (2 * np.pi * self.zlc.R_Wheel) + left_rpm = 60 * left_vel / (2 * np.pi * self.zlc.left_wheel_radius) + right_rpm = 60 * right_vel / (2 * np.pi * self.zlc.right_wheel_radius) return left_rpm, right_rpm """ @@ -199,15 +235,17 @@ Set rpm with limit. """ def zlac8015d_set_rpm_with_limit(self, left_rpm, right_rpm): - if (-int(self.obj["max_left_rpm"]) < left_rpm < int(self.obj["max_left_rpm"])) and (-int(self.obj["max_right_rpm"]) < right_rpm < int(self.obj["max_right_rpm"])): - if (-self.deadband_rpm < left_rpm < self.deadband_rpm): - left_rpm = 0 - if (-self.deadband_rpm < right_rpm < self.deadband_rpm): - right_rpm = 0 - - self.zlc.set_rpm(int(left_rpm), int(right_rpm)) - else: - rospy.logerr("Set RPM exceeds the limit.") + left_rpm_lim = int(rospy.get_param("/motor_driver_node/max_left_rpm")) + right_rpm_lim = int(rospy.get_param("/motor_driver_node/max_right_rpm")) + if ((-left_rpm_lim < left_rpm < left_rpm_lim) and (-right_rpm_lim < right_rpm < right_rpm_lim)): + if (-self.deadband_rpm < left_rpm < self.deadband_rpm): + left_rpm = 0 + if (-self.deadband_rpm < right_rpm < self.deadband_rpm): + right_rpm = 0 + + self.zlc.set_rpm(int(left_rpm), int(right_rpm)) + else: + rospy.logerr("Set RPM exceeds the limit.") """ ++++++++++++++++++++++++++++++++++++++++++ @@ -216,31 +254,101 @@ Odometry computation. """ def calculate_odometry(self): + """ + l_rpm, r_rpm = self.zlc.get_rpm() + self.Wl = self.zlc.rpm_to_radPerSec(l_rpm) + self.Wr = self.zlc.rpm_to_radPerSec(-r_rpm) + """ self.l_meter, self.r_meter = self.zlc.get_wheels_travelled() self.l_meter = self.l_meter - self.l_meter_init self.r_meter = (-1 * self.r_meter) - (-1 * self.r_meter_init) - if self.control_mode == 3: + vl = (self.l_meter - self.prev_l_meter) / self.period + vr = (self.r_meter - self.prev_r_meter) / self.period + self.Wl = vl / self.zlc.computation_left_wheel_radius + self.Wr = vr / self.zlc.computation_right_wheel_radius + + matrix = np.array([[self.zlc.computation_right_wheel_radius / 2, self.zlc.computation_left_wheel_radius / 2], [self.zlc.computation_right_wheel_radius / self.wheels_base_width, -self.zlc.computation_left_wheel_radius / self.wheels_base_width]]) + vector = np.array([[self.Wr], [self.Wl]]) + input_vector = np.dot(matrix, vector) + V = input_vector[0, 0] + Wz = input_vector[1, 0] + + out_matrix = np.array([[1, 0, 0], [0, 1, 0], [0, 0, 1]]) + dirc_matrix = np.array([[np.cos(self.state_vector[2, 0]) * self.period, 0], [np.sin(self.state_vector[2, 0]) * self.period, 0], [0, self.period]]) + out_vector = np.dot(out_matrix, self.state_vector) + np.dot(dirc_matrix, input_vector) + self.x = out_vector[0, 0] + self.y = out_vector[1, 0] + self.theta = out_vector[2, 0] + + #-----Construct tf----- + if(rospy.get_param("/motor_driver_node/publish_TF")): + self.t.header.stamp = rospy.Time.now() + self.t.header.frame_id = rospy.get_param("/motor_driver_node/TF_header_frame") + self.t.child_frame_id = rospy.get_param("/motor_driver_node/TF_child_frame") + self.t.transform.translation.x = self.x + self.t.transform.translation.y = self.y + self.t.transform.translation.z = 0.0 + rotation = tf.transformations.quaternion_from_euler(0, 0, self.theta) + self.t.transform.rotation.x = rotation[0] + self.t.transform.rotation.y = rotation[1] + self.t.transform.rotation.z = rotation[2] + self.t.transform.rotation.w = rotation[3] + self.br.sendTransform(self.t) + + #-----Construct odom message----- + if(rospy.get_param("/motor_driver_node/publish_odom")): + self.odom_msg.header.stamp = rospy.Time.now() + self.odom_msg.header.frame_id = rospy.get_param("/motor_driver_node/odom_header_frame") + self.odom_msg.child_frame_id = rospy.get_param("/motor_driver_node/odom_child_frame") + self.odom_msg.pose.pose.position.x = self.x + self.odom_msg.pose.pose.position.y = self.y + self.odom_msg.pose.pose.position.z = 0.0 + orientation = tf.transformations.quaternion_from_euler(0, 0, self.theta) + self.odom_msg.pose.pose.orientation.x = orientation[0] + self.odom_msg.pose.pose.orientation.y = orientation[1] + self.odom_msg.pose.pose.orientation.z = orientation[2] + self.odom_msg.pose.pose.orientation.w = orientation[3] + self.odom_msg.pose.covariance[0] = 0.0001 + self.odom_msg.pose.covariance[7] = 0.0001 + self.odom_msg.pose.covariance[14] = 0.000001 + self.odom_msg.pose.covariance[21] = 0.000001 + self.odom_msg.pose.covariance[28] = 0.000001 + self.odom_msg.pose.covariance[35] = 0.0001 + self.odom_msg.twist.twist.linear.x = V + self.odom_msg.twist.twist.linear.y = 0.0 + self.odom_msg.twist.twist.angular.z = Wz + self.odom_pub.publish(self.odom_msg) + + self.state_vector[0, 0] = self.x + self.state_vector[1, 0] = self.y + self.state_vector[2, 0] = self.theta + + """ + def calculate_odometry(self): + self.l_meter, self.r_meter = self.zlc.get_wheels_travelled() + self.l_meter = self.l_meter - self.l_meter_init + self.r_meter = (-1 * self.r_meter) - (-1 * self.r_meter_init) + if (self.control_mode == 3): vl, vr = self.zlc.get_linear_velocities() - elif self.control_mode == 1: + elif (self.control_mode == 1): vl = (self.l_meter - self.prev_l_meter) / self.period vr = (self.r_meter - self.prev_r_meter) / self.period - round_vl = float(Decimal(str(vl)).quantize(Decimal(self.obj["decimil_coefficient"]), rounding = ROUND_HALF_UP)) - round_vr = float(Decimal(str(vr)).quantize(Decimal('0.001'), rounding = ROUND_HALF_UP)) - self.obj["TF_header_flame"] + round_vl = float(Decimal(str(vl)).quantize(Decimal(str(rospy.get_param("/motor_driver_node/decimil_coefficient"))), rounding = ROUND_HALF_UP)) + round_vr = float(Decimal(str(vr)).quantize(Decimal(str(rospy.get_param("/motor_driver_node/decimil_coefficient"))), rounding = ROUND_HALF_UP)) #-----Rotatiing----- if ((round_vl * round_vr) < 0.0) and (abs(round_vl) == abs(round_vr)): V = 0.0 - Wz = 2.0 * vr / float(self.obj["wheels_base_width"]) + Wz = 2.0 * vr / self.wheels_base_width self.theta = self.theta + Wz * self.period path = "Rotatiing" #-----Curving----- - elif (round_vl - round_vr) != 0: + elif ((round_vl - round_vr) != 0): V = (vl + vr) / 2.0 - Wz = (vr - vl) / float(self.obj["wheels_base_width"]) - R_ICC = (float(self.obj["wheels_base_width"]) / 2.0) * ((vr + vl) / (vr - vl)) + Wz = (vr - vl) / self.wheels_base_width + R_ICC = (self.wheels_base_width / 2.0) * ((vr + vl) / (vr - vl)) self.x = self.x - R_ICC * np.sin(self.theta) + R_ICC * np.sin(self.theta + Wz * self.period) self.y = self.y + R_ICC * np.cos(self.theta) - R_ICC * np.cos(self.theta + Wz * self.period) self.theta = self.theta + Wz * self.period @@ -256,41 +364,44 @@ #-----Construct tf----- q = quaternion_from_euler(0, 0, self.theta) - self.t.header.stamp = rospy.Time.now() - self.t.header.frame_id = self.obj["TF_header_flame"] - self.t.child_frame_id = self.obj["TF_child_flame"] - self.t.transform.translation.x = self.x - self.t.transform.translation.y = self.y - self.t.transform.translation.z = 0.0 - self.t.transform.rotation.x = q[0] - self.t.transform.rotation.y = q[1] - self.t.transform.rotation.z = q[2] - self.t.transform.rotation.w = q[3] - self.br.sendTransform(self.t) + if(rospy.get_param("/motor_driver_node/publish_TF")): + self.t.header.stamp = rospy.Time.now() + self.t.header.frame_id = rospy.get_param("/motor_driver_node/TF_header_frame") + self.t.child_frame_id = rospy.get_param("/motor_driver_node/TF_child_frame") + self.t.transform.translation.x = self.x + self.t.transform.translation.y = self.y + self.t.transform.translation.z = 0.0 + self.t.transform.rotation.x = q[0] + self.t.transform.rotation.y = q[1] + self.t.transform.rotation.z = q[2] + self.t.transform.rotation.w = q[3] + self.br.sendTransform(self.t) #-----Construct odom message----- - self.odom_msg.header.stamp = rospy.Time.now() - self.odom_msg.header.frame_id = self.obj["odom_header_flame"] - self.odom_msg.child_frame_id = self.obj["odom_child_flame"] - self.odom_msg.pose.pose.position.x = self.x - self.odom_msg.pose.pose.position.y = self.y - self.odom_msg.pose.pose.position.z = 0.0 - self.odom_msg.pose.pose.orientation.x = q[0] - self.odom_msg.pose.pose.orientation.y = q[1] - self.odom_msg.pose.pose.orientation.z = q[2] - self.odom_msg.pose.pose.orientation.w = q[3] - self.odom_msg.pose.covariance[0] = 0.0001 - self.odom_msg.pose.covariance[7] = 0.0001 - self.odom_msg.pose.covariance[14] = 0.000001 - self.odom_msg.pose.covariance[21] = 0.000001 - self.odom_msg.pose.covariance[28] = 0.000001 - self.odom_msg.pose.covariance[35] = 0.0001 - self.odom_msg.twist.twist.linear.x = V - self.odom_msg.twist.twist.linear.y = 0.0 - self.odom_msg.twist.twist.angular.z = Wz - self.odom_pub.publish(self.odom_msg) + if(rospy.get_param("/motor_driver_node/publish_odom")): + self.odom_msg.header.stamp = rospy.Time.now() + self.odom_msg.header.frame_id = rospy.get_param("/motor_driver_node/odom_header_frame") + self.odom_msg.child_frame_id = rospy.get_param("/motor_driver_node/odom_child_frame") + self.odom_msg.pose.pose.position.x = self.x + self.odom_msg.pose.pose.position.y = self.y + self.odom_msg.pose.pose.position.z = 0.0 + self.odom_msg.pose.pose.orientation.x = q[0] + self.odom_msg.pose.pose.orientation.y = q[1] + self.odom_msg.pose.pose.orientation.z = q[2] + self.odom_msg.pose.pose.orientation.w = q[3] + self.odom_msg.pose.covariance[0] = 0.0001 + self.odom_msg.pose.covariance[7] = 0.0001 + self.odom_msg.pose.covariance[14] = 0.000001 + self.odom_msg.pose.covariance[21] = 0.000001 + self.odom_msg.pose.covariance[28] = 0.000001 + self.odom_msg.pose.covariance[35] = 0.0001 + self.odom_msg.twist.twist.linear.x = V + self.odom_msg.twist.twist.linear.y = 0.0 + self.odom_msg.twist.twist.angular.z = Wz + self.odom_pub.publish(self.odom_msg) return vl, vr + """ """ ++++++++++++++++++++++++++++++++++++++++++ @@ -300,64 +411,68 @@ """ def control_loop(self): rate = rospy.Rate(20) # 20Hz + reset_flag = False while True: - if rospy.is_shutdown(): + if (rospy.is_shutdown()): self.zlc.disable_motor() break start_time = time.perf_counter() - - #-----Speed rpm control mode----- - if self.control_mode == 3: - if self.got_twist_cmd: - self.left_rpm_cmd, self.right_rpm_cmd = self.twist_to_rpm(self.linear_vel_cmd, self.angular_vel_cmd) - self.zlac8015d_set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) - self.got_twist_cmd = False - elif self.got_vel_cmd: - self.left_rpm_cmd, self.right_rpm_cmd = self.vel_to_rpm(self.left_vel_cmd, self.right_vel_cmd) - self.zlac8015d_set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) - self.got_vel_cmd = False - elif self.got_vel_rpm_cmd: - self.zlac8015d_set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) - self.got_vel_rpm_cmd = False - elif (time.perf_counter() - self.last_subscribed_time > self.callback_timeout): - self.left_rpm_cmd = 0.0 - self.right_rpm_cmd = 0.0 - self.zlac8015d_set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) - - fb_L_rpm, fb_R_rpm = self.zlc.get_rpm() - self.wheels_rpm_msg.data = [fb_L_rpm, fb_R_rpm] - self.wheels_rpm_pub.publish(self.wheels_rpm_msg) - #-----relative position control mode----- - elif self.control_mode == 1: - if self.got_pos_deg_cmd: - self.zlc.set_relative_angle(self.left_pos_deg_cmd ,self.right_pos_deg_cmd) - self.zlc.move_left_wheel() - self.zlc.move_right_wheel() - self.got_pos_deg_cmd = False - elif self.got_pos_dist_cmd: - left_cmd_deg = (self.left_pos_dist_cmd * 360.0) / self.zlc.travel_in_one_rev - right_cmd_deg = (-self.right_pos_dist_cmd * 360.0) / self.zlc.travel_in_one_rev - self.zlc.set_relative_angle(left_cmd_deg, right_cmd_deg) - self.zlc.move_left_wheel() - self.zlc.move_right_wheel() - self.got_pos_dist_cmd = False + if (self.estop == True): + self.zlc.estop() + reset_flag = True + else: + if(reset_flag == True): + self.zlc.clear_alarm() + self.zlc.disable_motor() + self.zlc.enable_motor() + reset_flag = False + #-----Speed rpm control mode----- + if (self.control_mode == 3): + if (self.got_twist_cmd): + self.left_rpm_cmd, self.right_rpm_cmd = self.twist_to_rpm(self.linear_vel_cmd, self.angular_vel_cmd) + self.zlac8015d_set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) + self.got_twist_cmd = False + elif (self.got_vel_cmd): + self.left_rpm_cmd, self.right_rpm_cmd = self.vel_to_rpm(self.left_vel_cmd, self.right_vel_cmd) + self.zlac8015d_set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) + self.got_vel_cmd = False + elif (self.got_vel_rpm_cmd): + self.zlac8015d_set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) + self.got_vel_rpm_cmd = False + elif (time.perf_counter() - self.last_subscribed_time > self.callback_timeout): + self.left_rpm_cmd = 0.0 + self.right_rpm_cmd = 0.0 + self.zlac8015d_set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) + + #-----relative position control mode----- + elif (self.control_mode == 1): + if (self.got_pos_deg_cmd): + self.zlc.set_relative_angle(self.left_pos_deg_cmd ,self.right_pos_deg_cmd) + self.zlc.move_left_wheel() + self.zlc.move_right_wheel() + self.got_pos_deg_cmd = False + elif (self.got_pos_dist_cmd): + left_cmd_deg = (self.left_pos_dist_cmd * 360.0) / self.zlc.left_circumference + right_cmd_deg = (-self.right_pos_dist_cmd * 360.0) / self.zlc.right_circumference + self.zlc.set_relative_angle(left_cmd_deg, right_cmd_deg) + self.zlc.move_left_wheel() + self.zlc.move_right_wheel() + self.got_pos_dist_cmd = False #-----Odometry computation----- - vl, vr = self.calculate_odometry() - + self.calculate_odometry() self.period = time.perf_counter() - start_time self.prev_l_meter = self.l_meter self.prev_r_meter = self.r_meter #-----Logging to screen----- - if self.control_mode == 1: - print("\033[32m" + "\rcontrol_mode: {:d} | l_meter: {:.2f} | r_meter: {:.2f} | VL: {:.3f} | VR: {:.3f}".format(\ - self.control_mode, self.l_meter, self.r_meter, vl, vr) + "\033[0m", end = "") + if (rospy.get_param("/motor_driver_node/debug")): + print("\033[32m" + "x: {:f} | y: {:f} | yaw: {:f} | Wr: {:f} | Wl: {:f}".format(self.x, self.y, np.rad2deg(self.theta), self.Wr, self.Wl) + "\033[0m") else: - print("\033[32m" + "\rcontrol_mode: {:d} | left_rpm: {:.2f} | right_rpm: {:.2f} | l_meter: {:.2f} | r_meter: {:.2f} | VL: {:.3f} | VR: {:.3f}".format(\ - self.control_mode, fb_L_rpm, -fb_R_rpm, self.l_meter, self.r_meter, vl, vr) + "\033[0m", end = "") + #print("\033[32m" + "Debugging features disable" + "\033[0m") + pass rate.sleep() @@ -374,4 +489,4 @@ rospy.spin() if __name__ == "__main__": - main() \ No newline at end of file + main()