diff --git a/src/.vscode/settings.json b/src/.vscode/settings.json new file mode 100644 index 0000000..0db5873 --- /dev/null +++ b/src/.vscode/settings.json @@ -0,0 +1,3 @@ +{ + "cmake.configureOnOpen": true +} \ No newline at end of file diff --git a/src/ZLAC8015D_python/.gitignore b/src/ZLAC8015D_python/.gitignore deleted file mode 100644 index b08ba21..0000000 --- a/src/ZLAC8015D_python/.gitignore +++ /dev/null @@ -1,5 +0,0 @@ -build/ -dist/ -zlac8015d.egg-info/ -__pycache__/ - diff --git a/src/ZLAC8015D_python/examples/__pycache__/ZLAC8015D.cpython-38.pyc b/src/ZLAC8015D_python/examples/__pycache__/ZLAC8015D.cpython-38.pyc new file mode 100644 index 0000000..3fb1cf2 --- /dev/null +++ b/src/ZLAC8015D_python/examples/__pycache__/ZLAC8015D.cpython-38.pyc Binary files differ diff --git a/src/ZLAC8015D_python/zlac8015d/__init__.py b/src/ZLAC8015D_python/zlac8015d/__init__.py deleted file mode 100644 index 47534ee..0000000 --- a/src/ZLAC8015D_python/zlac8015d/__init__.py +++ /dev/null @@ -1 +0,0 @@ -from zlac8015d import ZLAC8015D \ No newline at end of file diff --git a/src/emcl2/CMakeLists.txt b/src/emcl2/CMakeLists.txt new file mode 100644 index 0000000..5f2d64f --- /dev/null +++ b/src/emcl2/CMakeLists.txt @@ -0,0 +1,31 @@ +cmake_minimum_required(VERSION 3.0.2) +project(emcl2) + +set(CMAKE_CXX_FLAGS "-std=c++17 -O3 ${CMAKE_CXX_FLAGS}") + +find_package(catkin REQUIRED COMPONENTS + roscpp + geometry_msgs + tf2 + tf2_ros +) + +catkin_package( +) + +include_directories(include ${catkin_INCLUDE_DIRS} ) + +add_library(Mcl_emcl2 src/Mcl.cpp) +#add_library(ExpResetMcl_emcl2 src/ExpResetMcl.cpp) +add_library(ExpResetMcl2_emcl2 src/ExpResetMcl2.cpp) +add_library(Particle_emcl2 src/Particle.cpp) +add_library(OdomModel_emcl2 src/OdomModel.cpp) +add_library(Pose_emcl2 src/Pose.cpp) +add_library(Scan_emcl2 src/Scan.cpp) +add_library(LikelihoodFieldMap_emcl2 src/LikelihoodFieldMap.cpp) + +add_executable(emcl2_node src/emcl2_node.cpp) + +add_dependencies(emcl2_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +target_link_libraries(emcl2_node Mcl_emcl2 ExpResetMcl2_emcl2 Particle_emcl2 Pose_emcl2 Scan_emcl2 OdomModel_emcl2 LikelihoodFieldMap_emcl2 ${catkin_LIBRARIES}) diff --git a/src/emcl2/COPYING b/src/emcl2/COPYING new file mode 100644 index 0000000..0a04128 --- /dev/null +++ b/src/emcl2/COPYING @@ -0,0 +1,165 @@ + GNU LESSER 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. + + + This version of the GNU Lesser General Public License incorporates +the terms and conditions of version 3 of the GNU General Public +License, supplemented by the additional permissions listed below. + + 0. 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Such new +versions will be similar in spirit to the present version, but may +differ in detail to address new problems or concerns. + + Each version is given a distinguishing version number. If the +Library as you received it specifies that a certain numbered version +of the GNU Lesser General Public License "or any later version" +applies to it, you have the option of following the terms and +conditions either of that published version or of any later version +published by the Free Software Foundation. If the Library as you +received it does not specify a version number of the GNU Lesser +General Public License, you may choose any version of the GNU Lesser +General Public License ever published by the Free Software Foundation. + + If the Library as you received it specifies that a proxy can decide +whether future versions of the GNU Lesser General Public License shall +apply, that proxy's public statement of acceptance of any version is +permanent authorization for you to choose that version for the +Library. diff --git a/src/emcl2/README.md b/src/emcl2/README.md new file mode 100644 index 0000000..7e1ce04 --- /dev/null +++ b/src/emcl2/README.md @@ -0,0 +1,125 @@ +# emcl2: mcl with expansion resetting (version 2) + +![test](https://github.com/ryuichiueda/emcl2/actions/workflows/test.yml/badge.svg) + +emcl is an alternative Monte Carlo localization (MCL) package to amcl (http://wiki.ros.org/amcl). Differently from amcl, KLD-sampling and adaptive MCL are not implemented. Instead, the expansion resetting and other features are implemented[^1][^2]. + +This package is an improved version of [ryuichi/emcl](https://github.com/ryuichiueda/emcl). This version works well in crowded or outdoor environments. + +## demo movies + +[![](https://img.youtube.com/vi/dqS7KgGxwBs/0.jpg)](https://www.youtube.com/watch?v=dqS7KgGxwBs) + +[![](https://img.youtube.com/vi/n9tzKY6ua_o/0.jpg)](https://www.youtube.com/watch?v=n9tzKY6ua_o) + +## Nodes + +### emcl2_node + +This node calculates the alpha value with a different algorithm than `emcl_node` in [ryuichi/emcl](https://github.com/ryuichiueda/emcl). This node counts the particles that make lasers penetrate occupancy cells. Specifically, this node chooses some particles at a rate of `~extraction_rate` and checks each of them with the following procedure: + +* maps a set of laser scan on the occupancy grid map based on the pose of the particle +* judges the pose of the particle as wrong if all of lasers in a `~range_threshold`[rad] range penatrate occupancy grids + +If the rate of the wrong particles is greater than `~alpha_threshold`, the node invokes a reset. + +This node also has a sensor resetting algorithm. When `~sensor_reset` is true, a particle with laser penetration is dragged back from occupied cells. + +#### Subscribed Topics + +* scan ([sensor_msgs/LaserScan](http://docs.ros.org/en/api/sensor_msgs/html/msg/LaserScan.html)) + * laser scans +* tf ([tf/tfMessage](http://docs.ros.org/en/api/tf/html/msg/tfMessage.html)) + * transforms +* initialpose ([geometry_msgs/PoseWithCovarianceStamped](http://docs.ros.org/en/melodic/api/geometry_msgs/html/msg/PoseWithCovarianceStamped.html)) + * pose of particles for replacement + +#### Published Topics + +* mcl_pose ([geometry_msgs/PoseWithCovarianceStamped](http://docs.ros.org/en/api/geometry_msgs/html/msg/PoseWithCovarianceStamped.html)) + * the mean pose of the particles with covariance +* particlecloud ([geometry_msgs/PoseArray](http://docs.ros.org/en/api/geometry_msgs/html/msg/PoseArray.html)) + * poses of the particles +* tf ([tf/tfMessage](http://docs.ros.org/en/api/tf/html/msg/tfMessage.html)) + * the transform from odom (which can be remapped via the ~odom_frame_id parameter) to map +* alpha (std_msgs/Float32) + * marginal likelihood of particles after sensor update + +#### Services + +* global_localization ([std_srvs/Empty](http://docs.ros.org/en/api/std_srvs/html/srv/Empty.html)) + * Initiate global localization, wherein all particles are dispersed randomly through the free space in the map. + +#### Services Called + +* static_map ([nav_msgs/GetMap](http://docs.ros.org/en/api/nav_msgs/html/srv/GetMap.html)) + * Initiate the map for localization. + +#### parameters + +* ~odom_freq (int, default: 20 [Hz]) + * frequency of odometry update +* ~num_particles (int, default: 1000) + * number of particles +* ~odom_frame_id (string, default: "odom") + * the frame for odometry +* ~footprint_frame_id (string, default: "base_footprint") + * the frame of the localized robot's base +* ~base_frame_id (string, default: "base_link") + * the frame of the robot's base. It is used for calculating the position and orientation of the LiDAR. +* ~global_frame_id (string, default: "map") + * the frame for localization +* ~initial_pose_x (double, default: 0.0 [m]) + * initial x coordinate of particles +* ~initial_pose_y (double, default: 0.0 [m]) + * initial y coordinate of particles +* ~initial_pose_a (double, default: 0.0 [rad]) + * initial yaw coordinate of particles +* ~odom_fw_dev_per_fw (double, default: 0.19 [m/m]) + * standard deviation of forward motion noise by forward motion +* ~odom_fw_dev_per_rot (double, default: 0.0001 [m/rad]) + * standard deviation of forward motion noise by rotational motion +* ~odom_rot_dev_per_fw (double, default: 0.13 [rad/m]) + * standard deviation of rotational motion noise by forward motion +* ~odom_rot_dev_per_rot (double, default: 0.2 [rad/rad]) + * standard deviation of rotational motion noise by rotational motion +* ~laser_likelihood_max_dist (double, default: 0.2 meters) + * maximum distance to inflate occupied cells on the likelihood field map +* ~scan_increment (int, default: 1) + * increment number when beams are picked from their sequence; the larger this number is, the fewer number of beams are used for calculation of likelihood +* ~alpha_threshold (double, default: 0.5) + * threshold of the alpha value for expansion resetting +* ~expansion_radius_position (double, default: 0.1[m]) + * maximum change of the position on the xy-plane when the reset replaces a particle +* ~expansion_radius_orientation (double, default: 0.2[rad]) + * maximum change of the yaw angle when the reset replaces a particle +* ~extraction_rate (double, default: 0.1) + * rate of particles that are checked by the node +* ~range_threshold (double, default: 0.1[rad]) + * threshold of the range of lasers; if all lasers on this range penetrate occupancy cells, the pose of the particle is judged as wrong +* ~sensor_reset (bool, default: true) + * flag for sensor resettings + + +The followings have never been implemented yet. + +* ~laser_min_range (double, default: 0.0[m]) + * threshold for discarding scans whose ranges are smaller than this value +* ~laser_max_range (double, default: 100000000.0[m]) + * threshold for discarding scans whose ranges are larger than this value + + + + +## ROS version + +* ROS Noetic Ninjemys (on Ubuntu 20.04 LTS, test on my note PC) +* ROS Melodic Morenia (on Ubuntu 18.04 LTS, test on GitHub Actions) + + +## citation + +[^1]: R. Ueda: "[Syokai Kakuritsu Robotics (lecture note on probabilistic robotics)](https://www.amazon.co.jp/dp/B082SN3VTD)," Kodansya, 2019. + +[^2]: R. Ueda, T. Arai, K. Sakamoto, T. Kikuchi, S. Kamiya: Expansion resetting for recovery from fatal error in Monte Carlo localization - comparison with sensor resetting methods, IEEE/RSJ IROS, pp.2481-2486, 2004. + diff --git a/src/emcl2/include/emcl/ExpResetMcl.h b/src/emcl2/include/emcl/ExpResetMcl.h new file mode 100644 index 0000000..b5aa5b6 --- /dev/null +++ b/src/emcl2/include/emcl/ExpResetMcl.h @@ -0,0 +1,33 @@ +//SPDX-FileCopyrightText: 2022 Ryuichi Ueda ryuichiueda@gmail.com +//SPDX-License-Identifier: LGPL-3.0-or-later + +#ifndef EXP_PF_H__ +#define EXP_PF_H__ + +#include "emcl/Mcl.h" + +namespace emcl2 { + +class ExpResetMcl : public Mcl +{ +public: + ExpResetMcl(const Pose &p, int num, const Scan &scan, + const std::shared_ptr &odom_model, + const std::shared_ptr &map, + double alpha_th, double open_space_th, + double expansion_radius_position, double expansion_radius_orientation); + ~ExpResetMcl(); + + void sensorUpdate(double lidar_x, double lidar_y, double lidar_t, bool inv); +private: + double alpha_threshold_; + double open_space_threshold_; + double expansion_radius_position_; + double expansion_radius_orientation_; + + void expansionReset(void); +}; + +} + +#endif diff --git a/src/emcl2/include/emcl/ExpResetMcl2.h b/src/emcl2/include/emcl/ExpResetMcl2.h new file mode 100644 index 0000000..83d62f2 --- /dev/null +++ b/src/emcl2/include/emcl/ExpResetMcl2.h @@ -0,0 +1,41 @@ +//SPDX-FileCopyrightText: 2022 Ryuichi Ueda ryuichiueda@gmail.com +//SPDX-License-Identifier: LGPL-3.0-or-later + +#ifndef EXP_PF2_H__ +#define EXP_PF2_H__ + +#include "emcl/Mcl.h" + +namespace emcl2 { + +class ExpResetMcl2 : public Mcl +{ +public: + ExpResetMcl2(const Pose &p, int num, const Scan &scan, + const std::shared_ptr &odom_model, + const std::shared_ptr &map, + double alpha_th, + double expansion_radius_position, double expansion_radius_orientation, + double extraction_rate, double successive_penetration_threshold, + bool sensor_reset); + ~ExpResetMcl2(); + + void sensorUpdate(double lidar_x, double lidar_y, double lidar_t, bool inv); +private: + double alpha_threshold_; + double expansion_radius_position_; + double expansion_radius_orientation_; + + double extraction_rate_; + double range_threshold_; + bool sensor_reset_; + + void expansionReset(void); + +//bool Particle::isPenetrating( + double nonPenetrationRate(int skip, LikelihoodFieldMap *map, Scan &scan); +}; + +} + +#endif diff --git a/src/emcl2/include/emcl/LikelihoodFieldMap.h b/src/emcl2/include/emcl/LikelihoodFieldMap.h new file mode 100644 index 0000000..b30bf0d --- /dev/null +++ b/src/emcl2/include/emcl/LikelihoodFieldMap.h @@ -0,0 +1,42 @@ +//SPDX-FileCopyrightText: 2022 Ryuichi Ueda ryuichiueda@gmail.com +//SPDX-License-Identifier: LGPL-3.0-or-later + +#ifndef OCC_GRID_MAP_H__ +#define OCC_GRID_MAP_H__ + +#include +#include +#include "emcl/Scan.h" +#include "emcl/Pose.h" +#include "nav_msgs/OccupancyGrid.h" + +namespace emcl2 { + +class LikelihoodFieldMap +{ +public: + LikelihoodFieldMap(const nav_msgs::OccupancyGrid &map, double likelihood_range); + ~LikelihoodFieldMap(); + + void setLikelihood(int x, int y, double range); + double likelihood(double x, double y); + + std::vector likelihoods_; + int width_; + int height_; + + double resolution_; + double origin_x_; + double origin_y_; + + void drawFreePoses(int num, std::vector &result); +private: + std::vector > free_cells_; + + void normalize(void); +}; + +} + +#endif + diff --git a/src/emcl2/include/emcl/Mcl.h b/src/emcl2/include/emcl/Mcl.h new file mode 100644 index 0000000..d0f6a95 --- /dev/null +++ b/src/emcl2/include/emcl/Mcl.h @@ -0,0 +1,67 @@ +//SPDX-FileCopyrightText: 2022 Ryuichi Ueda ryuichiueda@gmail.com +//SPDX-License-Identifier: LGPL-3.0-or-later + +#ifndef PF_H__ +#define PF_H__ + +#include +#include +#include + +#include "emcl/Particle.h" +#include "emcl/OdomModel.h" +#include "emcl/LikelihoodFieldMap.h" + +#include "nav_msgs/OccupancyGrid.h" +#include "sensor_msgs/LaserScan.h" + +namespace emcl2 { + +class Mcl +{ +public: + Mcl(){} + Mcl(const Pose &p, int num, const Scan &scan, + const std::shared_ptr &odom_model, + const std::shared_ptr &map); + ~Mcl(); + + std::vector particles_; + double alpha_; + + void sensorUpdate(double lidar_x, double lidar_y, double lidar_t, bool inv); + void motionUpdate(double x, double y, double t); + + void initialize(double x, double y, double t); + + void setScan(const sensor_msgs::LaserScan::ConstPtr &msg); + void meanPose(double &x_mean, double &y_mean, double &t_mean, + double &x_var, double &y_var, double &t_var, + double &xy_cov, double &yt_cov, double &tx_cov); + + void simpleReset(void); + + static double cos_[(1<<16)]; + static double sin_[(1<<16)]; +protected: + Pose *last_odom_; + Pose *prev_odom_; + + Scan scan_; + int processed_seq_; + + double normalizeAngle(double t); + void resampling(void); + double normalizeBelief(void); + void resetWeight(void); + + std::shared_ptr odom_model_; + std::shared_ptr map_; +}; + +double Mcl::cos_[(1<<16)]; +double Mcl::sin_[(1<<16)]; + +} + +#endif diff --git a/src/emcl2/include/emcl/OdomModel.h b/src/emcl2/include/emcl/OdomModel.h new file mode 100644 index 0000000..e755809 --- /dev/null +++ b/src/emcl2/include/emcl/OdomModel.h @@ -0,0 +1,37 @@ +//SPDX-FileCopyrightText: 2022 Ryuichi Ueda ryuichiueda@gmail.com +//SPDX-License-Identifier: LGPL-3.0-or-later + +#ifndef ODOM_MODEL_H__ +#define ODOM_MODEL_H__ + +#include + +namespace emcl2 { + + + +class OdomModel +{ +public: + OdomModel(double ff, double fr, double rf, double rr); + void setDev(double length, double angle); + double drawFwNoise(void); + double drawRotNoise(void); +private: + double fw_dev_; + double rot_dev_; + + double fw_var_per_fw_; + double fw_var_per_rot_; + double rot_var_per_fw_; + double rot_var_per_rot_; + + std::normal_distribution<> std_norm_dist_; + + std::random_device seed_gen_; + std::default_random_engine engine_; +}; + +} + +#endif diff --git a/src/emcl2/include/emcl/Particle.h b/src/emcl2/include/emcl/Particle.h new file mode 100644 index 0000000..97400ec --- /dev/null +++ b/src/emcl2/include/emcl/Particle.h @@ -0,0 +1,39 @@ +//SPDX-FileCopyrightText: 2022 Ryuichi Ueda ryuichiueda@gmail.com +//SPDX-License-Identifier: LGPL-3.0-or-later + +#ifndef PARTICLE_H__ +#define PARTICLE_H__ + +#include "emcl/Pose.h" +#include "emcl/LikelihoodFieldMap.h" + +namespace emcl2 { + + + +class Particle +{ +public: + Particle(double x, double y, double t, double w); + + double likelihood(LikelihoodFieldMap *map, Scan &scan); + bool wallConflict(LikelihoodFieldMap *map, Scan &scan, double threshold, bool replace); + Pose p_; + double w_; + + Particle operator =(const Particle &p); +private: + bool isPenetrating(double ox, double oy, double range, uint16_t direction, + LikelihoodFieldMap *map, double &hit_lx, double &hit_ly); + + bool checkWallConflict(LikelihoodFieldMap *map, double ox, double oy, + double range, uint16_t direction, double threshold, bool replace); + + void sensorReset(double ox, double oy, + double range1, uint16_t direction1, double hit_lx1, double hit_ly1, + double range2, uint16_t direction2, double hit_lx2, double hit_ly2); +}; + +} + +#endif diff --git a/src/emcl2/include/emcl/Pose.h b/src/emcl2/include/emcl/Pose.h new file mode 100644 index 0000000..43a5860 --- /dev/null +++ b/src/emcl2/include/emcl/Pose.h @@ -0,0 +1,38 @@ +//SPDX-FileCopyrightText: 2022 Ryuichi Ueda ryuichiueda@gmail.com +//SPDX-License-Identifier: LGPL-3.0-or-later + +#ifndef POSE_H__ +#define POSE_H__ + +#include + +namespace emcl2 { + +class Pose +{ +public: + Pose(){} + Pose(double x, double y, double t); + + void set(double x, double y, double t); + void set(const Pose &p); + std::string to_s(void); + + void normalizeAngle(void); + void move(double length, double direction, double rotation, + double fw_noise, double rot_noise); + + Pose operator -(const Pose &p) const; + Pose operator =(const Pose &p); + + bool nearlyZero(void); + + double x_, y_, t_; + + uint16_t get16bitRepresentation(void); + static uint16_t get16bitRepresentation(double); +}; + +} + +#endif diff --git a/src/emcl2/include/emcl/Scan.h b/src/emcl2/include/emcl/Scan.h new file mode 100644 index 0000000..5260522 --- /dev/null +++ b/src/emcl2/include/emcl/Scan.h @@ -0,0 +1,37 @@ +//SPDX-FileCopyrightText: 2022 Ryuichi Ueda ryuichiueda@gmail.com +//SPDX-License-Identifier: LGPL-3.0-or-later + +#ifndef SCAN_H__ +#define SCAN_H__ + +#include +#include + +namespace emcl2 { + +class Scan +{ +public: + int seq_; + int scan_increment_; + double angle_max_; + double angle_min_; + double angle_increment_; + double range_max_; + double range_min_; + + double lidar_pose_x_; + double lidar_pose_y_; + double lidar_pose_yaw_; + + std::vector ranges_; + std::vector directions_16bit_; + + Scan& operator=(const Scan &s); + int countValidBeams(double *rate = NULL); + bool valid(double range); +}; + +} + +#endif diff --git a/src/emcl2/include/emcl/emcl2_node.h b/src/emcl2/include/emcl/emcl2_node.h new file mode 100644 index 0000000..6243dab --- /dev/null +++ b/src/emcl2/include/emcl/emcl2_node.h @@ -0,0 +1,80 @@ +//SPDX-FileCopyrightText: 2022 Ryuichi Ueda ryuichiueda@gmail.com +//SPDX-License-Identifier: LGPL-3.0-or-later + +#ifndef INTERFACE_EMCL2_H__ +#define INTERFACE_EMCL2_H__ + +#include +#include "emcl/ExpResetMcl2.h" + +#include "tf2_ros/transform_broadcaster.h" +#include "tf2_ros/transform_listener.h" +#include "tf2_ros/message_filter.h" +#include "tf2/LinearMath/Transform.h" + +#include "sensor_msgs/LaserScan.h" +#include "geometry_msgs/PoseWithCovarianceStamped.h" +#include "std_srvs/Empty.h" + +namespace emcl2 { + +class EMcl2Node +{ +public: + EMcl2Node(); + ~EMcl2Node(); + + void loop(void); + int getOdomFreq(void); +private: + std::shared_ptr pf_; + ros::NodeHandle nh_; + ros::NodeHandle private_nh_; + + ros::Publisher particlecloud_pub_; + ros::Publisher pose_pub_; + ros::Publisher alpha_pub_; + ros::Subscriber laser_scan_sub_; + ros::Subscriber initial_pose_sub_; + + ros::ServiceServer global_loc_srv_; + + std::string footprint_frame_id_; + std::string global_frame_id_; + std::string odom_frame_id_; + std::string scan_frame_id_; + std::string base_frame_id_; + + std::shared_ptr tfb_; + std::shared_ptr tfl_; + std::shared_ptr tf_; + + tf2::Transform latest_tf_; + + int odom_freq_; + bool init_request_; + bool simple_reset_request_; + double init_x_, init_y_, init_t_; + + void publishPose(double x, double y, double t, + double x_dev, double y_dev, double t_dev, + double xy_cov, double yt_cov, double tx_cov); + void publishOdomFrame(double x, double y, double t); + void publishParticles(void); + void sendTf(void); + bool getOdomPose(double& x, double& y, double& yaw); + bool getLidarPose(double& x, double& y, double& yaw, bool& inv); + + void initCommunication(void); + void initPF(void); + std::shared_ptr initMap(void); + std::shared_ptr initOdometry(void); + + void cbScan(const sensor_msgs::LaserScan::ConstPtr &msg); + bool cbSimpleReset(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res); + void initialPoseReceived(const geometry_msgs::PoseWithCovarianceStampedConstPtr& msg); +}; + +} + +#endif diff --git a/src/emcl2/launch/emcl2.launch b/src/emcl2/launch/emcl2.launch new file mode 100644 index 0000000..8a20884 --- /dev/null +++ b/src/emcl2/launch/emcl2.launch @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/emcl2/launch/emcl2nav.launch b/src/emcl2/launch/emcl2nav.launch new file mode 100644 index 0000000..64513b5 --- /dev/null +++ b/src/emcl2/launch/emcl2nav.launch @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/emcl2/launch/mcl.launch b/src/emcl2/launch/mcl.launch new file mode 100644 index 0000000..2466f2e --- /dev/null +++ b/src/emcl2/launch/mcl.launch @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/emcl2/launch/mclnav.launch b/src/emcl2/launch/mclnav.launch new file mode 100644 index 0000000..4796312 --- /dev/null +++ b/src/emcl2/launch/mclnav.launch @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/emcl2/package.xml b/src/emcl2/package.xml new file mode 100644 index 0000000..f163001 --- /dev/null +++ b/src/emcl2/package.xml @@ -0,0 +1,25 @@ + + + emcl2 + 0.0.0 + The emcl2 package + + Ryuichi Ueda + LGPL + + https://github.com/ryuichiueda/emcl2/ + + tf2 + tf2_ros + tf2_msgs + tf2_geometry_msgs + + geometry_msgs + nav_msgs + sensor_msgs + + roscpp + + catkin + + diff --git a/src/emcl2/src/ExpResetMcl.cpp b/src/emcl2/src/ExpResetMcl.cpp new file mode 100644 index 0000000..240c0cf --- /dev/null +++ b/src/emcl2/src/ExpResetMcl.cpp @@ -0,0 +1,96 @@ +//SPDX-FileCopyrightText: 2022 Ryuichi Ueda ryuichiueda@gmail.com +//SPDX-License-Identifier: LGPL-3.0-or-later +//Some lines are derived from https://github.com/ros-planning/navigation/tree/noetic-devel/amcl. + +#include "emcl/ExpResetMcl.h" +#include +#include +#include +#include + +namespace emcl2 { + +ExpResetMcl::ExpResetMcl(const Pose &p, int num, const Scan &scan, + const std::shared_ptr &odom_model, + const std::shared_ptr &map, + double alpha_th, double open_space_th, + double expansion_radius_position, double expansion_radius_orientation) + : alpha_threshold_(alpha_th), open_space_threshold_(open_space_th), + expansion_radius_position_(expansion_radius_position), + expansion_radius_orientation_(expansion_radius_orientation), Mcl::Mcl(p, num, scan, odom_model, map) +{ +} + +ExpResetMcl::~ExpResetMcl() +{ +} + +void ExpResetMcl::sensorUpdate(double lidar_x, double lidar_y, double lidar_t, bool inv) +{ + if(processed_seq_ == scan_.seq_) + return; + + Scan scan; + int seq = -1; + while(seq != scan_.seq_){//trying to copy the latest scan before next + seq = scan_.seq_; + scan = scan_; + } + + scan.lidar_pose_x_ = lidar_x; + scan.lidar_pose_y_ = lidar_y; + scan.lidar_pose_yaw_ = lidar_t; + + int i = 0; + if (!inv) { + for(auto e : scan.ranges_) + scan.directions_16bit_.push_back( + Pose::get16bitRepresentation(scan.angle_min_ + (i++)*scan.angle_increment_) + ); + } else { + for(auto e : scan.ranges_) + scan.directions_16bit_.push_back( + Pose::get16bitRepresentation(scan.angle_max_ - (i++)*scan.angle_increment_) + ); + } + + double valid_pct = 0.0; + int valid_beams = scan.countValidBeams(&valid_pct); + if(valid_beams == 0) + return; + + for(auto &p : particles_) + p.w_ *= p.likelihood(map_.get(), scan); + + alpha_ = normalizeBelief()/valid_beams; + //alpha_ = nonPenetrationRate( particles_.size() / 20, map_.get(), scan); //new version + ROS_INFO("ALPHA: %f / %f", alpha_, alpha_threshold_); + if(alpha_ < alpha_threshold_ and valid_pct > open_space_threshold_){ + ROS_INFO("RESET"); + expansionReset(); + for(auto &p : particles_) + p.w_ *= p.likelihood(map_.get(), scan); + } + + if(normalizeBelief() > 0.000001) + resampling(); + else + resetWeight(); + + processed_seq_ = scan_.seq_; +} + +void ExpResetMcl::expansionReset(void) +{ + for(auto &p : particles_){ + double length = 2*((double)rand()/RAND_MAX - 0.5)*expansion_radius_position_; + double direction = 2*((double)rand()/RAND_MAX - 0.5)*M_PI; + + p.p_.x_ += length*cos(direction); + p.p_.y_ += length*sin(direction); + p.p_.t_ += 2*((double)rand()/RAND_MAX - 0.5)*expansion_radius_orientation_; + p.w_ = 1.0/particles_.size(); + } +} + +} diff --git a/src/emcl2/src/ExpResetMcl2.cpp b/src/emcl2/src/ExpResetMcl2.cpp new file mode 100644 index 0000000..8e83b8a --- /dev/null +++ b/src/emcl2/src/ExpResetMcl2.cpp @@ -0,0 +1,116 @@ +//SPDX-FileCopyrightText: 2022 Ryuichi Ueda ryuichiueda@gmail.com +//SPDX-License-Identifier: LGPL-3.0-or-later +//Some lines are derived from https://github.com/ros-planning/navigation/tree/noetic-devel/amcl. + +#include "emcl/ExpResetMcl2.h" +#include +#include +#include +#include + +namespace emcl2 { + +ExpResetMcl2::ExpResetMcl2(const Pose &p, int num, const Scan &scan, + const std::shared_ptr &odom_model, + const std::shared_ptr &map, + double alpha_th, + double expansion_radius_position, double expansion_radius_orientation, + double extraction_rate, double range_threshold, bool sensor_reset) + : alpha_threshold_(alpha_th), + expansion_radius_position_(expansion_radius_position), + expansion_radius_orientation_(expansion_radius_orientation), + extraction_rate_(extraction_rate), + range_threshold_(range_threshold), + sensor_reset_(sensor_reset), + Mcl::Mcl(p, num, scan, odom_model, map) +{ +} + +ExpResetMcl2::~ExpResetMcl2() +{ +} + +void ExpResetMcl2::sensorUpdate(double lidar_x, double lidar_y, double lidar_t, bool inv) +{ + if(processed_seq_ == scan_.seq_) + return; + + Scan scan; + int seq = -1; + while(seq != scan_.seq_){//trying to copy the latest scan before next + seq = scan_.seq_; + scan = scan_; + } + + scan.lidar_pose_x_ = lidar_x; + scan.lidar_pose_y_ = lidar_y; + scan.lidar_pose_yaw_ = lidar_t; + + int i = 0; + if(!inv){ + for(auto e : scan.ranges_) + scan.directions_16bit_.push_back( + Pose::get16bitRepresentation(scan.angle_min_ + (i++)*scan.angle_increment_) + ); + }else{ + for(auto e : scan.ranges_) + scan.directions_16bit_.push_back( + Pose::get16bitRepresentation(scan.angle_max_ - (i++)*scan.angle_increment_) + ); + } + + double valid_pct = 0.0; + int valid_beams = scan.countValidBeams(&valid_pct); + if(valid_beams == 0) + return; + + for(auto &p : particles_) + p.w_ *= p.likelihood(map_.get(), scan); + + alpha_ = nonPenetrationRate( (int)(particles_.size()*extraction_rate_), map_.get(), scan); + ROS_INFO("ALPHA: %f / %f", alpha_, alpha_threshold_); + if(alpha_ < alpha_threshold_){ + ROS_INFO("RESET"); + expansionReset(); + for(auto &p : particles_) + p.w_ *= p.likelihood(map_.get(), scan); + } + + if(normalizeBelief() > 0.000001) + resampling(); + else + resetWeight(); + + processed_seq_ = scan_.seq_; +} + +double ExpResetMcl2::nonPenetrationRate(int skip, LikelihoodFieldMap *map, Scan &scan) +{ + static uint16_t shift = 0; + int counter = 0; + int penetrating = 0; + for(int i=shift%skip; i +#include + +namespace emcl2 { + +LikelihoodFieldMap::LikelihoodFieldMap(const nav_msgs::OccupancyGrid &map, double likelihood_range) +{ + width_ = map.info.width; + height_ = map.info.height; + + origin_x_ = map.info.origin.position.x; + origin_y_ = map.info.origin.position.y; + + resolution_ = map.info.resolution; + + for(int x=0; x 50) + setLikelihood(x, y, likelihood_range); + else if(0 <= v and v <= 50) + free_cells_.push_back(std::pair(x,y)); + } + + normalize(); +} + +LikelihoodFieldMap::~LikelihoodFieldMap() +{ + for(auto &e : likelihoods_) + delete [] e; +} + + +double LikelihoodFieldMap::likelihood(double x, double y) +{ + int ix = (int)floor((x - origin_x_)/resolution_); + int iy = (int)floor((y - origin_y_)/resolution_); + + if(ix < 0 or iy < 0 or ix >= width_ or iy >= height_) + return 0.0; + + return likelihoods_[ix][iy]; +} + +void LikelihoodFieldMap::setLikelihood(int x, int y, double range) +{ + int cell_num = (int)ceil(range/resolution_); + std::vector weights; + for(int i=0;i<=cell_num;i++) + weights.push_back(1.0 - (double)i/cell_num); + + for(int i=-cell_num; i<=cell_num; i++) + for(int j=-cell_num; j<=cell_num; j++) + if(i+x >= 0 and j+y >= 0 and i+x < width_ and j+y < height_) + likelihoods_[i+x][j+y] = std::max(likelihoods_[i+x][j+y], + std::min(weights[abs(i)], weights[abs(j)])); +} + +void LikelihoodFieldMap::normalize(void) +{ + double maximum = 0.0; + for(int x=0; x &result) +{ + std::random_device seed_gen; + std::mt19937 engine{seed_gen()}; + std::vector > chosen_cells; + + sample(free_cells_.begin(), free_cells_.end(), back_inserter(chosen_cells), num, engine); + + for(auto &c : chosen_cells){ + Pose p; + p.x_ = c.first*resolution_ + resolution_*rand()/RAND_MAX + origin_x_; + p.y_ = c.second*resolution_ + resolution_*rand()/RAND_MAX + origin_y_; + p.t_ = 2*M_PI*rand()/RAND_MAX - M_PI; + result.push_back(p); + } +} + +} diff --git a/src/emcl2/src/Mcl.cpp b/src/emcl2/src/Mcl.cpp new file mode 100644 index 0000000..9170dc5 --- /dev/null +++ b/src/emcl2/src/Mcl.cpp @@ -0,0 +1,270 @@ +//SPDX-FileCopyrightText: 2022 Ryuichi Ueda ryuichiueda@gmail.com +//SPDX-License-Identifier: LGPL-3.0-or-later +//Some lines are derived from https://github.com/ros-planning/navigation/tree/noetic-devel/amcl. +#include "emcl/Mcl.h" +#include +#include +#include +#include + +namespace emcl2 { + +Mcl::Mcl(const Pose &p, int num, const Scan &scan, + const std::shared_ptr &odom_model, + const std::shared_ptr &map) + : last_odom_(NULL), prev_odom_(NULL) +{ + odom_model_ = move(odom_model); + map_ = move(map); + scan_ = scan; + + if(num <= 0) + ROS_ERROR("NO PARTICLE"); + + Particle particle(p.x_, p.y_, p.t_, 1.0/num); + for(int i=0; i accum; + accum.push_back(particles_[0].w_); + for(int i=1;i old(particles_); + + double start = (double)rand()/(RAND_MAX * particles_.size()); + double step = 1.0/particles_.size(); + + std::vector chosen; + + int tick = 0; + for(int i=0; i open_space_threshold_){ + ROS_INFO("RESET"); + expansionReset(); + for(auto &p : particles_) + p.w_ *= p.likelihood(map_.get(), scan); + } + */ + + if(normalizeBelief() > 0.000001) + resampling(); + else + resetWeight(); + + processed_seq_ = scan_.seq_; +} + +void Mcl::motionUpdate(double x, double y, double t) +{ + if(last_odom_ == NULL){ + last_odom_ = new Pose(x, y, t); + prev_odom_ = new Pose(x, y, t); + return; + }else + last_odom_->set(x, y, t); + + Pose d = *last_odom_ - *prev_odom_; + if(d.nearlyZero()) + return; + + double fw_length = sqrt(d.x_*d.x_ + d.y_*d.y_); + double fw_direction = atan2(d.y_, d.x_) - prev_odom_->t_; + + odom_model_->setDev(fw_length, d.t_); + + for(auto &p : particles_) + p.p_.move(fw_length, fw_direction, d.t_, + odom_model_->drawFwNoise(), odom_model_->drawRotNoise()); + + prev_odom_->set(*last_odom_); +} + +void Mcl::meanPose(double &x_mean, double &y_mean, double &t_mean, + double &x_dev, double &y_dev, double &t_dev, + double &xy_cov, double &yt_cov, double &tx_cov) +{ + double x, y, t, t2; + x = y = t = t2 = 0.0; + for(const auto &p : particles_){ + x += p.p_.x_; + y += p.p_.y_; + t += p.p_.t_; + t2 += normalizeAngle(p.p_.t_ + M_PI); + } + + x_mean = x / particles_.size(); + y_mean = y / particles_.size(); + t_mean = t / particles_.size(); + double t2_mean = t2 / particles_.size(); + + double xx, yy, tt, tt2; + xx = yy = tt = tt2 = 0.0; + for(const auto &p : particles_){ + xx += pow(p.p_.x_ - x_mean, 2); + yy += pow(p.p_.y_ - y_mean, 2); + tt += pow(p.p_.t_ - t_mean, 2); + tt2 += pow(normalizeAngle(p.p_.t_ + M_PI) - t2_mean, 2); + } + + if(tt > tt2){ + tt = tt2; + t_mean = normalizeAngle(t2_mean - M_PI); + } + + x_dev = xx/(particles_.size() - 1); + y_dev = yy/(particles_.size() - 1); + t_dev = tt/(particles_.size() - 1); + + double xy, yt, tx; + xy = yt = tx = 0.0; + for(const auto &p : particles_){ + xy += (p.p_.x_ - x_mean)*(p.p_.y_ - y_mean); + yt += (p.p_.y_ - y_mean)*(normalizeAngle(p.p_.t_ - t_mean)); + tx += (p.p_.x_ - x_mean)*(normalizeAngle(p.p_.t_ - t_mean)); + } + + xy_cov = xy/(particles_.size() - 1); + yt_cov = yt/(particles_.size() - 1); + tx_cov = tx/(particles_.size() - 1); +} + +double Mcl::normalizeAngle(double t) +{ + while(t > M_PI) + t -= 2*M_PI; + while(t < -M_PI) + t += 2*M_PI; + + return t; +} + +void Mcl::setScan(const sensor_msgs::LaserScan::ConstPtr &msg) +{ + if(msg->ranges.size() != scan_.ranges_.size()) + scan_.ranges_.resize(msg->ranges.size()); + + scan_.seq_ = msg->header.seq; + for(int i=0; iranges.size(); i++) + scan_.ranges_[i] = msg->ranges[i]; + + scan_.angle_min_ = msg->angle_min; + scan_.angle_max_ = msg->angle_max; + scan_.angle_increment_ = msg->angle_increment; + scan_.range_min_= msg->range_min; + scan_.range_max_= msg->range_max; +} + +double Mcl::normalizeBelief(void) +{ + double sum = 0.0; + for(const auto &p : particles_) + sum += p.w_; + + if(sum < 0.000000000001) + return sum; + + for(auto &p : particles_) + p.w_ /= sum; + + return sum; +} + +void Mcl::resetWeight(void) +{ + for(auto &p : particles_) + p.w_ = 1.0/particles_.size(); +} + +void Mcl::initialize(double x, double y, double t) +{ + Pose new_pose(x, y, t); + for(auto &p : particles_) + p.p_ = new_pose; + + resetWeight(); +} + +void Mcl::simpleReset(void) +{ + std::vector poses; + map_->drawFreePoses(particles_.size(), poses); + + for(int i=0; i +#include +#include +#include + +namespace emcl2 { + +OdomModel::OdomModel(double ff, double fr, double rf, double rr) + : std_norm_dist_(0.0, 1.0), fw_dev_(0.0), rot_dev_(0.0), engine_(seed_gen_()) +{ + fw_var_per_fw_ = ff*ff; + fw_var_per_rot_ = fr*fr; + rot_var_per_fw_ = rf*rf; + rot_var_per_rot_ = rr*rr; +} + +void OdomModel::setDev(double length, double angle) +{ + fw_dev_ = sqrt( fabs(length)*fw_var_per_fw_ + fabs(angle)*fw_var_per_rot_ ); + rot_dev_ = sqrt( fabs(length)*rot_var_per_fw_ + fabs(angle)*rot_var_per_rot_ ); +} + +double OdomModel::drawFwNoise(void) +{ + return std_norm_dist_(engine_) * fw_dev_; +} + +double OdomModel::drawRotNoise(void) +{ + return std_norm_dist_(engine_) * rot_dev_; +} + +} diff --git a/src/emcl2/src/Particle.cpp b/src/emcl2/src/Particle.cpp new file mode 100644 index 0000000..1500ab1 --- /dev/null +++ b/src/emcl2/src/Particle.cpp @@ -0,0 +1,145 @@ +//SPDX-FileCopyrightText: 2022 Ryuichi Ueda ryuichiueda@gmail.com +//SPDX-License-Identifier: LGPL-3.0-or-later +//Some lines are derived from https://github.com/ros-planning/navigation/tree/noetic-devel/amcl. + +#include "emcl/Particle.h" +#include "emcl/Mcl.h" +#include + +namespace emcl2 { + + + +Particle::Particle(double x, double y, double t, double w) : p_(x, y, t) +{ + w_ = w; +} + +double Particle::likelihood(LikelihoodFieldMap *map, Scan &scan) +{ + uint16_t t = p_.get16bitRepresentation(); + double lidar_x = p_.x_ + scan.lidar_pose_x_*Mcl::cos_[t] + - scan.lidar_pose_y_*Mcl::sin_[t]; + double lidar_y = p_.y_ + scan.lidar_pose_x_*Mcl::sin_[t] + + scan.lidar_pose_y_*Mcl::cos_[t]; + uint16_t lidar_yaw = Pose::get16bitRepresentation(scan.lidar_pose_yaw_); + + double ans = 0.0; + for(int i=0;ilikelihood(lx, ly); + } + return ans; +} + +bool Particle::wallConflict(LikelihoodFieldMap *map, Scan &scan, double threshold, bool replace) +{ + uint16_t t = p_.get16bitRepresentation(); + double lidar_x = p_.x_ + scan.lidar_pose_x_*Mcl::cos_[t] + - scan.lidar_pose_y_*Mcl::sin_[t]; + double lidar_y = p_.y_ + scan.lidar_pose_x_*Mcl::sin_[t] + + scan.lidar_pose_y_*Mcl::cos_[t]; + uint16_t lidar_yaw = Pose::get16bitRepresentation(scan.lidar_pose_yaw_); + + std::vector order; + if(rand()%2){ + for(int i=0;i=0;i-=scan.scan_increment_) + order.push_back(i); + } + + int hit_counter = 0; + for(int i : order){ + if(not scan.valid(scan.ranges_[i])) + continue; + + double range = scan.ranges_[i]; + uint16_t a = scan.directions_16bit_[i] + t + lidar_yaw; + + double hit_lx, hit_ly; + double hit_lx1, hit_ly1, r1; + uint16_t a1; + if(isPenetrating(lidar_x, lidar_y, range, a, map, hit_lx, hit_ly)){ + if(hit_counter == 0){ + hit_lx1 = hit_lx; + hit_ly1 = hit_ly; + r1 = range; + a1 = a; + } + + hit_counter++; + }else + hit_counter = 0; + + if(hit_counter*scan.angle_increment_ >= threshold){ + if(replace) + sensorReset(lidar_x, lidar_y, + r1, a1, hit_lx1, hit_ly1, + range, a, hit_lx, hit_ly); + return true; + } + } + return false; +} + +bool Particle::isPenetrating(double ox, double oy, double range, uint16_t direction, + LikelihoodFieldMap *map, double &hit_lx, double &hit_ly) +{ + bool hit = false; + for(double d=map->resolution_;dresolution_){ + double lx = ox + d * Mcl::cos_[direction]; + double ly = oy + d * Mcl::sin_[direction]; + + if((not hit) and map->likelihood(lx, ly) > 0.99){ + hit = true; + hit_lx = lx; + hit_ly = ly; + } + else if(hit and map->likelihood(lx, ly) == 0.0){ // openspace after hit + return true; // penetration + } + } + return false; +} + +void Particle::sensorReset(double ox, double oy, + double range1, uint16_t direction1, double hit_lx1, double hit_ly1, + double range2, uint16_t direction2, double hit_lx2, double hit_ly2) +{ + double p1_x = ox + range1 * Mcl::cos_[direction1]; + double p1_y = oy + range1 * Mcl::sin_[direction1]; + double p2_x = ox + range2 * Mcl::cos_[direction2]; + double p2_y = oy + range2 * Mcl::sin_[direction2]; + + double cx = (hit_lx1 + hit_lx2)/2; + double cy = (hit_ly1 + hit_ly2)/2; + + p_.x_ -= (p1_x + p2_x)/2 - cx; + p_.y_ -= (p1_y + p2_y)/2 - cy; + + double theta_delta = atan2(p2_y - p1_y, p2_x - p1_x) - atan2(hit_ly2 - hit_ly1, hit_lx2 - hit_lx1); + /* + double d = std::sqrt((p_.x_ - cx)*(p_.x_ - cx) + (p_.y_ - cy)*(p_.y_ - cy)); + + double theta = atan2(p_.y_ - cy, p_.x_ - cx) - theta_delta; + p_.x_ = cx + d * std::cos(theta); + p_.y_ = cy + d * std::cos(theta); +*/ + p_.t_ -= theta_delta; +} + +Particle Particle::operator =(const Particle &p) +{ + p_ = p.p_; + w_ = p.w_; + return *this; +} + +} diff --git a/src/emcl2/src/Pose.cpp b/src/emcl2/src/Pose.cpp new file mode 100644 index 0000000..5402e49 --- /dev/null +++ b/src/emcl2/src/Pose.cpp @@ -0,0 +1,97 @@ +//SPDX-FileCopyrightText: 2022 Ryuichi Ueda ryuichiueda@gmail.com +//SPDX-License-Identifier: LGPL-3.0-or-later +//Some lines are derived from https://github.com/ros-planning/navigation/tree/noetic-devel/amcl. + +#include "emcl/Pose.h" +#include +#include + +namespace emcl2 { + +Pose::Pose(double x, double y, double t) +{ + set(x, y, t); +} + +void Pose::set(double x, double y, double t) +{ + x_ = x; + y_ = y; + t_ = t; +} + +void Pose::set(const Pose &p) +{ + x_ = p.x_; + y_ = p.y_; + t_ = p.t_; +} + +std::string Pose::to_s(void) +{ + std::stringstream s; + s << "x:" << x_ << "\ty:" << y_ << "\tt:" << t_; + return s.str(); +} + +void Pose::normalizeAngle(void) +{ + while(t_ > M_PI) + t_ -= 2*M_PI; + while(t_ < -M_PI) + t_ += 2*M_PI; +} + +Pose Pose::operator -(const Pose &p) const +{ + Pose ans(x_ - p.x_, y_ - p.y_, t_ - p.t_); + ans.normalizeAngle(); + + return ans; +} + +Pose Pose::operator =(const Pose &p) +{ + x_ = p.x_; + y_ = p.y_; + t_ = p.t_; + return *this; +} + +void Pose::move(double length, double direction, double rotation, + double fw_noise, double rot_noise) +{ + x_ += (length + fw_noise)*cos(direction + rot_noise + t_); + y_ += (length + fw_noise)*sin(direction + rot_noise + t_); + t_ += rotation + rot_noise; + normalizeAngle(); +} + +bool Pose::nearlyZero(void) +{ + return fabs(x_) < 0.001 and fabs(y_) < 0.001 and fabs(t_) < 0.001; +} + +uint16_t Pose::get16bitRepresentation(void) +{ + int tmp = t_/M_PI*(1<<15); + while(tmp < 0) + tmp += (1<<16); + while(tmp >= (1<<16)) + tmp -= (1<<16); + + return (uint16_t)tmp; +} + +uint16_t Pose::get16bitRepresentation(double t) +{ + int tmp = t/M_PI*(1<<15); + while(tmp < 0) + tmp += (1<<16); + while(tmp >= (1<<16)) + tmp -= (1<<16); + + return (uint16_t)tmp; +} + +} diff --git a/src/emcl2/src/Scan.cpp b/src/emcl2/src/Scan.cpp new file mode 100644 index 0000000..b9fcc89 --- /dev/null +++ b/src/emcl2/src/Scan.cpp @@ -0,0 +1,51 @@ +//SPDX-FileCopyrightText: 2022 Ryuichi Ueda ryuichiueda@gmail.com +//SPDX-License-Identifier: LGPL-3.0-or-later +//Some lines are derived from https://github.com/ros-planning/navigation/tree/noetic-devel/amcl. + +#include "emcl/Scan.h" +#include + +namespace emcl2 { + +Scan& Scan::operator=(const Scan &s) +{ + if(this == &s) + return *this; + + seq_ = s.seq_; + scan_increment_ = s.scan_increment_; + angle_max_ = s.angle_max_; + angle_min_ = s.angle_min_; + angle_increment_ = s.angle_increment_; + range_max_ = s.range_max_; + range_min_ = s.range_min_; + + // It's not thread safe. + ranges_.clear(); + copy(s.ranges_.begin(), s.ranges_.end(), back_inserter(ranges_) ); + + return *this; +} + +int Scan::countValidBeams(double *rate) +{ + int ans = 0; + for(int i=0; i("particlecloud", 2, true); + pose_pub_ = nh_.advertise("mcl_pose", 2, true); + alpha_pub_ = nh_.advertise("alpha", 2, true); + laser_scan_sub_ = nh_.subscribe("scan", 2, &EMcl2Node::cbScan, this); + initial_pose_sub_ = nh_.subscribe("initialpose", 2, &EMcl2Node::initialPoseReceived, this); + + global_loc_srv_ = nh_.advertiseService("global_localization", &EMcl2Node::cbSimpleReset, this); + + private_nh_.param("global_frame_id", global_frame_id_, std::string("map")); + private_nh_.param("footprint_frame_id", footprint_frame_id_, std::string("base_footprint")); + private_nh_.param("odom_frame_id", odom_frame_id_, std::string("odom")); + private_nh_.param("base_frame_id", base_frame_id_, std::string("base_link")); + + tfb_.reset(new tf2_ros::TransformBroadcaster()); + tf_.reset(new tf2_ros::Buffer()); + tfl_.reset(new tf2_ros::TransformListener(*tf_)); +} + +void EMcl2Node::initPF(void) +{ + std::shared_ptr map = std::move(initMap()); + std::shared_ptr om = std::move(initOdometry()); + + Scan scan; + private_nh_.param("laser_min_range", scan.range_min_, 0.0); + private_nh_.param("laser_max_range", scan.range_max_, 100000000.0); + private_nh_.param("scan_increment", scan.scan_increment_, 1); + + Pose init_pose; + private_nh_.param("initial_pose_x", init_pose.x_, 0.0); + private_nh_.param("initial_pose_y", init_pose.y_, 0.0); + private_nh_.param("initial_pose_a", init_pose.t_, 0.0); + + int num_particles; + double alpha_th; + double ex_rad_pos, ex_rad_ori; + private_nh_.param("num_particles", num_particles, 0); + private_nh_.param("alpha_threshold", alpha_th, 0.5); + private_nh_.param("expansion_radius_position", ex_rad_pos, 0.1); + private_nh_.param("expansion_radius_orientation", ex_rad_ori, 0.2); + + double extraction_rate, range_threshold; + bool sensor_reset; + private_nh_.param("extraction_rate", extraction_rate, 0.1); + private_nh_.param("range_threshold", range_threshold, 0.1); + private_nh_.param("sensor_reset", sensor_reset, true); + + pf_.reset(new ExpResetMcl2(init_pose, num_particles, scan, om, map, + alpha_th, ex_rad_pos, ex_rad_ori, + extraction_rate, range_threshold, sensor_reset)); +} + +std::shared_ptr EMcl2Node::initOdometry(void) +{ + double ff, fr, rf, rr; + private_nh_.param("odom_fw_dev_per_fw", ff, 0.19); + private_nh_.param("odom_fw_dev_per_rot", fr, 0.0001); + private_nh_.param("odom_rot_dev_per_fw", rf, 0.13); + private_nh_.param("odom_rot_dev_per_rot", rr, 0.2); + return std::shared_ptr(new OdomModel(ff, fr, rf, rr)); +} + +std::shared_ptr EMcl2Node::initMap(void) +{ + double likelihood_range; + private_nh_.param("laser_likelihood_max_dist", likelihood_range, 0.2); + + int num; + private_nh_.param("num_particles", num, 0); + + nav_msgs::GetMap::Request req; + nav_msgs::GetMap::Response resp; + ROS_INFO("Requesting the map..."); + while(!ros::service::call("static_map", req, resp)){ + ROS_WARN("Request for map failed; trying again..."); + ros::Duration d(0.5); + d.sleep(); + } + + return std::shared_ptr(new LikelihoodFieldMap(resp.map, likelihood_range)); +} + +void EMcl2Node::cbScan(const sensor_msgs::LaserScan::ConstPtr &msg) +{ + scan_frame_id_ = msg->header.frame_id; + pf_->setScan(msg); +} + +void EMcl2Node::initialPoseReceived(const geometry_msgs::PoseWithCovarianceStampedConstPtr& msg) +{ + init_request_ = true; + init_x_ = msg->pose.pose.position.x; + init_y_ = msg->pose.pose.position.y; + init_t_ = tf2::getYaw(msg->pose.pose.orientation); +} + +void EMcl2Node::loop(void) +{ + if(init_request_){ + pf_->initialize(init_x_, init_y_, init_t_); + init_request_ = false; + } + else if(simple_reset_request_){ + pf_->simpleReset(); + simple_reset_request_ = false; + } + + double x, y, t; + if(not getOdomPose(x, y, t)){ + ROS_INFO("can't get odometry info"); + return; + } + pf_->motionUpdate(x, y, t); + + double lx, ly, lt; + bool inv; + if(not getLidarPose(lx, ly, lt, inv)){ + ROS_INFO("can't get lidar pose info"); + return; + } + + /* + struct timespec ts_start, ts_end; + clock_gettime(CLOCK_REALTIME, &ts_start); + */ + pf_->sensorUpdate(lx, ly, lt, inv); + /* + clock_gettime(CLOCK_REALTIME, &ts_end); + struct tm tm; + localtime_r( &ts_start.tv_sec, &tm); + printf("START: %02d.%09ld\n", tm.tm_sec, ts_start.tv_nsec); + localtime_r( &ts_end.tv_sec, &tm); + printf("END: %02d.%09ld\n", tm.tm_sec, ts_end.tv_nsec); + */ + + double x_var, y_var, t_var, xy_cov, yt_cov, tx_cov; + pf_->meanPose(x, y, t, x_var, y_var, t_var, xy_cov, yt_cov, tx_cov); + + publishOdomFrame(x, y, t); + publishPose(x, y, t, x_var, y_var, t_var, xy_cov, yt_cov, tx_cov); + publishParticles(); + + std_msgs::Float32 alpha_msg; + alpha_msg.data = static_cast(pf_->alpha_); + alpha_pub_.publish(alpha_msg); +} + +void EMcl2Node::publishPose(double x, double y, double t, + double x_dev, double y_dev, double t_dev, + double xy_cov, double yt_cov, double tx_cov) +{ + geometry_msgs::PoseWithCovarianceStamped p; + p.header.frame_id = global_frame_id_; + p.header.stamp = ros::Time::now(); + p.pose.pose.position.x = x; + p.pose.pose.position.y = y; + + p.pose.covariance[6*0 + 0] = x_dev; + p.pose.covariance[6*1 + 1] = y_dev; + p.pose.covariance[6*2 + 2] = t_dev; + + p.pose.covariance[6*0 + 1] = xy_cov; + p.pose.covariance[6*1 + 0] = xy_cov; + p.pose.covariance[6*0 + 2] = tx_cov; + p.pose.covariance[6*2 + 0] = tx_cov; + p.pose.covariance[6*1 + 2] = yt_cov; + p.pose.covariance[6*2 + 1] = yt_cov; + + tf2::Quaternion q; + q.setRPY(0, 0, t); + tf2::convert(q, p.pose.pose.orientation); + + pose_pub_.publish(p); +} + +void EMcl2Node::publishOdomFrame(double x, double y, double t) +{ + geometry_msgs::PoseStamped odom_to_map; + try{ + tf2::Quaternion q; + q.setRPY(0, 0, t); + tf2::Transform tmp_tf(q, tf2::Vector3(x, y, 0.0)); + + geometry_msgs::PoseStamped tmp_tf_stamped; + tmp_tf_stamped.header.frame_id = footprint_frame_id_; + tmp_tf_stamped.header.stamp = ros::Time(0); + tf2::toMsg(tmp_tf.inverse(), tmp_tf_stamped.pose); + + tf_->transform(tmp_tf_stamped, odom_to_map, odom_frame_id_); + + }catch(tf2::TransformException){ + ROS_DEBUG("Failed to subtract base to odom transform"); + return; + } + tf2::convert(odom_to_map.pose, latest_tf_); + + ros::Time transform_expiration = (ros::Time(ros::Time::now().toSec() + 0.2)); + geometry_msgs::TransformStamped tmp_tf_stamped; + tmp_tf_stamped.header.frame_id = global_frame_id_; + tmp_tf_stamped.header.stamp = transform_expiration; + tmp_tf_stamped.child_frame_id = odom_frame_id_; + tf2::convert(latest_tf_.inverse(), tmp_tf_stamped.transform); + + tfb_->sendTransform(tmp_tf_stamped); +} + +void EMcl2Node::publishParticles(void) +{ + geometry_msgs::PoseArray cloud_msg; + cloud_msg.header.stamp = ros::Time::now(); + cloud_msg.header.frame_id = global_frame_id_; + cloud_msg.poses.resize(pf_->particles_.size()); + + for(int i=0;iparticles_.size();i++){ + cloud_msg.poses[i].position.x = pf_->particles_[i].p_.x_; + cloud_msg.poses[i].position.y = pf_->particles_[i].p_.y_; + cloud_msg.poses[i].position.z = 0; + + tf2::Quaternion q; + q.setRPY(0, 0, pf_->particles_[i].p_.t_); + tf2::convert(q, cloud_msg.poses[i].orientation); + } + particlecloud_pub_.publish(cloud_msg); +} + +bool EMcl2Node::getOdomPose(double& x, double& y, double& yaw) +{ + geometry_msgs::PoseStamped ident; + ident.header.frame_id = footprint_frame_id_; + ident.header.stamp = ros::Time(0); + tf2::toMsg(tf2::Transform::getIdentity(), ident.pose); + + geometry_msgs::PoseStamped odom_pose; + try{ + this->tf_->transform(ident, odom_pose, odom_frame_id_); + }catch(tf2::TransformException e){ + ROS_WARN("Failed to compute odom pose, skipping scan (%s)", e.what()); + return false; + } + x = odom_pose.pose.position.x; + y = odom_pose.pose.position.y; + yaw = tf2::getYaw(odom_pose.pose.orientation); + + return true; +} + +bool EMcl2Node::getLidarPose(double& x, double& y, double& yaw, bool& inv) +{ + geometry_msgs::PoseStamped ident; + ident.header.frame_id = scan_frame_id_; + ident.header.stamp = ros::Time(0); + tf2::toMsg(tf2::Transform::getIdentity(), ident.pose); + + geometry_msgs::PoseStamped lidar_pose; + try{ + this->tf_->transform(ident, lidar_pose, base_frame_id_); + }catch(tf2::TransformException e){ + ROS_WARN("Failed to compute lidar pose, skipping scan (%s)", e.what()); + return false; + } + x = lidar_pose.pose.position.x; + y = lidar_pose.pose.position.y; + + double roll, pitch; + tf2::getEulerYPR(lidar_pose.pose.orientation, yaw, pitch, roll); + inv = (fabs(pitch) > M_PI/2 || fabs(roll) > M_PI/2) ? true : false; + + return true; +} + +int EMcl2Node::getOdomFreq(void){ + return odom_freq_; +} + +bool EMcl2Node::cbSimpleReset(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res) +{ + return simple_reset_request_ = true; +} + +} + +int main(int argc, char **argv) +{ + + ros::init(argc, argv, "mcl_node"); + emcl2::EMcl2Node node; + + ros::Rate loop_rate(node.getOdomFreq()); + while (ros::ok()){ + node.loop(); + ros::spinOnce(); + loop_rate.sleep(); + } + + ros::spin(); + + return 0; +} + diff --git a/src/emcl2/test/docker/Dockerfile b/src/emcl2/test/docker/Dockerfile new file mode 100644 index 0000000..f66d956 --- /dev/null +++ b/src/emcl2/test/docker/Dockerfile @@ -0,0 +1,10 @@ +FROM ryuichiueda/emcl-test-env:latest +ENV DEBIAN_FRONTEND=noninteractive +SHELL ["/bin/bash", "-c"] + +RUN cd /catkin_ws/src && \ + git clone https://github.com/ryuichiueda/emcl.git + +RUN source ~/.bashrc && \ + cd /catkin_ws && \ + catkin_make diff --git a/src/emcl2/test/docker_env/Dockerfile b/src/emcl2/test/docker_env/Dockerfile new file mode 100644 index 0000000..fb904b0 --- /dev/null +++ b/src/emcl2/test/docker_env/Dockerfile @@ -0,0 +1,17 @@ +FROM ryuichiueda/ubuntu18.04-ros-image +ENV DEBIAN_FRONTEND=noninteractive +SHELL ["/bin/bash", "-c"] + +RUN apt-get update +RUN apt-get install -y ros-melodic-desktop-full +RUN apt-get install -y ros-melodic-tf ros-melodic-tf2 ros-melodic-tf2-geometry-msgs ros-melodic-urdf ros-melodic-map-server xvfb vim psmisc ros-melodic-move-base* ros-melodic-dwa-local-planner ros-melodic-global-planner ros-melodic-grid-map + +RUN cd /catkin_ws/src && \ + git clone https://github.com/ROBOTIS-GIT/turtlebot3.git && \ + git clone https://github.com/ROBOTIS-GIT/turtlebot3_gazebo_plugin.git && \ + git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git && \ + git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git + +RUN source ~/.bashrc && \ + cd /catkin_ws && \ + catkin_make diff --git a/src/emcl2/test/test.bash b/src/emcl2/test/test.bash new file mode 100755 index 0000000..ad9bf64 --- /dev/null +++ b/src/emcl2/test/test.bash @@ -0,0 +1,76 @@ +#!/bin/bash -evx + +export TURTLEBOT3_MODEL=burger +xvfb-run --auto-servernum -s "-screen 0 1400x900x24" roslaunch emcl2 test.launch & +sleep 15 + +### ESTIMATION RECOVERY TEST ### +rostopic pub /initialpose geometry_msgs/PoseWithCovarianceStamped "header: + seq: 0 + stamp: + secs: 0 + nsecs: 0 + frame_id: '' +pose: + pose: + position: {x: -2.5, y: 0.0, z: 0.0} + orientation: {x: 0.0, y: 0.0, z: 0.0, w: 0.0} + covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" --once + +rostopic echo /mcl_pose -n 1000 | +grep -A2 position: | +awk '/x:/{printf $2" "}/y:/{print $2}' | +awk '{print $0} + sqrt( ($1+2.0)^2 + ($2+0.5)^2 ) < 0.15 {print "OK";exit(0)} + NR==1000{print "TIMEOUT";exit(1)}' + +if [ "$?" -ne 0 ] ; then + killall rosmaster & + exit 1 +fi + +### NAVIGATION TEST ### +rostopic pub /move_base/goal move_base_msgs/MoveBaseActionGoal "header: + seq: 0 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' +goal_id: + stamp: + secs: 0 + nsecs: 0 + id: '' +goal: + target_pose: + header: + seq: 0 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: -0.5 + y: -0.5 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 0.1" --once + +rostopic echo /mcl_pose -n 1000 | +grep -A2 position: | +awk '/x:/{printf $2" "}/y:/{print $2}' | +awk '{print $0} + sqrt( ($1+0.5)^2 + ($2+0.5)^2 ) < 0.15 {print "OK";exit(0)} + NR==1000{print "TIMEOUT";exit(1)}' + +RESULT=$? + +killall rosmaster & + +exit $RESULT diff --git a/src/emcl2/test/test.launch b/src/emcl2/test/test.launch new file mode 100644 index 0000000..0f534c2 --- /dev/null +++ b/src/emcl2/test/test.launch @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/emcl2/test/test_gui.bash b/src/emcl2/test/test_gui.bash new file mode 100755 index 0000000..43c40f5 --- /dev/null +++ b/src/emcl2/test/test_gui.bash @@ -0,0 +1,76 @@ +#!/bin/bash -evx + +export TURTLEBOT3_MODEL=burger +roslaunch emcl test_gui.launch & +sleep 15 + +### ESTIMATION RECOVERY TEST ### +rostopic pub /initialpose geometry_msgs/PoseWithCovarianceStamped "header: + seq: 0 + stamp: + secs: 0 + nsecs: 0 + frame_id: '' +pose: + pose: + position: {x: -2.5, y: 0.0, z: 0.0} + orientation: {x: 0.0, y: 0.0, z: 0.0, w: 0.0} + covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" --once + +rostopic echo /mcl_pose -n 1000 | +grep -A2 position: | +awk '/x:/{printf $2" "}/y:/{print $2}' | +awk '{print $0} + sqrt( ($1+2.0)^2 + ($2+0.5)^2 ) < 0.15 {print "OK";exit(0)} + NR==1000{print "TIMEOUT";exit(1)}' + +if [ "$?" -ne 0 ] ; then + killall rosmaster & + exit 1 +fi + +### NAVIGATION TEST ### +rostopic pub /move_base/goal move_base_msgs/MoveBaseActionGoal "header: + seq: 0 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' +goal_id: + stamp: + secs: 0 + nsecs: 0 + id: '' +goal: + target_pose: + header: + seq: 0 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: -0.5 + y: -0.5 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 0.1" --once + +rostopic echo /mcl_pose -n 1000 | +grep -A2 position: | +awk '/x:/{printf $2" "}/y:/{print $2}' | +awk '{print $0} + sqrt( ($1+0.5)^2 + ($2+0.5)^2 ) < 0.15 {print "OK";exit(0)} + NR==1000{print "TIMEOUT";exit(1)}' + +RESULT=$? + +killall rosmaster & + +exit $RESULT diff --git a/src/emcl2/test/test_gui.launch b/src/emcl2/test/test_gui.launch new file mode 100644 index 0000000..654ba35 --- /dev/null +++ b/src/emcl2/test/test_gui.launch @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/emcl2/trash/emcl_node.cpp b/src/emcl2/trash/emcl_node.cpp new file mode 100644 index 0000000..49c1da8 --- /dev/null +++ b/src/emcl2/trash/emcl_node.cpp @@ -0,0 +1,324 @@ +//SPDX-FileCopyrightText: 2022 Ryuichi Ueda ryuichiueda@gmail.com +//SPDX-License-Identifier: LGPL-3.0-or-later +//Some lines are derived from https://github.com/ros-planning/navigation/tree/noetic-devel/amcl. + +#include "emcl/emcl_node.h" +#include "emcl/Pose.h" + +#include "tf2/utils.h" +#include "geometry_msgs/PoseArray.h" +#include "nav_msgs/GetMap.h" +#include "std_msgs/Float32.h" + +namespace emcl2 { + +EMclNode::EMclNode() : private_nh_("~") +{ + initCommunication(); + initPF(); + + private_nh_.param("odom_freq", odom_freq_, 20); + + init_request_ = false; + simple_reset_request_ = false; +} + +EMclNode::~EMclNode() +{ +} + +void EMclNode::initCommunication(void) +{ + particlecloud_pub_ = nh_.advertise("particlecloud", 2, true); + pose_pub_ = nh_.advertise("mcl_pose", 2, true); + alpha_pub_ = nh_.advertise("alpha", 2, true); + laser_scan_sub_ = nh_.subscribe("scan", 2, &EMclNode::cbScan, this); + initial_pose_sub_ = nh_.subscribe("initialpose", 2, &EMclNode::initialPoseReceived, this); + + global_loc_srv_ = nh_.advertiseService("global_localization", &EMclNode::cbSimpleReset, this); + + private_nh_.param("global_frame_id", global_frame_id_, std::string("map")); + private_nh_.param("footprint_frame_id", footprint_frame_id_, std::string("base_footprint")); + private_nh_.param("odom_frame_id", odom_frame_id_, std::string("odom")); + private_nh_.param("base_frame_id", base_frame_id_, std::string("base_link")); + + tfb_.reset(new tf2_ros::TransformBroadcaster()); + tf_.reset(new tf2_ros::Buffer()); + tfl_.reset(new tf2_ros::TransformListener(*tf_)); +} + +void EMclNode::initPF(void) +{ + std::shared_ptr map = std::move(initMap()); + std::shared_ptr om = std::move(initOdometry()); + + Scan scan; + private_nh_.param("laser_min_range", scan.range_min_, 0.0); + private_nh_.param("laser_max_range", scan.range_max_, 100000000.0); + private_nh_.param("scan_increment", scan.scan_increment_, 1); + + Pose init_pose; + private_nh_.param("initial_pose_x", init_pose.x_, 0.0); + private_nh_.param("initial_pose_y", init_pose.y_, 0.0); + private_nh_.param("initial_pose_a", init_pose.t_, 0.0); + + int num_particles; + double alpha_th, open_space_th; + double ex_rad_pos, ex_rad_ori; + private_nh_.param("num_particles", num_particles, 0); + private_nh_.param("alpha_threshold", alpha_th, 0.0); + private_nh_.param("open_space_threshold", open_space_th, 0.05); + private_nh_.param("expansion_radius_position", ex_rad_pos, 0.1); + private_nh_.param("expansion_radius_orientation", ex_rad_ori, 0.2); + + pf_.reset(new ExpResetMcl(init_pose, num_particles, scan, om, map, + alpha_th, open_space_th, ex_rad_pos, ex_rad_ori)); +} + +std::shared_ptr EMclNode::initOdometry(void) +{ + double ff, fr, rf, rr; + private_nh_.param("odom_fw_dev_per_fw", ff, 0.19); + private_nh_.param("odom_fw_dev_per_rot", fr, 0.0001); + private_nh_.param("odom_rot_dev_per_fw", rf, 0.13); + private_nh_.param("odom_rot_dev_per_rot", rr, 0.2); + return std::shared_ptr(new OdomModel(ff, fr, rf, rr)); +} + +std::shared_ptr EMclNode::initMap(void) +{ + double likelihood_range; + private_nh_.param("laser_likelihood_max_dist", likelihood_range, 0.2); + + int num; + private_nh_.param("num_particles", num, 0); + + nav_msgs::GetMap::Request req; + nav_msgs::GetMap::Response resp; + ROS_INFO("Requesting the map..."); + while(!ros::service::call("static_map", req, resp)){ + ROS_WARN("Request for map failed; trying again..."); + ros::Duration d(0.5); + d.sleep(); + } + + return std::shared_ptr(new LikelihoodFieldMap(resp.map, likelihood_range)); +} + +void EMclNode::cbScan(const sensor_msgs::LaserScan::ConstPtr &msg) +{ + scan_frame_id_ = msg->header.frame_id; + pf_->setScan(msg); +} + +void EMclNode::initialPoseReceived(const geometry_msgs::PoseWithCovarianceStampedConstPtr& msg) +{ + init_request_ = true; + init_x_ = msg->pose.pose.position.x; + init_y_ = msg->pose.pose.position.y; + init_t_ = tf2::getYaw(msg->pose.pose.orientation); +} + +void EMclNode::loop(void) +{ + if(init_request_){ + pf_->initialize(init_x_, init_y_, init_t_); + init_request_ = false; + } + else if(simple_reset_request_){ + pf_->simpleReset(); + simple_reset_request_ = false; + } + + double x, y, t; + if(not getOdomPose(x, y, t)){ + ROS_INFO("can't get odometry info"); + return; + } + pf_->motionUpdate(x, y, t); + + double lx, ly, lt; + bool inv; + if(not getLidarPose(lx, ly, lt, inv)){ + ROS_INFO("can't get lidar pose info"); + return; + } + + /* + struct timespec ts_start, ts_end; + clock_gettime(CLOCK_REALTIME, &ts_start); + */ + pf_->sensorUpdate(lx, ly, lt, inv); + /* + clock_gettime(CLOCK_REALTIME, &ts_end); + struct tm tm; + localtime_r( &ts_start.tv_sec, &tm); + printf("START: %02d.%09ld\n", tm.tm_sec, ts_start.tv_nsec); + localtime_r( &ts_end.tv_sec, &tm); + printf("END: %02d.%09ld\n", tm.tm_sec, ts_end.tv_nsec); + */ + + double x_var, y_var, t_var, xy_cov, yt_cov, tx_cov; + pf_->meanPose(x, y, t, x_var, y_var, t_var, xy_cov, yt_cov, tx_cov); + + publishOdomFrame(x, y, t); + publishPose(x, y, t, x_var, y_var, t_var, xy_cov, yt_cov, tx_cov); + publishParticles(); + + std_msgs::Float32 alpha_msg; + alpha_msg.data = static_cast(pf_->alpha_); + alpha_pub_.publish(alpha_msg); +} + +void EMclNode::publishPose(double x, double y, double t, + double x_dev, double y_dev, double t_dev, + double xy_cov, double yt_cov, double tx_cov) +{ + geometry_msgs::PoseWithCovarianceStamped p; + p.header.frame_id = global_frame_id_; + p.header.stamp = ros::Time::now(); + p.pose.pose.position.x = x; + p.pose.pose.position.y = y; + + p.pose.covariance[6*0 + 0] = x_dev; + p.pose.covariance[6*1 + 1] = y_dev; + p.pose.covariance[6*2 + 2] = t_dev; + + p.pose.covariance[6*0 + 1] = xy_cov; + p.pose.covariance[6*1 + 0] = xy_cov; + p.pose.covariance[6*0 + 2] = tx_cov; + p.pose.covariance[6*2 + 0] = tx_cov; + p.pose.covariance[6*1 + 2] = yt_cov; + p.pose.covariance[6*2 + 1] = yt_cov; + + tf2::Quaternion q; + q.setRPY(0, 0, t); + tf2::convert(q, p.pose.pose.orientation); + + pose_pub_.publish(p); +} + +void EMclNode::publishOdomFrame(double x, double y, double t) +{ + geometry_msgs::PoseStamped odom_to_map; + try{ + tf2::Quaternion q; + q.setRPY(0, 0, t); + tf2::Transform tmp_tf(q, tf2::Vector3(x, y, 0.0)); + + geometry_msgs::PoseStamped tmp_tf_stamped; + tmp_tf_stamped.header.frame_id = footprint_frame_id_; + tmp_tf_stamped.header.stamp = ros::Time(0); + tf2::toMsg(tmp_tf.inverse(), tmp_tf_stamped.pose); + + tf_->transform(tmp_tf_stamped, odom_to_map, odom_frame_id_); + + }catch(tf2::TransformException){ + ROS_DEBUG("Failed to subtract base to odom transform"); + return; + } + tf2::convert(odom_to_map.pose, latest_tf_); + + ros::Time transform_expiration = (ros::Time(ros::Time::now().toSec() + 0.2)); + geometry_msgs::TransformStamped tmp_tf_stamped; + tmp_tf_stamped.header.frame_id = global_frame_id_; + tmp_tf_stamped.header.stamp = transform_expiration; + tmp_tf_stamped.child_frame_id = odom_frame_id_; + tf2::convert(latest_tf_.inverse(), tmp_tf_stamped.transform); + + tfb_->sendTransform(tmp_tf_stamped); +} + +void EMclNode::publishParticles(void) +{ + geometry_msgs::PoseArray cloud_msg; + cloud_msg.header.stamp = ros::Time::now(); + cloud_msg.header.frame_id = global_frame_id_; + cloud_msg.poses.resize(pf_->particles_.size()); + + for(int i=0;iparticles_.size();i++){ + cloud_msg.poses[i].position.x = pf_->particles_[i].p_.x_; + cloud_msg.poses[i].position.y = pf_->particles_[i].p_.y_; + cloud_msg.poses[i].position.z = 0; + + tf2::Quaternion q; + q.setRPY(0, 0, pf_->particles_[i].p_.t_); + tf2::convert(q, cloud_msg.poses[i].orientation); + } + particlecloud_pub_.publish(cloud_msg); +} + +bool EMclNode::getOdomPose(double& x, double& y, double& yaw) +{ + geometry_msgs::PoseStamped ident; + ident.header.frame_id = footprint_frame_id_; + ident.header.stamp = ros::Time(0); + tf2::toMsg(tf2::Transform::getIdentity(), ident.pose); + + geometry_msgs::PoseStamped odom_pose; + try{ + this->tf_->transform(ident, odom_pose, odom_frame_id_); + }catch(tf2::TransformException e){ + ROS_WARN("Failed to compute odom pose, skipping scan (%s)", e.what()); + return false; + } + x = odom_pose.pose.position.x; + y = odom_pose.pose.position.y; + yaw = tf2::getYaw(odom_pose.pose.orientation); + + return true; +} + +bool EMclNode::getLidarPose(double& x, double& y, double& yaw, bool& inv) +{ + geometry_msgs::PoseStamped ident; + ident.header.frame_id = scan_frame_id_; + ident.header.stamp = ros::Time(0); + tf2::toMsg(tf2::Transform::getIdentity(), ident.pose); + + geometry_msgs::PoseStamped lidar_pose; + try{ + this->tf_->transform(ident, lidar_pose, base_frame_id_); + }catch(tf2::TransformException e){ + ROS_WARN("Failed to compute lidar pose, skipping scan (%s)", e.what()); + return false; + } + x = lidar_pose.pose.position.x; + y = lidar_pose.pose.position.y; + + double roll, pitch; + tf2::getEulerYPR(lidar_pose.pose.orientation, yaw, pitch, roll); + inv = (fabs(pitch) > M_PI/2 || fabs(roll) > M_PI/2) ? true : false; + + return true; +} + +int EMclNode::getOdomFreq(void){ + return odom_freq_; +} + +bool EMclNode::cbSimpleReset(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res) +{ + return simple_reset_request_ = true; +} + +} + +int main(int argc, char **argv) +{ + + ros::init(argc, argv, "mcl_node"); + emcl::EMclNode node; + + ros::Rate loop_rate(node.getOdomFreq()); + while (ros::ok()){ + node.loop(); + ros::spinOnce(); + loop_rate.sleep(); + } + + ros::spin(); + + return 0; +} + diff --git a/src/emcl2/trash/emcl_node.h b/src/emcl2/trash/emcl_node.h new file mode 100644 index 0000000..0c48e19 --- /dev/null +++ b/src/emcl2/trash/emcl_node.h @@ -0,0 +1,80 @@ +//SPDX-FileCopyrightText: 2022 Ryuichi Ueda ryuichiueda@gmail.com +//SPDX-License-Identifier: LGPL-3.0-or-later + +#ifndef INTERFACE_EMCL_H__ +#define INTERFACE_EMCL_H__ + +#include +#include "emcl/ExpResetMcl.h" + +#include "tf2_ros/transform_broadcaster.h" +#include "tf2_ros/transform_listener.h" +#include "tf2_ros/message_filter.h" +#include "tf2/LinearMath/Transform.h" + +#include "sensor_msgs/LaserScan.h" +#include "geometry_msgs/PoseWithCovarianceStamped.h" +#include "std_srvs/Empty.h" + +namespace emcl2 { + +class EMclNode +{ +public: + EMclNode(); + ~EMclNode(); + + void loop(void); + int getOdomFreq(void); +private: + std::shared_ptr pf_; + ros::NodeHandle nh_; + ros::NodeHandle private_nh_; + + ros::Publisher particlecloud_pub_; + ros::Publisher pose_pub_; + ros::Publisher alpha_pub_; + ros::Subscriber laser_scan_sub_; + ros::Subscriber initial_pose_sub_; + + ros::ServiceServer global_loc_srv_; + + std::string footprint_frame_id_; + std::string global_frame_id_; + std::string odom_frame_id_; + std::string scan_frame_id_; + std::string base_frame_id_; + + std::shared_ptr tfb_; + std::shared_ptr tfl_; + std::shared_ptr tf_; + + tf2::Transform latest_tf_; + + int odom_freq_; + bool init_request_; + bool simple_reset_request_; + double init_x_, init_y_, init_t_; + + void publishPose(double x, double y, double t, + double x_dev, double y_dev, double t_dev, + double xy_cov, double yt_cov, double tx_cov); + void publishOdomFrame(double x, double y, double t); + void publishParticles(void); + void sendTf(void); + bool getOdomPose(double& x, double& y, double& yaw); + bool getLidarPose(double& x, double& y, double& yaw, bool& inv); + + void initCommunication(void); + void initPF(void); + std::shared_ptr initMap(void); + std::shared_ptr initOdometry(void); + + void cbScan(const sensor_msgs::LaserScan::ConstPtr &msg); + bool cbSimpleReset(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res); + void initialPoseReceived(const geometry_msgs::PoseWithCovarianceStampedConstPtr& msg); +}; + +} + +#endif diff --git a/src/emcl2/trash/mcl_node.cpp b/src/emcl2/trash/mcl_node.cpp new file mode 100644 index 0000000..b892b73 --- /dev/null +++ b/src/emcl2/trash/mcl_node.cpp @@ -0,0 +1,317 @@ +//SPDX-FileCopyrightText: 2022 Ryuichi Ueda ryuichiueda@gmail.com +//SPDX-License-Identifier: LGPL-3.0-or-later +//Some lines are derived from https://github.com/ros-planning/navigation/tree/noetic-devel/amcl. + +#include "emcl/mcl_node.h" +#include "emcl/Pose.h" + +#include "tf2/utils.h" +#include "geometry_msgs/PoseArray.h" +#include "nav_msgs/GetMap.h" +#include "std_msgs/Float32.h" + +namespace emcl2 { + +MclNode::MclNode() : private_nh_("~") +{ + initCommunication(); + initPF(); + + private_nh_.param("odom_freq", odom_freq_, 20); + + init_request_ = false; + simple_reset_request_ = false; +} + +MclNode::~MclNode() +{ +} + +void MclNode::initCommunication(void) +{ + particlecloud_pub_ = nh_.advertise("particlecloud", 2, true); + pose_pub_ = nh_.advertise("mcl_pose", 2, true); + alpha_pub_ = nh_.advertise("alpha", 2, true); + laser_scan_sub_ = nh_.subscribe("scan", 2, &MclNode::cbScan, this); + initial_pose_sub_ = nh_.subscribe("initialpose", 2, &MclNode::initialPoseReceived, this); + + global_loc_srv_ = nh_.advertiseService("global_localization", &MclNode::cbSimpleReset, this); + + private_nh_.param("global_frame_id", global_frame_id_, std::string("map")); + private_nh_.param("footprint_frame_id", footprint_frame_id_, std::string("base_footprint")); + private_nh_.param("odom_frame_id", odom_frame_id_, std::string("odom")); + private_nh_.param("base_frame_id", base_frame_id_, std::string("base_link")); + + tfb_.reset(new tf2_ros::TransformBroadcaster()); + tf_.reset(new tf2_ros::Buffer()); + tfl_.reset(new tf2_ros::TransformListener(*tf_)); +} + +void MclNode::initPF(void) +{ + std::shared_ptr map = std::move(initMap()); + std::shared_ptr om = std::move(initOdometry()); + + Scan scan; + private_nh_.param("laser_min_range", scan.range_min_, 0.0); + private_nh_.param("laser_max_range", scan.range_max_, 100000000.0); + private_nh_.param("scan_increment", scan.scan_increment_, 1); + + Pose init_pose; + private_nh_.param("initial_pose_x", init_pose.x_, 0.0); + private_nh_.param("initial_pose_y", init_pose.y_, 0.0); + private_nh_.param("initial_pose_a", init_pose.t_, 0.0); + + int num_particles; + private_nh_.param("num_particles", num_particles, 0); + + pf_.reset(new Mcl(init_pose, num_particles, scan, om, map)); +} + +std::shared_ptr MclNode::initOdometry(void) +{ + double ff, fr, rf, rr; + private_nh_.param("odom_fw_dev_per_fw", ff, 0.19); + private_nh_.param("odom_fw_dev_per_rot", fr, 0.0001); + private_nh_.param("odom_rot_dev_per_fw", rf, 0.13); + private_nh_.param("odom_rot_dev_per_rot", rr, 0.2); + return std::shared_ptr(new OdomModel(ff, fr, rf, rr)); +} + +std::shared_ptr MclNode::initMap(void) +{ + double likelihood_range; + private_nh_.param("laser_likelihood_max_dist", likelihood_range, 0.2); + + int num; + private_nh_.param("num_particles", num, 0); + + nav_msgs::GetMap::Request req; + nav_msgs::GetMap::Response resp; + ROS_INFO("Requesting the map..."); + while(!ros::service::call("static_map", req, resp)){ + ROS_WARN("Request for map failed; trying again..."); + ros::Duration d(0.5); + d.sleep(); + } + + return std::shared_ptr(new LikelihoodFieldMap(resp.map, likelihood_range)); +} + +void MclNode::cbScan(const sensor_msgs::LaserScan::ConstPtr &msg) +{ + scan_frame_id_ = msg->header.frame_id; + pf_->setScan(msg); +} + +void MclNode::initialPoseReceived(const geometry_msgs::PoseWithCovarianceStampedConstPtr& msg) +{ + init_request_ = true; + init_x_ = msg->pose.pose.position.x; + init_y_ = msg->pose.pose.position.y; + init_t_ = tf2::getYaw(msg->pose.pose.orientation); +} + +void MclNode::loop(void) +{ + if(init_request_){ + pf_->initialize(init_x_, init_y_, init_t_); + init_request_ = false; + } + else if(simple_reset_request_){ + pf_->simpleReset(); + simple_reset_request_ = false; + } + + double x, y, t; + if(not getOdomPose(x, y, t)){ + ROS_INFO("can't get odometry info"); + return; + } + pf_->motionUpdate(x, y, t); + + double lx, ly, lt; + bool inv; + if(not getLidarPose(lx, ly, lt, inv)){ + ROS_INFO("can't get lidar pose info"); + return; + } + + /* + struct timespec ts_start, ts_end; + clock_gettime(CLOCK_REALTIME, &ts_start); + */ + pf_->sensorUpdate(lx, ly, lt, inv); + /* + clock_gettime(CLOCK_REALTIME, &ts_end); + struct tm tm; + localtime_r( &ts_start.tv_sec, &tm); + printf("START: %02d.%09ld\n", tm.tm_sec, ts_start.tv_nsec); + localtime_r( &ts_end.tv_sec, &tm); + printf("END: %02d.%09ld\n", tm.tm_sec, ts_end.tv_nsec); + */ + + double x_var, y_var, t_var, xy_cov, yt_cov, tx_cov; + pf_->meanPose(x, y, t, x_var, y_var, t_var, xy_cov, yt_cov, tx_cov); + + publishOdomFrame(x, y, t); + publishPose(x, y, t, x_var, y_var, t_var, xy_cov, yt_cov, tx_cov); + publishParticles(); + + std_msgs::Float32 alpha_msg; + alpha_msg.data = static_cast(pf_->alpha_); + alpha_pub_.publish(alpha_msg); +} + +void MclNode::publishPose(double x, double y, double t, + double x_dev, double y_dev, double t_dev, + double xy_cov, double yt_cov, double tx_cov) +{ + geometry_msgs::PoseWithCovarianceStamped p; + p.header.frame_id = global_frame_id_; + p.header.stamp = ros::Time::now(); + p.pose.pose.position.x = x; + p.pose.pose.position.y = y; + + p.pose.covariance[6*0 + 0] = x_dev; + p.pose.covariance[6*1 + 1] = y_dev; + p.pose.covariance[6*2 + 2] = t_dev; + + p.pose.covariance[6*0 + 1] = xy_cov; + p.pose.covariance[6*1 + 0] = xy_cov; + p.pose.covariance[6*0 + 2] = tx_cov; + p.pose.covariance[6*2 + 0] = tx_cov; + p.pose.covariance[6*1 + 2] = yt_cov; + p.pose.covariance[6*2 + 1] = yt_cov; + + tf2::Quaternion q; + q.setRPY(0, 0, t); + tf2::convert(q, p.pose.pose.orientation); + + pose_pub_.publish(p); +} + +void MclNode::publishOdomFrame(double x, double y, double t) +{ + geometry_msgs::PoseStamped odom_to_map; + try{ + tf2::Quaternion q; + q.setRPY(0, 0, t); + tf2::Transform tmp_tf(q, tf2::Vector3(x, y, 0.0)); + + geometry_msgs::PoseStamped tmp_tf_stamped; + tmp_tf_stamped.header.frame_id = footprint_frame_id_; + tmp_tf_stamped.header.stamp = ros::Time(0); + tf2::toMsg(tmp_tf.inverse(), tmp_tf_stamped.pose); + + tf_->transform(tmp_tf_stamped, odom_to_map, odom_frame_id_); + + }catch(tf2::TransformException){ + ROS_DEBUG("Failed to subtract base to odom transform"); + return; + } + tf2::convert(odom_to_map.pose, latest_tf_); + + ros::Time transform_expiration = (ros::Time(ros::Time::now().toSec() + 0.2)); + geometry_msgs::TransformStamped tmp_tf_stamped; + tmp_tf_stamped.header.frame_id = global_frame_id_; + tmp_tf_stamped.header.stamp = transform_expiration; + tmp_tf_stamped.child_frame_id = odom_frame_id_; + tf2::convert(latest_tf_.inverse(), tmp_tf_stamped.transform); + + tfb_->sendTransform(tmp_tf_stamped); +} + +void MclNode::publishParticles(void) +{ + geometry_msgs::PoseArray cloud_msg; + cloud_msg.header.stamp = ros::Time::now(); + cloud_msg.header.frame_id = global_frame_id_; + cloud_msg.poses.resize(pf_->particles_.size()); + + for(int i=0;iparticles_.size();i++){ + cloud_msg.poses[i].position.x = pf_->particles_[i].p_.x_; + cloud_msg.poses[i].position.y = pf_->particles_[i].p_.y_; + cloud_msg.poses[i].position.z = 0; + + tf2::Quaternion q; + q.setRPY(0, 0, pf_->particles_[i].p_.t_); + tf2::convert(q, cloud_msg.poses[i].orientation); + } + particlecloud_pub_.publish(cloud_msg); +} + +bool MclNode::getOdomPose(double& x, double& y, double& yaw) +{ + geometry_msgs::PoseStamped ident; + ident.header.frame_id = footprint_frame_id_; + ident.header.stamp = ros::Time(0); + tf2::toMsg(tf2::Transform::getIdentity(), ident.pose); + + geometry_msgs::PoseStamped odom_pose; + try{ + this->tf_->transform(ident, odom_pose, odom_frame_id_); + }catch(tf2::TransformException e){ + ROS_WARN("Failed to compute odom pose, skipping scan (%s)", e.what()); + return false; + } + x = odom_pose.pose.position.x; + y = odom_pose.pose.position.y; + yaw = tf2::getYaw(odom_pose.pose.orientation); + + return true; +} + +bool MclNode::getLidarPose(double& x, double& y, double& yaw, bool& inv) +{ + geometry_msgs::PoseStamped ident; + ident.header.frame_id = scan_frame_id_; + ident.header.stamp = ros::Time(0); + tf2::toMsg(tf2::Transform::getIdentity(), ident.pose); + + geometry_msgs::PoseStamped lidar_pose; + try{ + this->tf_->transform(ident, lidar_pose, base_frame_id_); + }catch(tf2::TransformException e){ + ROS_WARN("Failed to compute lidar pose, skipping scan (%s)", e.what()); + return false; + } + x = lidar_pose.pose.position.x; + y = lidar_pose.pose.position.y; + + double roll, pitch; + tf2::getEulerYPR(lidar_pose.pose.orientation, yaw, pitch, roll); + inv = (fabs(pitch) > M_PI/2 || fabs(roll) > M_PI/2) ? true : false; + + return true; +} + +int MclNode::getOdomFreq(void){ + return odom_freq_; +} + +bool MclNode::cbSimpleReset(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res) +{ + return simple_reset_request_ = true; +} + +} + +int main(int argc, char **argv) +{ + + ros::init(argc, argv, "mcl_node"); + emcl::MclNode node; + + ros::Rate loop_rate(node.getOdomFreq()); + while (ros::ok()){ + node.loop(); + ros::spinOnce(); + loop_rate.sleep(); + } + + ros::spin(); + + return 0; +} + diff --git a/src/emcl2/trash/mcl_node.h b/src/emcl2/trash/mcl_node.h new file mode 100644 index 0000000..82cc988 --- /dev/null +++ b/src/emcl2/trash/mcl_node.h @@ -0,0 +1,80 @@ +//SPDX-FileCopyrightText: 2022 Ryuichi Ueda ryuichiueda@gmail.com +//SPDX-License-Identifier: LGPL-3.0-or-later + +#ifndef INTERFACE_H__ +#define INTERFACE_H__ + +#include +#include "emcl/Mcl.h" + +#include "tf2_ros/transform_broadcaster.h" +#include "tf2_ros/transform_listener.h" +#include "tf2_ros/message_filter.h" +#include "tf2/LinearMath/Transform.h" + +#include "sensor_msgs/LaserScan.h" +#include "geometry_msgs/PoseWithCovarianceStamped.h" +#include "std_srvs/Empty.h" + +namespace emcl2 { + +class MclNode +{ +public: + MclNode(); + ~MclNode(); + + void loop(void); + int getOdomFreq(void); +private: + std::shared_ptr pf_; + ros::NodeHandle nh_; + ros::NodeHandle private_nh_; + + ros::Publisher particlecloud_pub_; + ros::Publisher pose_pub_; + ros::Publisher alpha_pub_; + ros::Subscriber laser_scan_sub_; + ros::Subscriber initial_pose_sub_; + + ros::ServiceServer global_loc_srv_; + + std::string footprint_frame_id_; + std::string global_frame_id_; + std::string odom_frame_id_; + std::string scan_frame_id_; + std::string base_frame_id_; + + std::shared_ptr tfb_; + std::shared_ptr tfl_; + std::shared_ptr tf_; + + tf2::Transform latest_tf_; + + int odom_freq_; + bool init_request_; + bool simple_reset_request_; + double init_x_, init_y_, init_t_; + + void publishPose(double x, double y, double t, + double x_dev, double y_dev, double t_dev, + double xy_cov, double yt_cov, double tx_cov); + void publishOdomFrame(double x, double y, double t); + void publishParticles(void); + void sendTf(void); + bool getOdomPose(double& x, double& y, double& yaw); + bool getLidarPose(double& x, double& y, double& yaw, bool& inv); + + void initCommunication(void); + void initPF(void); + std::shared_ptr initMap(void); + std::shared_ptr initOdometry(void); + + void cbScan(const sensor_msgs::LaserScan::ConstPtr &msg); + bool cbSimpleReset(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res); + void initialPoseReceived(const geometry_msgs::PoseWithCovarianceStampedConstPtr& msg); +}; + +} + +#endif diff --git a/src/linefit_ground_segmentation/.gitignore b/src/linefit_ground_segmentation/.gitignore deleted file mode 100644 index 8b95ceb..0000000 --- a/src/linefit_ground_segmentation/.gitignore +++ /dev/null @@ -1 +0,0 @@ -*.user \ No newline at end of file diff --git a/src/multi_map_manager/CMakeLists.txt b/src/multi_map_manager/CMakeLists.txt new file mode 100644 index 0000000..2fbb164 --- /dev/null +++ b/src/multi_map_manager/CMakeLists.txt @@ -0,0 +1,202 @@ +cmake_minimum_required(VERSION 3.0.2) +project(multi_map_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 multi_map_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/${PROJECT_NAME}/multi_map_manager.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/multi_map_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/map_changer + 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_multi_map_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/multi_map_manager/README.md b/src/multi_map_manager/README.md new file mode 100644 index 0000000..e69de29 --- /dev/null +++ b/src/multi_map_manager/README.md diff --git a/src/multi_map_manager/apps/icon/folder.png b/src/multi_map_manager/apps/icon/folder.png new file mode 100644 index 0000000..397b8cf 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b/src/multi_map_manager/apps/map_merger.py @@ -0,0 +1,11 @@ +import tkinter as tk +from mylib.application import Application + + +if __name__ == "__main__": + root = tk.Tk() + w, h = root.winfo_screenwidth()-10, root.winfo_screenheight()-100 + root.geometry("%dx%d+0+0" % (w, h)) + root.title("Multi Map & Waypoints Merger") + app = Application(root) + app.mainloop() \ No newline at end of file diff --git a/src/multi_map_manager/apps/map_trimmer.py b/src/multi_map_manager/apps/map_trimmer.py new file mode 100644 index 0000000..24b689a --- /dev/null +++ b/src/multi_map_manager/apps/map_trimmer.py @@ -0,0 +1,299 @@ +import tkinter as tk +import tkinter.filedialog +import ruamel.yaml +from pathlib import Path +from mylib.mapdisp import MyMap +from PIL import Image, ImageDraw + + +class Application(tk.Frame): + + def __init__(self, master): + super().__init__(master) + self.theme = {"main": "#444", + "bg1": "#222"} + + #### 画面上部のメニューバーを作成 #### + self.menu_bar = tk.Menu(self) + ## Fileメニューの作成 + self.file_menu = tk.Menu(self.menu_bar, tearoff=tk.OFF, + bg=self.theme["main"], fg="white", activebackground="gray", activeborderwidth=5 + ) + self.menu_bar.add_cascade(label=" File ", menu=self.file_menu) + ## File -> Open + self.file_menu.add_command(label="Open", command=self.menu_open, accelerator="Ctrl+O") + ## File -> Save As + self.file_menu.add_command(label="Save As", command=self.menu_saveas, accelerator="Ctrl+Shift+S") + ## File -> Exit メニュー + self.file_menu.add_separator() # 仕切り + self.file_menu.add_command(label="Exit", command=self.menu_exit, accelerator="Ctrl+Q") + ## Edit メニューの作成 + self.edit_menu = tk.Menu(self.menu_bar, tearoff=tk.OFF, + bg=self.theme["main"], fg="white", activebackground="gray", activeborderwidth=5 + ) + self.menu_bar.add_cascade(label=" Edit ", menu=self.edit_menu) + ## Edit -> Trim + self.edit_menu.add_command(label="Trim", command=self.menu_trim, accelerator="Ctrl+T") + + #### メニューバーを設定 #### + self.master.configure(menu=self.menu_bar) + + #### キーバインド #### + self.bind_all("", self.menu_trim) + self.bind_all("", self.menu_saveas) + self.bind_all("", self.menu_open) + self.bind_all("", self.menu_exit) + + #### マップを表示するキャンバス #### + self.canvas = tk.Canvas(self.master, bg="black", highlightthickness=0) + self.canvas.pack(expand=True, fill=tk.BOTH, padx=5, pady=5) + self.update() + self.canv_w = self.canvas.winfo_width() + self.canv_h = self.canvas.winfo_height() + + #### マウスイベントコールバック #### + self.canvas.bind("", self.left_click_move) + self.canvas.bind("", self.left_click) + self.canvas.bind("", self.left_click_release) + self.canvas.bind("", lambda event, scale=1.1: self.ctrl_click(event, scale)) + self.canvas.bind("", lambda event, scale=0.9: self.ctrl_click(event, scale)) + self.canvas.bind("", self.resize_callback) + + #### 変数 #### + self.mymap = None + self.origin_img = [] + self.trim_range = [] + self.trimming_mode = False + return + + + + """ + ++++++++++ File menu functions ++++++++++ + """ + def menu_open(self, event=None): + 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: # .yamlを読み込む + map_yaml = ruamel.yaml.YAML().load(file) + + self.mymap = MyMap(Path(filepath).resolve(), map_yaml) + img_w = self.mymap.original_img_pil.width + img_h = self.mymap.original_img_pil.height + scale = 1 + offset_x = 0 + offset_y = 0 + if (self.canv_w / self.canv_h) > (img_w / img_h): + # 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) / img_h + offset_x = (self.canv_w - img_w*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) / img_w + offset_y = (self.canv_h - img_h*scale) / 2 + + self.mymap.scale_at(0, 0, scale) + self.mymap.translate(offset_x, offset_y) + self.canvas.create_image(0, 0, anchor=tk.NW, tags="map", + image=self.mymap.get_draw_image((self.canv_w, self.canv_h)) + ) + self.trim_range = [0, 0, img_w, img_h] # [x1, y1, x2, y2] 画像における左上のxy, 右下のxy + origin = self.mymap.origin + resolution = self.mymap.resolution + self.origin_img = [-origin[0]/resolution, origin[1]/resolution+self.mymap.original_img_pil.height] + self.plot_origin() + self.master.title(str(filepath)) + return + + + def menu_saveas(self, event=None): + new_filepath = tkinter.filedialog.asksaveasfilename( + parent=self.master, + title="Save map YAML and PGM files.", + initialdir=str(self.mymap.yaml_path), + filetypes=[("PGM YAML", ".pgm .yaml")], + ) + if len(new_filepath) == 0: return + # origin + origin = [(self.trim_range[0]-self.origin_img[0])*self.mymap.resolution, + (-self.trim_range[3]+self.origin_img[1])*self.mymap.resolution, + 0.0] + # Write map yaml file + yaml_path = Path(new_filepath).with_suffix(".yaml") + line = "\n" + yaml = ["image: ./" + yaml_path.with_suffix(".pgm").name + line] + yaml.append("resolution: " + str(self.mymap.resolution) + line) + yaml.append("origin: " + str(origin) + line) + yaml.append("negate: " + str(self.mymap.map_yaml["negate"]) + line) + yaml.append("occupied_thresh: " + str(self.mymap.map_yaml["occupied_thresh"]) + line) + yaml.append("free_thresh: " + str(self.mymap.map_yaml["free_thresh"]) + line) + with open(yaml_path.resolve(), 'w') as f: + f.write("".join(yaml)) + # Trim and save map image + trimmed_img = self.mymap.original_img_pil.crop(tuple(self.trim_range)) + trimmed_img.save(str(yaml_path.with_suffix(".pgm"))) + return + + + def menu_exit(self, event=None): + self.master.destroy() + + + + """ + ++++++++++ Edit menu functions ++++++++++ + """ + def menu_trim(self, event=None): + if not self.mymap: return + if self.trimming_mode: + self.canvas.delete("upper", "right", "lower", "left", "ul", "ur", "lr", "ll") + self.trimming_mode = False + self.set_alpha(0) + return + self.trimming_mode = True + self.set_alpha(128) + r = 10 + ul_x, ul_y = self.mymap.transform(self.trim_range[0], self.trim_range[1]) + lr_x, lr_y = self.mymap.transform(self.trim_range[2], self.trim_range[3]) + cxy = [ul_x, ul_y, lr_x, ul_y, lr_x, lr_y, ul_x, lr_y] + # トリミング範囲の上下左右に直線を描画 + for tag, x1, y1, x2, y2 in [("upper",0,1,2,3), ("right",2,3,4,5), ("lower",4,5,6,7), ("left",6,7,0,1)]: + self.canvas.create_line(cxy[x1], cxy[y1], cxy[x2], cxy[y2], tags=tag, fill="#FFF", width=2) + #　四隅にマーカーを描画 + for tag, xidx, yidx in [("ul",0,1), ("ur",2,3), ("lr",4,5), ("ll",6,7)]: + cx, cy = cxy[xidx], cxy[yidx] + self.canvas.create_oval(cx-r, cy-r, cx+r, cy+r, tags=tag, fill="#BBB", outline="#FFF", activefill="#FFF") + self.canvas.tag_bind(tag, "", lambda event, tag=tag: self.move_trim_range(event, tag)) + return + + + def move_trim_range(self, event, tag): + 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.old_click_point = [event.x, event.y] + # 四隅の円の移動 + self.canvas.move(tag, delta_x, delta_y) + if tag == "ul": + self.canvas.move("ur", 0, delta_y) + self.canvas.move("ll", delta_x, 0) + elif tag == "ur": + self.canvas.move("ul", 0, delta_y) + self.canvas.move("lr", delta_x, 0) + elif tag == "lr": + self.canvas.move("ll", 0, delta_y) + self.canvas.move("ur", delta_x, 0) + else: # "ll" + self.canvas.move("lr", 0, delta_y) + self.canvas.move("ul", delta_x, 0) + # 左上のマーカーの座標を取得 + ul = self.canvas.bbox("ul") + ul_x = (ul[0] + ul[2]) / 2 + ul_y = (ul[1] + ul[3]) / 2 + # 右下の座標 + lr = self.canvas.bbox("lr") + lr_x = (lr[0] + lr[2]) / 2 + lr_y = (lr[1] + lr[3]) / 2 + # マーカー間の線を移動 + self.canvas.coords("upper", ul_x, ul_y, lr_x, ul_y) + self.canvas.coords("right", lr_x, ul_y, lr_x, lr_y) + self.canvas.coords("lower", lr_x, lr_y, ul_x, lr_y) + self.canvas.coords("left" , ul_x, lr_y, ul_x, ul_y) + # 画像上の位置に変換し、トリミングの範囲を更新 + img_ul_x, img_ul_y = self.mymap.inv_transform(ul_x, ul_y) + img_lr_x, img_lr_y = self.mymap.inv_transform(lr_x, lr_y) + img_ul_x = max(img_ul_x, 0) + img_ul_y = max(img_ul_y, 0) + img_lr_x = min(img_lr_x, self.mymap.original_img_pil.width) + img_lr_y = min(img_lr_y, self.mymap.original_img_pil.height) + self.trim_range = [img_ul_x, img_ul_y, img_lr_x, img_lr_y] + # 画像を更新して描画 + self.set_alpha(128) + return + + + def set_alpha(self, a: int): + im_a = Image.new("L", self.mymap.original_img_pil.size, a) + draw = ImageDraw.Draw(im_a) + draw.rectangle(tuple(self.trim_range), fill=255) + self.mymap.original_img_pil.putalpha(im_a) + self.canvas.itemconfigure("map", image=self.mymap.get_draw_image((self.canv_w, self.canv_h))) + return + + + + """ + ++++++++++ Plot and move point marker representing origin ++++++++++ + """ + def plot_origin(self): + canv_origin = self.mymap.transform(self.origin_img[0], self.origin_img[1]) + r = 5 + x1 = canv_origin[0] - r + y1 = canv_origin[1] - r + x2 = canv_origin[0] + r + 1 + y2 = canv_origin[1] + r + 1 + if self.canvas.find_withtag("origin"): + self.canvas.moveto("origin", x1, y1) + else: + self.canvas.create_oval(x1, y1, x2, y2, tags="origin", fill='cyan', outline='blue') + self.canvas.lift("origin") + return + + + + """ + ++++++++++ Mouse event callback functions ++++++++++ + """ + def left_click_move(self, event): + if (not self.mymap) or (self.trimming_mode) : 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.old_click_point = [event.x, event.y] + self.mymap.translate(delta_x, delta_y) + self.canvas.itemconfigure("map", image=self.mymap.get_draw_image((self.canv_w, self.canv_h))) + self.canvas.move("origin", delta_x, delta_y) + return + + + def ctrl_click(self, event, scale): + if (not self.mymap) or (self.trimming_mode): return + self.mymap.scale_at(event.x, event.y, scale) + self.canvas.itemconfigure("map", image=self.mymap.get_draw_image((self.canv_w, self.canv_h))) + self.plot_origin() + return + + + def left_click(self, event): + self.old_click_point = [event.x, event.y] + return + + + def left_click_release(self, event): + self.old_click_point = None + return + + + def resize_callback(self, event): + self.canv_w = self.canvas.winfo_width() + self.canv_h = self.canvas.winfo_height() + return + + + + +if __name__ == "__main__": + root = tk.Tk() + w, h = root.winfo_screenwidth()-10, root.winfo_screenheight()-200 + root.geometry("%dx%d+0+0" % (w, h)) + app = Application(root) + app.mainloop() \ No newline at end of file diff --git a/src/multi_map_manager/apps/mylib/__init__.py b/src/multi_map_manager/apps/mylib/__init__.py new file mode 100644 index 0000000..e69de29 --- /dev/null +++ b/src/multi_map_manager/apps/mylib/__init__.py diff --git a/src/multi_map_manager/apps/mylib/__pycache__/__init__.cpython-38.pyc b/src/multi_map_manager/apps/mylib/__pycache__/__init__.cpython-38.pyc new file mode 100644 index 0000000..e8b3d97 --- /dev/null +++ b/src/multi_map_manager/apps/mylib/__pycache__/__init__.cpython-38.pyc Binary files differ diff --git a/src/multi_map_manager/apps/mylib/__pycache__/application.cpython-38.pyc b/src/multi_map_manager/apps/mylib/__pycache__/application.cpython-38.pyc new file mode 100644 index 0000000..365f736 --- /dev/null +++ b/src/multi_map_manager/apps/mylib/__pycache__/application.cpython-38.pyc Binary files differ diff --git a/src/multi_map_manager/apps/mylib/__pycache__/mapdisp.cpython-38.pyc b/src/multi_map_manager/apps/mylib/__pycache__/mapdisp.cpython-38.pyc new file mode 100644 index 0000000..e7cd5a3 --- /dev/null +++ b/src/multi_map_manager/apps/mylib/__pycache__/mapdisp.cpython-38.pyc Binary files differ diff --git a/src/multi_map_manager/apps/mylib/__pycache__/tools.cpython-38.pyc b/src/multi_map_manager/apps/mylib/__pycache__/tools.cpython-38.pyc new file mode 100644 index 0000000..2aa469d --- /dev/null +++ b/src/multi_map_manager/apps/mylib/__pycache__/tools.cpython-38.pyc Binary files differ diff --git a/src/multi_map_manager/apps/mylib/__pycache__/waypointlib.cpython-38.pyc b/src/multi_map_manager/apps/mylib/__pycache__/waypointlib.cpython-38.pyc new file mode 100644 index 0000000..2bd23ac --- /dev/null +++ b/src/multi_map_manager/apps/mylib/__pycache__/waypointlib.cpython-38.pyc Binary files differ diff --git a/src/multi_map_manager/apps/mylib/application.py b/src/multi_map_manager/apps/mylib/application.py new file mode 100644 index 0000000..bc8f460 --- /dev/null +++ b/src/multi_map_manager/apps/mylib/application.py @@ -0,0 +1,195 @@ +import tkinter as tk +import tkinter.filedialog +from pathlib import Path +from .tools import Tools + + + +class Application(tk.Frame): + + def __init__(self, master): + super().__init__(master) + self.theme = {"main": "#444", + "bg1": "#222"} + + #### 画面上部のメニューバーを作成 #### + self.menu_bar = tk.Menu(self) + ## Fileメニューの作成 + self.file_menu = tk.Menu(self.menu_bar, tearoff=tk.OFF, + bg=self.theme["main"], fg="white", activebackground="gray", activeborderwidth=5 + ) + ## Fileメニュー内のOpenメニューを作成 + self.open_menu = tk.Menu(self.file_menu, tearoff=tk.OFF, + bg=self.theme["main"], fg="white", activebackground="gray", activeborderwidth=5, + disabledforeground="black" + ) + self.open_menu.add_command(label="Base map", command=self.menu_open_base) + self.open_menu.add_command(label="Additional map", command=self.menu_open_addtion, state="disabled") + self.open_menu.add_command(label="Multimaps dir", command=self.menu_open_multi) + self.file_menu.add_cascade(label="Open", menu=self.open_menu) + ## Fileメニューその他 + self.file_menu.add_command(label="Export", command=self.menu_export, accelerator="Ctrl+E") + self.file_menu.add_separator() + self.file_menu.add_command(label="Exit", command=self.menu_exit, accelerator="Ctrl+Q") + ## キーボードショートカットを設定 + self.bind_all("", self.menu_export) + self.bind_all("", self.menu_exit) + ## 大元に作成したメニューバーを設定 + 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.master.configure(menu=self.menu_bar) + + #### 仕切り線で大きさを変更できるウィンドウ #### + paned_window = tk.PanedWindow(self.master, sashwidth=3, bg="gray", relief=tk.RAISED) + paned_window.pack(expand=True, fill=tk.BOTH) + + #### ツールボタン群とレイヤーリストを表示するフレーム #### + self.tools = Tools(paned_window, self.theme, width=300, bg=self.theme["main"]) + paned_window.add(self.tools, minsize=self.tools.min_width, padx=2, pady=2) + ## マップ画像を表示するフレームを追加 + paned_window.add(self.tools.map_disp, minsize=self.tools.map_disp.min_width, padx=2, pady=2) + return + + + """ + ++++++++++ File menu functions ++++++++++ + """ + def menu_open_base(self, event=None): + map_path = self.open_yaml(title="Select base map yaml file") + if not map_path: return + waypoints_path = self.open_yaml(title="Select waypoints file for the map") + if not waypoints_path: return + + suc = self.tools.set_base_map(Path(map_path).resolve(), Path(waypoints_path).resolve()) + if not suc: return + self.open_menu.entryconfigure("Base map", state="disabled") + self.open_menu.entryconfigure("Multimaps dir", state="disabled") + self.open_menu.entryconfigure("Additional map", state="normal") + return + + + def menu_open_addtion(self, event=None): + map_path = self.open_yaml(title="Select additional map yaml file") + if not map_path: return + waypoints_path = self.open_yaml(title="Select waypoints file for the map") + if not waypoints_path: return + self.tools.add_map(Path(map_path).resolve(), Path(waypoints_path).resolve()) + return + + + def menu_open_multi(self, event=None): + dirpath = tkinter.filedialog.askdirectory( + parent=self.master, + title="Select multi maps directory", + initialdir=str(Path(".")) + ) + if not dirpath: return + dirpath = Path(dirpath) + if not (dirpath / Path("map0.yaml")).exists(): return + waypoints_path = self.open_yaml(title="Select waypoints file for the map") + if not waypoints_path: return + suc = self.tools.set_multimaps(dirpath, Path(waypoints_path).resolve()) + if not suc: return + self.open_menu.entryconfigure("Base map", state="disabled") + self.open_menu.entryconfigure("Multimaps dir", state="disabled") + self.open_menu.entryconfigure("Additional map", state="normal") + return + + + def open_yaml(self, title): + filepath = tkinter.filedialog.askopenfilename( + parent=self.master, + title=title, + initialdir=str(Path(".")), + filetypes=[("YAML", ".yaml")] + ) + return filepath + + + def menu_export(self, event=None): + if (len(self.tools.label_list) < 2): return + ## サブウィンドウを作成 + win = tk.Toplevel() + win.geometry("700x200+50+50") + win.minsize(width=500, height=200) + win.attributes('-topmost', True) + win.title("Export") + font = ("Arial", 12) + + ### ファルダパスを参照するダイアログを開く関数（ボタンコールバック） ### + def ref_btn_callback_d(entry: tk.Entry, init_dir): + dirpath = tkinter.filedialog.askdirectory( + parent=win, + title="Directory path to export maps", + initialdir=init_dir + ) + if not dirpath: return + entry.delete(0, tk.END) + entry.insert(tk.END, str(dirpath)) + + ## サブウィンドウにフォルダ入力エントリーを作成 + frame = tk.Frame(win) + frame.pack(expand=False, fill=tk.X, padx=5, pady=10) + label = tk.Label(frame, text="Directory :", anchor=tk.W, font=font) + label.grid(column=0, row=0, padx=3, pady=2, sticky=tk.EW) + ref_btn = tk.Button(frame, image=self.tools.folder_icon) + ref_btn.grid(column=1, row=1, sticky=tk.E, padx=5) + tbox = tk.Entry(frame, font=font) + tbox.grid(column=0, row=1, padx=20, pady=2, sticky=tk.EW) + init_dir = str(Path(".").resolve()) + tbox.insert(tk.END, init_dir) + ref_btn["command"] = lambda entry=tbox, init_dir=init_dir: ref_btn_callback_d(entry, init_dir) + frame.grid_columnconfigure(0, weight=1) + + ##　マルチマップyaml、結合したウェイポイント、合成した地図画像と情報yamlを取得 + map_img_list, map_yaml_list = self.tools.get_map_lists() + wp_yaml, _ = self.tools.get_waypoints_yaml() + merged_img_pil, merged_yaml = self.tools.get_merged_map() + + ### それぞれをファイルに書き込む関数（ボタンコールバック） ### + def export_btn_callback(): + # multi maps + dir_path = Path(tbox.get()).resolve() + if not dir_path.exists(): dir_path.mkdir() + for i, img in enumerate(map_img_list): + img_path = dir_path / Path("map{}.pgm".format(i)) + img.save(str(img_path.resolve())) + map_yaml_list[i]["image"] = "./"+str(img_path.name) + str_yaml = "" + line = "\n" + for key, val in map_yaml_list[i].items(): + str_yaml += "{}: {}".format(key, val) + line + with open(str(img_path.with_suffix(".yaml")), 'w') as f: + f.write(str_yaml) + + # merged waypoints + wp_filepath = dir_path / Path("waypoints.yaml") + with open(wp_filepath, 'w') as f: + f.write(wp_yaml) + + # merged map (yaml, pgm) + yaml_path = dir_path / Path("merged_map.yaml") + img_path = yaml_path.with_suffix(".pgm") + merged_yaml["image"] = "./" + str(img_path.name) + str_yaml = "" + line = "\n" + for key, val in merged_yaml.items(): + str_yaml += "{}: {}".format(key, val) + line + with open(str(yaml_path), 'w') as f: + f.write(str_yaml) + merged_img_pil.save(str(img_path)) + win.destroy() + return + + ## エクスポートボタン、キャンセルボタン + export_btn = tk.Button(win, text="Export", font=font) + export_btn["command"] = export_btn_callback + export_btn.pack(side=tk.RIGHT, padx=50, pady=20) + cancel_btn = tk.Button(win, text="Cancel", font=font) + cancel_btn["command"] = win.destroy + cancel_btn.pack(side=tk.LEFT, padx=50, pady=20) + return + + + def menu_exit(self, event=None): + self.master.destroy() + diff --git a/src/multi_map_manager/apps/mylib/mapdisp.py b/src/multi_map_manager/apps/mylib/mapdisp.py new file mode 100644 index 0000000..3d4f03f --- /dev/null +++ b/src/multi_map_manager/apps/mylib/mapdisp.py @@ -0,0 +1,417 @@ +import tkinter as tk +import numpy as np +import math +import ruamel.yaml +from PIL import Image, ImageTk +from pathlib import Path +from .waypointlib import WaypointList, FinishPose + + + +def read_file(path: Path): + with open(path) as file: # .yamlを読み込む + yaml = ruamel.yaml.YAML().load(file) + return yaml + + + +class MyMap(): + + def __init__(self, path: Path, map_yaml): + self.yaml_path = path.resolve() + if map_yaml["image"][0] == "/": + self.img_path = map_yaml["image"] + else: + self.img_path = self.yaml_path.with_name(map_yaml["image"]).resolve() + self.original_img_pil = Image.open(self.img_path).convert("RGBA") + self.pil_img = self.original_img_pil.copy() + self.tk_img = ImageTk.PhotoImage(self.pil_img) + self.origin = map_yaml["origin"] + self.resolution = map_yaml["resolution"] + self.map_yaml = map_yaml + self.mat_affine = np.eye(3) + self.img_origin = [-self.origin[0]/self.resolution, self.original_img_pil.height+self.origin[1]/self.resolution] + return + + + def translate(self, x, y): + self.affine(x, y, 1) + return + + + def scale_at(self, x, y, scale): + self.affine(-x, -y, 1) + self.affine(0, 0, scale) + self.affine(x, y, 1) + return + + + def rotate(self, theta, canv_center=None): + if not canv_center: + cx, cy = self.original_img_pil.width/2, self.original_img_pil.height/2 + canv_center = np.dot(self.mat_affine, [cx, cy, 1]) + self.translate(-canv_center[0], -canv_center[1]) + mat = [[math.cos(theta), -math.sin(theta), 0], + [math.sin(theta), math.cos(theta), 0], + [0, 0, 1]] + self.mat_affine = (np.dot(mat, self.mat_affine)) + self.translate(canv_center[0], canv_center[1]) + return + + + def affine(self, x, y, scale): + x = float(x) + y = float(y) + scale = float(scale) + mat = [[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) + self.pil_img = self.original_img_pil.transform(canvas_size, + Image.Transform.AFFINE, tuple(mat_inv.flatten()), Image.Resampling.NEAREST, + fillcolor="#0000" + ) + self.tk_img = ImageTk.PhotoImage(image=self.pil_img) + return self.tk_img + + + def get_corners(self): + # 1 2 画像の四隅の座標を左の順番で返す + # 4 3 + w, h = self.original_img_pil.width, self.original_img_pil.height + xy1 = self.mat_affine[:, 2] + xy2 = np.dot(self.mat_affine, [w, 0, 1]) + xy3 = np.dot(self.mat_affine, [w, h, 1]) + xy4 = np.dot(self.mat_affine, [0, h, 1]) + return xy1[0], xy1[1], xy2[0], xy2[1], xy3[0], xy3[1], xy4[0], xy4[1] + + + def set_transparency(self, a): + self.original_img_pil.putalpha(int(a/100*255)) + return + + + 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 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 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 get_rotate_angle(self): + return math.atan2(self.mat_affine[1,0], self.mat_affine[0,0]) + + + + + +class MapDisplay(tk.Frame): + + def __init__(self, master, theme, **kwargs): + super().__init__(master, kwargs) + self.min_width = 400 + + self.canvas = tk.Canvas(self, bg="black", highlightthickness=0) + self.canvas.pack(expand=True, fill=tk.BOTH, padx=5, pady=5) + self.update() + self.canvas.bind("", self.left_click_move) + self.canvas.bind("", self.left_click) + self.canvas.bind("", self.left_click_release) + self.canvas.bind("", lambda event, scale=1.2: self.ctrl_click(event, scale)) + self.canvas.bind("", lambda event, scale=0.8: self.ctrl_click(event, scale)) + self.canvas.bind("", self.resize_callback) + + self.canv_w = self.canvas.winfo_width() + self.canv_h = self.canvas.winfo_height() + self.base_scale = 1 + self.map_dict = {} + self.waypoints_dict = {} + self.theme = theme + self.old_click_point = None + self.rotate_center = None + self.old_map_rot = None + self.selected_map_key = None + self.mode = 0 + self.base_map_key = "" + self.point_rad = 5 + + # mode を識別するための定数 + self.Normal = 0 + self.MoveSelected = 1 + self.RotateSelected = 2 + return + + + + def add_map(self, path: Path, map_yaml, waypoints_yaml, base=False): + key = self.path2key(path) + if key in self.map_dict.keys(): + return False + new_map = MyMap(path, map_yaml) + img_w = new_map.original_img_pil.width + img_h = new_map.original_img_pil.height + scale = 1 + offset_x = 0 + offset_y = 0 + if base: + if (self.canv_w / self.canv_h) > (img_w / img_h): + # 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 / img_h + offset_x = (self.canv_w - img_w*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 / img_w + offset_y = (self.canv_h - img_h*scale) / 2 + self.base_map_key = key + self.base_scale = scale + else: + scale = self.base_scale + base_map: MyMap = self.map_dict[self.base_map_key] + img_x, img_y = base_map.real2image(new_map.origin[0], new_map.origin[1]) + offset_x, offset_y = base_map.transform(img_x, img_y-img_h) + + new_map.scale_at(0, 0, scale) + new_map.translate(offset_x, offset_y) + self.canvas.create_image(0, 0, anchor=tk.NW, tags=key, + image=new_map.get_draw_image((self.canv_w, self.canv_h)) + ) + self.map_dict[key] = new_map + self.select_map(path) + self.plot_origin() + # waypoints + self.waypoints_dict[key] = WaypointList(waypoints_yaml) + self.waypoints_dict[key+"fp"] = FinishPose(waypoints_yaml) + self.plot_waypoints() + return True + + + def plot_origin(self): + base_map: MyMap = self.map_dict[self.base_map_key] + canv_origin = base_map.transform(base_map.img_origin[0], base_map.img_origin[1]) + r = self.point_rad + x1 = canv_origin[0] - r + y1 = canv_origin[1] - r + x2 = canv_origin[0] + r + 1 + y2 = canv_origin[1] + r + 1 + if self.canvas.find_withtag("origin"): + self.canvas.moveto("origin", x1, y1) + else: + self.canvas.create_oval(x1, y1, x2, y2, tags="origin", fill='cyan', outline='blue') + self.canvas.lift("origin") + return + + + def plot_waypoints(self): + for key, wp_list in self.waypoints_dict.items(): + if key[-2:] == "fp": + finish_pose: FinishPose = self.waypoints_dict[key] + img_x, img_y = self.map_dict[key[:-2]].real2image(finish_pose.x, finish_pose.y) + cx, cy = self.map_dict[key[:-2]].transform(img_x, img_y) + th = finish_pose.yaw - self.map_dict[key[:-2]].get_rotate_angle() + x0 = cx + y0 = cy + x1 = x0 + math.cos(th) * self.point_rad * 3 + y1 = y0 - math.sin(th) * self.point_rad * 3 + if self.waypoints_dict[key].id is not None: + self.canvas.delete(self.waypoints_dict[key].id) # movetoだとX,毎回削除,再描画 + self.waypoints_dict[key].id = self.canvas.create_line(x0, y0, x1, y1, tags=key, + width=5, arrow=tk.LAST, arrowshape=(4,5,3), fill="#AAF" + ) + self.canvas.lift(self.waypoints_dict[key].id, key[:-2]) + continue + + if len(wp_list.get_id_list()) == 0: # 初めて描画する + for n, wp in enumerate(wp_list.get_waypoint()): + id = self.create_waypoint(key, wp, self.map_dict[key]) + self.waypoints_dict[key].set_id(n+1, id) + else: + for id in wp_list.get_id_list(): + wp = wp_list.get_waypoint(id) + img_x, img_y = self.map_dict[key].real2image(float(wp["x"]), float(wp["y"])) + cx, cy = self.map_dict[key].transform(img_x, img_y) + x0, y0 = cx-self.point_rad, cy-self.point_rad + self.canvas.moveto(id, round(x0), round(y0)) + self.canvas.lift(id, key) + return + + + def create_waypoint(self, key, waypoint: dict, mymap: MyMap): + img_x, img_y = mymap.real2image(float(waypoint["x"]), float(waypoint["y"])) + cx, cy = mymap.transform(img_x, img_y) + r = self.point_rad-1 + x0 = round(cx - r) + y0 = round(cy - r) + x1 = round(cx + r + 1) + y1 = round(cy + r + 1) + id = self.canvas.create_oval(x0, y0, x1, y1, fill='#F88', outline='#F88', tags=key+"wp") + return id + + + def set_transparency(self, path: Path, alpha): + key = self.path2key(path) + self.map_dict[key].set_transparency(alpha) + self.canvas.itemconfigure(key, image=self.map_dict[key].get_draw_image((self.canv_w, self.canv_h))) + + + + def select_map(self, path: Path): + self.selected_map_key = self.path2key(path) + polygon = self.map_dict[self.selected_map_key].get_corners() + if self.canvas.find_withtag("selection_frame"): + self.canvas.coords("selection_frame", polygon) + else: + self.canvas.create_polygon(polygon, tags="selection_frame", fill="", outline="#FF0", dash=(5,3), width=5) + self.canvas.lift(self.selected_map_key) + self.canvas.lift("selection_frame") + self.canvas.lift(self.selected_map_key+"wp") + self.canvas.lift(self.selected_map_key+"fp") + self.canvas.lift("origin") + return + + + def set_vision_state(self, path: Path, vision: bool): + key = self.path2key(path) + if vision: + self.canvas.itemconfigure(key, state=tk.NORMAL) + self.canvas.itemconfigure(key+"wp", state=tk.NORMAL) + self.canvas.itemconfigure(key+"fp", state=tk.NORMAL) + else: + self.canvas.itemconfigure(key, state=tk.HIDDEN) + self.canvas.itemconfigure(key+"wp", state=tk.HIDDEN) + self.canvas.itemconfigure(key+"fp", state=tk.HIDDEN) + + + + def path2key(self, path: Path): + return path.with_suffix("").name + + + def get_map(self, path: Path): + key = self.path2key(path) + return self.map_dict[key] + + + def left_click_move(self, event): + if (len(self.map_dict) == 0): 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.old_click_point = [event.x, event.y] + + if self.mode == self.RotateSelected: + # 選択されているマップを回転する + if self.rotate_center is None: + self.rotate_center = self.old_click_point + r = self.point_rad + x1, y1 = self.rotate_center[0]-r, self.rotate_center[1]-r + x2, y2 = self.rotate_center[0]+r, self.rotate_center[1]+r + self.canvas.create_oval(x1, y1, x2, y2, fill="#FFA", outline="#FF0", tags="rotation_center") + return + key = self.selected_map_key + cx, cy = self.rotate_center + if (abs(event.x-cx) < 20) and (abs(event.y-cy) < 20): return + map_rot = math.atan2((event.y - cy), (event.x - cx)) + if self.old_map_rot is None: + self.old_map_rot = map_rot + return + theta = map_rot - self.old_map_rot + self.map_dict[key].rotate(theta, canv_center=self.rotate_center) + self.canvas.itemconfigure(key, image=self.map_dict[key].get_draw_image((self.canv_w, self.canv_h))) + if self.canvas.find_withtag("rotation_line"): + self.canvas.coords("rotation_line", cx, cy, event.x, event.y) + else: + self.canvas.create_line(cx, cy, event.x, event.y, tags="rotation_line", width=1, fill="#FAA") + polygon = polygon = self.map_dict[key].get_corners() + self.canvas.coords("selection_frame", polygon) + self.canvas.lift("origin") + self.plot_waypoints() + self.old_map_rot = map_rot + return + + elif self.mode == self.MoveSelected: + # 選択されているマップのみ移動する + key = self.selected_map_key + self.map_dict[key].translate(delta_x, delta_y) + self.canvas.itemconfigure(key, image=self.map_dict[key].get_draw_image((self.canv_w, self.canv_h))) + self.canvas.move(key+"wp", delta_x, delta_y) + self.canvas.move(key+"fp", delta_x, delta_y) + + else: + # 全てのマップを移動する + for key in self.map_dict.keys(): + self.map_dict[key].translate(delta_x, delta_y) + self.canvas.itemconfigure(key, image=self.map_dict[key].get_draw_image((self.canv_w, self.canv_h))) + self.canvas.move(key+"wp", delta_x, delta_y) + self.canvas.move(key+"fp", delta_x, delta_y) + self.canvas.move("origin", delta_x, delta_y) + + self.canvas.move("selection_frame", delta_x, delta_y) + self.canvas.lift("origin") + # self.plot_waypoints() + return + + + def ctrl_click(self, event, scale): + if (len(self.map_dict) == 0): return + self.base_scale *= scale + for key in self.map_dict.keys(): + self.map_dict[key].scale_at(event.x, event.y, scale) + self.canvas.itemconfigure(key, image=self.map_dict[key].get_draw_image((self.canv_w, self.canv_h))) + + self.plot_origin() + self.plot_waypoints() + polygon = polygon = self.map_dict[self.selected_map_key].get_corners() + self.canvas.coords("selection_frame", polygon) + self.canvas.lift("selection_frame") + self.canvas.lift("origin") + return + + + def left_click(self, event): + if (self.mode != self.RotateSelected): return + self.old_click_point = [event.x, event.y] + return + + + def left_click_release(self, event): + self.old_click_point = None + self.old_map_rot = None + self.rotate_center = None + if self.canvas.find_withtag("rotation_line"): + self.canvas.delete("rotation_line") + if self.canvas.find_withtag("rotation_center"): + self.canvas.delete("rotation_center") + return + + + def resize_callback(self, event): + self.canv_w = self.canvas.winfo_width() + self.canv_h = self.canvas.winfo_height() + return + + diff --git a/src/multi_map_manager/apps/mylib/tools.py b/src/multi_map_manager/apps/mylib/tools.py new file mode 100644 index 0000000..c1e320a --- /dev/null +++ b/src/multi_map_manager/apps/mylib/tools.py @@ -0,0 +1,472 @@ +import tkinter as tk +import numpy as np +import ruamel.yaml +import math +from tkinter import messagebox +from PIL import Image, ImageTk +from pathlib import Path +from .mapdisp import MapDisplay, MyMap +from .waypointlib import FinishPose, WaypointList, get_waypoint_yaml + + + +def read_file(path: Path): + with open(path) as file: # .yamlを読み込む + yaml = ruamel.yaml.YAML().load(file) + return yaml + + + +class LayerLabel(tk.Label): + + def __init__(self, master, *args, **kwargs): + super().__init__(master, *args, **kwargs) + self.map_path = Path() + self.map_transparency = tk.IntVar() + self.map_transparency.set(100) + self.state = "unlocked" + + + def set_map_path(self, path: Path): + self.map_path = path + + + +class Tools(tk.Frame): + + def __init__(self, master, theme, **kwargs): + super().__init__(master, kwargs) + self.min_width = 200 + width = self.cget("width") + + #### ツールボタン群を配置 #### + self.btn_frame = tk.Frame(self, height=200, width=width, bg=theme["main"]) + self.btn_frame.pack(expand=False, fill=tk.X) + ## move ボタン + icon = Image.open(Path(__file__).parent.parent / Path("icon","move_button.png")) + icon = icon.resize((30, 30)) + self.move_btn_icon = ImageTk.PhotoImage(image=icon) + self.move_btn = tk.Label(self.btn_frame, image=self.move_btn_icon, bg=theme["main"]) + self.move_btn.bind("", lambda event, btn=self.move_btn: self.btn_entry(event, btn)) + self.move_btn.bind("", lambda event, btn=self.move_btn: self.btn_leave(event, btn)) + self.move_btn.bind("", lambda event, btn=self.move_btn, mode="move": self.btn_clicked(event, btn, mode)) + self.move_btn.grid(column=0, row=0) + ## rotate ボタン + icon = Image.open(Path(__file__).parent.parent / Path("icon","rotate_button.png")) + icon = icon.resize((30, 30)) + self.rot_btn_icon = ImageTk.PhotoImage(image=icon) + self.rot_btn = tk.Label(self.btn_frame, image=self.rot_btn_icon, bg=theme["main"]) + self.rot_btn.bind("", lambda event, btn=self.rot_btn: self.btn_entry(event, btn)) + self.rot_btn.bind("", lambda event, btn=self.rot_btn: self.btn_leave(event, btn)) + self.rot_btn.bind("", lambda event, btn=self.rot_btn, mode="rotate": self.btn_clicked(event, btn, mode)) + self.rot_btn.grid(column=1, row=0) + ## lock, unlock ボタン + icon = Image.open(Path(__file__).parent.parent / Path("icon","locked_button.png")) + icon = icon.resize((30,30)) + self.locked_icon = ImageTk.PhotoImage(image=icon) + icon = Image.open(Path(__file__).parent.parent / Path("icon","unlocked_button.png")) + icon = icon.resize((30,30)) + self.unlocked_icon = ImageTk.PhotoImage(image=icon) + self.lock_btn = tk.Label(self.btn_frame, image=self.unlocked_icon, bg=theme["main"]) + self.lock_btn.bind("", lambda event, btn=self.lock_btn: self.btn_entry(event, btn)) + self.lock_btn.bind("", lambda event, btn=self.lock_btn: self.btn_leave(event, btn)) + self.lock_btn.bind("", self.lock_btn_clicked) + self.lock_btn.grid(column=0, row=1) + ## 余白 + space = tk.Frame(self, height=100, bg=theme["main"]) + space.pack(expand=False, fill=tk.X) + + #### マップリストを表示 #### + ## アイコン + icon = Image.open(Path(__file__).parent.parent / Path("icon","maps.png")) + icon = icon.resize((20, 20)) + self.layer_icon = ImageTk.PhotoImage(image=icon) + layer_label = tk.Label(self, bg=theme["bg1"], + text=" Maps", fg="white", font=("Arial",11,"bold"), + image=self.layer_icon, compound=tk.LEFT + ) + layer_label.pack(expand=False, anchor=tk.W, ipadx=3, ipady=2, padx=5) + ## レイヤーリストを表示するフレームを配置 + self.layers_frame = tk.Frame(self, width=width, bg=theme["bg1"]) + self.layers_frame.pack(expand=True, fill=tk.BOTH, padx=5) + ## 透明度調節用のスクロールバーを配置 + self.tra_bar = tk.Scale(self.layers_frame, from_=0, to=100, resolution=1, highlightthickness=0, + label="Transparency", fg="white", font=("Ariel",9,"bold"), bg=theme["bg1"], + activebackground="grey", borderwidth=2, sliderlength=15, sliderrelief=tk.RAISED, + orient=tk.HORIZONTAL, showvalue=True, state=tk.DISABLED, command=self.change_transparency + ) + self.tra_bar.pack(expand=False, fill=tk.X, padx=3, pady=5) + ## アイコンを読み込む + icon = Image.open(Path(__file__).parent.parent / Path("icon","visible.png")) + icon = icon.resize((18, 17)) + self.visible_icon = ImageTk.PhotoImage(image=icon) + icon = Image.open(Path(__file__).parent.parent / Path("icon","invisible.png")) + icon = icon.resize((18, 17)) + self.invisible_icon = ImageTk.PhotoImage(image=icon) + icon = Image.open(Path(__file__).parent.parent / Path("icon","folder.png")) + icon = icon.resize((20, 14)) + self.folder_icon = ImageTk.PhotoImage(image=icon) + + #### マップ画像を表示するフレームを生成 #### + self.map_disp = MapDisplay(self.master, theme, bg=theme["main"]) + + #### 変数 + self.label_list = [] + self.base_map_layer = LayerLabel(self.layers_frame) + self.selected_layer = LayerLabel(self.layers_frame) + self.base_waypoints_path = Path() + self.theme = theme + return + + + + def btn_entry(self, event, btn: tk.Label): + if btn.cget("bg") == "black": return + btn.configure(bg="#333") + + + def btn_leave(self, event, btn: tk.Label): + if btn.cget("bg") == "black": return + btn.configure(bg=self.theme["main"]) + + + def btn_clicked(self, event, btn: tk.Label, mode): + if (len(self.label_list) == 0) or (self.selected_layer == self.base_map_layer): return + if self.selected_layer.state == "locked": return + if btn.cget("bg") == "black": + self.map_disp.mode = self.map_disp.Normal + btn.configure(bg="#333") + return + # 既に他のモードだった場合ボタンの状態を切り替える + if self.map_disp.mode == self.map_disp.MoveSelected: self.move_btn.configure(bg=self.theme["main"]) + elif self.map_disp.mode == self.map_disp.RotateSelected: self.rot_btn.configure(bg=self.theme["main"]) + # MapDisplayにモードを設定 + if mode == "move": self.map_disp.mode = self.map_disp.MoveSelected + elif mode == "rotate": self.map_disp.mode = self.map_disp.RotateSelected + btn.configure(bg="black") + return + + + def lock_btn_clicked(self, event): + if (len(self.label_list) == 0) or (self.selected_layer == self.base_map_layer): return + if self.lock_btn.cget("bg") == "black": + self.lock_btn.configure(image=self.unlocked_icon, bg=self.theme["main"]) + self.selected_layer.state = "unlocked" + else: + self.lock_btn.configure(image=self.locked_icon, bg="black") + self.selected_layer.state = "locked" + return + + + + def set_base_map(self, map_path: Path, wp_path: Path): + map_yaml = read_file(map_path) + if not ("image" in map_yaml): + messagebox.showerror(title="Format error", message="Selected map file is unexpected format.") + return False + wp_yaml = read_file(wp_path) + if (not "waypoints" in wp_yaml) or (not "finish_pose" in wp_yaml): + messagebox.showerror(title="Format error", message="Selected waypoints file is unexpected format.") + return False + try: + self.map_disp.add_map(map_path, map_yaml, wp_yaml, base=True) + except (FileNotFoundError, FileExistsError): + messagebox.showerror(title="Image file is not found", message="\""+map_yaml["image"]+"\" is not found.") + return False + self.append_layer(map_path, base=True) + self.base_map_layer.state = "locked" + self.lock_btn.configure(image=self.locked_icon, bg="black") + self.base_waypoints_path = wp_path + return True + + + def add_map(self, path: Path, wp_path: Path): + map_yaml = read_file(path) + if not ("image" in map_yaml): + messagebox.showerror(title="Format error", message="Selected map file is unexpected format.") + return False + wp_yaml = read_file(wp_path) + if (not "waypoints" in wp_yaml) or (not "finish_pose" in wp_yaml): + messagebox.showerror(title="Format error", message="Selected waypoints file is unexpected format.") + return False + try: + if self.map_disp.add_map(path, map_yaml, wp_yaml): + self.append_layer(path) + else: + i = 2 + path2 = path.with_name(path.with_suffix("").name + "-" + str(i)) + while(not self.map_disp.add_map(path2, map_yaml, wp_yaml)): + i += 1 + path2 = path.with_name(path.with_suffix("").name + "-" + str(i)) + self.append_layer(path2) + path = path2 + except (FileNotFoundError, FileExistsError): + messagebox.showerror(title="Image file is not found", message="\""+map_yaml["image"]+"\" is not found.") + return False + self.selected_layer.map_transparency.set(70) + self.map_disp.set_transparency(path, 70) + self.tra_bar.configure(variable=self.selected_layer.map_transparency) + return True + + + def set_multimaps(self, dirpath: Path, wp_path: Path): + all_wp_yaml = read_file(wp_path) + if (not "waypoints" in all_wp_yaml) or (not "finish_pose" in all_wp_yaml): + messagebox.showerror(title="Format error", message="Selected waypoints file is unexpected format.") + return False + map_idx = 0 + wp_idx = 0 + while(True): + map_path = dirpath / Path("map{}.yaml".format(map_idx)) + if (not map_path.exists()) or (wp_idx >= len(all_wp_yaml["waypoints"])): break + map_yaml = read_file(map_path) + wp_yaml = {"waypoints":[]} + while(True): + if wp_idx >= len(all_wp_yaml["waypoints"]): + wp_yaml["finish_pose"] = all_wp_yaml["finish_pose"] + break + point = all_wp_yaml["waypoints"][wp_idx] + if not "change_map" in point["point"].keys(): + wp_yaml["waypoints"].append(point) + wp_idx += 1 + else: + finish_pose = point["point"] + wp_yaml["finish_pose"] = { + "header":{"seq":0, "stamp":0, "frame_id":"map"}, + "pose":{ + "position":{"x":finish_pose["x"], "y":finish_pose["y"], "z":finish_pose["z"]}, + "orientation":{"x":0, "y":0, "z":0, "w":1} + } + } + break + if map_idx==0: + self.map_disp.add_map(map_path, map_yaml, wp_yaml, base=True) + self.append_layer(map_path, base=True) + self.base_map_layer.state = "locked" + self.lock_btn.configure(image=self.locked_icon, bg="black") + self.base_waypoints_path = wp_path + else: + self.map_disp.add_map(map_path, map_yaml, wp_yaml) + self.append_layer(map_path) + self.selected_layer.map_transparency.set(70) + self.map_disp.set_transparency(map_path, 70) + self.tra_bar.configure(variable=self.selected_layer.map_transparency) + if "change_map" in point["point"].keys(): map_idx = int(point["point"]["change_map"]) + wp_idx += 1 + + return True + + + def append_layer(self, path: Path, base=None): + name = " " + path.with_suffix("").name + font = ("Arial",10) + if base: + name += " ( base )" + font = ("Arial", 10, "bold") + label = LayerLabel(self.layers_frame, bg=self.theme["main"], bd=0, + text=name, fg="white", font=font, anchor=tk.W, padx=10, pady=2, + image=self.visible_icon, compound=tk.LEFT + ) + label.set_map_path(path) + label.bind("", lambda event, label=label: self.layerlabel_clicked(event, label)) + if self.label_list: + label.pack(expand=False, side=tk.TOP, fill=tk.X, padx=2, pady=2, ipady=3, before=self.label_list[-1]) + else: + label.pack(expand=False, side=tk.TOP, fill=tk.X, padx=2, pady=2, ipady=3) + + if self.selected_layer is not None: + self.selected_layer.configure(bg=self.theme["bg1"]) + self.selected_layer = label + self.tra_bar.configure(variable=self.selected_layer.map_transparency, state=tk.NORMAL) + self.lock_btn.configure(image=self.unlocked_icon, bg=self.theme["main"]) + self.label_list.append(label) + if base: self.base_map_layer = label + return + + + def layerlabel_clicked(self, event, label: LayerLabel): + px = label.cget("padx") + imw = self.visible_icon.width() + if (px-3 < event.x) and (event.x < px+imw+3): + # 可視アイコンがクリックされたとき + fg = label.cget("fg") + if fg == "white": + label.configure(image=self.invisible_icon, fg="grey") + self.map_disp.set_vision_state(label.map_path, vision=False) + else: + label.configure(image=self.visible_icon, fg="white") + self.map_disp.set_vision_state(label.map_path, vision=True) + + if label != self.selected_layer: + self.selected_layer.configure(bg=self.theme["bg1"]) + label.configure(bg=self.theme["main"]) + self.selected_layer = label + self.tra_bar.configure(variable=self.selected_layer.map_transparency) + self.map_disp.select_map(self.selected_layer.map_path) + for btn in [self.move_btn, self.rot_btn]: + if btn.cget("bg") == "black": + self.map_disp.mode = self.map_disp.Normal + btn.configure(bg=self.theme["main"]) + break + if self.selected_layer.state == "locked": + self.lock_btn.configure(image=self.locked_icon, bg="black") + else: + self.lock_btn.configure(image=self.unlocked_icon, bg=self.theme["main"]) + return + + + def change_transparency(self, event): + alpha = self.selected_layer.map_transparency.get() + self.map_disp.set_transparency(self.selected_layer.map_path, alpha) + return + + + def get_map_lists(self): + base_map: MyMap = self.map_disp.map_dict[self.map_disp.base_map_key] + base_yaml = base_map.map_yaml + img_list = [base_map.original_img_pil] + yaml_list = [base_yaml] + for label in self.label_list[1:]: + mymap: MyMap = self.map_disp.get_map(label.map_path) + # image + img = mymap.original_img_pil.convert("L") + theta = math.degrees(-mymap.get_rotate_angle()) + img = img.rotate(theta, expand=True, fillcolor=205) + img_list.append(img) + # yaml + yaml = mymap.map_yaml + corners = np.array(mymap.get_corners()) + left = corners[[0,2,4,6]].min() + lower = corners[[1,3,5,7]].max() + img_x, img_y = base_map.inv_transform(left, lower) + real_x, real_y = base_map.image2real(img_x, img_y) + yaml["origin"] = [real_x, real_y, 0.0] + yaml_list.append(yaml) + return img_list, yaml_list + + + def get_waypoints_yaml(self): + # ベースのウェイポイントをコピー + waypoints = WaypointList(self.map_disp.waypoints_dict[self.map_disp.base_map_key].waypoints_yaml) + # ベースのfinish poseをウェイポイントに変換 + finish_pose: FinishPose = self.map_disp.waypoints_dict[self.map_disp.base_map_key + "fp"] + # 個別のウェイポイントをリスト化 + map_idx = 1 + wp_yaml_list = [get_waypoint_yaml(waypoints, finish_pose)] + wpc = waypoints.get_waypoint(num=1).copy() + wpc["x"] = finish_pose.x + wpc["y"] = finish_pose.y + wpc["stop"] = "true" + wpc["change_map"] = map_idx + map_idx += 1 + waypoints.append(wpc) + # 残りのウェイポイントを追加していく + base_map: MyMap = self.map_disp.map_dict[self.map_disp.base_map_key] + name = "waypoints-" + base_map.yaml_path.with_suffix("").name + for label in self.label_list[1:]: + mymap: MyMap = self.map_disp.get_map(label.map_path) + name += "-" + mymap.yaml_path.with_suffix("").name + # 2つ目以降の地図のもともとの原点のキャンバス上の位置を取得 + origin = mymap.transform(mymap.img_origin[0], mymap.img_origin[1]) + # ベースのマップから見た原点の座標を計算 + img_x, img_y = base_map.inv_transform(origin[0], origin[1]) + real_x, real_y = base_map.image2real(img_x, img_y) + # 地図の回転角 + theta = -mymap.get_rotate_angle() + # 2つ目以降の地図に対応するウェイポイントの座標を、ベースの地図の座標系に変換する同次変換行列 + mat = [[math.cos(theta), -math.sin(theta), real_x], + [math.sin(theta), math.cos(theta), real_y], + [0, 0, 1 ]] + wp_list: WaypointList = self.map_disp.waypoints_dict[self.map_disp.path2key(label.map_path)] + wp_list_copy = WaypointList(wp_list.waypoints_yaml) + for i, wp in enumerate(wp_list.get_waypoint()): + tf_xy = np.dot(mat, [wp["x"], wp["y"], 1]) # ベースの座標系に変換 + wpc = wp.copy() + wpc["x"] = round(tf_xy[0], 6) + wpc["y"] = round(tf_xy[1], 6) + waypoints.append(wpc) + wp_list_copy.waypoints[i] = wpc + # 2つ目以降の地図のfinish poseも変換 + finish_pose = FinishPose(wp_list.waypoints_yaml) + tf_xy = np.dot(mat, [finish_pose.x, finish_pose.y, 1]) + finish_pose.x = tf_xy[0] + finish_pose.y = tf_xy[1] + finish_pose.yaw = finish_pose.yaw + theta + wp_yaml_list.append(get_waypoint_yaml(wp_list_copy, finish_pose)) + # 最後以外のfinish poseはウェイポイントとして追加 + if label != self.label_list[-1]: + wpc = waypoints.get_waypoint(num=1).copy() + wpc["x"] = finish_pose.x + wpc["y"] = finish_pose.y + wpc["stop"] = "true" + wpc["change_map"] = map_idx + map_idx += 1 + waypoints.append(wpc) + return get_waypoint_yaml(waypoints, finish_pose), wp_yaml_list + + + def get_merged_map(self): + # 1 2 画像の四隅のキャンバス上の座標を取得 + # 4 3 + base_map: MyMap = self.map_disp.map_dict[self.map_disp.base_map_key] + corners = base_map.get_corners() # x1, y1, x2, y2, x3, y3, x4, y4 + img_corners = np.array(corners) + # ベースの地図画像を基準として画像上の座標に変換 + for i in range(0,8,2): + img_corners[i:i+2] = base_map.inv_transform(corners[i], corners[i+1]) + for label in self.label_list[1:]: + mymap: MyMap = self.map_disp.get_map(label.map_path) + corners = np.array(mymap.get_corners()) + for i in range(0,8,2): + corners[i:i+2] = base_map.inv_transform(corners[i], corners[i+1]) + img_corners = np.vstack((img_corners, corners)) + # 合成する地図画像の中で最も外側にある座標を取得 + left = img_corners[:, [0, 2, 4, 6]].min() + upper = img_corners[:, [1, 3, 5, 7]].min() + right = img_corners[:, [0, 2, 4, 6]].max() + lower = img_corners[:, [1, 3, 5, 7]].max() + # 合成後の画像を準備 + offset = 2 # 結合時の画像サイズの不揃いを解消 + img_size = (int(round(lower-upper)+offset), int(round(right-left)+offset)) #(y, x) + unknown = np.full(img_size, 205, dtype=np.uint8) # 未確定領域 + obstacles = np.full(img_size, 255, dtype=np.uint8) # 障害物が0, それ以外が255 + free_area = np.full(img_size, 0, dtype=np.uint8) # 走行可能領域が255, それ以外が0 + # ベースの画像を合成 + img = np.array(base_map.original_img_pil.convert("L"), dtype=np.uint8) + x, y = int(round(img_corners[0,0]-left)), int(round(img_corners[0,1]-upper)) + h, w = img.shape + obstacles[y:y+h, x:x+w] = obstacles[y:y+h, x:x+w] & np.where(img>100, 255, 0) + free_area[y:y+h, x:x+w] = free_area[y:y+h, x:x+w] | np.where(img<230, 0, 255) + name = "merged-" + base_map.yaml_path.with_suffix("").name + # その他の画像も合成 + for i in range(1, len(self.label_list)): + label = self.label_list[i] + mymap: MyMap = self.map_disp.get_map(label.map_path) + img = mymap.original_img_pil.convert("L") + img = img.rotate(-math.degrees(mymap.get_rotate_angle()), + resample=Image.Resampling.NEAREST, expand=True, fillcolor=205) + img = np.array(img, dtype=np.uint8) + x = int(round(img_corners[i, [0, 2, 4, 6]].min() - left)) + y = int(round(img_corners[i, [1, 3, 5, 7]].min() - upper)) + h, w = img.shape + obstacles[y:y+h, x:x+w] = obstacles[y:y+h, x:x+w] & np.where(img>100, 255, 0) + free_area[y:y+h, x:x+w] = free_area[y:y+h, x:x+w] | np.where(img<230, 0, 255) + name += "-" + Path(label.map_path).with_suffix("").name + # 未確定領域、走行可能領域、障害物を合成し、画像に変換 + merged_img = (unknown | free_area) & obstacles + merged_img = merged_img[:-offset, :-offset] # offset分を削除 + merged_img = Image.fromarray(merged_img, "L") + # 原点から合成後の画像の左下までの距離 + origin = [left-base_map.img_origin[0], -lower+base_map.img_origin[1], 0] + origin[0] = origin[0] * base_map.resolution + origin[1] = origin[1] * base_map.resolution + merged_yaml = { + "image":"./" + base_map.yaml_path.with_name(name+".pgm").name, + "resolution":base_map.resolution, + "origin":origin, + "negate":base_map.map_yaml["negate"], + "occupied_thresh":base_map.map_yaml["occupied_thresh"], + "free_thresh":base_map.map_yaml["free_thresh"] + } + return merged_img, merged_yaml + diff --git a/src/multi_map_manager/apps/mylib/waypointlib.py b/src/multi_map_manager/apps/mylib/waypointlib.py new file mode 100644 index 0000000..5174be1 --- /dev/null +++ b/src/multi_map_manager/apps/mylib/waypointlib.py @@ -0,0 +1,106 @@ +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 = {} + self.waypoints_yaml = wp_yaml + 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 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") + x, y, z = finish_pose.x, finish_pose.y, finish_pose.position["z"] + s.append(" position: {" + "x: {}, y: {}, z: {}".format(x, y, z) + "}" + "\n") + q = quaternion.from_euler_angles([0, 0, finish_pose.yaw]) + s.append(" orientation: {" + "x: {}, y: {}, z: {}, w: {}".format(q.x, q.y, q.z, q.w) + "}") + return "".join(s) + + + \ No newline at end of file diff --git a/src/multi_map_manager/package.xml b/src/multi_map_manager/package.xml new file mode 100644 index 0000000..f1e3636 --- /dev/null +++ b/src/multi_map_manager/package.xml @@ -0,0 +1,52 @@ + + + multi_map_manager + 0.0.0 + The multi_map_manager package + + + + + ubuntu + + + + + + TODO + + + + + + + + + + + + + + + + + rospy + nav_msgs + std_msgs + std_srvs + + rospy + nav_msgs + std_msgs + std_srvs + + + catkin + + + + + + + + diff --git a/src/multi_map_manager/scripts/map_changer b/src/multi_map_manager/scripts/map_changer new file mode 100755 index 0000000..407a136 --- /dev/null +++ b/src/multi_map_manager/scripts/map_changer @@ -0,0 +1,87 @@ +#!/usr/bin/env python3 +import rospy +import ruamel.yaml +from pathlib import Path +from std_msgs.msg import UInt16 +from nav_msgs.srv import LoadMap +from std_srvs.srv import Empty +from std_srvs.srv import Trigger + + + +class MultiMapChanger(): + + def __init__(self): + yaml = ruamel.yaml.YAML() + ## Read multimaps directory + self.multimap_dir = rospy.get_param("map_changer/multi_map_dir") + self.multimap_dir = Path(self.multimap_dir).resolve() + self.current_map_num = 0 + ## Read waypoints file and change point number + self.change_point_num = [] + self.next_map_idx = [] + waypoints_path = rospy.get_param("map_changer/waypoints_file") + with open(waypoints_path) as file: + waypoints_yaml = yaml.load(file) + for i, data in enumerate(waypoints_yaml["waypoints"]): + if ("change_map" in data["point"]): + self.change_point_num.append(i+2) + self.next_map_idx.append(data["point"]["change_map"]) + ## Subscribe current waypoint number + self.waypoint_num = 0 + self.wp_num_sub = rospy.Subscriber("/waypoint_num", UInt16, self.waypoint_num_callback) + ## Service clients + self.change_map = rospy.ServiceProxy("/change_map", LoadMap) + self.amcl_update = rospy.ServiceProxy("/request_nomotion_update", Empty) + self.stop_nav = rospy.ServiceProxy("/stop_wp_nav", Trigger) + self.resume_nav = rospy.ServiceProxy("/resume_nav", Trigger) + return + + + def waypoint_num_callback(self, msg): + if (msg.data == self.waypoint_num): return + try: + idx = self.change_point_num.index(msg.data) + self.current_map_num = self.next_map_idx[idx] + self.change_map_service_call() + except ValueError: + pass + + self.waypoint_num = msg.data + return + + + def change_map_service_call(self): + self.stop_nav() + rospy.sleep(0.5) + self.update_amcl_call() + rospy.wait_for_service("/change_map") + try: + res = self.change_map(str(self.multimap_dir / Path("map{}.yaml".format(self.current_map_num)))) + if res.result == 0: + rospy.loginfo("Successfully changed the map") + self.update_amcl_call() + self.resume_nav() + return True + else: + rospy.logerr("Failed to change the map: result=", res.result) + + except rospy.ServiceException: + rospy.logerr("Change map service call failed") + return False + + + def update_amcl_call(self): + rospy.wait_for_service("/request_nomotion_update") + for i in range(0, 5): + self.amcl_update() + rospy.sleep(0.5) + rospy.loginfo("Update amcl pose 5 times") + + + +if __name__ == '__main__': + rospy.init_node("map_changer") + mmc = MultiMapChanger() + rospy.spin() + diff --git a/src/navigation/.gitignore b/src/navigation/.gitignore deleted file mode 100644 index f9f3d9c..0000000 --- a/src/navigation/.gitignore +++ /dev/null @@ -1,4 +0,0 @@ -*~ -*.project -*.cproject - diff --git a/src/openslam_gmapping/.github/ci_cross_platform_env.yml b/src/openslam_gmapping/.github/ci_cross_platform_env.yml deleted file mode 100644 index 26cffa0..0000000 --- a/src/openslam_gmapping/.github/ci_cross_platform_env.yml +++ /dev/null @@ -1,15 +0,0 @@ -name: test -channels: - - robostack - - conda-forge -dependencies: - - compilers - - ninja - - cmake - - catkin_pkg - - pkg-config - - rosdep - - rosdistro - - ros-distro-mutex 0.1 noetic - - ros-noetic-catkin - - ros-noetic-ros-environment diff --git a/src/openslam_gmapping/.github/workflows/cross_platform_ci.yml b/src/openslam_gmapping/.github/workflows/cross_platform_ci.yml deleted file mode 100644 index 3ea2fd3..0000000 --- a/src/openslam_gmapping/.github/workflows/cross_platform_ci.yml +++ /dev/null @@ -1,101 +0,0 @@ -name: OpenSLAM gmapping cross-platform RoboStack build - -on: - workflow_dispatch: - pull_request: - push: - branches: - - master - - "[kmn]*-devel" - -jobs: - run_openslam_gmapping_compilation: - runs-on: ${{ matrix.os }} - name: ${{ matrix.os }} - strategy: - fail-fast: false - matrix: - os: [ubuntu-latest, macos-latest, windows-latest] - - steps: - - uses: actions/checkout@v2 - - - name: Set up Build Dependencies - uses: mamba-org/provision-with-micromamba@main - with: - environment-file: .github/ci_cross_platform_env.yml - micromamba-version: latest - - - name: Set up OpenSLAM gmapping Dependencies on Unix - if: runner.os == 'Linux' || runner.os == 'macOS' - shell: bash -l -eo pipefail {0} - run: | - micromamba activate test - export PATH=$HOME/micromamba-bin:$PATH - rosdep init - rosdep update - rosdep install --from-paths . --ignore-src -r -y - - - name: Build OpenSLAM gmapping on Unix - if: runner.os == 'Linux' || runner.os == 'macOS' - shell: bash -l -eo pipefail {0} - run: | - export CTEST_OUTPUT_ON_FAILURE=1 - - mkdir build - cd build - - cmake .. -DCMAKE_PREFIX_PATH=$CONDA_PREFIX \ - -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \ - -DCMAKE_BUILD_TYPE=Release \ - -DCATKIN_SKIP_TESTING=OFF \ - -G "Ninja" - - ninja - - - name: Set up OpenSLAM gmapping on Windows - if: runner.os == 'Windows' - shell: cmd - run: | - echo "Activate environment, and use rosdep to install dependencies" - call C:\Users\runneradmin\micromamba\condabin\micromamba.bat activate test - - rosdep init - rosdep update - rosdep install --from-paths . --ignore-src -r -y - - - name: Build OpenSLAM gmapping on Windows - if: runner.os == 'Windows' - shell: cmd - run: | - - echo "Remove unnecessary / colliding things from PATH" - set "PATH=%PATH:C:\ProgramData\Chocolatey\bin;=%" - set "PATH=%PATH:C:\Program Files (x86)\sbt\bin;=%" - set "PATH=%PATH:C:\Rust\.cargo\bin;=%" - set "PATH=%PATH:C:\Program Files\Git\usr\bin;=%" - set "PATH=%PATH:C:\Program Files\Git\cmd;=%" - set "PATH=%PATH:C:\Program Files\Git\mingw64\bin;=%" - set "PATH=%PATH:C:\Program Files (x86)\Subversion\bin;=%" - set "PATH=%PATH:C:\Program Files\CMake\bin;=%" - set "PATH=%PATH:C:\Program Files\OpenSSL\bin;=%" - set "PATH=%PATH:C:\Strawberry\c\bin;=%" - set "PATH=%PATH:C:\Strawberry\perl\bin;=%" - set "PATH=%PATH:C:\Strawberry\perl\site\bin;=%" - set "PATH=%PATH:c:\tools\php;=%" - set "PATH=%PATH:ostedtoolcache=%" - - call C:\Users\runneradmin\micromamba\condabin\micromamba.bat activate test - - mkdir build - cd build - SET "CTEST_OUTPUT_ON_FAILURE=1" - - cmake .. -DCMAKE_PREFIX_PATH="%CONDA_PREFIX%\Library" ^ - -DCMAKE_INSTALL_PREFIX="%CONDA_PREFIX%\Library" ^ - -DCMAKE_BUILD_TYPE=Release ^ - -DCATKIN_SKIP_TESTING=OFF ^ - -DBoost_USE_STATIC_LIBS=OFF ^ - -G "Ninja" - - ninja diff --git a/src/slam_gmapping/.gitignore b/src/slam_gmapping/.gitignore deleted file mode 100644 index 23255e5..0000000 --- a/src/slam_gmapping/.gitignore +++ /dev/null @@ -1,11 +0,0 @@ -.cproject -.project -.pydevproject -cmake_install.cmake -build/ -bin/ -lib/ -msg_gen/ -srv_gen/ -*.pyc -*~ diff --git a/src/tsukuba2022/config/elecom_joy.yaml b/src/tsukuba2022/config/elecom_joy.yaml index de1c032..53770a3 100644 --- a/src/tsukuba2022/config/elecom_joy.yaml +++ b/src/tsukuba2022/config/elecom_joy.yaml @@ -1,9 +1,12 @@ axis_linear: 1 scale_linear: 0.4 #0.4 -scale_linear_turbo: 0.8 #0.8 +scale_linear_turbo: 0.7 #0.8 axis_angular: 0 -scale_angular: 0.5 #0.9 +scale_angular: 0.4 #0.5 #0.9 -enable_button: 8 # L1 shoulder button -enable_turbo_button: 9 # R1 shoulder button +enable_button: 9 # R1 shoulder button +enable_turbo_button: 7 # R2 shoulder button + +#enable_button: 8 # L1 shoulder button +#enable_turbo_button: 9 # R1 shoulder button diff --git a/src/tsukuba2022/config/gps_parameters.yaml b/src/tsukuba2022/config/gps_parameters.yaml deleted file mode 100644 index 38970f9..0000000 --- a/src/tsukuba2022/config/gps_parameters.yaml +++ /dev/null @@ -1,37 +0,0 @@ -# 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/tsukuba2022/config/gps_waypoints/gps_waypoints.yaml b/src/tsukuba2022/config/gps_waypoints/gps_waypoints.yaml deleted file mode 100644 index 1de4c59..0000000 --- a/src/tsukuba2022/config/gps_waypoints/gps_waypoints.yaml +++ /dev/null @@ -1,17 +0,0 @@ -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/tsukuba2022/config/gps_waypoints/gps_waypoints_north.yaml b/src/tsukuba2022/config/gps_waypoints/gps_waypoints_north.yaml deleted file mode 100644 index ff46ecf..0000000 --- a/src/tsukuba2022/config/gps_waypoints/gps_waypoints_north.yaml +++ /dev/null @@ -1,17 +0,0 @@ -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/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation.yaml b/src/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation.yaml deleted file mode 100644 index 01d3b85..0000000 --- a/src/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation.yaml +++ /dev/null @@ -1,17 +0,0 @@ -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/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation_reverse.yaml b/src/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation_reverse.yaml deleted file mode 100644 index 9897947..0000000 --- a/src/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation_reverse.yaml +++ /dev/null @@ -1,17 +0,0 @@ -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/tsukuba2022/config/gps_waypoints/gps_waypoints_south.yaml b/src/tsukuba2022/config/gps_waypoints/gps_waypoints_south.yaml deleted file mode 100644 index f08bc57..0000000 --- a/src/tsukuba2022/config/gps_waypoints/gps_waypoints_south.yaml +++ /dev/null @@ -1,17 +0,0 @@ -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/tsukuba2022/config/gps_waypoints/qualification_waypoints.yaml b/src/tsukuba2022/config/gps_waypoints/qualification_waypoints.yaml deleted file mode 100644 index de097ab..0000000 --- a/src/tsukuba2022/config/gps_waypoints/qualification_waypoints.yaml +++ /dev/null @@ -1,17 +0,0 @@ -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/tsukuba2022/config/igvc_robot_control.yaml b/src/tsukuba2022/config/igvc_robot_control.yaml deleted file mode 100644 index bb3afc4..0000000 --- a/src/tsukuba2022/config/igvc_robot_control.yaml +++ /dev/null @@ -1,43 +0,0 @@ -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/tsukuba2022/config/igvc_robot_control_sim.yaml b/src/tsukuba2022/config/igvc_robot_control_sim.yaml deleted file mode 100644 index cb6b6b3..0000000 --- a/src/tsukuba2022/config/igvc_robot_control_sim.yaml +++ /dev/null @@ -1,45 +0,0 @@ -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/tsukuba2022/config/initial_pose_tsukuba_L.yaml b/src/tsukuba2022/config/initial_pose_tsukuba_L.yaml new file mode 100644 index 0000000..781b411 --- /dev/null +++ b/src/tsukuba2022/config/initial_pose_tsukuba_L.yaml @@ -0,0 +1,7 @@ +# initial pose config +initial_pose_x: 0.0 +initial_pose_y: 3.97 +initial_pose_a: 0.0 +initial_cov_xx: 0.065 +initial_cov_yy: 0.065 +initial_cov_aa: 0.065 diff --git a/src/tsukuba2022/config/initial_pose_tsukuba_R.yaml b/src/tsukuba2022/config/initial_pose_tsukuba_R.yaml new file mode 100644 index 0000000..7d8e1aa --- /dev/null +++ b/src/tsukuba2022/config/initial_pose_tsukuba_R.yaml @@ -0,0 +1,7 @@ +# initial pose config +initial_pose_x: 0.0 +initial_pose_y: 0.0 +initial_pose_a: 0.0 +initial_cov_xx: 0.065 +initial_cov_yy: 0.065 +initial_cov_aa: 0.065 diff --git a/src/tsukuba2022/config/orange2022_control.yaml b/src/tsukuba2022/config/orange2022_control.yaml deleted file mode 100644 index 60740d6..0000000 --- a/src/tsukuba2022/config/orange2022_control.yaml +++ /dev/null @@ -1,43 +0,0 @@ -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 deleted file mode 100644 index edc0632..0000000 --- a/src/tsukuba2022/config/orange2022_control_sim.yaml +++ /dev/null @@ -1,41 +0,0 @@ -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/nakaniwa/waypoints_nakaniwa.yaml b/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa.yaml new file mode 100644 index 0000000..36b429f --- /dev/null +++ b/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa.yaml @@ -0,0 +1,42 @@ +waypoints: +- point: {x: 4.8992, y: 0.0763934, z: 0, vel: 1, rad: 1, stop: false, tandem_start: 1} +- point: {x: 11.652461, y: -0.129326, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 18.50064, y: -0.394513, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 26.176818, y: -0.880348, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 34.8965, y: -2.35386, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 42.74376, y: -4.864187, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 50.031271, y: -5.398604, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 53.749972, y: -1.656516, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 53.386011, y: 7.822806, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 53.036211, y: 19.482823, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 52.5512, y: 29.5179, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 52.298734, y: 41.727943, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 52.211059, y: 51.67593, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 49.235726, y: 54.096163, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 42.641821, y: 54.284997, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 34.675792, y: 54.519292, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 27.002736, y: 54.553319, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 17.764658, y: 54.404576, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 9.777545, y: 54.521176, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 4.894381, y: 53.341228, z: 0, vel: 1, rad: 1, stop: true} +- point: {x: 6.111871, y: 50.909564, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 8.203443, y: 46.825564, z: 0.0, vel: 0.3, rad: 1, stop: false} +- point: {x: 9.780651, y: 43.44464, z: 0, vel: 0.3, rad: 1, stop: false} +- point: {x: 11.737483, y: 38.721254, z: 0.0, vel: 0.3, rad: 1, stop: false} +- point: {x: 13.626837, y: 35.04376, z: 0.0, vel: 0.3, rad: 1, stop: false} +- point: {x: 15.516192, y: 31.163835, z: 0, vel: 0.3, rad: 1, stop: false} +- point: {x: 16.966946, y: 28.39728, z: 0, vel: 0.3, rad: 1, stop: false} +- point: {x: 18.965779, y: 24.446008, z: 0.0, vel: 0.3, rad: 1, stop: false} +- point: {x: 20.795431, y: 20.289953, z: 0, vel: 0.3, rad: 1, stop: false} +- point: {x: 22.735394, y: 16.325682, z: 0, vel: 0.3, rad: 1, stop: false} +- point: {x: 24.462339, y: 11.892483, z: 0, vel: 0.3, rad: 1, stop: false} +- point: {x: 26.65534, y: 6.438096, z: 0.0, vel: 0.3, rad: 1, stop: false} +- point: {x: 29.017033, y: 2.277017, z: 0, vel: 0.3, rad: 1, stop: false} +- point: {x: 28.707936, y: -0.820241, z: 0, vel: 0.3, rad: 1, stop: false} +- point: {x: 20.64444, y: -0.449118, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 9.342051, y: 0.900421, z: 0, vel: 1, rad: 1, stop: false, tandem_end: 1} +finish_pose: + header: {seq: 0, stamp: 1663209268.6905353, frame_id: map} + pose: + position: {x: -0.0241434, y: 1.60681, z: 0} + orientation: {x: 0.0, y: 0.0, z: 0.9999953885138714, w: 0.0030369311798953413} \ No newline at end of file diff --git a/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_1-2.yaml b/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_1-2.yaml new file mode 100644 index 0000000..cda43da --- /dev/null +++ b/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_1-2.yaml @@ -0,0 +1,33 @@ +waypoints: +- point: {x: 4.8992, y: 0.0763934, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 11.025331, y: -0.023422, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 18.50064, y: -0.394513, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 26.176818, y: -0.880348, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 34.8965, y: -2.35386, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 42.74376, y: -4.864187, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 50.530069, y: -5.066462, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 53.505717, y: -1.933611, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 53.2674, y: 7.98859, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 53.0977, y: 20.0885, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 52.5512, y: 29.5179, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 52.298734, y: 41.727943, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 52.033145, y: 52.371588, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 50, y: 54.5, z: 0, vel: 1, rad: 1, stop: true, change_map: true} +- point: {x: 44.457458, y: 54.265651, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 38.331208, y: 54.17344, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 30.568212, y: 54.0757, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 22.183928, y: 53.966732, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 14.496347, y: 53.725704, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 6.34269, y: 53.623967, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: -0.732295, y: 53.479098, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: -3.648502, y: 50.77132, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: -3.260954, y: 43.319186, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: -2.632884, y: 33.104345, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: -2.248518, y: 23.345314, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: -2.22096, y: 11.492785, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: -2.253471, y: 0.890283, z: 0.0, vel: 1, rad: 1, stop: false} +finish_pose: + header: {seq: 0, stamp: 1663209268.6905353, frame_id: map} + pose: + position: {x: 1.084303876129681, y: -1.5445686660287592, z: 0} + orientation: {x: 0.0, y: 0.0, z: 0.012634000199744012, w: 0.9999201878344856} diff --git a/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_1.yaml b/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_1.yaml new file mode 100644 index 0000000..3747829 --- /dev/null +++ b/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_1.yaml @@ -0,0 +1,19 @@ +waypoints: +- point: {x: 4.8992, y: 0.0763934, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 11.025331, y: -0.023422, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 18.50064, y: -0.394513, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 26.176818, y: -0.880348, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 34.8965, y: -2.35386, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 42.74376, y: -4.864187, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 50.3905, y: -5.337696, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 53.505717, y: -1.933611, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 53.2674, y: 7.98859, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 53.0977, y: 20.0885, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 52.5512, y: 29.5179, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 52.298734, y: 41.727943, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 52.033145, y: 52.371588, z: 0.0, vel: 1, rad: 1, stop: false} +finish_pose: + header: {seq: 0, stamp: 1663209268.6905353, frame_id: map} + pose: + position: {x: 50, y: 54.5, z: 0} + orientation: {x: 0.0, y: 0.0, z: 0.9999953885138714, w: 0.0030369311798953413} \ No newline at end of file diff --git a/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_1109.yaml b/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_1109.yaml new file mode 100644 index 0000000..989189e --- /dev/null +++ b/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_1109.yaml @@ -0,0 +1,46 @@ +waypoints: +- point: {x: 7.08627, y: -0.250988, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 15.6821, y: -0.496924, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 23.7637, y: -0.952438, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 29.0862, y: -1.5478, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 37.9975, y: -3.79624, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 49.740296, y: -5.030009, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 53.387223, y: -1.962999, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 53.0937, y: 4.84613, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 53.1208, y: 15.9712, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 52.9231, y: 23.9035, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 52.8191, y: 30.6399, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 52.4754, y: 37.4937, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 52.491397, y: 43.642536, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 52.428564, y: 50.443692, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 49.8563, y: 53.7376, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 42.150786, y: 54.123517, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 34.711161, y: 54.310677, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 27.224745, y: 54.404257, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 19.78512, y: 54.357467, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 11.877594, y: 54.310677, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 5.40638, y: 52.606, z: 0, vel: 1, rad: 1, stop: true} +- point: {x: 6.851567, y: 49.302385, z: 0, vel: 0.3, rad: 0.5, stop: false} +- point: {x: 8.366118, y: 45.793883, z: 0, vel: 0.3, rad: 0.5, stop: false} +- point: {x: 9.943652, y: 42.303169, z: 0, vel: 0.3, rad: 0.5, stop: false} +- point: {x: 12.682168, y: 36.812018, z: 0, vel: 0.3, rad: 0.5, stop: false} +- point: {x: 14.954459, y: 32.003984, z: 0, vel: 0.3, rad: 0.5, stop: false} +- point: {x: 16.0829, y: 29.5877, z: 0, vel: 0.3, rad: 0.5, stop: false} +- point: {x: 17.81952, y: 25.746953, z: 0, vel: 0.3, rad: 0.5, stop: false} +- point: {x: 19.531971, y: 21.92687, z: 0, vel: 0.3, rad: 0.5, stop: false} +- point: {x: 21.244422, y: 18.436106, z: 0, vel: 0.3, rad: 0.5, stop: false} +- point: {x: 22.759282, y: 15.11, z: 0, vel: 0.3, rad: 0.5, stop: false} +- point: {x: 24.037871, y: 12.029397, z: 0, vel: 0.3, rad: 0.5, stop: false} +- point: {x: 25.494666, y: 8.970128, z: 0, vel: 0.3, rad: 0.5, stop: false} +- point: {x: 26.974545, y: 6.61361, z: 0, vel: 0.3, rad: 0.5, stop: false} +- point: {x: 27.979409, y: 4.678389, z: 0, vel: 0.3, rad: 0.5, stop: false} +- point: {x: 28.8439, y: 2.58357, z: 0, vel: 0.3, rad: 0.5, stop: false} +- point: {x: 28.3414, y: 0.479003, z: 0, vel: 0.3, rad: 0.5, stop: false} +- point: {x: 25.5834, y: -0.68715, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 19.321898, y: -0.694822, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 11.290472, y: -0.317507, z: 0, vel: 1, rad: 1, stop: false} +finish_pose: + header: {seq: 0, stamp: 1667998750.2863405, frame_id: map} + pose: + position: {x: 0.0648544, y: 0.00733662, z: 0} + orientation: {x: 0.0, y: 0.0, z: 0.999998523619772, w: 0.0017183591814064413} diff --git a/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_2.yaml b/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_2.yaml new file mode 100644 index 0000000..7d432c8 --- /dev/null +++ b/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_2.yaml @@ -0,0 +1,19 @@ +waypoints: +- point: {x: 4.8992, y: 0.0763934, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 11.025331, y: -0.023422, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 18.787577, y: -0.169002, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 27.171158, y: -0.322829, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 34.862517, y: -0.322829, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 43.015357, y: -0.476656, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 50.091407, y: -0.55357, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 53.091037, y: 2.061492, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 52.93721, y: 9.52211, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 52.629555, y: 19.751617, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 52.5512, y: 29.5179, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 52.895084, y: 41.365471, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 53.259834, y: 51.961747, z: 0.0, vel: 1, rad: 1, stop: false} +finish_pose: + header: {seq: 0, stamp: 1663209268.6905353, frame_id: map} + pose: + position: {x: 50, y: 54.5, 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/nakaniwa/waypoints_nakaniwa_inv.yaml b/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_inv.yaml new file mode 100644 index 0000000..6acc83e --- /dev/null +++ b/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_inv.yaml @@ -0,0 +1,41 @@ +waypoints: +- point: {x: 8.659451, y: -0.080267, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 20.64444, y: -0.449118, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 28.707936, y: -0.820241, z: 0, vel: 0.3, rad: 1, stop: false} +- point: {x: 29.017033, y: 2.277017, z: 0, vel: 0.3, rad: 1, stop: false} +- point: {x: 26.65534, y: 6.438096, z: 0.0, vel: 0.2, rad: 1, stop: false} +- point: {x: 24.462339, y: 11.892483, z: 0, vel: 0.2, rad: 1, stop: false} +- point: {x: 22.735394, y: 16.325682, z: 0, vel: 0.2, rad: 1, stop: false} +- point: {x: 20.795431, y: 20.289953, z: 0, vel: 0.2, rad: 1, stop: false} +- point: {x: 18.965779, y: 24.446008, z: 0.0, vel: 0.2, rad: 1, stop: false} +- point: {x: 16.966946, y: 28.39728, z: 0, vel: 0.2, rad: 1, stop: false} +- point: {x: 15.516192, y: 31.163835, z: 0, vel: 0.2, rad: 1, stop: false} +- point: {x: 13.626837, y: 35.04376, z: 0.0, vel: 0.2, rad: 1, stop: false} +- point: {x: 11.737483, y: 38.721254, z: 0.0, vel: 0.2, rad: 1, stop: false} +- point: {x: 9.780651, y: 43.44464, z: 0, vel: 0.2, rad: 1, stop: false} +- point: {x: 6.111871, y: 50.909564, z: 0, vel: 0.2, rad: 1, stop: false} +- point: {x: 5.480287, y: 53.484484, z: 0, vel: 1, rad: 1, stop: true} +- point: {x: 8.259034, y: 55.866488, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 17.577555, y: 55.427821, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 27.002736, y: 54.553319, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 34.675792, y: 54.519292, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 42.641821, y: 54.284997, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 50.041638, y: 54.187374, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 52.033145, y: 52.371588, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 52.298734, y: 41.727943, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 52.5512, y: 29.5179, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 53.0977, y: 20.0885, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 53.2674, y: 7.98859, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 53.505717, y: -1.933611, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 50.031271, y: -5.398604, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 42.74376, y: -4.864187, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 34.8965, y: -2.35386, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 26.176818, y: -0.880348, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 17.894184, y: -0.500027, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 11.025331, y: -0.023422, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 4.8992, y: 0.0763934, z: 0, vel: 1, rad: 1, stop: false} +finish_pose: + header: {seq: 0, stamp: 1663209268.6905353, frame_id: map} + pose: + position: {x: 0.0, y: 0.0, z: 0} + orientation: {x: 0, y: 0, z: 1, w: 0} \ No newline at end of file diff --git a/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_sim.yaml b/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_sim.yaml new file mode 100644 index 0000000..33c7c83 --- /dev/null +++ b/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_sim.yaml @@ -0,0 +1,23 @@ +waypoints: +- point: {x: 3.876438, y: 0.067258, z: 0.00511169, vel: 1, rad: 1, stop: false} +- point: {x: 10.24828, y: 0.067258, z: -0.00192642, vel: 1, rad: 1, stop: false} +- point: {x: 14.343374, y: 0.067258, z: 0.00251579, vel: 1, rad: 1, stop: false} +- point: {x: 15.695671, y: 1.465396, z: 0.0, vel: 1.0, rad: 1.0, stop: false} +- point: {x: 15.731122, y: 6.432358, z: 0.00242996, vel: 1, rad: 1, stop: false} +- point: {x: 15.770729, y: 11.224717, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 15.840833, y: 15.530818, z: 0.0023098, vel: 1, rad: 1, stop: false} +- point: {x: 14.381574, y: 17.020638, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 9.36751, y: 17.0985, z: 0.00177956, vel: 1, rad: 1, stop: false} +- point: {x: 4.640448, y: 17.165799, z: 0.000879288, vel: 1, rad: 1, stop: false} +- point: {x: 3.318711, y: 15.828782, z: 0.0, vel: 1, rad: 1, stop: true} +- 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: 8.047505, y: 8.46548, 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: 11.210933, y: 3.520583, z: 0.00384521, vel: 1, rad: 1, stop: false} +- point: {x: 10.872753, y: 0.465013, z: 0.00480747, vel: 1, rad: 1, stop: false} +finish_pose: + header: {seq: 0, stamp: 113.132, frame_id: map} + pose: + position: {x: 9.27349, y: 0.143879, z: 0} + orientation: {x: 0, y: 0, z: 0.999983, w: 0.00578372} \ No newline at end of file diff --git a/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_sim_1-2.yaml b/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_sim_1-2.yaml new file mode 100644 index 0000000..36e3c7f --- /dev/null +++ b/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_sim_1-2.yaml @@ -0,0 +1,25 @@ +waypoints: +- point: {x: 1.91548, y: -0.0550663, z: 0, vel: 1, rad: 1, stop: false, change_map: true} +- point: {x: 9.79794, y: 0.02867, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 13.9369, y: 0.0678324, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 15.700148, y: 1.386101, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 15.837027, y: 5.446853, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 15.882653, y: 9.416352, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 15.973906, y: 13.477104, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 15.6479, y: 16.8488, z: 0, vel: 1, rad: 1, stop: true} +- point: {x: 12.649069, y: 16.968348, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 9.385235, y: 16.95799, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 5.662998, y: 16.946178, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 3.134879, y: 16.223039, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 4.868725, y: 13.373368, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 6.50457, y: 11.50272, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 7.484275, y: 9.79152, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 8.585662, y: 7.884585, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 9.694664, y: 5.982185, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 11.19084, y: 3.638886, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 11.307752, y: 1.466401, z: 0, vel: 1, rad: 1, stop: false} +finish_pose: + header: {seq: 0, stamp: 85.975, frame_id: map} + pose: + position: {x: 10.569600461613387, y: -0.02156870555503687, z: 0} + orientation: {x: -0.0, y: 0.0, z: -0.9998723389797014, w: 0.01597828974768534} \ No newline at end of file diff --git a/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_sim_1.yaml b/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_sim_1.yaml new file mode 100644 index 0000000..3141008 --- /dev/null +++ b/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_sim_1.yaml @@ -0,0 +1,13 @@ +waypoints: +- point: {x: 4.91548, y: -0.0550663, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 9.79794, y: 0.02867, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 13.9369, y: 0.0678324, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 15.700148, y: 1.386101, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 15.837027, y: 5.446853, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 15.882653, y: 9.416352, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 15.973906, y: 13.477104, z: 0, vel: 1, rad: 1, stop: false} +finish_pose: + header: {seq: 0, stamp: 59.85, frame_id: map} + pose: + position: {x: 15.6479, y: 16.8488, z: 0} + orientation: {x: 0, y: 0, z: 0.999942, w: 0.010754} \ No newline at end of file diff --git a/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_sim_2.yaml b/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_sim_2.yaml new file mode 100644 index 0000000..af7e887 --- /dev/null +++ b/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_sim_2.yaml @@ -0,0 +1,17 @@ +waypoints: +- point: {x: 2.583187, y: -0.004932, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 5.847038, y: -0.004932, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 9.569294, y: -0.004932, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 12.099695, y: 0.710181, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 10.3749, y: 3.56534, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 8.745, y: 5.44117, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 7.77073, y: 7.15547, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 6.6754, y: 9.06589, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 5.57244, y: 10.9718, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 4.083708, y: 13.319835, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 3.97369, y: 15.49268, z: 0, vel: 1, rad: 1, stop: false} +finish_pose: + header: {seq: 0, stamp: 85.975, frame_id: map} + pose: + position: {x: 4.71656, y: 16.9783, z: 0} + orientation: {x: 0, y: 0, z: 0.0143918, w: 0.999896} \ No newline at end of file diff --git a/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_sim_tandem.yaml b/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_sim_tandem.yaml new file mode 100644 index 0000000..d045698 --- /dev/null +++ b/src/tsukuba2022/config/waypoints/nakaniwa/waypoints_nakaniwa_sim_tandem.yaml @@ -0,0 +1,25 @@ +waypoints: +- point: {x: 4.491795, y: 0.687617, z: 0.00511169, vel: 0.3, rad: 0.5, stop: false, tandem_start: 1} +- point: {x: 6.850828, y: 0.674796, z: 0.0, vel: 0.3, rad: 0.5, stop: false} +- point: {x: 9.179548, y: 0.571663, z: 0.0, vel: 0.3, rad: 0.5, stop: false} +- point: {x: 11.982831, y: 0.380964, z: -0.00192642, vel: 0.3, rad: 0.5, 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stop: false} +- point: {x: 9.32663, y: 6.47157, z: 0.00183296, vel: 1, rad: 1, stop: false} +- point: {x: 11.210933, y: 3.520583, z: 0.00384521, vel: 1, rad: 1, stop: false} +- point: {x: 11.044868, y: 0.845988, z: 0.00480747, vel: 1, rad: 1, stop: false} +finish_pose: + header: {seq: 0, stamp: 113.132, frame_id: map} + pose: + position: {x: 3.878206, y: 0.178377, z: 0} + orientation: {x: 0.0, y: 0.0, z: 0.9998780115811825, w: 0.015619281560321212} diff --git a/src/tsukuba2022/config/waypoints/tsukuba/raw/waypoints_tsukuba_1_L_old.yaml b/src/tsukuba2022/config/waypoints/tsukuba/raw/waypoints_tsukuba_1_L_old.yaml new file mode 100644 index 0000000..83f1755 --- /dev/null +++ b/src/tsukuba2022/config/waypoints/tsukuba/raw/waypoints_tsukuba_1_L_old.yaml @@ -0,0 +1,49 @@ +waypoints: +- point: {x: 5.211877, y: 3.87158, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 18.219589, y: 3.771521, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 33.428608, y: 3.371284, z: 0, vel: 1, rad: 1.0, 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false} +- point: {x: 182.438, y: -1.74787, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 185.46, y: -2.76484, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 188.404, y: -3.36537, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 194.471, y: -4.88014, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 199.113, y: -5.33859, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 202.886, y: -5.88745, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 206.441, y: -7.31497, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 208.486, y: -10.3279, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 209.529, y: -14.663, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 210.145, y: -18.5102, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 210.708, y: -21.7332, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 210.066, y: -26.0123, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 208.603, y: -31.8163, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 208.456, y: -36.4555, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 207.626, y: -43.7698, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 206.67, y: -49.5498, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 205.592, y: -54.7511, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 204.77, y: -59.0512, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 206.924, y: -64.381, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 208.642, y: -68.1098, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 210.39, y: -72.1318, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 212.264, y: -75.1983, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 216.875, y: -77.5158, z: 0, vel: 1, rad: 1, stop: true} +- point: {x: 225.351, y: -80.4098, z: 0, vel: 1, rad: 0.5, stop: false} +- point: {x: 227.891984, y: -77.714962, z: 0.0, vel: 1, rad: 0.5, stop: false} +finish_pose: + header: {seq: 0, stamp: 1666500443.4820855, frame_id: map} + pose: + position: {x: 227.823711, y: -74.164762, z: 0} + orientation: {x: 0.0, y: 0.0, z: 0.5788893188481334, w: 0.815406129804985} \ No newline at end of file diff --git a/src/tsukuba2022/config/waypoints/tsukuba/waypoints_tsukuba_8.yaml b/src/tsukuba2022/config/waypoints/tsukuba/waypoints_tsukuba_8.yaml new file mode 100644 index 0000000..151c793 --- /dev/null +++ b/src/tsukuba2022/config/waypoints/tsukuba/waypoints_tsukuba_8.yaml @@ -0,0 +1,25 @@ +waypoints: +- point: {x: 14.9492, y: 0.871575, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 19.6856, y: 0.632644, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 24.9351, y: 0.233624, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 32.0594, y: -0.17328, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 39.5993, y: -0.453472, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 46.9868, y: -1.03966, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 54.2481, y: -1.22557, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 62.8625, y: -1.11575, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 71.0413, y: -1.23109, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 79.8398, y: -1.10049, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 88.495, y: -0.986142, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 96.6576, y: -0.955216, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 103.025, y: -0.811471, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 109.904315, y: -1.289815, z: 0, vel: 1, rad: 0.5, stop: false} +- point: {x: 116.139361, y: -5.100952, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 121.485, y: -8.93011, z: 0, vel: 1, rad: 1, stop: true} +- point: {x: 127.70905, y: -9.380839, z: 0.0, vel: 1, rad: 1, stop: true} +- point: {x: 142.110378, y: -9.242956, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 145.37988, y: -11.044519, z: 0.0, vel: 1, rad: 1, stop: false} +finish_pose: + header: {seq: 0, stamp: 1666500880.699932, frame_id: map} + pose: + position: {x: 145.605235, y: -14.406034, z: 0} + orientation: {x: -0.0, y: 0.0, z: -0.7071067811865476, w: 0.7071067811865476} \ No newline at end of file diff --git a/src/tsukuba2022/config/waypoints/tsukuba/waypoints_tsukuba_9.yaml b/src/tsukuba2022/config/waypoints/tsukuba/waypoints_tsukuba_9.yaml new file mode 100644 index 0000000..f481ebf --- /dev/null +++ b/src/tsukuba2022/config/waypoints/tsukuba/waypoints_tsukuba_9.yaml @@ -0,0 +1,38 @@ +waypoints: +- point: {x: -229.450346, y: 36.265549, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: -229.478325, y: 31.425174, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -229.310451, y: 25.941282, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -229.03066, y: 19.841851, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -228.806828, y: 14.413916, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -228.918744, y: 9.097898, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -228.862786, y: 2.382928, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -228.638954, y: -3.324797, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -228.471079, y: -9.704018, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -228.582996, y: -16.139198, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -228.610975, y: -22.714273, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -228.694912, y: -28.505935, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -228.582996, y: -35.66857, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -224.442097, y: -42.943121, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -215.376887, y: -42.719289, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -207.207007, y: -42.215666, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -198.92521, y: -42.159708, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -190.643414, y: -41.712043, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -182.361617, y: -41.320337, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -173.072575, y: -41.264379, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -164.566946, y: -40.872672, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -154.886197, y: -40.536923, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -148.115269, y: -40.64884, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -142.295628, y: -40.984588, z: 0.0, vel: 1, rad: 1, stop: true} +- point: {x: -135.300868, y: -40.480965, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -127.019071, y: -40.592881, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -118.28961, y: -40.201175, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -109.672065, y: -40.201175, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -100.718771, y: -40.033301, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -90.926106, y: -39.529678, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -81.077483, y: -39.641594, z: 0.0, vel: 1, rad: 1.0, stop: false} +- point: {x: -72.236106, y: -39.361804, z: 0.0, vel: 1, rad: 1.0, stop: false} +finish_pose: + header: {seq: 0, stamp: 1666500880.699932, frame_id: map} + pose: + position: {x: -66.953131, y: -39.658873, z: 0} + orientation: {x: -0.0, y: 0.0, z: -0.020647941737949912, w: 0.9997868085256908} \ No newline at end of file diff --git a/src/tsukuba2022/config/waypoints/waypoints.yaml b/src/tsukuba2022/config/waypoints/waypoints.yaml index 33c7c83..a3c9691 100644 --- a/src/tsukuba2022/config/waypoints/waypoints.yaml +++ b/src/tsukuba2022/config/waypoints/waypoints.yaml @@ -1,23 +1,8 @@ waypoints: -- point: {x: 3.876438, y: 0.067258, z: 0.00511169, vel: 1, rad: 1, stop: false} -- point: {x: 10.24828, y: 0.067258, z: -0.00192642, vel: 1, rad: 1, stop: false} -- point: {x: 14.343374, y: 0.067258, z: 0.00251579, vel: 1, rad: 1, stop: false} -- point: {x: 15.695671, y: 1.465396, z: 0.0, vel: 1.0, rad: 1.0, stop: false} -- point: {x: 15.731122, y: 6.432358, z: 0.00242996, vel: 1, rad: 1, stop: false} -- point: {x: 15.770729, y: 11.224717, z: 0.0, vel: 1, rad: 1, stop: false} -- point: {x: 15.840833, y: 15.530818, z: 0.0023098, vel: 1, rad: 1, stop: false} -- point: {x: 14.381574, y: 17.020638, z: 0.0, vel: 1, rad: 1, stop: false} -- point: {x: 9.36751, y: 17.0985, z: 0.00177956, vel: 1, rad: 1, stop: false} -- point: {x: 4.640448, y: 17.165799, z: 0.000879288, vel: 1, rad: 1, stop: false} -- point: {x: 3.318711, y: 15.828782, z: 0.0, vel: 1, rad: 1, stop: true} -- 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: 8.047505, y: 8.46548, 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: 11.210933, y: 3.520583, z: 0.00384521, vel: 1, rad: 1, stop: false} -- point: {x: 10.872753, y: 0.465013, z: 0.00480747, vel: 1, rad: 1, stop: false} +- point: {x: 2.66587, y: 0.0700625, z: 0, vel: 1, rad: 0.8, stop: false} +- point: {x: 8.1709, y: 0.357594, z: 0, vel: 1, rad: 0.8, stop: false} finish_pose: - header: {seq: 0, stamp: 113.132, frame_id: map} - pose: - position: {x: 9.27349, y: 0.143879, z: 0} - orientation: {x: 0, y: 0, z: 0.999983, w: 0.00578372} \ No newline at end of file + header: {seq: 0, stamp: 1668580166.701891002, frame_id: map} + pose: + position: {x: 10.2119, y: 0.455358, z: 0} + orientation: {x: 0, y: 0, z: -0.999671, w: 0.0256456} diff --git a/src/tsukuba2022/config/waypoints/waypoints_202211160629.yaml b/src/tsukuba2022/config/waypoints/waypoints_202211160629.yaml new file mode 100644 index 0000000..a3c9691 --- /dev/null +++ b/src/tsukuba2022/config/waypoints/waypoints_202211160629.yaml @@ -0,0 +1,8 @@ +waypoints: +- point: {x: 2.66587, y: 0.0700625, z: 0, vel: 1, rad: 0.8, stop: false} +- point: {x: 8.1709, y: 0.357594, z: 0, vel: 1, rad: 0.8, stop: false} +finish_pose: + header: {seq: 0, stamp: 1668580166.701891002, frame_id: map} + pose: + position: {x: 10.2119, y: 0.455358, z: 0} + orientation: {x: 0, y: 0, z: -0.999671, w: 0.0256456} diff --git a/src/tsukuba2022/config/waypoints/waypoints_nakaniwa.yaml b/src/tsukuba2022/config/waypoints/waypoints_nakaniwa.yaml deleted file mode 100644 index 03e07a4..0000000 --- a/src/tsukuba2022/config/waypoints/waypoints_nakaniwa.yaml +++ /dev/null @@ -1,33 +0,0 @@ -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 deleted file mode 100644 index 33c7c83..0000000 --- a/src/tsukuba2022/config/waypoints/waypoints_sim_nakaniwa.yaml +++ /dev/null @@ -1,23 +0,0 @@ -waypoints: -- point: {x: 3.876438, y: 0.067258, z: 0.00511169, vel: 1, rad: 1, stop: false} -- point: {x: 10.24828, y: 0.067258, z: -0.00192642, vel: 1, rad: 1, stop: false} -- point: {x: 14.343374, y: 0.067258, z: 0.00251579, vel: 1, rad: 1, stop: false} -- point: {x: 15.695671, y: 1.465396, z: 0.0, vel: 1.0, rad: 1.0, stop: false} -- point: {x: 15.731122, y: 6.432358, z: 0.00242996, vel: 1, rad: 1, stop: false} -- point: {x: 15.770729, y: 11.224717, z: 0.0, vel: 1, rad: 1, stop: false} -- point: {x: 15.840833, y: 15.530818, z: 0.0023098, vel: 1, rad: 1, stop: false} -- point: {x: 14.381574, y: 17.020638, z: 0.0, vel: 1, rad: 1, stop: false} -- point: {x: 9.36751, y: 17.0985, z: 0.00177956, vel: 1, rad: 1, stop: false} -- point: {x: 4.640448, y: 17.165799, z: 0.000879288, vel: 1, rad: 1, stop: false} -- point: {x: 3.318711, y: 15.828782, z: 0.0, vel: 1, rad: 1, stop: true} -- 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: 8.047505, y: 8.46548, 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: 11.210933, y: 3.520583, z: 0.00384521, vel: 1, rad: 1, stop: false} -- point: {x: 10.872753, y: 0.465013, z: 0.00480747, vel: 1, rad: 1, stop: false} -finish_pose: - header: {seq: 0, stamp: 113.132, frame_id: map} - pose: - position: {x: 9.27349, y: 0.143879, z: 0} - orientation: {x: 0, y: 0, z: 0.999983, w: 0.00578372} \ No newline at end of file diff --git a/src/tsukuba2022/launch/buildmap_from_bag.launch b/src/tsukuba2022/launch/buildmap_from_bag.launch index bd635a5..a232c79 100644 --- a/src/tsukuba2022/launch/buildmap_from_bag.launch +++ b/src/tsukuba2022/launch/buildmap_from_bag.launch @@ -2,9 +2,16 @@ + + + + + + + @@ -14,6 +21,18 @@ + + + + + + + + + + + + diff --git a/src/tsukuba2022/launch/buildmap_teleop_joy.launch b/src/tsukuba2022/launch/buildmap_teleop_joy.launch index acdc48d..fbb359d 100644 --- a/src/tsukuba2022/launch/buildmap_teleop_joy.launch +++ b/src/tsukuba2022/launch/buildmap_teleop_joy.launch @@ -7,7 +7,7 @@ - + @@ -40,6 +40,6 @@ - + diff --git a/src/tsukuba2022/launch/motor.launch b/src/tsukuba2022/launch/motor.launch index e41ec65..feb8d78 100644 --- a/src/tsukuba2022/launch/motor.launch +++ b/src/tsukuba2022/launch/motor.launch @@ -1,27 +1,22 @@ - - + - - - - - - - + + + + - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/tsukuba2022/launch/segmentation.launch b/src/tsukuba2022/launch/segmentation.launch new file mode 100644 index 0000000..d31d460 --- /dev/null +++ b/src/tsukuba2022/launch/segmentation.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/tsukuba2022/launch/sensors.launch b/src/tsukuba2022/launch/sensors.launch new file mode 100644 index 0000000..fee8690 --- /dev/null +++ b/src/tsukuba2022/launch/sensors.launch @@ -0,0 +1,93 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/tsukuba2022/launch/start.launch b/src/tsukuba2022/launch/start.launch index 6c5fd1e..e85ef9e 100644 --- a/src/tsukuba2022/launch/start.launch +++ b/src/tsukuba2022/launch/start.launch @@ -1,140 +1,31 @@ - + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + - - - - - - - - - - - - + + + + + + + + diff --git a/src/tsukuba2022/launch/start_sim.launch b/src/tsukuba2022/launch/start_sim.launch index a0d655f..58eea84 100644 --- a/src/tsukuba2022/launch/start_sim.launch +++ b/src/tsukuba2022/launch/start_sim.launch @@ -12,6 +12,7 @@ + @@ -22,25 +23,16 @@ + - - - - - - - + + - - - - - - + @@ -55,6 +47,7 @@ + @@ -63,5 +56,4 @@ - diff --git a/src/tsukuba2022/launch/waypoint_navigation.launch b/src/tsukuba2022/launch/waypoint_navigation.launch index a896ca9..07c43b5 100644 --- a/src/tsukuba2022/launch/waypoint_navigation.launch +++ b/src/tsukuba2022/launch/waypoint_navigation.launch @@ -1,26 +1,27 @@ - - - - - - + + + + + + - - - - - - - - + + + + + + + + + @@ -28,20 +29,26 @@ + + - - - - + + + + + + + + - + diff --git a/src/tsukuba2022/launch/waypoint_navigation_emcl.launch b/src/tsukuba2022/launch/waypoint_navigation_emcl.launch new file mode 100644 index 0000000..34aff0e --- /dev/null +++ b/src/tsukuba2022/launch/waypoint_navigation_emcl.launch @@ -0,0 +1,49 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/tsukuba2022/launch/waypoint_navigation_multi.launch b/src/tsukuba2022/launch/waypoint_navigation_multi.launch new file mode 100644 index 0000000..4d004e5 --- /dev/null +++ b/src/tsukuba2022/launch/waypoint_navigation_multi.launch @@ -0,0 +1,60 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/tsukuba2022/maps/cpmap.sh b/src/tsukuba2022/maps/cpmap.sh new file mode 100755 index 0000000..a06cd76 --- /dev/null +++ b/src/tsukuba2022/maps/cpmap.sh @@ -0,0 +1,2 @@ +cp $1.pgm $2.pgm +cp $1.yaml $2.yaml diff --git a/src/tsukuba2022/maps/mymap.pgm b/src/tsukuba2022/maps/mymap.pgm index 7bedc78..f75a562 100644 --- a/src/tsukuba2022/maps/mymap.pgm +++ b/src/tsukuba2022/maps/mymap.pgm Binary files differ diff --git a/src/tsukuba2022/maps/mymap.yaml b/src/tsukuba2022/maps/mymap.yaml index ca6f07f..9dd3917 100644 --- a/src/tsukuba2022/maps/mymap.yaml +++ b/src/tsukuba2022/maps/mymap.yaml @@ -1,6 +1,6 @@ image: /home/ubuntu/catkin_ws/src/tsukuba2022/maps/mymap.pgm -resolution: 0.050000 -origin: [-60.000000, -60.000000, 0.000000] +resolution: 0.100000 +origin: [-50.000000, -50.000000, 0.000000] negate: 0 occupied_thresh: 0.65 free_thresh: 0.196 diff --git a/src/tsukuba2022/maps/mymap_202211160629.pgm b/src/tsukuba2022/maps/mymap_202211160629.pgm new file mode 100644 index 0000000..f75a562 --- /dev/null +++ b/src/tsukuba2022/maps/mymap_202211160629.pgm Binary files differ diff --git a/src/tsukuba2022/maps/mymap_202211160629.yaml b/src/tsukuba2022/maps/mymap_202211160629.yaml new file mode 100644 index 0000000..9dd3917 --- /dev/null +++ b/src/tsukuba2022/maps/mymap_202211160629.yaml @@ -0,0 +1,7 @@ +image: /home/ubuntu/catkin_ws/src/tsukuba2022/maps/mymap.pgm +resolution: 0.100000 +origin: [-50.000000, -50.000000, 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 deleted file mode 100644 index 86ebccd..0000000 --- a/src/tsukuba2022/maps/mymap_nakaniwa.pgm +++ /dev/null Binary files differ diff --git a/src/tsukuba2022/maps/mymap_nakaniwa.yaml b/src/tsukuba2022/maps/mymap_nakaniwa.yaml deleted file mode 100644 index deebdb7..0000000 --- a/src/tsukuba2022/maps/mymap_nakaniwa.yaml +++ /dev/null @@ -1,7 +0,0 @@ -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 deleted file mode 100644 index 7bedc78..0000000 --- a/src/tsukuba2022/maps/mymap_sim_nakaniwa.pgm +++ /dev/null Binary files differ diff --git a/src/tsukuba2022/maps/mymap_sim_nakaniwa.yaml b/src/tsukuba2022/maps/mymap_sim_nakaniwa.yaml deleted file mode 100644 index e95a921..0000000 --- a/src/tsukuba2022/maps/mymap_sim_nakaniwa.yaml +++ /dev/null @@ -1,7 +0,0 @@ -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/maps/nakaniwa/merged-nakaniwa_1-2.pgm b/src/tsukuba2022/maps/nakaniwa/merged-nakaniwa_1-2.pgm new file mode 100644 index 0000000..0ae09cc --- /dev/null +++ b/src/tsukuba2022/maps/nakaniwa/merged-nakaniwa_1-2.pgm Binary files differ diff --git a/src/tsukuba2022/maps/nakaniwa/merged-nakaniwa_1-2.yaml b/src/tsukuba2022/maps/nakaniwa/merged-nakaniwa_1-2.yaml new file mode 100644 index 0000000..579dfdb --- /dev/null +++ b/src/tsukuba2022/maps/nakaniwa/merged-nakaniwa_1-2.yaml @@ -0,0 +1,6 @@ +image: /home/ubuntu/catkin_ws/src/tsukuba2022/maps/nakaniwa/merged-nakaniwa_1-2.pgm +resolution: 0.05 +origin: [-50.0, -50.3947385034915, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa.pgm b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa.pgm new file mode 100644 index 0000000..86ebccd --- /dev/null +++ b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa.pgm Binary files differ diff --git a/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa.yaml b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa.yaml new file mode 100644 index 0000000..c152407 --- /dev/null +++ b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa.yaml @@ -0,0 +1,7 @@ +image: ./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/nakaniwa/mymap_nakaniwa_1.pgm b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_1.pgm new file mode 100644 index 0000000..ae968dc --- /dev/null +++ b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_1.pgm Binary files differ diff --git a/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_1.yaml b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_1.yaml new file mode 100644 index 0000000..234dc89 --- /dev/null +++ b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_1.yaml @@ -0,0 +1,7 @@ +image: /home/ubuntu/catkin_ws/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_1.pgm +resolution: 0.050000 +origin: [-50.000000, -50.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_1109.pgm b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_1109.pgm new file mode 100644 index 0000000..60586df --- /dev/null +++ b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_1109.pgm Binary files differ diff --git a/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_1109.yaml b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_1109.yaml new file mode 100644 index 0000000..4b2b14e --- /dev/null +++ b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_1109.yaml @@ -0,0 +1,7 @@ +image: ./mymap_nakaniwa_1109.pgm +resolution: 0.100000 +origin: [-50.000000, -50.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_2.pgm b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_2.pgm new file mode 100644 index 0000000..73d7b42 --- /dev/null +++ b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_2.pgm Binary files differ diff --git a/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_2.yaml b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_2.yaml new file mode 100644 index 0000000..9b6f2d2 --- /dev/null +++ b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_2.yaml @@ -0,0 +1,7 @@ +image: /home/ubuntu/catkin_ws/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_2.pgm +resolution: 0.050000 +origin: [-50.000000, -50.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_sim.pgm b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_sim.pgm new file mode 100644 index 0000000..7bedc78 --- /dev/null +++ b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_sim.pgm Binary files differ diff --git a/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_sim.yaml b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_sim.yaml new file mode 100644 index 0000000..2f6898c --- /dev/null +++ b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_sim.yaml @@ -0,0 +1,7 @@ +image: ./mymap_nakaniwa_sim.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/nakaniwa/mymap_nakaniwa_sim_1.pgm b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_sim_1.pgm new file mode 100644 index 0000000..78798d3 --- /dev/null +++ b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_sim_1.pgm Binary files differ diff --git a/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_sim_1.yaml b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_sim_1.yaml new file mode 100644 index 0000000..565c916 --- /dev/null +++ b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_sim_1.yaml @@ -0,0 +1,7 @@ +image: ./mymap_nakaniwa_sim_1.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/nakaniwa/mymap_nakaniwa_sim_2.pgm b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_sim_2.pgm new file mode 100644 index 0000000..e897525 --- /dev/null +++ b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_sim_2.pgm Binary files differ diff --git a/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_sim_2.yaml b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_sim_2.yaml new file mode 100644 index 0000000..901cd59 --- /dev/null +++ b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_sim_2.yaml @@ -0,0 +1,7 @@ +image: ./mymap_nakaniwa_sim_2.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/nakaniwa/mymap_nakaniwa_trim.pgm b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_trim.pgm new file mode 100644 index 0000000..4361968 --- /dev/null +++ b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_trim.pgm Binary files differ diff --git a/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_trim.yaml b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_trim.yaml new file mode 100644 index 0000000..80ce244 --- /dev/null +++ b/src/tsukuba2022/maps/nakaniwa/mymap_nakaniwa_trim.yaml @@ -0,0 +1,6 @@ +image: ./mymap_nakaniwa_trim.pgm +resolution: 0.05 +origin: [28.170469620170707, -28.544742473573685, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/maps/setmap.sh b/src/tsukuba2022/maps/setmap.sh new file mode 100755 index 0000000..d89f860 --- /dev/null +++ b/src/tsukuba2022/maps/setmap.sh @@ -0,0 +1,2 @@ +cp $1.pgm mymap.pgm +cp $1.yaml mymap.yaml diff --git a/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_1.pgm b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_1.pgm new file mode 100644 index 0000000..fd554ed --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_1.pgm Binary files differ diff --git a/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_1.yaml b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_1.yaml new file mode 100644 index 0000000..6074276 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_1.yaml @@ -0,0 +1,7 @@ +image: ./mymap_tsukuba_1.pgm +resolution: 0.100000 +origin: [-110.800000, -78.800000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_2.pgm b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_2.pgm new file mode 100644 index 0000000..dbdb838 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_2.pgm Binary files differ diff --git a/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_2.yaml b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_2.yaml new file mode 100644 index 0000000..4dd51ac --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_2.yaml @@ -0,0 +1,6 @@ +image: ./mymap_tsukuba_2.pgm +resolution: 0.1 +origin: [-288.3931311734531, -87.22861015928352, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_3.pgm b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_3.pgm new file mode 100644 index 0000000..bea8647 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_3.pgm Binary files differ diff --git a/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_3.yaml b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_3.yaml new file mode 100644 index 0000000..75422f2 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_3.yaml @@ -0,0 +1,6 @@ +image: ./mymap_tsukuba_3.pgm +resolution: 0.1 +origin: [-550.6649715593369, -29.044654528977503, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_4.pgm b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_4.pgm new file mode 100644 index 0000000..208247f --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_4.pgm Binary files differ diff --git a/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_4.yaml b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_4.yaml new file mode 100644 index 0000000..57d92e9 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_4.yaml @@ -0,0 +1,6 @@ +image: ./mymap_tsukuba_4.pgm +resolution: 0.1 +origin: [-606.5557738478564, 58.956719886505816, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_5.pgm b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_5.pgm new file mode 100644 index 0000000..03d2701 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_5.pgm Binary files differ diff --git a/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_5.yaml b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_5.yaml new file mode 100644 index 0000000..96f9ed2 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_5.yaml @@ -0,0 +1,7 @@ +image: ./mymap_tsukuba_5.pgm +resolution: 0.100000 +origin: [-50.000000, -50.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_6.pgm b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_6.pgm new file mode 100644 index 0000000..1f599d6 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_6.pgm Binary files differ diff --git a/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_6.yaml b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_6.yaml new file mode 100644 index 0000000..17122d6 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_6.yaml @@ -0,0 +1,7 @@ +image: ./mymap_tsukuba_6.pgm +resolution: 0.100000 +origin: [-50.000000, -50.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_7.pgm b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_7.pgm new file mode 100644 index 0000000..17b4003 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_7.pgm Binary files differ diff --git a/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_7.yaml b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_7.yaml new file mode 100644 index 0000000..6cd3e5a --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_7.yaml @@ -0,0 +1,7 @@ +image: ./mymap_tsukuba_7.pgm +resolution: 0.100000 +origin: [-50.000000, -117.200000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_8.pgm b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_8.pgm new file mode 100644 index 0000000..2020802 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_8.pgm Binary files differ diff --git a/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_8.yaml b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_8.yaml new file mode 100644 index 0000000..4291203 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/edited/mymap_tsukuba_8.yaml @@ -0,0 +1,7 @@ +image: ./mymap_tsukuba_8.pgm +resolution: 0.100000 +origin: [-50.000000, -66.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/tsukuba2022/maps/tsukuba/old/mymap_tsukuba_1_old.pgm b/src/tsukuba2022/maps/tsukuba/old/mymap_tsukuba_1_old.pgm new file mode 100644 index 0000000..5fb1a07 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/old/mymap_tsukuba_1_old.pgm Binary files differ diff --git a/src/tsukuba2022/maps/tsukuba/old/mymap_tsukuba_1_old.yaml b/src/tsukuba2022/maps/tsukuba/old/mymap_tsukuba_1_old.yaml new file mode 100644 index 0000000..3233096 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/old/mymap_tsukuba_1_old.yaml @@ -0,0 +1,7 @@ +image: ./mymap_tsukuba_1_edited.pgm +resolution: 0.050000 +origin: [-82.400000, -74.400000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/tsukuba2022/maps/tsukuba/old/mymap_tsukuba_1_old_edited.pgm b/src/tsukuba2022/maps/tsukuba/old/mymap_tsukuba_1_old_edited.pgm new file mode 100644 index 0000000..97bd1d5 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/old/mymap_tsukuba_1_old_edited.pgm Binary files differ diff --git a/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_1.pgm b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_1.pgm new file mode 100644 index 0000000..3e42d70 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_1.pgm Binary files differ diff --git a/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_1.yaml b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_1.yaml new file mode 100644 index 0000000..6074276 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_1.yaml @@ -0,0 +1,7 @@ +image: ./mymap_tsukuba_1.pgm +resolution: 0.100000 +origin: [-110.800000, -78.800000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_2.pgm b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_2.pgm new file mode 100644 index 0000000..a733b2a --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_2.pgm Binary files differ diff --git a/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_2.yaml b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_2.yaml new file mode 100644 index 0000000..c208466 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_2.yaml @@ -0,0 +1,7 @@ +image: ./mymap_tsukuba_2.pgm +resolution: 0.100000 +origin: [-50.000000, -146.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_3.pgm b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_3.pgm new file mode 100644 index 0000000..bdbc38a --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_3.pgm Binary files differ diff --git a/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_3.yaml b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_3.yaml new file mode 100644 index 0000000..11084f6 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_3.yaml @@ -0,0 +1,7 @@ +image: ./mymap_tsukuba_3.pgm +resolution: 0.100000 +origin: [-62.800000, -315.600000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_4.pgm b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_4.pgm new file mode 100644 index 0000000..bfc561a --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_4.pgm Binary files differ diff --git a/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_4.yaml b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_4.yaml new file mode 100644 index 0000000..b70cf11 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_4.yaml @@ -0,0 +1,7 @@ +image: ./mymap_tsukuba_4.pgm +resolution: 0.100000 +origin: [-50.000000, -50.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_5.pgm b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_5.pgm new file mode 100644 index 0000000..a5479fd --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_5.pgm Binary files differ diff --git a/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_5.yaml b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_5.yaml new file mode 100644 index 0000000..96f9ed2 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_5.yaml @@ -0,0 +1,7 @@ +image: ./mymap_tsukuba_5.pgm +resolution: 0.100000 +origin: [-50.000000, -50.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_6.pgm b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_6.pgm new file mode 100644 index 0000000..99f13fd --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_6.pgm Binary files differ diff --git a/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_6.yaml b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_6.yaml new file mode 100644 index 0000000..17122d6 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_6.yaml @@ -0,0 +1,7 @@ +image: ./mymap_tsukuba_6.pgm +resolution: 0.100000 +origin: [-50.000000, -50.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_7.pgm b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_7.pgm new file mode 100644 index 0000000..be01057 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_7.pgm Binary files differ diff --git a/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_7.yaml b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_7.yaml new file mode 100644 index 0000000..6cd3e5a --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_7.yaml @@ -0,0 +1,7 @@ +image: ./mymap_tsukuba_7.pgm +resolution: 0.100000 +origin: [-50.000000, -117.200000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_8.pgm b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_8.pgm new file mode 100644 index 0000000..3c177e4 --- /dev/null +++ b/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_8.pgm Binary files differ diff --git a/src/tsukuba2022/maps/tsukuba/raw/mymap_tsukuba_8.yaml 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8660

- - - - - - - - - - 1 0 0 0 0 -1.11022e-16 -1 0 0 1 -1.11022e-16 0 0 0 0 1 - - - - 1 0 0 0 0 1.11022e-16 1 0 0 -1 1.11022e-16 0 0 0 0 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/tsukuba2022/models/barricade/model.config b/src/tsukuba2022/models/barricade/model.config deleted file mode 100644 index 22ad1be..0000000 --- a/src/tsukuba2022/models/barricade/model.config +++ /dev/null @@ -1,5 +0,0 @@ - - barricade - 1.0 - model.sdf - diff --git a/src/tsukuba2022/models/barricade/model.sdf b/src/tsukuba2022/models/barricade/model.sdf deleted file mode 100644 index 0db1667..0000000 --- a/src/tsukuba2022/models/barricade/model.sdf +++ /dev/null @@ -1,33 +0,0 @@ - - - - True - - - 0 0 1.5 0 0 0 - - - - 3 0.5 3 - - - - - - - - - - - 3 0.5 3 - - - - - - - - diff --git a/src/tsukuba2022/models/course/materials/scripts/course.material b/src/tsukuba2022/models/course/materials/scripts/course.material deleted file mode 100644 index 7896c40..0000000 --- a/src/tsukuba2022/models/course/materials/scripts/course.material +++ /dev/null @@ -1,13 +0,0 @@ -material course -{ - technique - { - pass - { - texture_unit - { - texture igvc2022_course_image_1400x1200.png - } - } - } -} diff --git a/src/tsukuba2022/models/course/materials/textures/igvc2022_course_image_1400x1200.png b/src/tsukuba2022/models/course/materials/textures/igvc2022_course_image_1400x1200.png deleted file mode 100644 index d35abc4..0000000 --- a/src/tsukuba2022/models/course/materials/textures/igvc2022_course_image_1400x1200.png +++ /dev/null Binary files differ diff --git a/src/tsukuba2022/models/course/materials/textures/igvc2022_course_image_v2_1400x1200.png b/src/tsukuba2022/models/course/materials/textures/igvc2022_course_image_v2_1400x1200.png deleted file mode 100644 index 72f0136..0000000 --- a/src/tsukuba2022/models/course/materials/textures/igvc2022_course_image_v2_1400x1200.png +++ /dev/null Binary files differ diff --git a/src/tsukuba2022/models/course/model.config b/src/tsukuba2022/models/course/model.config deleted file mode 100644 index 37d6e2e..0000000 --- a/src/tsukuba2022/models/course/model.config +++ /dev/null @@ -1,5 +0,0 @@ - - course - 1.0 - model.sdf - diff --git a/src/tsukuba2022/models/course/model.sdf b/src/tsukuba2022/models/course/model.sdf deleted file mode 100644 index f2947b1..0000000 --- a/src/tsukuba2022/models/course/model.sdf +++ /dev/null @@ -1,42 +0,0 @@ - - - - true - - - - - - - 43 37 - - - - - - - - - - - 43 37 - - - - - - 1 - 1 - - - - - - - - - diff --git a/src/tsukuba2022/models/course_v2/materials/scripts/course_v2.material b/src/tsukuba2022/models/course_v2/materials/scripts/course_v2.material deleted file mode 100644 index ef84cca..0000000 --- a/src/tsukuba2022/models/course_v2/materials/scripts/course_v2.material +++ /dev/null @@ -1,13 +0,0 @@ -material course_v2 -{ - technique - { - pass - { - texture_unit - { - texture igvc2022_course_image_v2_1400x1200.png - } - } - } -} diff --git a/src/tsukuba2022/models/course_v2/materials/textures/igvc2022_course_image_v2_1400x1200.png b/src/tsukuba2022/models/course_v2/materials/textures/igvc2022_course_image_v2_1400x1200.png deleted file mode 100644 index 72f0136..0000000 --- a/src/tsukuba2022/models/course_v2/materials/textures/igvc2022_course_image_v2_1400x1200.png +++ /dev/null Binary files differ diff --git a/src/tsukuba2022/models/course_v2/model.config b/src/tsukuba2022/models/course_v2/model.config deleted file mode 100644 index afb5e2c..0000000 --- a/src/tsukuba2022/models/course_v2/model.config +++ /dev/null @@ -1,5 +0,0 @@ - - course_v2 - 1.0 - model.sdf - diff --git a/src/tsukuba2022/models/course_v2/model.sdf b/src/tsukuba2022/models/course_v2/model.sdf deleted file mode 100644 index 687723e..0000000 --- a/src/tsukuba2022/models/course_v2/model.sdf +++ /dev/null @@ -1,41 +0,0 @@ - - - true - - - - - - - 43 37 - - - - - - - - - - - 43 37 - - - - - - 1 - 1 - - - - - - - - - diff --git a/src/tsukuba2022/models/ramp/model.config b/src/tsukuba2022/models/ramp/model.config deleted file mode 100644 index d0b4039..0000000 --- a/src/tsukuba2022/models/ramp/model.config +++ /dev/null @@ -1,5 +0,0 @@ - - ramp - 1.0 - model.sdf - diff --git a/src/tsukuba2022/models/ramp/model.sdf b/src/tsukuba2022/models/ramp/model.sdf deleted file mode 100644 index 38884e5..0000000 --- a/src/tsukuba2022/models/ramp/model.sdf +++ /dev/null @@ -1,73 +0,0 @@ - - - - True - - - 0 -0.9889 0.1484 0.148 0 0 - - - - 4 2 0.05 - - - - - - - - - - - 4 2 0.05 - - - - - - 2 - 2 - - - - - - - - 0 0.9889 0.1484 -0.148 0 0 - - - - 4 2 0.05 - - - - - - - - - - - 4 2 0.05 - - - - - - 2 - 2 - - - - - - - - diff --git a/src/tsukuba2022/multimaps/nakaniwa/map0.pgm b/src/tsukuba2022/multimaps/nakaniwa/map0.pgm new file mode 100644 index 0000000..df54984 --- /dev/null +++ b/src/tsukuba2022/multimaps/nakaniwa/map0.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/nakaniwa/map0.yaml b/src/tsukuba2022/multimaps/nakaniwa/map0.yaml new file mode 100644 index 0000000..a512b8c --- /dev/null +++ b/src/tsukuba2022/multimaps/nakaniwa/map0.yaml @@ -0,0 +1,6 @@ +image: ./map0.pgm +resolution: 0.05 +origin: [-50.0, -50.0, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/nakaniwa/map1.pgm b/src/tsukuba2022/multimaps/nakaniwa/map1.pgm new file mode 100644 index 0000000..27281a6 --- /dev/null +++ b/src/tsukuba2022/multimaps/nakaniwa/map1.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/nakaniwa/map1.yaml b/src/tsukuba2022/multimaps/nakaniwa/map1.yaml new file mode 100644 index 0000000..3a4d442 --- /dev/null +++ b/src/tsukuba2022/multimaps/nakaniwa/map1.yaml @@ -0,0 +1,6 @@ +image: ./map1.pgm +resolution: 0.05 +origin: [-47.831295, -50.394739, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/nakaniwa/merged_map.pgm b/src/tsukuba2022/multimaps/nakaniwa/merged_map.pgm new file mode 100644 index 0000000..0c59c4c --- /dev/null +++ b/src/tsukuba2022/multimaps/nakaniwa/merged_map.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/nakaniwa/merged_map.yaml b/src/tsukuba2022/multimaps/nakaniwa/merged_map.yaml new file mode 100644 index 0000000..5e0cd83 --- /dev/null +++ b/src/tsukuba2022/multimaps/nakaniwa/merged_map.yaml @@ -0,0 +1,6 @@ +image: ./merged_map.pgm +resolution: 0.05 +origin: [-50.0, -50.39473899999999, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/nakaniwa/waypoints.yaml b/src/tsukuba2022/multimaps/nakaniwa/waypoints.yaml new file mode 100644 index 0000000..463830a --- /dev/null +++ b/src/tsukuba2022/multimaps/nakaniwa/waypoints.yaml @@ -0,0 +1,33 @@ +waypoints: +- point: {x: 4.8992, y: 0.0763934, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 11.025331, y: -0.023422, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 18.50064, y: -0.394513, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 26.176818, y: -0.880348, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 34.8965, y: -2.35386, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 42.74376, y: -4.864187, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 50.530069, y: -5.066462, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 53.505717, y: -1.933611, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 53.2674, y: 7.98859, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 53.0977, y: 20.0885, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 52.5512, y: 29.5179, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 52.298734, y: 41.727943, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 52.033145, y: 52.371588, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 50, y: 54.5, z: 0, vel: 1, rad: 1, stop: true, change_map: 1} +- point: {x: 44.457458, y: 54.265651, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 38.331208, y: 54.17344, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: 30.568212, y: 54.0757, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 22.183928, y: 53.966732, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 14.496347, y: 53.725704, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 6.34269, y: 53.623967, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: -0.732295, y: 53.479098, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: -3.648502, y: 50.77132, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: -3.260954, y: 43.319186, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: -2.632884, y: 33.104345, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: -2.248518, y: 23.345314, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: -2.22096, y: 11.492785, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: -2.253471, y: 0.890283, z: 0.0, vel: 1, rad: 1, stop: false} +finish_pose: + header: {seq: 0, stamp: 1663209268.6905353, frame_id: map} + pose: + position: {x: 1.084303876129681, y: -1.5445686660287592, z: 0} + orientation: {x: 0.0, y: 0.0, z: 0.012634000199744012, w: 0.9999201878344856} \ No newline at end of file diff --git a/src/tsukuba2022/multimaps/nakaniwa_sim/map0.pgm b/src/tsukuba2022/multimaps/nakaniwa_sim/map0.pgm new file mode 100644 index 0000000..2f5060c --- /dev/null +++ b/src/tsukuba2022/multimaps/nakaniwa_sim/map0.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/nakaniwa_sim/map0.yaml b/src/tsukuba2022/multimaps/nakaniwa_sim/map0.yaml new file mode 100644 index 0000000..a47e244 --- /dev/null +++ b/src/tsukuba2022/multimaps/nakaniwa_sim/map0.yaml @@ -0,0 +1,6 @@ +image: /home/ubuntu/catkin_ws/src/tsukuba2022/multimaps/nakaniwa_sim/map0.pgm +resolution: 0.05 +origin: [-60.0, -60.0, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/nakaniwa_sim/map1.pgm b/src/tsukuba2022/multimaps/nakaniwa_sim/map1.pgm new file mode 100644 index 0000000..4d2389a --- /dev/null +++ b/src/tsukuba2022/multimaps/nakaniwa_sim/map1.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/nakaniwa_sim/map1.yaml b/src/tsukuba2022/multimaps/nakaniwa_sim/map1.yaml new file mode 100644 index 0000000..71a1f95 --- /dev/null +++ b/src/tsukuba2022/multimaps/nakaniwa_sim/map1.yaml @@ -0,0 +1,6 @@ +image: /home/ubuntu/catkin_ws/src/tsukuba2022/multimaps/nakaniwa_sim/map1.pgm +resolution: 0.05 +origin: [-45.050354, -43.236632, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba/map0.pgm b/src/tsukuba2022/multimaps/tmp/tsukuba/map0.pgm new file mode 100644 index 0000000..54804db --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba/map0.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba/map0.yaml b/src/tsukuba2022/multimaps/tmp/tsukuba/map0.yaml new file mode 100644 index 0000000..def5cbe --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba/map0.yaml @@ -0,0 +1,6 @@ +image: ./map0.pgm +resolution: 0.1 +origin: [-110.8, -78.8, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba/map1.pgm b/src/tsukuba2022/multimaps/tmp/tsukuba/map1.pgm new file mode 100644 index 0000000..06cbc76 --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba/map1.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba/map1.yaml b/src/tsukuba2022/multimaps/tmp/tsukuba/map1.yaml new file mode 100644 index 0000000..1aeb63f --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba/map1.yaml @@ -0,0 +1,6 @@ +image: ./map1.pgm +resolution: 0.1 +origin: [-288.393131, -87.22861, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba/map2.pgm b/src/tsukuba2022/multimaps/tmp/tsukuba/map2.pgm new file mode 100644 index 0000000..5ea407d --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba/map2.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba/map2.yaml b/src/tsukuba2022/multimaps/tmp/tsukuba/map2.yaml new file mode 100644 index 0000000..68c44ff --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba/map2.yaml @@ -0,0 +1,6 @@ +image: ./map2.pgm +resolution: 0.1 +origin: [-549.081788, -28.869566, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba/map3.pgm b/src/tsukuba2022/multimaps/tmp/tsukuba/map3.pgm new file mode 100644 index 0000000..9aca87b --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba/map3.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba/map3.yaml b/src/tsukuba2022/multimaps/tmp/tsukuba/map3.yaml new file mode 100644 index 0000000..3afef19 --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba/map3.yaml @@ -0,0 +1,6 @@ +image: ./map3.pgm +resolution: 0.1 +origin: [-602.157905, 58.832836, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba/map4.pgm b/src/tsukuba2022/multimaps/tmp/tsukuba/map4.pgm new file mode 100644 index 0000000..7b3b926 --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba/map4.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba/map4.yaml b/src/tsukuba2022/multimaps/tmp/tsukuba/map4.yaml new file mode 100644 index 0000000..375dcca --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba/map4.yaml @@ -0,0 +1,6 @@ +image: ./map4.pgm +resolution: 0.1 +origin: [-657.166625, 78.101689, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba/map5.pgm b/src/tsukuba2022/multimaps/tmp/tsukuba/map5.pgm new file mode 100644 index 0000000..1e2877f --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba/map5.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba/map5.yaml b/src/tsukuba2022/multimaps/tmp/tsukuba/map5.yaml new file mode 100644 index 0000000..34a70da --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba/map5.yaml @@ -0,0 +1,6 @@ +image: ./map5.pgm +resolution: 0.1 +origin: [-636.88789, 228.367456, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba/map6.pgm b/src/tsukuba2022/multimaps/tmp/tsukuba/map6.pgm new file mode 100644 index 0000000..5f3b43f --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba/map6.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba/map6.yaml b/src/tsukuba2022/multimaps/tmp/tsukuba/map6.yaml new file mode 100644 index 0000000..fa0a194 --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba/map6.yaml @@ -0,0 +1,6 @@ +image: ./map6.pgm +resolution: 0.1 +origin: [-494.929449, 7.12399, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba/map7.pgm b/src/tsukuba2022/multimaps/tmp/tsukuba/map7.pgm new file mode 100644 index 0000000..b18ad55 --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba/map7.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba/map7.yaml b/src/tsukuba2022/multimaps/tmp/tsukuba/map7.yaml new file mode 100644 index 0000000..6a019c7 --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba/map7.yaml @@ -0,0 +1,6 @@ +image: ./map7.pgm +resolution: 0.1 +origin: [-426.580826, -17.472845, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba/merged_map_1-8.pgm b/src/tsukuba2022/multimaps/tmp/tsukuba/merged_map_1-8.pgm new file mode 100644 index 0000000..e8e8688 --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba/merged_map_1-8.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba/merged_map_1-8.yaml b/src/tsukuba2022/multimaps/tmp/tsukuba/merged_map_1-8.yaml new file mode 100644 index 0000000..74f5ce0 --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba/merged_map_1-8.yaml @@ -0,0 +1,6 @@ +image: ./merged_map_1-8.pgm +resolution: 0.1 +origin: [-657.166625164207, -87.22861015928396, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 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new file mode 100644 index 0000000..73e0ac3 --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba_2/map0.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba_2/map0.yaml b/src/tsukuba2022/multimaps/tmp/tsukuba_2/map0.yaml new file mode 100644 index 0000000..9b76850 --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba_2/map0.yaml @@ -0,0 +1,6 @@ +image: ./map0.pgm +resolution: 0.1 +origin: [-143.81257306980442, -82.64700016075858, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba_2/map1.pgm b/src/tsukuba2022/multimaps/tmp/tsukuba_2/map1.pgm new file mode 100644 index 0000000..9ada042 --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba_2/map1.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba_2/map1.yaml b/src/tsukuba2022/multimaps/tmp/tsukuba_2/map1.yaml new file mode 100644 index 0000000..1aeb63f --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba_2/map1.yaml 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b/src/tsukuba2022/multimaps/tmp/tsukuba_3/map0.yaml new file mode 100644 index 0000000..474ea4a --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba_3/map0.yaml @@ -0,0 +1,6 @@ +image: ./map0.pgm +resolution: 0.1 +origin: [-324.65831122520103, -15.237809571939238, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba_3/map1.pgm b/src/tsukuba2022/multimaps/tmp/tsukuba_3/map1.pgm new file mode 100644 index 0000000..b4194c2 --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba_3/map1.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba_3/map1.yaml b/src/tsukuba2022/multimaps/tmp/tsukuba_3/map1.yaml new file mode 100644 index 0000000..a92aa98 --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba_3/map1.yaml @@ -0,0 +1,6 @@ +image: ./map1.pgm +resolution: 0.1 +origin: [-550.664972, -29.044655, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba_3/map2.pgm b/src/tsukuba2022/multimaps/tmp/tsukuba_3/map2.pgm new file mode 100644 index 0000000..8b496ef --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba_3/map2.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba_3/map2.yaml b/src/tsukuba2022/multimaps/tmp/tsukuba_3/map2.yaml new file mode 100644 index 0000000..1d8ba4d --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba_3/map2.yaml @@ -0,0 +1,6 @@ +image: ./map2.pgm +resolution: 0.1 +origin: [-550.331199, 30.543284, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba_3/mymap_tsukuba_3_rect.pgm b/src/tsukuba2022/multimaps/tmp/tsukuba_3/mymap_tsukuba_3_rect.pgm new file mode 100644 index 0000000..9811ff0 --- /dev/null +++ b/src/tsukuba2022/multimaps/tmp/tsukuba_3/mymap_tsukuba_3_rect.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tmp/tsukuba_3/mymap_tsukuba_3_rect.yaml 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133.681242, z: 0, vel: 1, rad: 0.8, stop: false} +- point: {x: -520.309548, y: 133.593192, z: 0, vel: 1, rad: 0.8, stop: false} +- point: {x: -524.824528, y: 135.181462, z: 0, vel: 1, rad: 0.8, stop: false} +- point: {x: -529.078442, y: 135.344975, z: 0, vel: 1, rad: 0.8, stop: false} +- point: {x: -540.446539, y: 135.935768, z: 0, vel: 1, rad: 0.8, stop: false} +- point: {x: -551.87025, y: 135.363996, z: 0, vel: 1, rad: 0.8, stop: false} +- point: {x: -555.367168, y: 135.207706, z: 0, vel: 1, rad: 0.8, stop: false} +- point: {x: -564.770438, y: 135.076498, z: 0, vel: 1, rad: 0.8, stop: false} +- point: {x: -570.496865, y: 135.226799, z: 0, vel: 1, rad: 0.8, stop: false} +- point: {x: -575.764798, y: 133.656623, z: 0, vel: 1, rad: 0.8, stop: false} +- point: {x: -582.726863, y: 133.833918, z: 0, vel: 1, rad: 0.8, stop: false} +- point: {x: -588.930261, y: 136.027109, z: 0, vel: 1, rad: 0.8, stop: false} +finish_pose: + header: {seq: 0, stamp: 1666497569.7515693, frame_id: map} + pose: + position: {x: -592.510885943929, y: 138.8129128736552, z: 0} + orientation: {x: 0.0, y: 0.0, z: 0.6952399520376622, w: 0.718777718832929} \ No newline at end of file diff --git a/src/tsukuba2022/multimaps/tsukuba-distorted/map0.pgm b/src/tsukuba2022/multimaps/tsukuba-distorted/map0.pgm new file mode 100644 index 0000000..63f643f --- /dev/null +++ b/src/tsukuba2022/multimaps/tsukuba-distorted/map0.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tsukuba-distorted/map0.yaml b/src/tsukuba2022/multimaps/tsukuba-distorted/map0.yaml new file mode 100644 index 0000000..959583b --- /dev/null +++ b/src/tsukuba2022/multimaps/tsukuba-distorted/map0.yaml @@ -0,0 +1,6 @@ +image: ./map0.pgm +resolution: 0.1 +origin: [-110.8, -78.8, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tsukuba-distorted/map1.pgm b/src/tsukuba2022/multimaps/tsukuba-distorted/map1.pgm new file mode 100644 index 0000000..3c21440 --- /dev/null +++ b/src/tsukuba2022/multimaps/tsukuba-distorted/map1.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tsukuba-distorted/map1.yaml b/src/tsukuba2022/multimaps/tsukuba-distorted/map1.yaml new file mode 100644 index 0000000..f830a0d --- /dev/null +++ b/src/tsukuba2022/multimaps/tsukuba-distorted/map1.yaml @@ -0,0 +1,6 @@ +image: ./map1.pgm +resolution: 0.1 +origin: [-289.418172, -89.185045, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tsukuba-distorted/map2.pgm b/src/tsukuba2022/multimaps/tsukuba-distorted/map2.pgm new file mode 100644 index 0000000..79011fe --- /dev/null +++ b/src/tsukuba2022/multimaps/tsukuba-distorted/map2.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tsukuba-distorted/map2.yaml b/src/tsukuba2022/multimaps/tsukuba-distorted/map2.yaml new file mode 100644 index 0000000..f4a5d1e --- /dev/null +++ b/src/tsukuba2022/multimaps/tsukuba-distorted/map2.yaml @@ -0,0 +1,6 @@ +image: ./map2.pgm +resolution: 0.1 +origin: [-554.423675, -49.010222, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tsukuba-distorted/map3.pgm b/src/tsukuba2022/multimaps/tsukuba-distorted/map3.pgm new file mode 100644 index 0000000..5619bcd --- /dev/null +++ b/src/tsukuba2022/multimaps/tsukuba-distorted/map3.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tsukuba-distorted/map3.yaml b/src/tsukuba2022/multimaps/tsukuba-distorted/map3.yaml new file mode 100644 index 0000000..346d9d5 --- /dev/null +++ b/src/tsukuba2022/multimaps/tsukuba-distorted/map3.yaml @@ -0,0 +1,6 @@ +image: ./map3.pgm +resolution: 0.1 +origin: [-604.640432, 48.633033, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tsukuba-distorted/map4.pgm b/src/tsukuba2022/multimaps/tsukuba-distorted/map4.pgm new file mode 100644 index 0000000..625cb4c --- /dev/null +++ b/src/tsukuba2022/multimaps/tsukuba-distorted/map4.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tsukuba-distorted/map4.yaml b/src/tsukuba2022/multimaps/tsukuba-distorted/map4.yaml new file mode 100644 index 0000000..097a009 --- /dev/null +++ b/src/tsukuba2022/multimaps/tsukuba-distorted/map4.yaml @@ -0,0 +1,6 @@ +image: ./map4.pgm +resolution: 0.1 +origin: [-655.682101, 71.05415, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tsukuba-distorted/map5.pgm b/src/tsukuba2022/multimaps/tsukuba-distorted/map5.pgm new file mode 100644 index 0000000..76a3c45 --- /dev/null +++ b/src/tsukuba2022/multimaps/tsukuba-distorted/map5.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tsukuba-distorted/map5.yaml b/src/tsukuba2022/multimaps/tsukuba-distorted/map5.yaml new file mode 100644 index 0000000..2fa87f6 --- /dev/null +++ b/src/tsukuba2022/multimaps/tsukuba-distorted/map5.yaml @@ -0,0 +1,6 @@ +image: ./map5.pgm +resolution: 0.1 +origin: [-651.467145, 225.574369, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tsukuba-distorted/map6.pgm b/src/tsukuba2022/multimaps/tsukuba-distorted/map6.pgm new file mode 100644 index 0000000..474bcd7 --- /dev/null +++ b/src/tsukuba2022/multimaps/tsukuba-distorted/map6.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tsukuba-distorted/map6.yaml b/src/tsukuba2022/multimaps/tsukuba-distorted/map6.yaml new file mode 100644 index 0000000..f4db5ba --- /dev/null +++ b/src/tsukuba2022/multimaps/tsukuba-distorted/map6.yaml @@ -0,0 +1,6 @@ +image: ./map6.pgm +resolution: 0.1 +origin: [-513.631222, 1.709453, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tsukuba-distorted/map7.pgm b/src/tsukuba2022/multimaps/tsukuba-distorted/map7.pgm new file mode 100644 index 0000000..aa732a8 --- /dev/null +++ b/src/tsukuba2022/multimaps/tsukuba-distorted/map7.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tsukuba-distorted/map7.yaml b/src/tsukuba2022/multimaps/tsukuba-distorted/map7.yaml new file mode 100644 index 0000000..354631b --- /dev/null +++ b/src/tsukuba2022/multimaps/tsukuba-distorted/map7.yaml @@ -0,0 +1,6 @@ +image: ./map7.pgm +resolution: 0.1 +origin: [-410.819813, -26.960649, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tsukuba-distorted/map8.pgm b/src/tsukuba2022/multimaps/tsukuba-distorted/map8.pgm new file mode 100644 index 0000000..4955186 --- /dev/null +++ b/src/tsukuba2022/multimaps/tsukuba-distorted/map8.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tsukuba-distorted/map8.yaml b/src/tsukuba2022/multimaps/tsukuba-distorted/map8.yaml new file mode 100644 index 0000000..334008f --- /dev/null +++ b/src/tsukuba2022/multimaps/tsukuba-distorted/map8.yaml @@ -0,0 +1,6 @@ +image: ./map8.pgm +resolution: 0.1 +origin: [-273.169153, -70.548067, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tsukuba-distorted/merged_map.pgm b/src/tsukuba2022/multimaps/tsukuba-distorted/merged_map.pgm new file mode 100644 index 0000000..2915cab --- /dev/null +++ b/src/tsukuba2022/multimaps/tsukuba-distorted/merged_map.pgm Binary files differ diff --git a/src/tsukuba2022/multimaps/tsukuba-distorted/merged_map.yaml b/src/tsukuba2022/multimaps/tsukuba-distorted/merged_map.yaml new file mode 100644 index 0000000..0887a4b --- /dev/null +++ b/src/tsukuba2022/multimaps/tsukuba-distorted/merged_map.yaml @@ -0,0 +1,6 @@ +image: ./merged_map.pgm +resolution: 0.1 +origin: [-655.682101, -89.185045, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/tsukuba2022/multimaps/tsukuba-distorted/waypoints_L.yaml b/src/tsukuba2022/multimaps/tsukuba-distorted/waypoints_L.yaml new file mode 100644 index 0000000..b79f1fb --- /dev/null +++ b/src/tsukuba2022/multimaps/tsukuba-distorted/waypoints_L.yaml @@ -0,0 +1,387 @@ +waypoints: +- 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vel: 1, rad: 1, stop: false} +- point: {x: -65.03958, y: 11.426952, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: -55.556593, y: 13.559053, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: -45.411131, y: 15.903344, z: 0.0, vel: 1, rad: 1, stop: false} +- point: {x: -37.255361, y: 17.558138, z: 0.0, vel: 1, rad: 1, stop: false} +finish_pose: + header: {seq: 0, stamp: 1666500880.699932, frame_id: map} + pose: + position: {x: -31.6919340831112, y: 18.795976159259887, z: 0} + orientation: {x: 0.0, y: 0.0, z: 0.11732158139368357, w: 0.9930939766906681} diff --git a/src/tsukuba2022/multimaps/tsukuba-distorted/waypoints_first5.yaml b/src/tsukuba2022/multimaps/tsukuba-distorted/waypoints_first5.yaml new file mode 100644 index 0000000..23fcd84 --- /dev/null +++ b/src/tsukuba2022/multimaps/tsukuba-distorted/waypoints_first5.yaml @@ -0,0 +1,14 @@ +waypoints_L_first5: +- point: {x: 6.773622, y: 3.509047, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 16.949907, y: 3.772681, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 27.864368, y: 3.930862, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 38.831555, y: 3.825408, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 48.257282, y: 3.405931, z: 0, vel: 1, rad: 1, stop: false} + + +waypoints_R_first5: +- point: {x: 7.913908, y: 0.625135, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 17.873427, y: 1.284221, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 28.2563, y: 1.64634, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 38.1161, y: 1.91456, z: 0, vel: 1, rad: 1, stop: false} +- point: {x: 48.2937, y: 1.73542, z: 0, vel: 1, rad: 1, stop: false} diff --git a/src/tsukuba2022/params/base_global_planner_params.yaml b/src/tsukuba2022/params/base_global_planner_params.yaml index 267db3d..f4af45e 100644 --- a/src/tsukuba2022/params/base_global_planner_params.yaml +++ b/src/tsukuba2022/params/base_global_planner_params.yaml @@ -1,6 +1,6 @@ base_global_planner: global_planner/GlobalPlanner -GlobalPlanner: +GlobalPlanner: allow_unknown: true default_tolerance: 0.0 visualize_potential: false @@ -8,10 +8,12 @@ use_quadratic: true use_grid_path: false old_navfn_behavior: false - lethal_cost: 253 - neutral_cost: 66 - cost_factor: 0.55 + lethal_cost: 190 #180 #175 #150 #253 + neutral_cost: 123 #130 #150 #110 #66 + cost_factor: 0.4 #0.55 publish_potential: false orientation_mode: 0 orientation_window_size: 1 - outline_map: true \ No newline at end of file + outline_map: true + +# base_global_planner: carrot_planner/CarrotPlanner diff --git a/src/tsukuba2022/params/base_local_planner_params.yaml b/src/tsukuba2022/params/base_local_planner_params.yaml index 9ac04fc..7de1302 100644 --- a/src/tsukuba2022/params/base_local_planner_params.yaml +++ b/src/tsukuba2022/params/base_local_planner_params.yaml @@ -3,31 +3,31 @@ 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 + acc_lim_x: 3.5 #4.5 + acc_lim_theta: 1.2 #2.0 + max_vel_x: 1.2 + min_vel_x: 0.0 #0.1 + max_vel_theta: 1.0 + min_vel_theta: -1.0 + min_in_place_vel_theta: 0.2 + escape_vel: -0.3 # Goal Tolerance Parameters - yaw_goal_tolerance: 0.5 - xy_goal_tolerance: 0.4 + yaw_goal_tolerance: 0.3 + xy_goal_tolerance: 0.3 # Forward Simulation Parameters - sim_time: 3 + sim_time: 2.0 sim_granularity: 0.05 - vx_samples: 7 - vtheta_samples: 30 + vx_samples: 3 + vtheta_samples: 20 # 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 + path_distance_bias: 1.0 #0.8 #0.4 + goal_distance_bias: 0.6 #0.9 + occdist_scale : 0.01 #0.05 heading_lookahead: 0.325 - heading_scoring: true - heading_scoring_timestep: 1.2 + heading_scoring: false #true + heading_scoring_timestep: 1.0 diff --git a/src/tsukuba2022/params/costmap_common_params.yaml b/src/tsukuba2022/params/costmap_common_params.yaml deleted file mode 100644 index 13b542b..0000000 --- a/src/tsukuba2022/params/costmap_common_params.yaml +++ /dev/null @@ -1,18 +0,0 @@ -#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/emcl_params.yaml b/src/tsukuba2022/params/emcl_params.yaml new file mode 100644 index 0000000..4ed3fec --- /dev/null +++ b/src/tsukuba2022/params/emcl_params.yaml @@ -0,0 +1,31 @@ +odom_freq: 20 +num_particles: 500 + +odom_frame_id: odom +footprint_frame_id: base_footprint +base_frame_id: base_link + +initial_pose_x: 0.0 +initial_pose_y: 0.0 +initial_pose_a: 0.0 + +odom_fw_dev_per_fw: 0.05 #0.19 +odom_fw_dev_per_rot: 0.0001 +odom_rot_dev_per_fw: 0.1 #0.13 +odom_rot_dev_per_rot: 0.1 #0.2 + +laser_likelihood_max_dist: 0.2 + +alpha_threshold: 0.5 +open_space_threshold: 0.05 + +expansion_radius_position: 0.05 +expansion_radius_orientation: 0.1 + +range_threshold: 0.3 + +laser_min_range: 0.0 +laser_max_range: 100000000.0 + +scan_increment: 1 + diff --git a/src/tsukuba2022/params/foot_print.yaml b/src/tsukuba2022/params/foot_print.yaml index 9f9bd76..152c0b3 100644 --- a/src/tsukuba2022/params/foot_print.yaml +++ b/src/tsukuba2022/params/foot_print.yaml @@ -1 +1 @@ -footprint: [ [0.25, 0.4], [0.25, -0.4], [-0.65, -0.4], [-0.65, 0.4] ] +footprint: [ [0.2, 0.33], [0.2, -0.33], [-0.65, -0.33], [-0.65, 0.33] ] diff --git a/src/tsukuba2022/params/global_costmap_params.yaml b/src/tsukuba2022/params/global_costmap_params.yaml index 69534a3..f28f6a0 100644 --- a/src/tsukuba2022/params/global_costmap_params.yaml +++ b/src/tsukuba2022/params/global_costmap_params.yaml @@ -10,15 +10,48 @@ resolution: 0.1 plugins: - - {name: static_layer, type: "costmap_2d::StaticLayer"} - - {name: inflater_layer, type: "costmap_2d::InflationLayer"} + - {name: static_layer, type: "costmap_2d::StaticLayer"} + - {name: obstacle_layer1, type: "costmap_2d::ObstacleLayer"} + - {name: obstacle_layer2, type: "costmap_2d::ObstacleLayer"} + - {name: inflater_layer, type: "costmap_2d::InflationLayer"} static_layer: map_topic: map + first_map_only: false subscribe_to_updates: true lethal_cost_threshold: 50 track_unknown_space: false + obstacle_layer1: + observation_sources: scan + scan: + data_type: LaserScan + topic: /velodyne_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: 10 + raytrace_range: 10 + observation_persistence: 0.0 + + obstacle_layer2: + observation_sources: scan + scan: + data_type: LaserScan + topic: /hokuyo_scan + sensor_frame: hokuyo_link + marking: true + clearing: true + inf_is_valid: true + max_obstacle_height: 0.3 + min_obstacle_height: 0.0 + obstacle_range: 3 + raytrace_range: 3 + observation_persistence: 0.0 + inflater_layer: - inflation_radius: 2.0 - cost_scaling_factor: 5.0 + inflation_radius: 5.0 #2.0 + cost_scaling_factor: 1.5 #5.0 diff --git a/src/tsukuba2022/params/gmapping_common_params.yaml b/src/tsukuba2022/params/gmapping_common_params.yaml index 0261dbb..fa712dc 100644 --- a/src/tsukuba2022/params/gmapping_common_params.yaml +++ b/src/tsukuba2022/params/gmapping_common_params.yaml @@ -4,7 +4,7 @@ map_frame: map odom_frame: odom map_update_interval: 2.0 -maxUrange: 40.0 +maxUrange: 60.0 #40 sigma: 0.05 kernelSize: 1 lstep: 0.05 @@ -12,7 +12,7 @@ iterations: 5 lsigma: 0.075 ogain: 3.0 -lskip: 1 +lskip: 0 #1 minimumScore: 0.0 srr: 0.01 srt: 0.02 @@ -23,11 +23,11 @@ temporalUpdate: -1.0 resampleThreshold: 0.5 particles: 20 -xmin: -60.0 -ymin: -60.0 -xmax: 60.0 -ymax: 60.0 -delta: 0.05 +xmin: -50.0 +ymin: -50.0 +xmax: 50.0 +ymax: 50.0 +delta: 0.1 #0.05 # Resolution of map llsamplerange: 0.01 llsamplestep: 0.01 lasamplerange: 0.005 diff --git a/src/tsukuba2022/params/local_costmap_params.yaml b/src/tsukuba2022/params/local_costmap_params.yaml index 2812066..58ca76f 100644 --- a/src/tsukuba2022/params/local_costmap_params.yaml +++ b/src/tsukuba2022/params/local_costmap_params.yaml @@ -1,10 +1,10 @@ local_costmap: global_frame: map robot_base_frame: base_footprint - update_frequency: 5.0 + update_frequency: 3.0 publish_frequency: 5.0 rolling_window: true - resolution: 0.05 + resolution: 0.1 width: 8 height: 8 always_send_full_costmap: true @@ -25,12 +25,12 @@ inf_is_valid: true max_obstacle_height: 2.5 min_obstacle_height: 0.0 - obstacle_range: 8 - raytrace_range: 8 + obstacle_range: 10 + raytrace_range: 10 observation_persistence: 0.0 inflater_layer: - inflation_radius: 0.4 - cost_scaling_factor: 5.0 + inflation_radius: 0.2 #0.3 + cost_scaling_factor: 30.0 # 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 index 89604bb..e35535e 100644 --- a/src/tsukuba2022/params/localization_params.yaml +++ b/src/tsukuba2022/params/localization_params.yaml @@ -1,31 +1,32 @@ odom_model_type: diff -transform_tolerance: 0.5 #0.2 +transform_tolerance: 1.0 #0.5 #0.2 gui_publish_rate: 10.0 laser_max_beams: 30 min_particles: 100 max_particles: 4000 kld_err: 0.05 kld_z: 0.99 -odom_alpha1: 0.2 -odom_alpha2: 0.2 -odom_alpha3: 0.2 -odom_alpha4: 0.2 -laser_z_hit: 0.5 +odom_alpha1: 0.3 #0.2 +odom_alpha2: 0.3 #0.2 +odom_alpha3: 0.3 #0.2 +odom_alpha4: 0.3 #0.2 +laser_z_hit: 0.6 #0.75 #0.5 laser_z_short: 0.05 laser_z_max: 0.05 -laser_z_rand: 0.5 +laser_z_rand: 0.05 #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_d: 0.3 #0.2 update_min_a: 0.5 global_frame_id: map odom_frame_id: odom base_frame_od: base_footprint resample_interval: 1 recovery_alpha_slow: 0.0 -recovery_alpha_fast: 0.0 +recovery_alpha_fast: 0.1 #0.0 reset_th_alpha: 0.003 +use_map_topic: true # true for map change diff --git a/src/tsukuba2022/params/move_base_params.yaml b/src/tsukuba2022/params/move_base_params.yaml index 5acfd08..2af0f38 100644 --- a/src/tsukuba2022/params/move_base_params.yaml +++ b/src/tsukuba2022/params/move_base_params.yaml @@ -3,12 +3,12 @@ # http://www.ros.org/wiki/move_base # -shutdown_costmaps: true +shutdown_costmaps: false # false for change map -controller_frequency: 6 -controller_patience: 3.0 +controller_frequency: 5 +controller_patience: 5.0 -planner_frequency: 0.5 +planner_frequency: 1.0 planner_patience: 5.0 oscillation_timeout: 10.0 diff --git a/src/tsukuba2022/params/pointcloud_to_laserscan_params.yaml b/src/tsukuba2022/params/pointcloud_to_laserscan_params.yaml index 4df1b20..8c63168 100644 --- a/src/tsukuba2022/params/pointcloud_to_laserscan_params.yaml +++ b/src/tsukuba2022/params/pointcloud_to_laserscan_params.yaml @@ -1,9 +1,9 @@ target_frame: velodyne_link # Leave disabled to output scan in pointcloud frame transform_tolerance: 0.01 -min_height: -0.7 #-0.4 +min_height: -0.8 #-0.7 #-0.4 max_height: 0.3 #1.5 -angle_min: -2.3565 -angle_max: 2.3565 +angle_min: -2.6178 #-2.4435 #-2.3565 +angle_max: 2.6178 #2.4435 #2.3565 angle_increment: 0.008711645 scan_time: 0.03333 range_min: 0.2 diff --git a/src/tsukuba2022/params/recovery_params.yaml b/src/tsukuba2022/params/recovery_params.yaml index 92afe1a..f996f20 100644 --- a/src/tsukuba2022/params/recovery_params.yaml +++ b/src/tsukuba2022/params/recovery_params.yaml @@ -1,4 +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: 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 2a6b3af..49401d4 100644 --- a/src/tsukuba2022/params/segmentation_params.yaml +++ b/src/tsukuba2022/params/segmentation_params.yaml @@ -5,12 +5,12 @@ n_bins: 200 ## number of radial bins. n_segments: 720 ## number of radial segments. -max_dist_to_line: 0.35 #0.1 ## maximum vertical distance of point to line to be considered ground. +max_dist_to_line: 0.15 #0.35 #0.1 ## maximum vertical distance of point to line to be considered ground. sensor_height: 1.0 #1.205 # sensor height above ground. min_slope: 0.0 # minimum slope of a ground 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. +max_fit_error: 0.07 #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. diff --git a/src/tsukuba2022/params/teb_local_planner_params.yaml b/src/tsukuba2022/params/teb_local_planner_params.yaml index e0531bc..118b4dc 100644 --- a/src/tsukuba2022/params/teb_local_planner_params.yaml +++ b/src/tsukuba2022/params/teb_local_planner_params.yaml @@ -7,16 +7,16 @@ # Trajectory teb_autosize: True - dt_ref: 0.5 #0.3 軌道の解像度[s] + dt_ref: 0.5 軌道の解像度[s] dt_hysteresis: 0.1 global_plan_overwrite_orientation: True - max_global_plan_lookahead_dist: 2.0 #仮想的なローカルゴールまでの距離 + max_global_plan_lookahead_dist: 5.0 #仮想的なローカルゴールまでの距離 feasibility_check_no_poses: 5 # Robot max_vel_x: 1.2 max_vel_x_backwards: 0.2 - max_vel_theta: 1.0 + max_vel_theta: 0.5 acc_lim_x: 2.0 acc_lim_theta: 1.0 min_turning_radius: 0.0 @@ -33,7 +33,7 @@ free_goal_vel: False # Obstacles - min_obstacle_dist: 0.4 + min_obstacle_dist: 0.35 inflation_dist: 0.5 #0.6 include_dynamic_obstacles: False include_costmap_obstacles: True # False -> 障害物割と無視 @@ -51,8 +51,8 @@ penalty_epsilon: 0.1 weight_max_vel_x: 1000 #2 weight_max_vel_theta: 1000 #1 - weight_acc_lim_x: 1 #100 #1 - weight_acc_lim_theta: 1 #1 + weight_acc_lim_x: 100 #100 #1 + weight_acc_lim_theta: 100 #1 weight_kinematics_nh: 1000 weight_kinematics_forward_drive: 100 #1 weight_kinematics_turning_radius: 1 @@ -64,7 +64,7 @@ selection_alternative_time_cost: False # not in use yet # Homotopy Class Planner - enable_homotopy_class_planning: False #True #軌道の複数代替案を計算するかどうか？ + enable_homotopy_class_planning: False #軌道の複数代替案を計算するかどうか？ enable_multithreading: False #True simple_exploration: False max_number_classes: 2 #4 軌道の代替案の計算個数 @@ -87,4 +87,4 @@ # ・no_inner_iterations, no_outer_iterations -> 小さく # ・weight_acc_lim -> 0.0に # ・enable_homotopy_class_planning -> False ※影響大 - # ・max_number_classes -> 小さく（2で十分？） \ No newline at end of file + # ・max_number_classes -> 小さく（2で十分？） diff --git a/src/tsukuba2022/rviz_cfg/nav.rviz b/src/tsukuba2022/rviz_cfg/nav.rviz new file mode 100644 index 0000000..408d490 --- /dev/null +++ b/src/tsukuba2022/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: 634 + - 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 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Footprint + Queue Size: 10 + Topic: /move_base/local_costmap/footprint + 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/GlobalPlanner/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: 34.766265869140625 + 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: -0.058651626110076904 + Y: 0.01184246689081192 + 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: 1.5147963762283325 + Target Frame: base_link + Yaw: 3.1003947257995605 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 887 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd0000000400000000000001930000031cfc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e000002b7000000cb00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000002200530074006100740065005400720069006700670065007200500061006e0065006c01000002fb0000005f0000004100ffffff000000010000010f000002b3fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003e000002b3000000a500fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005e00000003bfc0100000002fb0000000800540069006d00650000000000000005e00000039300fffffffb0000000800540069006d006501000000000000045000000000000000000000041c0000031c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + StateTriggerPanel: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1461 + X: 380 + Y: 0 diff --git a/src/tsukuba2022/rviz_cfg/record_waypoints.rviz b/src/tsukuba2022/rviz_cfg/record_waypoints.rviz new file mode 100644 index 0000000..659846c --- /dev/null +++ b/src/tsukuba2022/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: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 195 + Y: 59 diff --git a/src/tsukuba2022/rviz_cfg/teb_nav.rviz b/src/tsukuba2022/rviz_cfg/teb_nav.rviz index a62c8a7..38bb6dc 100644 --- a/src/tsukuba2022/rviz_cfg/teb_nav.rviz +++ b/src/tsukuba2022/rviz_cfg/teb_nav.rviz @@ -5,7 +5,7 @@ Property Tree Widget: Expanded: ~ Splitter Ratio: 0.5 - Tree Height: 538 + Tree Height: 622 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -294,8 +294,7 @@ Marker Topic: /move_base/TebLocalPlannerROS/teb_markers Name: Teb Marker Namespaces: - PointObstacles: true - RobotFootprintModel: true + {} Queue Size: 100 Value: true - Alpha: 1 @@ -359,17 +358,17 @@ Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 1.5647963285446167 + Pitch: 1.054796576499939 Target Frame: base_link - Yaw: 3.135395050048828 + Yaw: 3.1103944778442383 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 786 + Height: 877 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 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+ QMainWindow State: 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Selection: collapsed: false StateTriggerPanel: @@ -380,6 +379,6 @@ collapsed: false Views: collapsed: true - Width: 1282 - X: 217 - Y: 1 + Width: 1328 + X: 501 + Y: 19 diff --git a/src/tsukuba2022/urdf/igvc_robot.gazebo b/src/tsukuba2022/urdf/igvc_robot.gazebo deleted file mode 100644 index f32242a..0000000 --- a/src/tsukuba2022/urdf/igvc_robot.gazebo +++ /dev/null @@ -1,76 +0,0 @@ - - - - - - - - - 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/tsukuba2022/urdf/igvc_robot.xacro b/src/tsukuba2022/urdf/igvc_robot.xacro deleted file mode 100644 index bcf1d93..0000000 --- a/src/tsukuba2022/urdf/igvc_robot.xacro +++ /dev/null @@ -1,221 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - left_wheel - base_link - - - - - - - - - - - - - - - - - - - - - - - - - - - - right_wheel - base_link - - - - - - - - diff --git a/src/tsukuba2022/urdf/igvc_robot_cp.urdf b/src/tsukuba2022/urdf/igvc_robot_cp.urdf deleted file mode 100644 index 3ecfca1..0000000 --- a/src/tsukuba2022/urdf/igvc_robot_cp.urdf +++ /dev/null @@ -1,220 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - left_wheel - base_link - - - - - - - - - - - - - - - - - - - - - - - - - - - - right_wheel - base_link - - - - - - - transmission_interface/SimpleTransmission - - VelocityJointInterface - - - VelocityJointInterface - 1 - - - - - transmission_interface/SimpleTransmission - - VelocityJointInterface - - - VelocityJointInterface - 1 - - - diff --git a/src/tsukuba2022/urdf/orange2022.gazebo b/src/tsukuba2022/urdf/orange2022.gazebo index 5bd5d41..da23844 100644 --- a/src/tsukuba2022/urdf/orange2022.gazebo +++ b/src/tsukuba2022/urdf/orange2022.gazebo @@ -37,7 +37,7 @@ 1000000.0 100.0 0.001 - 3.0 + 1.0 @@ -47,7 +47,7 @@ 1000000.0 100.0 0.001 - 3.0 + 1.0 diff --git a/src/tsukuba2022/urdf/sensors/camera.urdf.xacro b/src/tsukuba2022/urdf/sensors/camera.urdf.xacro deleted file mode 100644 index 9326083..0000000 --- a/src/tsukuba2022/urdf/sensors/camera.urdf.xacro +++ /dev/null @@ -1,76 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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/world/course.world b/src/tsukuba2022/world/course.world deleted file mode 100644 index 19db764..0000000 --- a/src/tsukuba2022/world/course.world +++ /dev/null @@ -1,232 +0,0 @@ - - - - - - 0 -30 60 0 1.1 1.5708 - - - - 0 - 1 - - - - model://sun - - - - model://course - 0 0 0 0 0 0 - Course - - - - model://ramp - 0 13.269552 0 0 0 1.570796 - Ramp1 - - - - - - - model://barricade - -19.1652 -17.2165 0 0 -0 -0.8 - Barricade 1 - - - model://barricade - 18.8846 -17.517 0 0 0 0.21445 - Barricade 2 - - - model://barricade - 9.57 12.3819 0 0 0 -0.30353 - Barricade 3 - - - model://barricade - -8.5858 12.1745 0 0 0 0.14831 - Barricade 4 - - - - - - - - model://construction_barrel - 14.8591 -15.356 0 0 -0 0 - Construction Barrel 1 - - - model://construction_barrel - 20.9235 -13.6107 -2e-06 -0 7e-06 -2e-06 - Construction Barrel 2 - - - model://construction_barrel - 17.1121 -9.439 -2e-06 -0 7e-06 -2e-06 - Construction Barrel 3 - - - model://construction_barrel - 18.2218 -9.1396 -2e-06 -0 7e-06 -2e-06 - Construction Barrel 4 - - - model://construction_barrel - 17.9234 -6.37453 -0 0 0 -8e-06 - Construction Barrel 5 - - - model://construction_barrel - 18.8232 -5.70024 1e-06 3e-06 2e-06 -1e-05 - Construction Barrel 6 - - - model://construction_barrel - 16.061 -4.40601 0 2e-06 0 -1.2e-05 - Construction Barrel 7 - - - model://construction_barrel - 18.100 1.30974 -0 0 0 -1.4e-05 - Construction Barrel 8 - - - model://construction_barrel - 17.4279 7.243 -1e-06 3e-06 -0 -2.3e-05 - Construction Barrel 9 - - - model://construction_barrel - 20.564 11.0036 0 1e-06 1e-06 -2.5e-05 - Construction Barrel 10 - - - model://construction_barrel - 17.6329 14.8412 -2e-06 7e-06 -2e-06 -2.6e-05 - Construction Barrel 11 - - - model://construction_barrel - 12.9292 12.123 -2e-06 7e-06 -2e-06 -2.7e-05 - Construction Barrel 12 - - - model://construction_barrel - 12.0142 16.9984 -0 0 -0 -2.8e-05 - Construction Barrel 13 - - - model://construction_barrel - 9.43968 17.4719 -2e-06 4e-06 7e-06 -2.9e-05 - Construction Barrel 14 - - - model://construction_barrel - 7.19005 17.3195 -2e-06 -7e-06 -4e-06 -3e-05 - Construction Barrel 15 - - - model://construction_barrel - 6.34524 13.0764 -0 0 0 -3.1e-05 - Construction Barrel 16 - - - model://construction_barrel - 3.73125 17.5897 -1e-06 3e-06 0 -3.2e-05 - Construction Barrel 17 - - - model://construction_barrel - 0.061325 16.9475 -1e-06 3e-06 -0 -3.4e-05 - Construction Barrel 18 - - - model://construction_barrel - -3.46882 16.9529 -2e-06 7e-06 -4e-06 -3.5e-05 - Construction Barrel 19 - - - model://construction_barrel - -6.95984 17.4552 -3e-06 -0 -1.2e-05 -3.6e-05 - Construction Barrel 20 - - - model://construction_barrel - -10.1446 16.9341 -0 0 -0 -3.7e-05 - Construction Barrel 21 - - - model://construction_barrel - -6.01782 12.36 1e-06 3e-06 2e-06 -3.8e-05 - Construction Barrel 22 - - - model://construction_barrel - -12.2652 12.7116 -2e-06 -7e-06 -4e-06 -4e-05 - Construction Barrel 23 - - - model://construction_barrel - -12.8712 16.2905 -4e-06 -5e-06 -7e-06 -4.1e-05 - Construction Barrel 24 - - - model://construction_barrel - -18.178 16.2268 -1e-06 0 5e-06 -4.2e-05 - Construction Barrel 25 - - - model://construction_barrel - -20.7988 10.4853 -0 0 0 -4.3e-05 - Construction Barrel 26 - - - model://construction_barrel - -18.397 8.225 -2e-06 7e-06 -2e-06 -4.4e-05 - Construction Barrel 27 - - - model://construction_barrel - -18.100 0.857426 1e-06 3e-06 2e-06 -4.6e-05 - Construction Barrel 28 - - - model://construction_barrel - -16.1784 -5.72593 1e-06 3e-06 2e-06 -4.7e-05 - Construction Barrel 29 - - - model://construction_barrel - -19.1376 -6.88455 0 0 0 -4.9e-05 - Construction Barrel 30 - - - model://construction_barrel - -20.0303 -6.42554 -2e-06 -7e-06 -4e-06 -4.9e-05 - Construction Barrel 31 - - - model://construction_barrel - -18.4685 -9.4751 -3e-06 -6e-06 -5e-06 -5.1e-05 - Construction Barrel 32 - - - model://construction_barrel - -17.3279 -9.55999 -2e-06 4e-06 7e-06 -5.1e-05 - Construction Barrel 33 - - - model://construction_barrel - -16.102 -15.2392 -0 0 0 -5.7e-05 - Construction Barrel 34 - - - - - - diff --git a/src/tsukuba2022/world/course_v2.world b/src/tsukuba2022/world/course_v2.world deleted file mode 100644 index b31e86f..0000000 --- a/src/tsukuba2022/world/course_v2.world +++ /dev/null @@ -1,255 +0,0 @@ - - - - - - 0 -30 60 0 1.1 1.5708 - - - - 0 - 1 - - - - model://sun - - - - model://course_v2 - 0 0 0 0 0 0 - Course - - - - model://ramp - 0 13.269552 0 0 0 1.570796 - Ramp1 - - - - - - - model://barricade - -19.1652 -17.2165 0 0 0 -0.8 - Barricade 1 - - - model://barricade - 18.8846 -17.517 0 0 0 0.21445 - Barricade 2 - - - model://barricade - 9.57 12.3819 0 0 0 0.30353 - Barricade 3 - - - model://barricade - -8.5858 12.1745 0 0 0 0.14831 - Barricade 4 - - - - - - - - model://construction_barrel - 14.8591 -15.356 0 0 0 0 - Construction Barrel 1 - - - model://construction_barrel - 20.9235 -13.6107 0 0 0 0 - Construction Barrel 2 - - - model://construction_barrel - 17.1121 -9.439 0 0 0 0 - Construction Barrel 3 - - - model://construction_barrel - 18.2218 -9.1396 0 0 0 0 - Construction Barrel 4 - - - model://construction_barrel - 17.9234 -6.37453 0 0 0 0 - Construction Barrel 5 - - - model://construction_barrel - 18.8232 -5.70024 0 0 0 0 - Construction Barrel 6 - - - model://construction_barrel - 16.061 -4.40601 0 0 0 0 - Construction Barrel 7 - - - model://construction_barrel - 18.100 1.30974 0 0 0 0 - Construction Barrel 8 - - - model://construction_barrel - 17.4279 7.243 0 0 0 0 - Construction Barrel 9 - - - model://construction_barrel - 20.564 11.0036 0 0 0 0 - Construction Barrel 10 - - - model://construction_barrel - 17.6292 14.470 0 0 0 0 - Construction Barrel 11 - - - model://construction_barrel - 12.9292 12.123 0 0 0 0 - Construction Barrel 12 - - - model://construction_barrel - 12.0142 16.9984 0 0 0 0 - Construction Barrel 13 - - - model://construction_barrel - 9.43968 17.4719 0 0 0 0 - Construction Barrel 14 - - - model://construction_barrel - 7.19005 17.3195 0 0 0 0 - Construction Barrel 15 - - - model://construction_barrel - 6.34524 13.0764 0 0 0 0 - Construction Barrel 16 - - - model://construction_barrel - 3.73125 17.5897 0 0 0 0 - Construction Barrel 17 - - - model://construction_barrel - 0.061325 16.9475 0 0 0 0 - Construction Barrel 18 - - - model://construction_barrel - -3.46882 16.9529 0 0 0 0 - Construction Barrel 19 - - - model://construction_barrel - -6.95984 17.4552 0 0 0 0 - Construction Barrel 20 - - - model://construction_barrel - -10.1446 16.9341 0 0 0 0 - Construction Barrel 21 - - - model://construction_barrel - -6.01782 12.36 0 0 0 0 - Construction Barrel 22 - - - model://construction_barrel - -12.2652 12.7116 0 0 0 0 - Construction Barrel 23 - - - model://construction_barrel - -12.8712 16.2905 0 0 0 0 - Construction Barrel 24 - - - model://construction_barrel - -18.178 16.2268 0 0 0 0 - Construction Barrel 25 - - - model://construction_barrel - -20.7988 10.4853 0 0 0 0 - Construction Barrel 26 - - - model://construction_barrel - -18.397 8.225 0 0 0 0 - Construction Barrel 27 - - - model://construction_barrel - -17.2492 0.7495 0 0 0 0 - Construction Barrel 28 - - - model://construction_barrel - -16.1784 -5.72593 0 0 0 0 - Construction Barrel 29 - - - model://construction_barrel - -19.1376 -6.88455 0 0 0 0 - Construction Barrel 30 - - - model://construction_barrel - -20.0303 -6.42554 0 0 0 0 - Construction Barrel 31 - - - model://construction_barrel - -18.4685 -9.4751 0 0 0 0 - Construction Barrel 32 - - - model://construction_barrel - -17.3279 -9.55999 0 0 0 0 - Construction Barrel 33 - - - model://construction_barrel - -16.102 -15.2392 0 0 0 0 - Construction Barrel 34 - - - - - - - diff --git a/src/turtlebot3/ISSUE_TEMPLATE.md b/src/turtlebot3/ISSUE_TEMPLATE.md deleted file mode 100644 index c36cfc2..0000000 --- a/src/turtlebot3/ISSUE_TEMPLATE.md +++ /dev/null @@ -1,57 +0,0 @@ -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 deleted file mode 100644 index 8dada3e..0000000 --- a/src/turtlebot3/LICENSE +++ /dev/null @@ -1,201 +0,0 @@ - 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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-[![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 deleted file mode 100644 index 7a5e478..0000000 --- a/src/turtlebot3/turtlebot3/CHANGELOG.rst +++ /dev/null @@ -1,155 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -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 deleted file mode 100644 index 64469eb..0000000 --- a/src/turtlebot3/turtlebot3/CMakeLists.txt +++ /dev/null @@ -1,4 +0,0 @@ -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 deleted file mode 100644 index e766173..0000000 --- a/src/turtlebot3/turtlebot3/package.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - 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 deleted file mode 100644 index d266a37..0000000 --- a/src/turtlebot3/turtlebot3_teleop/CHANGELOG.rst +++ /dev/null @@ -1,73 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -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 deleted file mode 100644 index 48a5b1e..0000000 --- a/src/turtlebot3/turtlebot3_teleop/CMakeLists.txt +++ /dev/null @@ -1,53 +0,0 @@ -################################################################################ -# 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 deleted file mode 100644 index b6753ab..0000000 --- a/src/turtlebot3/turtlebot3_teleop/launch/turtlebot3_teleop_key.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/src/turtlebot3/turtlebot3_teleop/nodes/turtlebot3_teleop_key b/src/turtlebot3/turtlebot3_teleop/nodes/turtlebot3_teleop_key deleted file mode 100755 index f6b5d7d..0000000 --- a/src/turtlebot3/turtlebot3_teleop/nodes/turtlebot3_teleop_key +++ /dev/null @@ -1,202 +0,0 @@ -#!/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 deleted file mode 100644 index 5deb078..0000000 --- a/src/turtlebot3/turtlebot3_teleop/package.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - 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 deleted file mode 100644 index 0621677..0000000 --- a/src/turtlebot3/turtlebot3_teleop/setup.py +++ /dev/null @@ -1,12 +0,0 @@ -## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD - -from distutils.core import setup -from catkin_pkg.python_setup import generate_distutils_setup - -# fetch values from package.xml -setup_args = generate_distutils_setup( - packages=['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 deleted file mode 100644 index e69de29..0000000 --- a/src/turtlebot3/turtlebot3_teleop/src/turtlebot3_teleop/__init__.py +++ /dev/null diff --git a/src/velodyne/.github/ISSUE_TEMPLATE/bug_report.md b/src/velodyne/.github/ISSUE_TEMPLATE/bug_report.md deleted file mode 100644 index eb7f0f2..0000000 --- a/src/velodyne/.github/ISSUE_TEMPLATE/bug_report.md +++ /dev/null @@ -1,30 +0,0 @@ ---- -name: Bug report -about: Create a report to help us improve -title: '' -labels: bug -assignees: JWhitleyAStuff - ---- - -**Please complete the following information:** - - OS and Version: [e.g. Ubuntu 16.04] - - ROS Version: [e.g. Kinetic] - - Built from Source or Downloaded from Official Repository: - - Version: [if from repository, give version from `sudo dpkg -s ros-$ROS_VERSION-velodyne`, if from source, give commit hash] - -**Describe the bug** -A clear and concise description of what the bug is. - -**To Reproduce** -Steps to reproduce the behavior: -1. Go to '...' -2. Click on '....' -3. Scroll down to '....' -4. See error - -**Expected behavior** -A clear and concise description of what you expected to happen. - -**Additional context** -Add any other context about the problem here. diff --git a/src/velodyne/.github/ISSUE_TEMPLATE/feature_request.md b/src/velodyne/.github/ISSUE_TEMPLATE/feature_request.md deleted file mode 100644 index d2dbf8d..0000000 --- a/src/velodyne/.github/ISSUE_TEMPLATE/feature_request.md +++ /dev/null @@ -1,20 +0,0 @@ ---- -name: Feature request -about: Suggest an idea for this project -title: '' -labels: enhancement -assignees: JWhitleyAStuff - ---- - -**Is your feature request related to a problem? Please describe.** -A clear and concise description of what the problem is. Ex. I'm always frustrated when [...] - -**Describe the solution you'd like** -A clear and concise description of what you want to happen. - -**Describe alternatives you've considered** -A clear and concise description of any alternative solutions or features you've considered. - -**Additional context** -Add any other context or screenshots about the feature request here. diff --git a/src/velodyne/.github/workflows/basic-build-ci.yaml b/src/velodyne/.github/workflows/basic-build-ci.yaml deleted file mode 100644 index d359893..0000000 --- a/src/velodyne/.github/workflows/basic-build-ci.yaml +++ /dev/null @@ -1,38 +0,0 @@ -name: Basic Build Workflow - -on: - - pull_request - - push - -jobs: - build-noetic: - runs-on: ubuntu-latest - strategy: - fail-fast: false - container: - image: ros:noetic-perception - steps: - - name: Checkout repo - uses: actions/checkout@v2 - - name: Create Workspace - run: | - mkdir src_tmp - mv `find -maxdepth 1 -not -name . -not -name src_tmp` src_tmp/ - mv src_tmp/ src/ - cd src - bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \ - catkin_init_workspace' - - name: Install Prerequisites - run: | - bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \ - apt-get update && rosdep update; \ - rosdep install --from-paths src --ignore-src -y' - - name: Build Workspace - run: | - bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \ - catkin_make' - - name: Run Tests - run: | - bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \ - catkin_make run_tests; \ - catkin_test_results --verbose' diff --git a/src/velodyne/.gitignore b/src/velodyne/.gitignore deleted file mode 100644 index da9cbf7..0000000 --- a/src/velodyne/.gitignore +++ /dev/null @@ -1,6 +0,0 @@ -*.pyc -*.tar.gz -*~ -*.user -doc -TAGS diff --git a/src/waypoint_navigation/.gitignore b/src/waypoint_navigation/.gitignore deleted file mode 100644 index dbe9c82..0000000 --- a/src/waypoint_navigation/.gitignore +++ /dev/null @@ -1 +0,0 @@ -.vscode/ \ No newline at end of file diff --git a/src/waypoint_navigation/README.md b/src/waypoint_navigation/README.md index 693cfbc..551bba0 100644 --- a/src/waypoint_navigation/README.md +++ b/src/waypoint_navigation/README.md @@ -2,7 +2,3 @@ - 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/waypoint_manager/CMakeLists.txt b/src/waypoint_navigation/waypoint_manager/CMakeLists.txt deleted file mode 100644 index 2941813..0000000 --- a/src/waypoint_navigation/waypoint_manager/CMakeLists.txt +++ /dev/null @@ -1,202 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(waypoint_manager) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED) - -## 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 deleted file mode 100644 index e69de29..0000000 --- a/src/waypoint_navigation/waypoint_manager/launch/start_manager.launch +++ /dev/null diff --git a/src/waypoint_navigation/waypoint_manager/package.xml b/src/waypoint_navigation/waypoint_manager/package.xml deleted file mode 100644 index e77ca19..0000000 --- a/src/waypoint_navigation/waypoint_manager/package.xml +++ /dev/null @@ -1,59 +0,0 @@ - - - waypoint_manager - 0.0.0 - The waypoint_manager package - - - - - ubuntu - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - - - - - - - - diff --git a/src/waypoint_navigation/waypoint_manager/scripts/icons/delete_param_btn.png b/src/waypoint_navigation/waypoint_manager/scripts/icons/delete_param_btn.png new file mode 100644 index 0000000..86f4660 --- /dev/null +++ b/src/waypoint_navigation/waypoint_manager/scripts/icons/delete_param_btn.png Binary files differ diff --git a/src/waypoint_navigation/waypoint_manager/scripts/icons/new_param_btn.png b/src/waypoint_navigation/waypoint_manager/scripts/icons/new_param_btn.png new file mode 100644 index 0000000..fdf4e36 --- /dev/null +++ b/src/waypoint_navigation/waypoint_manager/scripts/icons/new_param_btn.png Binary files differ 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 index 0227a91..02fcd22 100644 --- 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 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 index 5048aa5..cb740e4 100644 --- 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 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 index f8c3b92..d8faa33 100644 --- 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 Binary files differ diff --git a/src/waypoint_navigation/waypoint_manager/scripts/lib/waypointlib.py b/src/waypoint_navigation/waypoint_manager/scripts/lib/waypointlib.py index ab54d33..94ce65e 100644 --- a/src/waypoint_navigation/waypoint_manager/scripts/lib/waypointlib.py +++ b/src/waypoint_navigation/waypoint_manager/scripts/lib/waypointlib.py @@ -42,6 +42,10 @@ def set_waypoint_val(self, id, key, val): self.waypoints[self.get_num(id)-1][key] = val return + + + def delete_waypoint_param(self, id, key): + return self.waypoints[self.get_num(id)-1].pop(key) def get_waypoint(self, id=None, num=None): @@ -67,8 +71,6 @@ 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 @@ -95,6 +97,7 @@ + def get_waypoint_yaml(waypoints: WaypointList, finish_pose: FinishPose): s = ["waypoints:" + "\n"] for point in waypoints.get_waypoint(): @@ -108,11 +111,10 @@ 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"]) + "}") + x = finish_pose.x + y = finish_pose.y + z = finish_pose.position["z"] + s.append(" position: {" + "x: {}, y: {}, z: {}".format(x, y, z) + "}" + "\n") + q = quaternion.from_euler_angles([0, 0, finish_pose.yaw]) + s.append(" orientation: {" + "x: {}, y: {}, z: {}, w: {}".format(q.x, q.y, q.z, q.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 index 9bd2d1f..24696f8 100755 --- a/src/waypoint_navigation/waypoint_manager/scripts/manager_GUI.py +++ b/src/waypoint_navigation/waypoint_manager/scripts/manager_GUI.py @@ -2,7 +2,11 @@ import tkinter.filedialog import math import ruamel.yaml +import gc +import itertools from pathlib import Path +from tkinter import messagebox +from PIL import Image, ImageTk from lib.mymaplib import MyMap from lib.waypointlib import WaypointList, FinishPose, get_waypoint_yaml @@ -18,7 +22,6 @@ #### 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) @@ -31,23 +34,41 @@ ) self.file_menu.add_separator() self.file_menu.add_command(label="Exit", command=self.menu_exit, accelerator="Ctrl+Q") + 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.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 + + self.edit_menu = tk.Menu(self.menu_bar, tearoff=tk.OFF) + self.edit_menu.add_command(label="Set Finish Pose", command=self.menu_set_finishpose) + self.edit_menu.add_command(label="From To", command=self.menu_from_to) + self.menu_bar.add_cascade(label="Edit", menu=self.edit_menu) + + self.show_menu = tk.Menu(self.menu_bar, tearoff=tk.OFF) + self.fp_menu = tk.Menu(self.show_menu, tearoff=tk.OFF) + self.fp_menu.add_command(label="Set model", command=self.menu_set_footprint) + self.show_fp = tk.BooleanVar() + self.fp_menu.add_checkbutton(label="Show footprint", command=self.menu_show_footprint, + variable=self.show_fp, accelerator="Ctrl+F" + ) + self.show_menu.add_cascade(label="Footprint", menu=self.fp_menu) + self.menu_bar.add_cascade(label="View", menu=self.show_menu) + self.bind_all("", self.menu_show_footprint) + + self.master.configure(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 = tk.Label(self.master, text="Please open map file ", anchor=tk.E, font=("Consolas",13)) 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) + text=" (x, y) = ", anchor=tk.W, font=("Consolas", 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) + text=" Waypoint No. -----", anchor=tk.W, font=("Consolas", 15) ) self.waypoint_num.pack(side=tk.RIGHT, padx=3) self.status_bar.pack(side=tk.BOTTOM, fill=tk.X) @@ -75,16 +96,27 @@ 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 + #### アイコン #### + icon = Image.open(Path(__file__).parent / Path("icons","new_param_btn.png")) + icon = icon.resize((30, 30)) + self.new_param_icon = ImageTk.PhotoImage(image=icon) + icon = Image.open(Path(__file__).parent / Path("icons","delete_param_btn.png")) + icon = icon.resize((30, 30)) + self.del_param_icon = ImageTk.PhotoImage(image=icon) + + #### その他必要になる変数,オブジェクト #### + self.mymap: MyMap = None + self.waypoints: WaypointList = None + self.finish_pose: FinishPose = None + self.waypoints_filepath: Path = 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.moving_waypoint = False # ウェイポイントをmoveで動かしている最中かどうか + self.setting_finish_pose = 0 # finish pose のセット中かどうか 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.wp_info_win: tk.Toplevel = 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 + self.footprint = [[0.25, 0.4], [0.25, -0.4], [-0.65, -0.4], [-0.65, 0.4]] + self.trajectory = [] return @@ -108,7 +140,20 @@ 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) + if not "image" in map_yaml.keys(): + messagebox.showerror(title="Format error", message="Selected map file is unexpected format.") + return + try: + del self.mymap + self.mymap = MyMap(Path(map_path), map_yaml) + except FileNotFoundError: + messagebox.showerror(title="Image file is not found", message="\""+map_yaml["image"]+"\" is not found.") + self.mymap = None + return + self.message("Read map file " + map_path) + self.canvas.delete("all") + self.trajectory = [] + if self.waypoints is not None: self.waypoints.number_dict = {} ## キャンバスサイズに合わせて画像を表示 scale = 1 offset_x = 0 @@ -126,10 +171,18 @@ 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) + if self.waypoints_filepath is not None: + self.master.title(self.waypoints_filepath.name + " - " + Path(map_path).name) + else: + self.master.title(Path(map_path).name) self.open_menu.entryconfigure("Waypoints", state=tk.NORMAL) - self.message("Please open waypoints file ") + if self.waypoints is None: + self.message("Please open waypoints file ") + self.menu_open_waypoints() + else: + self.plot_waypoints() + self.draw_trajectory() + gc.collect() return @@ -137,23 +190,45 @@ +++++ File -> Open -> Waypionts +++++ """ def menu_open_waypoints(self): + if (self.waypoints is not None) and (self.master.title()[0] == "*"): + yn = messagebox.askyesno("Confirm", "Do you want to save changes to " + str(self.waypoints_filepath)) + if yn: self.save_waypoints(str(self.waypoints_filepath)) # Yes + self.master.title(str(self.master.title()).replace("* " + self.waypoints_filepath.name + " - ", "")) + elif (self.waypoints is not None): + self.master.title(str(self.master.title()).replace(self.waypoints_filepath.name + " - ", "")) + filepath = tkinter.filedialog.askopenfilename( parent=self.master, - title="Select map yaml file", + title="Select waypoints yaml file", initialdir=str(Path(".")), filetypes=[("YAML", ".yaml")] ) if not filepath: return with open(filepath) as file: wp_yaml = ruamel.yaml.YAML().load(file) + if (not "waypoints" in wp_yaml.keys()) or (not "finish_pose" in wp_yaml.keys()): + messagebox.showerror(title="Format error", message="Selected waypoints file is unexpected format.") + return + + self.canvas.delete("all") + self.trajectory = [] + self.draw_image() + self.plot_origin() + if (self.wp_info_win is not None) and (self.wp_info_win.winfo_exists()): + self.wp_info_win.destroy() + + del self.waypoints 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.draw_trajectory() + self.master.title(self.waypoints_filepath.name + " - " + self.master.title()) + self.message("Read waypoints file " + filepath) 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) + gc.collect() return @@ -161,8 +236,11 @@ +++++ File -> Save +++++ """ def menu_save(self, event=None): + if not self.waypoints: return self.save_waypoints(str(self.waypoints_filepath)) self.message("Saved changes!") + title = self.master.title() + if title[0] == "*": self.master.title(str(title).replace("* ", "")) return @@ -170,6 +248,7 @@ +++++ File -> Save As +++++ """ def menu_saveas(self, event=None): + if not self.waypoints: return new_filepath = tkinter.filedialog.asksaveasfilename( parent=self.master, title="Save As", @@ -184,6 +263,8 @@ 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) + "\"") + title = self.master.title() + if title[0] == "*": self.master.title(str(title).replace("* ", "")) return @@ -191,6 +272,13 @@ +++++ File -> Exit +++++ """ def menu_exit(self, event=None): + title = self.master.title() + if title[0] != "*": + self.master.destroy() + return + res = messagebox.askyesnocancel(title="Unsaved changes", message="Do you want to save changes before close?") + if res is None: return # cancel + if res == True: self.menu_save() self.master.destroy() @@ -201,6 +289,150 @@ with open(path, 'w') as f: f.write(get_waypoint_yaml(self.waypoints, self.finish_pose)) return + + + """ + +++++ Edit -> Set Finish Pose +++++ + """ + def menu_set_finishpose(self, event=None): + if not self.waypoints: return + self.message("Click any point to set finsih pose. If you want to cancel, right click anywhere.") + self.setting_finish_pose = 1 + return + + + """ + +++++ Edit -> From To +++++ + """ + def menu_from_to(self, event=None): + if not self.waypoints: return + sub_win = tk.Toplevel() + sub_win.title("Set parameter from some number's waypoint to any number's one") + sub_win.attributes('-topmost', True) # サブウィンドウを最前面で固定 + # + font = ("Consolas", 12) + frame1 = tk.Frame(sub_win) + from_label = tk.Label(frame1, text="From No.", font=font) + from_label.grid(row=0, column=0) + from_txt_box = tk.Entry(frame1, width=4, font=font) + from_txt_box.grid(row=0, column=1) + to_label = tk.Label(frame1, text="to No.", font=font) + to_label.grid(row=0, column=2) + to_txt_box = tk.Entry(frame1, width=4, font=font) + to_txt_box.grid(row=0, column=3) + frame1.pack(padx=10, pady=10) + # + frame2 = tk.Frame(sub_win) + name_label = tk.Label(frame2, text="Parameter", font=font) + name_label.grid(row=0, column=0) + value_label=tk.Label(frame2, text="Value", font=font) + value_label.grid(row=0, column=1) + name_txt_box = tk.Entry(frame2, width=20, font=font) + name_txt_box.grid(row=1, column=0, padx=20) + value_txt_box = tk.Entry(frame2, width=20, font=font) + value_txt_box.grid(row=1, column=1, padx=20) + frame2.pack(padx=10, pady=10) + # + def set_btn_callback(): + from_num = from_txt_box.get() + to_num = to_txt_box.get() + if (len(from_num) == 0) or (len(to_num) == 0): + messagebox.showwarning(title="Warning", message="Enter waypoint numbers.") + return + from_num = int(from_num) + to_num = int(to_num) + if (from_num < 1) or (to_num > len(self.waypoints.get_waypoint())): + messagebox.showerror(title="Error", message="Entered number is out of range of the number of waypoints") + return + param = name_txt_box.get() + value = value_txt_box.get() + if (len(param) == 0) or (len(value) == 0): + messagebox.showwarning(title="Warning", message="Enter parameter name and value") + return + for n in range(from_num, to_num+1): + self.waypoints.waypoints[n-1][param] = value + sub_win.destroy() + self.update_title() + self.plot_waypoints() + self.draw_trajectory() + return + frame3 = tk.Frame(sub_win) + set_btn = tk.Button(frame3, text="Set", width=5, command=set_btn_callback) + set_btn.pack(side=tk.RIGHT, padx=50, pady=10) + cancel_btn = tk.Button(frame3, text="Cancel", width=8, command=sub_win.destroy) + cancel_btn.pack(side=tk.LEFT, padx=50, pady=10) + frame3.pack(padx=10, pady=20, expand=True, fill=tk.X) + return + + + """ + +++++ View -> Footprint -> Set +++++ + """ + def menu_set_footprint(self, event=None): + sub_win = tk.Toplevel() + sub_win.title("Set footprint model") + sub_win.protocol("WM_DELETE_WINDOW") + sub_win.attributes('-topmost', True) # サブウィンドウを最前面で固定 + # テキストボックス + footprint = str(self.footprint) + txt_box = tk.Entry(sub_win, width=len(footprint)+10, font=("Consolas",12)) + txt_box.insert(tk.END, footprint) + txt_box.pack(padx=10, pady=20) + # Set ボタンコールバック + def callback(): + try: + self.footprint = eval(txt_box.get()) + if self.show_fp.get(): + self.show_fp.set(False) + self.menu_show_footprint() + self.show_fp.set(True) + self.menu_show_footprint() + sub_win.destroy() + except SyntaxError: + sub_win.title("Unexpectd format") + return + # Set ボタン + set_btn = tk.Button(sub_win, text="Set", width=5, height=1, command=callback) + set_btn.pack(pady=10) + sub_win.update() + w = sub_win.winfo_width() + h = sub_win.winfo_height() + x = int((self.canv_w - w) / 2) + y = int((self.canv_h - h) / 2) + geometry = "{}x{}+{}+{}".format(w, h, x, y) + sub_win.geometry(geometry) + return + + + """ + +++++ View -> Footprint -> Show +++++ + """ + def menu_show_footprint(self, event=None): + if not self.waypoints: return + if event: self.show_fp.set(not self.show_fp.get()) + # create polygon as footprint + def create_footprint(x, y, nx, ny): + polygon = [] + th = math.atan2((ny - y), (nx -x)) + for xy in self.footprint: + X = xy[0]*math.cos(th) - xy[1]*math.sin(th) + x + Y = xy[0]*math.sin(th) + xy[1]*math.cos(th) + y + cx, cy = self.real2canvas(float(X), float(Y)) + polygon.append([cx, cy]) + id = self.canvas.create_polygon(polygon, fill="", outline="green", tags="footprint") + self.canvas.lift("footprint", "map_image") + return + ## + if (self.show_fp.get()): + for i in range(len(self.waypoints.get_waypoint()) - 1): + wp = self.waypoints.get_waypoint(num=i+1) + next_wp = self.waypoints.get_waypoint(num=i+2) + create_footprint(float(wp["x"]), float(wp["y"]), float(next_wp["x"]), float(next_wp["y"])) + # last waypoint + create_footprint(float(next_wp["x"]), float(next_wp["y"]), self.finish_pose.x, self.finish_pose.y) + else: + self.canvas.delete("footprint") + return @@ -213,16 +445,18 @@ +++++ 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]) + cx, cy = 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 + x0 = cx - r + y0 = cy - r + x1 = cx + r + 1 + y1 = cy + r + 1 if self.canvas.find_withtag("origin"): self.canvas.moveto("origin", x0, y0) + self.trajectory[0] = [cx, cy] else: self.canvas.create_oval(x0, y0, x1, y1, tags="origin", fill='cyan', outline='blue') + self.trajectory.append([cx, cy]) return @@ -237,7 +471,8 @@ 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)) + self.canvas.moveto(id, x0, y0) + self.trajectory[self.waypoints.get_num(id)] = [cx, cy] return if len(self.waypoints.get_id_list()) == 0: @@ -252,7 +487,8 @@ 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)) + self.canvas.moveto(id, x0, y0) + self.trajectory[self.waypoints.get_num(id)] = [cx, cy] # trajectory # Finish poseを描画 cx, cy = self.real2canvas(self.finish_pose.x, self.finish_pose.y) x0 = cx @@ -263,25 +499,50 @@ # 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" + width=10, arrow=tk.LAST, arrowshape=(12,15,9), fill="#AAF" ) + # trajectory + if self.canvas.find_withtag("trajectory"): + self.trajectory[-1] = [cx, cy] + else: + self.trajectory.append([cx, cy]) return """ + +++++ ウェイポイントをつないだ軌道を描画する +++++ + """ + def draw_trajectory(self): + if self.canvas.find_withtag("trajectory"): + self.canvas.coords("trajectory", list(itertools.chain.from_iterable(self.trajectory))) + else: + self.canvas.create_line(list(itertools.chain.from_iterable(self.trajectory)), + fill="#DF2", width=2, tags="trajectory") + self.canvas.lift("trajectory", "map_image") + 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): + img_x, img_y = self.mymap.real2image(float(waypoint["x"]), float(waypoint["y"])) 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) + x0 = (cx - self.point_rad) + y0 = (cy - self.point_rad) + x1 = (cx + self.point_rad + 1) + y1 = (cy + self.point_rad + 1) + if (img_x < 0) or (img_y < 0) or (img_x > self.mymap.width()) or (img_y > self.mymap.height()): + id = self.canvas.create_oval(x0, y0, x1, y1, fill='#FEE', outline='#FAA', activefill='#F88', tags="waypoints") + self.canvas.tag_bind(id, "", lambda event, wp_id=id: self.waypoint_enter(event, wp_id)) + self.canvas.tag_bind(id, "", self.waypoint_leave) + else: + id = self.canvas.create_oval(x0, y0, x1, y1, fill='#FDD', outline='red', activefill='red', tags="waypoints") + 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) + self.trajectory.append([cx, cy]) #trajectory return id @@ -292,9 +553,10 @@ 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") + self.canvas.itemconfig(wp_id, fill='red') + self.moving_waypoint = False + self.disp_waypoint_info(wp_id) + self.message("Show selected waypoint information") return @@ -310,22 +572,26 @@ 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) + cx = (box[2] + box[0]) / 2 # ウィンドウ上の座標 + cy = (box[3] + box[1]) / 2 + img_x, img_y = self.mymap.inv_transform(cx, cy) # 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: tk.Entry = 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] + self.update_title() + # trajectory + self.trajectory[self.waypoints.get_num(self.editing_waypoint_id)] = [cx, cy] + self.draw_trajectory() return @@ -334,10 +600,10 @@ """ 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)) + self.waypoint_num["text"] = " Waypoint No. {} " .format(str(wp_num)) def waypoint_leave(self, event): - self.waypoint_num["text"] = " Waypoint No. ----- " + self.waypoint_num["text"] = " Waypoint No. ----- " @@ -350,47 +616,52 @@ +++++ 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()) + point: dict = self.waypoints.get_waypoint(id=id) + if (self.wp_info_win is not None) and (self.wp_info_win.winfo_exists()): + # 既にウィンドウが表示されている場合、一度削除 + self.wp_info_win.destroy() + # 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 + label_width = max([len(key) for key in point.keys()]) + 2 + for i, key in enumerate(point.keys()): + key_label = tk.Label(self.wp_info_win, text=key+":", width=label_width, 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) + del_btn = tk.Button(self.wp_info_win, image=self.del_param_icon, relief=tk.FLAT) + del_btn["command"] = lambda name=key, val=str(point[key]).lower(): self.del_param_btn_callback(name, val) + del_btn.grid(column=2, row=i, padx=5, pady=5) + self.wp_info_win.grid_columnconfigure(1, weight=1) + # New parameter + new_param_btn = tk.Button(self.wp_info_win, image=self.new_param_icon, relief=tk.FLAT) + new_param_btn["command"] = self.new_param_btn_callback + new_param_btn.grid(column=0, columnspan=3, row=self.wp_info_win.grid_size()[1], pady=10) + # Apply, Move(Drag & Drop), remove ボタン + canv = tk.Canvas(self.wp_info_win) + canv.grid(column=0, columnspan=3, row=self.wp_info_win.grid_size()[1], sticky=tk.EW, pady=5) + 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) + self.wp_info_win.bind('', self.apply_btn_callback) + move_btn = tk.Button(canv, text="Move", width=5, height=1, bg="#EEE") + move_btn["command"] = lambda obj=move_btn: self.move_btn_callback(move_btn) + move_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.canvas.winfo_x() + self.canv_w - w -10 + y = self.canvas.winfo_y() + self.canv_h - h -10 + 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 + self.wp_info_win.geometry("+{}+{}".format(x, y)) self.wp_info_win.title("Waypoint " + str(self.waypoints.get_num(id))) # タイトルを設定 return @@ -398,20 +669,26 @@ """ +++++ Applyボタンを押したときのコールバック +++++ """ - def apply_btn_callback(self): + def apply_btn_callback(self, event=None): + if (event is not None) and (event.keysym != "Return"): return 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") + val = txt_box.get() + if (str(point[key]) == val): continue + self.update_title() + self.message("Apply changes of waypoint parameters") + self.waypoints.set_waypoint_val(self.editing_waypoint_id, key, val) + if ((key == "x") or (key == "y")): + self.plot_waypoints(self.editing_waypoint_id) + self.draw_trajectory() 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 +++++ + +++++ ドラッグ&ドロップボタン(Moveボタン)を押したときのコールバック +++++ """ - def dnd_btn_callback(self, obj=None): + def move_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 @@ -432,20 +709,85 @@ +++++ 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") + yn = messagebox.askyesno("Delete parameter", message="Are you sure you want to remove this waypoint?") + if (yn == True): + self.trajectory.pop(self.waypoints.get_num(self.editing_waypoint_id)) + 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") + self.update_title() + self.draw_trajectory() return """ + +++++ New Parameter ボタンを押したときのコールバック +++++ + """ + def new_param_btn_callback(self): + # Sub window + sub_win = tk.Toplevel() + sub_win.title("Add new parameter") + sub_win.attributes('-topmost', True) + font = ("Consolas",15) + # Message label + label = tk.Label(sub_win, text="Name : Value", font=font, anchor=tk.CENTER, width=20) + label.grid(row=0, column=0, columnspan=3, padx=10, pady=10) + # Text box + name_entry = tk.Entry(sub_win, font=font, width=15) + name_entry.grid(column=0, row=1, padx=10, pady=5) + colon = tk.Label(sub_win, text=":", font=font, anchor=tk.CENTER, width=2) + colon.grid(row=1, column=1) + value_entry = tk.Entry(sub_win, font=font, width=15) + value_entry.grid(column=2, row=1, padx=10, pady=5) + # Buttons + def add_param(): + name = name_entry.get() + value = value_entry.get() + self.waypoints.set_waypoint_val(self.editing_waypoint_id, key=name, val=value) + sub_win.destroy() + self.wp_info_win.destroy() + self.disp_waypoint_info(self.editing_waypoint_id) + self.update_title() + gc.collect() + return + add_btn = tk.Button(sub_win, text="Add", width=5, height=1, font=font, anchor=tk.CENTER, bg="#AFA") + add_btn["command"] = add_param + add_btn.grid(column=2, row=2, pady=20) + cancel_btn = tk.Button(sub_win, text="Cancel", width=7, height=1, font=font, anchor=tk.CENTER) + cancel_btn["command"] = sub_win.destroy + cancel_btn.grid(column=0, row=2, pady=20) + # Window position + sub_win.update() + w = sub_win.winfo_width() + 10 + h = sub_win.winfo_height() + x = int((self.canv_w - w) / 2) + y = int((self.canv_h - h) / 2) + sub_win.geometry("{}x{}+{}+{}".format(w, h, x, y)) + return + + + def del_param_btn_callback(self, name, val): + msg = "Are you sure you want to delete this parameter?\n\n" + msg += str(name) + ": " + str(val) + yn = messagebox.askyesno("Delete parameter", message=msg) + if (yn == True): + self.waypoints.delete_waypoint_param(self.editing_waypoint_id, name) + self.wp_info_win.destroy() + self.disp_waypoint_info(self.editing_waypoint_id) + self.update_title() + 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.moving_waypoint = False self.wp_info_win.destroy() + gc.collect() return @@ -461,16 +803,16 @@ 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") + img_x, img_y = self.right_click_coord + if self.mymap.pil_img.getpixel((img_x, img_y))[0] == 0: + messagebox.showwarning(title="Warning", 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 = tk.Label(add_wp_win, text="Add new waypoint at 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) @@ -494,12 +836,19 @@ +++++ 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") + num = num_box.get() + if (num == ""): + win.attributes('-topmost', False) + messagebox.showwarning(title="Warning", message="The number has not been entered.") + win.attributes('-topmost', True) + return + num = int(num) + if (num < 1) or (num > len(self.waypoints.waypoints)+1): + win.attributes('-topmost', False) + messagebox.showwarning(title="Warning", message="The number is out of range.") + win.attributes('-topmost', True) 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]) @@ -511,11 +860,15 @@ elif (key=="z"): point[key] = 0.0 else: point[key] = "" id = self.create_waypoint(point) - self.waypoints.insert(prev_num+1, point, id=id) + cx,cy = self.trajectory.pop(-1) + self.trajectory[num:num] = [[cx, cy]] + self.waypoints.insert(num, point, id=id) self.plot_waypoints(id=id) + self.draw_trajectory() self.editing_waypoint_id = id self.canvas.itemconfig(id, fill='red') self.disp_waypoint_info(id) + self.update_title() return @@ -530,29 +883,24 @@ """ def mouse_move(self, event): if not self.mymap: return + + if self.setting_finish_pose == 2: + x0, y0, _, _ = self.canvas.coords("set_finish_pose") + x, y = event.x, event.y + theta = math.atan2((-y+y0), (x-x0)) + x1 = x0 + math.cos(theta) * self.point_rad * 3 + y1 = y0 - math.sin(theta) * self.point_rad * 3 + self.canvas.delete("set_finish_pose") + self.canvas.create_line(x0, y0, x1, y1, tags="set_finish_pose", + width=10, arrow=tk.LAST, arrowshape=(12,15,9), fill="#F88" + ) + 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() + self.mouse_position["text"] = " ( x, y ) = ( {}, {} ) ".format(x, y) return @@ -561,6 +909,43 @@ """ 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 + + if self.setting_finish_pose == 1: + x0, y0 = event.x, event.y + img_x, img_y = self.mymap.inv_transform(x0, y0) + if (img_x < 0) or (img_y < 0) or (img_x > self.mymap.width()) or (img_y > self.mymap.height()): + retry = messagebox.askretrycancel(title="Cannot set finish pose here", message="The point is out of the map.") + if not retry: self.setting_finish_pose = 0 + return + x1 = x0 + math.cos(self.finish_pose.yaw) * self.point_rad * 3 + y1 = y0 - math.sin(self.finish_pose.yaw) * self.point_rad * 3 + self.canvas.create_line(x0, y0, x1, y1, tags="set_finish_pose", + width=10, arrow=tk.LAST, arrowshape=(12,15,9), fill="#F88" + ) + self.setting_finish_pose = 2 + return + + if self.setting_finish_pose == 2: + x0, y0, _, _ = self.canvas.coords("set_finish_pose") + x, y = event.x, event.y + theta = math.atan2((-y+y0), (x-x0)) + x1 = x0 + math.cos(theta) * self.point_rad * 3 + y1 = y0 - math.sin(theta) * self.point_rad * 3 + self.canvas.delete("set_finish_pose") + 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" + ) + self.trajectory[-1] = [x0, y0] + self.draw_trajectory() + img_x, img_y = self.mymap.inv_transform(x0, y0) + real_x, real_y = self.mymap.image2real(img_x, img_y) + self.finish_pose.x = real_x + self.finish_pose.y = real_y + self.finish_pose.yaw = theta + self.setting_finish_pose = 0 + self.message("New finish pose is set.") + self.update_title() return @@ -570,6 +955,7 @@ def left_click_move(self, event): if not self.mymap: return if self.moving_waypoint: return + if self.setting_finish_pose != 0: return if self.old_click_point is None: self.old_click_point = [event.x, event.y] return @@ -582,9 +968,14 @@ # 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("waypoints", delta_x, delta_y) self.canvas.move("finish_pose", delta_x, delta_y) + self.canvas.move("trajectory", delta_x, delta_y) + self.canvas.lift("trajectory", "map_image") + self.canvas.move("footprint", delta_x, delta_y) + for i in range(0, len(self.trajectory)): + self.trajectory[i][0] = self.trajectory[i][0] + delta_x + self.trajectory[i][1] = self.trajectory[i][1] + delta_y self.old_click_point = [event.x, event.y] return @@ -602,6 +993,15 @@ """ def right_click(self, event): if not self.mymap: return + if self.setting_finish_pose == 1: + self.setting_finish_pose = 0 + self.message("Canceled.") + return + if self.setting_finish_pose == 2: + self.canvas.delete("set_finish_pose") + self.setting_finish_pose = 0 + self.message("Canceled.") + 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 @@ -621,10 +1021,14 @@ """ def ctrl_left_click(self, event): if not self.mymap: return - self.mymap.scale_at(event.x, event.y, 1.2) + if self.setting_finish_pose != 0: return + scale = 1.2 + self.mymap.scale_at(event.x, event.y, scale) self.draw_image() self.plot_origin() self.plot_waypoints() + self.canvas.scale("footprint", event.x, event.y, scale, scale) + self.canvas.scale("trajectory", event.x, event.y, scale, scale) self.message("Zoom In") return @@ -634,15 +1038,37 @@ """ def ctrl_right_click(self, event): if not self.mymap: return - self.mymap.scale_at(event.x, event.y, 0.8) + if self.setting_finish_pose != 0: return + scale = 0.8 + self.mymap.scale_at(event.x, event.y, scale) self.draw_image() self.plot_origin() self.plot_waypoints() + self.canvas.scale("footprint", event.x, event.y, scale, scale) + self.canvas.scale("trajectory", event.x, event.y, scale, scale) self.message("Zoom Out") 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: + scale = 1.1 # 上に回転（タッチパッドなら下にドラッグ）=> 拡大 + else: + scale = 0.9 # 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, scale) + self.draw_image() + self.plot_origin() + self.plot_waypoints() + self.canvas.scale("footprint", event.x, event.y, scale, scale) + self.canvas.scale("trajectory", event.x, event.y, scale, scale) + 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): @@ -653,6 +1079,7 @@ self.canv_h = ch self.draw_image() return + @@ -673,6 +1100,7 @@ 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))) + self.canvas.tag_lower("map_image") return @@ -690,8 +1118,15 @@ """ 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 + cx, cy = self.mymap.transform(img_x, img_y) + return round(cx), round(cy) + + + def update_title(self): + title = self.master.title() + if title[0] != "*": + self.master.title("* "+title) + @@ -702,4 +1137,8 @@ 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() + root.protocol("WM_DELETE_WINDOW", app.menu_exit) + try: + app.mainloop() + except KeyboardInterrupt as e: + app.menu_exit() diff --git a/src/waypoint_navigation/waypoint_manager/scripts/to_exe.bat b/src/waypoint_navigation/waypoint_manager/scripts/to_exe.bat new file mode 100644 index 0000000..30a7c4c --- /dev/null +++ b/src/waypoint_navigation/waypoint_manager/scripts/to_exe.bat @@ -0,0 +1,14 @@ +pyinstaller.exe manager_GUI.py --noconsole --noconfirm + +if exist .\waypoint_manager PowerShell -command " rm -r .\waypoint_manager " +PowerShell -command " mv .\dist\manager_GUI .\waypoint_manager " +PowerShell -command " rm -r .\build " +PowerShell -command " rm -r .\dist " +PowerShell -command " rm .\manager_GUI.spec " +PowerShell -command " cp -r .\icons .\waypoint_manager\ " + + + + + + diff --git a/src/waypoint_navigation/waypoint_manager/scripts/to_exe.sh b/src/waypoint_navigation/waypoint_manager/scripts/to_exe.sh new file mode 100755 index 0000000..00dddf8 --- /dev/null +++ b/src/waypoint_navigation/waypoint_manager/scripts/to_exe.sh @@ -0,0 +1,13 @@ +python -m PyInstaller manager_GUI.py --noconsole --noconfirm + +if [ -d ./waypoint_manager ]; then + rm -r ./waypoint_manager +fi + +mv ./dist/manager_GUI ./waypoint_manager +rm -r ./build +rm -r ./dist +rm ./manager_GUI.spec +cp -r ./icons ./waypoint_manager/ + +# If the ModuleNotFoundError occur, copy the module from your environment diff --git a/src/waypoint_navigation/waypoint_manager/waypoint-manager-for-ubuntu.tar b/src/waypoint_navigation/waypoint_manager/waypoint-manager-for-ubuntu.tar new file mode 100644 index 0000000..d247cb0 --- /dev/null +++ b/src/waypoint_navigation/waypoint_manager/waypoint-manager-for-ubuntu.tar Binary files differ diff --git a/src/waypoint_navigation/waypoint_manager/waypoint-manager-for-windows10.zip b/src/waypoint_navigation/waypoint_manager/waypoint-manager-for-windows10.zip new file mode 100644 index 0000000..48cd956 --- /dev/null +++ b/src/waypoint_navigation/waypoint_manager/waypoint-manager-for-windows10.zip Binary files differ diff --git a/src/waypoint_navigation/waypoint_nav/CMakeLists.txt b/src/waypoint_navigation/waypoint_nav/CMakeLists.txt index b4c1003..7a3d636 100644 --- a/src/waypoint_navigation/waypoint_nav/CMakeLists.txt +++ b/src/waypoint_navigation/waypoint_nav/CMakeLists.txt @@ -59,3 +59,9 @@ ${catkin_LIBRARIES} ) + +catkin_install_python(PROGRAMS + scripts/tandem_run_manager.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + diff --git a/src/waypoint_navigation/waypoint_nav/launch/waypoint_nav.launch b/src/waypoint_navigation/waypoint_nav/launch/waypoint_nav.launch old mode 100644 new mode 100755 index e7b5ece..654e341 --- a/src/waypoint_navigation/waypoint_nav/launch/waypoint_nav.launch +++ b/src/waypoint_navigation/waypoint_nav/launch/waypoint_nav.launch @@ -1,24 +1,38 @@ + - - - - - - + + + + + + + + + + - - - + + + + - - + + + + + + + + + + diff --git a/src/waypoint_navigation/waypoint_nav/maps/map.pgm b/src/waypoint_navigation/waypoint_nav/maps/map.pgm deleted file mode 100644 index 10700a1..0000000 --- a/src/waypoint_navigation/waypoint_nav/maps/map.pgm +++ /dev/null Binary files differ diff --git a/src/waypoint_navigation/waypoint_nav/maps/map.yaml b/src/waypoint_navigation/waypoint_nav/maps/map.yaml deleted file mode 100644 index 8cf0bd4..0000000 --- a/src/waypoint_navigation/waypoint_nav/maps/map.yaml +++ /dev/null @@ -1,7 +0,0 @@ -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 deleted file mode 100644 index 8a70604..0000000 --- a/src/waypoint_navigation/waypoint_nav/maps/map_gakunai.pgm +++ /dev/null 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 deleted file mode 100644 index 27872d5..0000000 --- a/src/waypoint_navigation/waypoint_nav/maps/map_gakunai.yaml +++ /dev/null @@ -1,7 +0,0 @@ -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/rviz_cfg/nav.rviz b/src/waypoint_navigation/waypoint_nav/rviz_cfg/nav.rviz index e0e7674..86336a2 100644 --- a/src/waypoint_navigation/waypoint_nav/rviz_cfg/nav.rviz +++ b/src/waypoint_navigation/waypoint_nav/rviz_cfg/nav.rviz @@ -5,7 +5,11 @@ Property Tree Widget: Expanded: ~ Splitter Ratio: 0.5 +<<<<<<< HEAD + Tree Height: 694 +======= Tree Height: 636 +>>>>>>> 21a0491cdbf23fb62e1951d64c737b70cdb8a9a8 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -342,17 +346,30 @@ Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 +<<<<<<< HEAD + Pitch: 0.904796838760376 + Target Frame: base_link + Yaw: 3.1003949642181396 +======= Pitch: 1.339796543121338 Target Frame: base_link Yaw: 3.1153953075408936 +>>>>>>> 21a0491cdbf23fb62e1951d64c737b70cdb8a9a8 Saved: ~ Window Geometry: Displays: collapsed: false +<<<<<<< HEAD + Height: 957 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+======= Height: 897 Hide Left Dock: false Hide Right Dock: true QMainWindow State: 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+>>>>>>> 21a0491cdbf23fb62e1951d64c737b70cdb8a9a8 Selection: collapsed: false StateTriggerPanel: @@ -363,6 +380,12 @@ collapsed: false Views: collapsed: true +<<<<<<< HEAD + Width: 1458 + X: 374 + Y: -40 +======= Width: 1269 X: 564 Y: -20 +>>>>>>> 21a0491cdbf23fb62e1951d64c737b70cdb8a9a8 diff --git a/src/waypoint_navigation/waypoint_nav/scripts/tandem_run_manager.py b/src/waypoint_navigation/waypoint_nav/scripts/tandem_run_manager.py new file mode 100755 index 0000000..7001f49 --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/scripts/tandem_run_manager.py @@ -0,0 +1,125 @@ +#!/usr/bin/env python3 + +import rospy +import dynamic_reconfigure.client +import ruamel.yaml +import numpy as np +from std_msgs.msg import UInt16 +from sensor_msgs.msg import LaserScan +from std_srvs.srv import Trigger + + +class TandemManager(): + + def __init__(self): + ## Read waypoints file + yaml = ruamel.yaml.YAML() + waypoints_path = rospy.get_param("tandem_run_manager/waypoints_file") + with open(waypoints_path) as file: + waypoints_yaml = yaml.load(file) + ## Register waypoint number of start/end tandem area + self.tandem_start_list = [] + self.tandem_end_list = [] + self.tandem_id = 0 + for i, data in enumerate(waypoints_yaml["waypoints"]): + if ("tandem_start" in data["point"]): + self.tandem_start_list.append(i+2) + if ("tandem_end" in data["point"]): + self.tandem_end_list.append(i+2) + self.no_tandem_area = (len(self.tandem_start_list) == 0) + ## Subscribers + self.wp_num_sub = rospy.Subscriber("/waypoint_num", UInt16, self.waypoint_num_callback) + self.scan_sub = rospy.Subscriber("/scan", LaserScan, self.laserscan_callback) + ## Waypoint navigation service clients + self.stop_nav = rospy.ServiceProxy("/stop_wp_nav", Trigger) + self.resume_nav = rospy.ServiceProxy("/resume_nav", Trigger) + ## Dynamic reconfigure clients + self.costmap_client1 = dynamic_reconfigure.client.Client("/move_base/global_costmap/obstacle_layer1") + self.costmap_client2 = dynamic_reconfigure.client.Client("/move_base/global_costmap/obstacle_layer2") + ## Variable + self.front_angle = 20 # degree + self.danger_dist = 1.2 # meter + self.waypoint_num = 0 + self.front_range = None + self.in_tandem_area = False + self.stop = False + return + + + ## Subscribe current waypoint number + def waypoint_num_callback(self, msg): + if (self.no_tandem_area) or (msg.data == self.waypoint_num) or (self.stop): return + if (self.waypoint_num == 0) and (msg.data > 1): + for i in range(0, len(self.tandem_start_list)): + if (msg.data >= self.tandem_end_list[i]): + self.tandem_id += 1 + continue + if (msg.data >= self.tandem_start_list[i]) and (msg.data < self.tandem_end_list[i]): + self.tandem_id = i + self.in_tandem_area = True + self.update_costmap_config(False) + rospy.loginfo("Enter tandem area.") + break + self.waypoint_num = msg.data + return + + if (msg.data == self.tandem_start_list[self.tandem_id]): + self.in_tandem_area = True + self.update_costmap_config(False) + rospy.loginfo("Enter tandem area.") + + elif (msg.data == self.tandem_end_list[self.tandem_id]): + self.in_tandem_area = False + self.update_costmap_config(True) + self.tandem_id += 1 + self.stop = (self.tandem_id >= len(self.tandem_start_list)) # if True, self.stop will never be False + rospy.loginfo("Exit from tandem area.") + + self.waypoint_num = msg.data + return + + + + def laserscan_callback(self, msg): + try: + if self.front_range is None: + front = round(-msg.angle_min / msg.angle_increment) + ran = int(round(np.deg2rad(self.front_angle/2) / msg.angle_increment)) + self.front_range = [front-ran, front+ran] + return + + if not self.in_tandem_area: return + ranges = np.array(msg.ranges[self.front_range[0]:self.front_range[1]]) + ## Use simply minimum + ranges[ranges <= msg.range_min] = msg.range_max + min_range = min(ranges) + ## or use sort + #sort_ranges = np.sort(ranges) + #min_range = np.mean(sort_ranges[:5]) + if (not self.stop) and (min_range < self.danger_dist): + self.stop_nav() + self.stop = True + rospy.loginfo("Stop because of obstacle within {}m ahead.".format(self.danger_dist)) + + elif (self.stop) and (min_range >= self.danger_dist+0.1): + self.resume_nav() + self.stop = False + rospy.loginfo("Resumed navigation because the obstacle ahead was more than {}m away.".format(self.danger_dist+0.1)) + + except AttributeError: + pass + return + + + def update_costmap_config(self, enable: bool): + self.costmap_client1.update_configuration({"enabled": enable}) + self.costmap_client2.update_configuration({"enabled": enable}) + return + + + + +if __name__ == '__main__': + rospy.init_node("map_changer") + tandem_manager = TandemManager() + rospy.spin() diff --git a/src/waypoint_navigation/waypoint_nav/src/velocity_controller.cpp b/src/waypoint_navigation/waypoint_nav/src/velocity_controller.cpp index 53735d7..d5a8406 100644 --- a/src/waypoint_navigation/waypoint_nav/src/velocity_controller.cpp +++ b/src/waypoint_navigation/waypoint_nav/src/velocity_controller.cpp @@ -27,8 +27,8 @@ 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); + cmd_vel_sub_ = nh.subscribe("/cmd_vel_in", 100, &VelocityController::cmdVelCallback, this); + cmd_vel_pub_ = nh.advertise("/cmd_vel_out", 100); nh.param(max_vel_param, standard_vel_, standard_vel_); nh.param(min_vel_param, min_vel_, min_vel_); @@ -76,4 +76,4 @@ 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 old mode 100644 new mode 100755 index cb1f6e8..82c6e89 --- a/src/waypoint_navigation/waypoint_nav/src/waypoint_nav.cpp +++ b/src/waypoint_navigation/waypoint_nav/src/waypoint_nav.cpp @@ -12,6 +12,7 @@ #include #include #include +#include #include #include // include Waypoint class @@ -49,7 +50,9 @@ move_base_action_("move_base", true), rate_(10), last_moved_time_(0), - dist_err_(1.0) + dist_err_(1.0), + min_dist_err_(0.3), + min_yaw_err_(0.3) { while((move_base_action_.waitForServer(ros::Duration(1.0)) == false) && (ros::ok() == true)) { @@ -77,15 +80,26 @@ } else { ROS_ERROR("waypoints file doesn't have name"); } + + //Scripts of "start from the middle" + //Edited mori 2022/10/19 + //############################################################# + StartFromTheMiddle = false; + private_nh.getParam("StartFromTheMiddle", StartFromTheMiddle); + //############################################################# + + private_nh.param("min_dist_err", min_dist_err_, min_dist_err_); + private_nh.param("min_yaw_err", min_yaw_err_, min_yaw_err_); 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); + scan_sub_ = nh.subscribe("scan", 1, &WaypointsNavigation::laserscan_callback, this); wp_pub_ = nh.advertise("waypoints", 10); max_vel_pub_ = nh.advertise("max_vel", 5); - wp_num_pub_ = nh.advertise("waypoint_number", 5); + wp_num_pub_ = nh.advertise("waypoint_num", 5); clear_costmaps_srv_ = nh.serviceClient("/move_base/clear_costmaps"); } @@ -127,9 +141,15 @@ 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; + try { + (*wp_node)[i]["point"]["vel"] >> point.vel; + } catch(...) {} // Use default value + try { + (*wp_node)[i]["point"]["rad"] >> point.rad; + } catch(...) {} + try { + (*wp_node)[i]["point"]["stop"] >> point.stop; + } catch(...) {} waypoint_list_.push_back(point); } } else { @@ -155,6 +175,7 @@ point.x = pose.position.x; point.y = pose.position.y; point.z = pose.position.z; + point.stop = true; waypoint_list_.push_back(point); } else { return false; @@ -197,16 +218,72 @@ response.success = false; return false; } + //Scripts of "start from the middle" + //Edited mori 2022/10/19 + //############################################################# + wp_num_.data = 1; + init_waypoint_ = waypoints_.poses.begin(); + compare_waypoint_ = waypoints_.poses.begin(); + double min_dist_w = std::numeric_limits::max(); + if(StartFromTheMiddle){ + ROS_INFO("StartFromTheMiddle => True"); + tf::StampedTransform robot_init_pos = getRobotPosGL(); + double init_x = robot_init_pos.getOrigin().x(); + double init_y = robot_init_pos.getOrigin().y(); + double pre_waypoint_x; + double pre_waypoint_y; + double convert_x; + double init_yaw = tf::getYaw(robot_init_pos.getRotation()); + double square_x; + double square_y; + double dist_w; + double dir_w; + int min_waypoint = 0; + int i = 0; + while(compare_waypoint_ != waypoints_.poses.end() - 1){ + i++; + square_x = (compare_waypoint_ -> position.x - init_x) * (compare_waypoint_ -> position.x - init_x); + square_y = (compare_waypoint_ -> position.y - init_y) * (compare_waypoint_ -> position.y - init_y); + dist_w = sqrt(square_x + square_y); + if(i == 1){ + dir_w = atan2(compare_waypoint_ -> position.y, compare_waypoint_ -> position.x); + convert_x = (compare_waypoint_ -> position.x - init_x) * cos(-init_yaw) - (compare_waypoint_ -> position.y - init_y) * sin(-init_yaw); + if(abs(dir_w - init_yaw) < (90 / 180.0 * M_PI) && convert_x > 0){ + min_dist_w = dist_w; + init_waypoint_ = compare_waypoint_; + min_waypoint = 1; + } + }else if(min_dist_w > dist_w){ + dir_w = atan2(compare_waypoint_ -> position.y - pre_waypoint_y, compare_waypoint_ -> position.x- pre_waypoint_x); + convert_x = (compare_waypoint_ -> position.x - init_x) * cos(-init_yaw) - (compare_waypoint_ -> position.y - init_y) * sin(-init_yaw); + if(abs(dir_w - init_yaw) < (90 / 180.0 * M_PI) && convert_x > 0){ + min_dist_w = dist_w; + init_waypoint_ = compare_waypoint_; + min_waypoint = i; + } + } + pre_waypoint_x = compare_waypoint_ -> position.x; + pre_waypoint_y = compare_waypoint_ -> position.y; + compare_waypoint_++; + } + wp_num_.data = min_waypoint; + } 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; + if(min_dist_w == std::numeric_limits::max()){ + ROS_WARN("Could not find the closest appropriate waypoint. Please check the direction of the robot again."); + response.success = false; + return false; + }else{ + current_waypoint_ = init_waypoint_; + has_activate_ = true; + response.success = true; + return true; + } + //############################################################# } @@ -220,6 +297,8 @@ ROS_WARN("Navigation is already active"); response.success = false; } else { + std_srvs::Empty empty; + clear_costmaps_srv_.call(empty); ROS_INFO("Navigation has resumed"); has_activate_ = true; response.success = true; @@ -228,7 +307,6 @@ } - /* ++++++++++ Callback function for service of "stop_wp_nav" ++++++++++ */ @@ -269,11 +347,121 @@ /* + ++++++++++ Callback function for /scan topic ++++++++++ + */ + void laserscan_callback(const sensor_msgs::LaserScan &msg) + { + laserscan = msg; + } + + + + /* + ++++++++++ Search for a goal without obstacles ++++++++++ + */ + void sendNoObstacleGoal(float first_thresh, float after_second_thresh, float goal_thresh, const geometry_msgs::Pose &dest) + { + if(laserscan.ranges.size() > 0){ + move_base_msgs::MoveBaseGoal move_base_goal; + tf::StampedTransform robot_pos = getRobotPosGL(); + geometry_msgs::Pose mid_waypoint; + double start_nav_time, time; + float sum_x, sum_y; + float x[laserscan.ranges.size()]; + float y[laserscan.ranges.size()]; + float waypoint_x = dest.position.x - robot_pos.getOrigin().x(); + float waypoint_y = dest.position.y - robot_pos.getOrigin().y(); + float robot_yaw = tf::getYaw(robot_pos.getRotation()); + float waypoint_x_update = dest.position.x - robot_pos.getOrigin().x(); + float waypoint_y_update = dest.position.y - robot_pos.getOrigin().y(); + float r = std::sqrt(std::pow(dest.position.x - robot_pos.getOrigin().x(), 2) + std::pow(dest.position.y - robot_pos.getOrigin().y(), 2)); + int j = 0; + int sum_num = 0; + bool pass_bool = false; + for(int i = 0; i < laserscan.ranges.size(); i++){ + if(!(laserscan.ranges[i] < laserscan.range_min || laserscan.ranges[i] > laserscan.range_max || std::isnan(laserscan.ranges[i]))){ + float theta = laserscan.angle_min + i * laserscan.angle_increment + robot_yaw; + x[j] = laserscan.ranges[i] * cosf(theta); + y[j] = laserscan.ranges[i] * sinf(theta); + j++; + } + } + float dist_waypoint[j]; + for(int i = 0;;i++){ + sum_x = 0; + sum_y = 0; + sum_num = 0; + for(int ii = 0; ii < j; ii++){ + dist_waypoint[ii] = std::sqrt(std::pow(x[ii] - waypoint_x_update, 2) + std::pow(y[ii] - waypoint_y_update, 2)); + if(i == 0 && dist_waypoint[ii] < first_thresh){ + sum_x += x[ii]; + sum_y += y[ii]; + sum_num++; + } + } + int size = sizeof(dist_waypoint) / sizeof(*dist_waypoint); + float min = *std::min_element(dist_waypoint, dist_waypoint + size); + if((i == 0 && min > first_thresh) || (i == 0 && std::sqrt(std::pow(waypoint_x_update, 2) + std::pow(waypoint_y_update, 2)) < first_thresh)){ + pass_bool = true; + ROS_WARN("Min dist_waypoint: %f", min); + ROS_WARN("Pass"); + break; + }else if(i == 0 && min < first_thresh){ + ROS_WARN("There is an obstacle near waypoint."); + ROS_WARN("Waypoint x: %f, y: %f", waypoint_x_update, waypoint_y_update); + ROS_WARN("Obstacle x: %f, y: %f", sum_x / sum_num, sum_y / sum_num); + }else if(waypoint_x * waypoint_x_update < 0){ + waypoint_x_update = waypoint_x; + waypoint_y_update = waypoint_y; + break; + }else if(i > 0 && min > after_second_thresh){ + break; + } + waypoint_x = waypoint_x_update; + waypoint_y = waypoint_y_update; + waypoint_x_update = (dest.position.x - robot_pos.getOrigin().x()) * (r - 0.5 * (i + 1)) / r; + waypoint_y_update = (dest.position.y - robot_pos.getOrigin().y()) * (r - 0.5 * (i + 1)) / r; + } + if(!pass_bool){ + std_srvs::Empty empty; + mid_waypoint.position.x = waypoint_x_update + robot_pos.getOrigin().x(); + mid_waypoint.position.y = waypoint_y_update + robot_pos.getOrigin().y(); + mid_waypoint.orientation = dest.orientation; + 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.orientation = mid_waypoint.orientation; + move_base_goal.target_pose.pose.position = mid_waypoint.position; + ROS_WARN("Send goal x: %f, y: %f", waypoint_x_update, waypoint_y_update); + move_base_action_.sendGoal(move_base_goal); + start_nav_time = ros::Time::now().toSec(); + while(!onNavigationPoint(mid_waypoint.position, goal_thresh)){ + time = ros::Time::now().toSec(); + if(time - start_nav_time > 10.0 && time - last_moved_time_ > 10.0) { + ROS_WARN("Resend the navigation goal."); + clear_costmaps_srv_.call(empty); + move_base_goal.target_pose.header.stamp = ros::Time::now(); + move_base_action_.sendGoal(move_base_goal); + start_nav_time = time; + } + sleep(); + } + ROS_WARN("Reach the goal without obstacle."); + } + } + } + + + + /* ++++++++++ Check if robot reached the goal sent to move_base ++++++++++ */ bool navigationFinished() { - return move_base_action_.getState() == actionlib::SimpleClientGoalState::SUCCEEDED; + if (move_base_action_.getState() == actionlib::SimpleClientGoalState::SUCCEEDED) { + ROS_WARN("Move base state is Goal reached"); + return true; + } + return false; } @@ -283,15 +471,22 @@ */ bool onNavigationPoint(const geometry_msgs::Point &dest, double dist_err=1.0) { - 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)); + if (waypoint_list_[wp_num_.data-1].stop) { + tf::Quaternion q = robot_gl.getRotation(); + tf::Matrix3x3 m(q); + double r, p ,y; + m.getRPY(r, p, y); + double diff_yaw = std::abs(y - target_yaw_); + if ((dist < min_dist_err_) && (diff_yaw < min_yaw_err_)) return true; + else if ((dist < min_dist_err_ * 2) && navigationFinished()) return true; + return false; + } return dist < dist_err; } @@ -342,12 +537,27 @@ void startNavigationGL(const geometry_msgs::Pose &dest) { setMaxVel(); + bool FindGoalWithoutObstacle = true; + float first_thresh = 1.0; + float after_second_thresh = 1.0; + float goal_thresh = 0.5; + if(FindGoalWithoutObstacle){ + sendNoObstacleGoal(first_thresh, after_second_thresh, goal_thresh, dest); + } 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); + sleep(); + if (waypoint_list_[wp_num_.data-1].stop) { + tf::Quaternion q(dest.orientation.x, dest.orientation.y, dest.orientation.z, dest.orientation.w); + tf::Matrix3x3 m(q); + double r, p ,y; + m.getRPY(r, p, y); + target_yaw_ = y; + } } @@ -370,6 +580,9 @@ void run() { ROS_INFO("Waiting for waypoint navigation to start."); + int resend_goal; + double start_nav_time, time; + std_srvs::Empty empty; while(ros::ok()) { // has_activate_ is false, nothing to do if (!has_activate_) { @@ -380,7 +593,17 @@ if (current_waypoint_ == finish_pose_) { ROS_INFO_STREAM("Go to final goal"); startNavigationGL(*current_waypoint_); - while(!navigationFinished() && ros::ok()) sleep(); + start_nav_time = ros::Time::now().toSec(); + while(!onNavigationPoint(finish_pose_->position) && ros::ok()) { + time = ros::Time::now().toSec(); + if (time - start_nav_time > 10.0 && time - last_moved_time_ > 10.0) { + ROS_WARN("Resend the navigation goal."); + clear_costmaps_srv_.call(empty); + startNavigationGL(*current_waypoint_); + start_nav_time = time; + } + sleep(); + } ROS_INFO("Final goal reached!!"); has_activate_ = false; continue; @@ -389,25 +612,20 @@ 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(); + resend_goal = 0; + 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(); - if ((!waypoint_list_[wp_num_.data-1].stop) && (navigationFinished())) { - ROS_WARN("Reached default yaw_goal_torelance."); - break; - } - double time = ros::Time::now().toSec(); + 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) { + if (!waypoint_list_[wp_num_.data-1].stop && resend_goal == 3) { ROS_WARN("Skip waypoint."); break; } @@ -425,8 +643,10 @@ // update current waypoint current_waypoint_++; wp_num_.data++; + wp_num_pub_.publish(wp_num_); } catch(const SwitchRunningStatus &e) { + move_base_action_.cancelAllGoals(); ROS_INFO_STREAM("Running status switched"); } sleep(); @@ -441,6 +661,15 @@ geometry_msgs::PoseArray waypoints_; visualization_msgs::MarkerArray marker_; std::vector waypoint_list_; + + //Scripts of "start from the middle" + //Edited mori 2022/10/19 + //############################################################# + bool StartFromTheMiddle; + std::vector::iterator init_waypoint_; + std::vector::iterator compare_waypoint_; + //############################################################# + std::vector::iterator current_waypoint_; std::vector::iterator finish_pose_; bool has_activate_, stopped_; @@ -448,12 +677,13 @@ tf::TransformListener tf_listener_; ros::Rate rate_; ros::ServiceServer start_server_, stop_server_, resume_server_; - ros::Subscriber cmd_vel_sub_, move_base_status_sub_; + ros::Subscriber cmd_vel_sub_,scan_sub_, move_base_status_sub_; ros::Publisher wp_pub_, max_vel_pub_, wp_num_pub_; ros::ServiceClient clear_costmaps_srv_; - double last_moved_time_, dist_err_; + double last_moved_time_, dist_err_, min_dist_err_, target_yaw_, min_yaw_err_; std_msgs::UInt16 wp_num_; std_msgs::Float32 max_vel_msg_; + sensor_msgs::LaserScan laserscan; }; diff --git a/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints.yaml b/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints.yaml index 92f70d6..d9fe6cb 100644 --- a/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints.yaml +++ b/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints.yaml @@ -1,10 +1,12 @@ 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} +- point: {x: 1.0, y: 0.0, z: 0.0, vel: 0.5, rad: 1.0, stop: false} +- point: {x: 2.0, y: 0.0, z: 0.0, vel: 1.0, rad: 1.0, stop: true} +- point: {x: 3.0, y: 0.0, z: 0.0, vel: 1.0, rad: 0.5, stop: false} +- point: {x: 4.0, y: 0.0, z: 0.0, vel: 1.0, rad: 1.0, stop: false, tandem_start: 1} +- point: {x: 5.0, y: 0.0, z: 0.0, vel: 0.5, rad: 0.5, stop: false} +- point: {x: 6.0, y: 0.0, z: 0.0, vel: 0.5, rad: 0.5, stop: false, tandem_end: 1} finish_pose: - header: {seq: 0.0, stamp: 1620367430.3803937, frame_id: base_link} + header: {seq: 0, stamp: 113.132, frame_id: map} 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 + position: {x: 7.0, y: 0.0, z: 0.0} + orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0} \ 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 deleted file mode 100644 index 1b42abe..0000000 --- a/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints_gakunai.yaml +++ /dev/null @@ -1,27 +0,0 @@ -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 deleted file mode 100644 index 5d13f3a..0000000 --- a/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints_gakunai_edit.yaml +++ /dev/null @@ -1,27 +0,0 @@ -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 deleted file mode 100644 index 713cc07..0000000 --- a/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints_test.yaml +++ /dev/null @@ -1,13 +0,0 @@ -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/launch/waypoint_saver.launch b/src/waypoint_navigation/waypoint_saver/launch/waypoint_saver.launch index 9873494..023a6d0 100644 --- a/src/waypoint_navigation/waypoint_saver/launch/waypoint_saver.launch +++ b/src/waypoint_navigation/waypoint_saver/launch/waypoint_saver.launch @@ -4,10 +4,10 @@ - + - + diff --git a/src/zlac8015d_ros/README.md b/src/zlac8015d_ros/README.md index d38891e..376b0ff 100644 --- a/src/zlac8015d_ros/README.md +++ b/src/zlac8015d_ros/README.md @@ -1,7 +1,7 @@ # ROS package for ZLAC8015D dual-channel servo driver [![](https://img.shields.io/badge/ROS-Noetic-brightgreen.svg)](https://github.com/Alpaca-zip/zlac8015d_ros) - +![circuit_scheme](https://user-images.githubusercontent.com/84959376/191182537-47d49329-7e61-4c6c-b6a7-7eab8f530f07.png) ## 1 Installation ``` @@ -11,25 +11,33 @@ $ cd .. && catkin_make ``` - -## 2 Change full pathname of parameter file -`scripts/motor_driver_node.py` refers to `/home/ubuntu/catkin_ws/src/zlac8015d_ros/params/motor_driver_params.yaml` as default. -If you want to specify a different full pathname, change line 34 in `scripts/motor_driver_node.py` - -## 3 Usage +## 2 Usage ### Run motor_driver_node ``` -$ rosrun zlac8015d_ros motor_driver_node.py +$ roslaunch zlac8015d_ros motor_driver_node.launch ``` ### Parameters - `port`: Name of the zlac8015d port. Default is `dev/ttyUSB0`. -- `travel_in_one_rev`: Tire circumference. Default is `0.655`[m]. -- `R_Wheel`: Tire radius. Default is `0.105`[m]. -- `cpr`: CPR(Counts Per Revolution). Default is `16385`. -- `wheels_base_width`: Distance between tires. Default is `0.440`[m]. - `control_mode`: `1` is relative position control mode, `3` is speed rpm control mode. Default is `3`. +- `debug`: If `true`, odometry information is displayed. Default is `false`. +- `twist_cmd_vel_topic`: Topic name for Twist-type messages. Default is `/zlac8015d/twist/cmd_vel`. +- `cmd_vel_topic`: Topic name for cmd_vel[m/s] messages. Default is `/zlac8015d/vel/cmd_vel`. +- `cmd_rpm_topic`: Topic name for cmd_rpm messages. Default is `/zlac8015d/vel/cmd_rpm`. +- `cmd_deg_topic`: Topic name for cmd_deg[°] messages. Default is `/zlac8015d/pos/cmd_deg`. +- `cmd_dist_topic`: Topic name for cmd_dist[m] messages. Default is `/zlac8015d/pos/cmd_dist`. +- `publish_TF`: If `true`, TF is published. Default is `true`. +- `TF_header_frame`: Name of the TF header frame. Default is `odom`. +- `TF_child_frame`: Name of the TF child frame. Default is `base_link`. +- `publish_odom`: If `true`, `/odom` is published. Default is `true`. +- `odom_header_frame`: Name of the odometry header frame. Default is `odom`. +- `odom_child_frame`: Name of the odometry child frame. Default is `base_link`. +- `left_wheel_radius`: Left wheel radius. Default is `0.1015`[m]. +- `right_wheel_radius`: Right wheel radius. Default is `0.1015`[m]. +- `computation_left_wheel_radius`: Radius of left wheel used for odometry computation. Default is `0.1015`[m]. +- `computation_right_wheel_radius`: Radius of right wheel used for odometry computation. Default is `0.1015`[m]. +- `cpr`: CPR(Counts Per Revolution). Default is `16385`. +- `wheels_base_width`: Distance between tires. Default is `0.5668`[m]. - `callback_timeout`: Motor automatically stops if no topics are received for a certain period of time. Default is `0.5`[s]. -- `decimil_coefficient`: Must be specified in digits. Smaller values will cause small changes in tire motion to have a greater impact on the odometry calculations. `0.01` or `0.001` is highly recommended. Default is `0.001`. - `set_accel_time_left`: Acceleration time for left tire. Default is `200`[ms]. - `set_accel_time_right`: Acceleration time for right tire. Default is `200`[ms]. - `set_decel_time_left`: Deceleration time for left tire. Default is `200`[ms]. @@ -37,10 +45,6 @@ - `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_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. @@ -53,3 +57,9 @@ - `/zlac8015d/vel/cmd_rpm`: Send command as rpm in speed rpm control, e.g. [100, 50] 100 rpm of left wtire, 50 rpm of right tire. - `/zlac8015d/pos/deg_cmd`: Send command as angle degree in position control, e.g. [90,70] 90 [deg] of left tire, 70 [deg] of right tire. - `/zlac8015d/pos/dist_cmd`: Send command as desired travelling distance in position control, e.g. [1.0, 1.0] for 1[m] travelling distance of each tire. +- `/estop`: Send command as emergency stop signal, e.g. true for emergency stop is activated. + +### Emergency stop Feature +The motor is locked when you publish a `true` message on the `/estop` topic. + +This feature is not recommended. Emergency stop should be controlled by hardware. diff --git a/src/zlac8015d_ros/circuit_scheme.png b/src/zlac8015d_ros/circuit_scheme.png deleted file mode 100644 index 04897a1..0000000 --- a/src/zlac8015d_ros/circuit_scheme.png +++ /dev/null Binary files differ diff --git a/src/zlac8015d_ros/emergency_stop/emergency_stop.ino b/src/zlac8015d_ros/emergency_stop/emergency_stop.ino deleted file mode 100644 index e8ad546..0000000 --- a/src/zlac8015d_ros/emergency_stop/emergency_stop.ino +++ /dev/null @@ -1,109 +0,0 @@ -/* -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 deleted file mode 100644 index b2e7678..0000000 --- a/src/zlac8015d_ros/emergency_stop/module_PCB/emergency_stop.fzz +++ /dev/null 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 deleted file mode 100644 index 367d0be..0000000 --- a/src/zlac8015d_ros/emergency_stop/module_PCB/gerber/emergency_stop_contour.gm1 +++ /dev/null @@ -1,26 +0,0 @@ -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*% 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a/src/zlac8015d_ros/emergency_stop/module_PCB/gerber/emergency_stop_maskBottom.gbs +++ /dev/null @@ -1,76 +0,0 @@ -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* 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b/src/zlac8015d_ros/emergency_stop/module_PCB/gerber/emergency_stop_pnp.txt deleted file mode 100644 index 8c47f66..0000000 --- a/src/zlac8015d_ros/emergency_stop/module_PCB/gerber/emergency_stop_pnp.txt +++ /dev/null @@ -1,33 +0,0 @@ -*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 deleted file mode 100644 index f015c28..0000000 --- a/src/zlac8015d_ros/emergency_stop/module_PCB/gerber/emergency_stop_silkBottom.gbo +++ /dev/null @@ -1,24 +0,0 @@ -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 deleted file mode 100644 index 5b2ba5c..0000000 --- a/src/zlac8015d_ros/emergency_stop/module_PCB/gerber/emergency_stop_silkTop.gto +++ /dev/null @@ -1,9583 +0,0 @@ -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* 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a/src/zlac8015d_ros/launch/motor_driver_node.launch b/src/zlac8015d_ros/launch/motor_driver_node.launch index 9d10fa5..eed7e94 100644 --- a/src/zlac8015d_ros/launch/motor_driver_node.launch +++ b/src/zlac8015d_ros/launch/motor_driver_node.launch @@ -1,8 +1,7 @@ 　 - - + - - - - diff --git a/src/zlac8015d_ros/package.xml b/src/zlac8015d_ros/package.xml index 2fa256b..4a70944 100644 --- a/src/zlac8015d_ros/package.xml +++ b/src/zlac8015d_ros/package.xml @@ -1,7 +1,7 @@ zlac8015d_ros - 0.0.1 + 0.1.8 The zlac8015d_ros package Alpacazip GPLv3 diff --git a/src/zlac8015d_ros/params/motor_driver_params.yaml b/src/zlac8015d_ros/params/motor_driver_params.yaml index b31cdcd..95d6e73 100644 --- a/src/zlac8015d_ros/params/motor_driver_params.yaml +++ b/src/zlac8015d_ros/params/motor_driver_params.yaml @@ -1,31 +1,26 @@ -# Tire & Encoder Parameters +# Wheel & Encoder Parameters # Default: 8 inches wheel ############################### -# Tire radius +# Wheel radius 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_left_wheel_radius: 0.09806 # meter 0.1015 computation_right_wheel_radius: 0.09794 # meter 0.1015 - # Encoder CPR(counts per revolution) cpr: 16385 ############################### -# Distance between tires +# Distance between Wheels 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 -# 0.01 or 0.001 is highly recommended -decimil_coefficient: 0.001 +callback_timeout: 1.0 # seconds # Time to reach target position -set_accel_time_left: 1000 # ms -set_accel_time_right: 1000 # ms -set_decel_time_left: 1000 # ms -set_decel_time_right: 1000 # ms +set_accel_time_left: 600 #500 #1000 # ms 200 +set_accel_time_right: 600 #500 #1000 # ms 200 +set_decel_time_left: 400 #300 #1000 # ms 200 +set_decel_time_right: 400 #300 #1000 # ms 200 # Maximum rpm max_left_rpm: 150 diff --git a/src/zlac8015d_ros/scripts/ZLAC8015D.py b/src/zlac8015d_ros/scripts/ZLAC8015D.py deleted file mode 100755 index c4ffd1f..0000000 --- a/src/zlac8015d_ros/scripts/ZLAC8015D.py +++ /dev/null @@ -1,369 +0,0 @@ -#!/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: - - 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 - 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): - - 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) - 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): - """ - 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 estop(self): - result = self.client.write_register(self.CONTROL_REG, self.EMER_STOP, 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) - L_array = self.deg_to_32bitArray(ang_L/4) - R_array = self.deg_to_32bitArray(ang_R/4) - 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 - - 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 deleted file mode 100644 index 7357f31..0000000 --- a/src/zlac8015d_ros/scripts/__pycache__/ZLAC8015D.cpython-38.pyc +++ /dev/null Binary files differ diff --git a/src/zlac8015d_ros/scripts/motor_driver_node.py b/src/zlac8015d_ros/scripts/motor_driver_node.py index a857603..f0002e4 100755 --- a/src/zlac8015d_ros/scripts/motor_driver_node.py +++ b/src/zlac8015d_ros/scripts/motor_driver_node.py @@ -18,61 +18,72 @@ """ import rospy -import ZLAC8015D -import tf import tf2_ros import numpy as np import time -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 std_msgs.msg import Float32MultiArray, Bool +from geometry_msgs.msg import Twist, TransformStamped from nav_msgs.msg import Odometry from tf.transformations import quaternion_from_euler -from geometry_msgs.msg import TransformStamped +from pymodbus.client.sync import ModbusSerialClient as ModbusClient class MotorDriverNode: def __init__(self): - print("\033[32m" + "Start motor driver node!!" + "\033[0m") - print("#########################") - #-----Initialize publisher----- + self.client = ModbusClient(method = 'rtu', port = rospy.get_param("/motor_driver_node/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.L_DCL_TIME = 0x2082 + + # Speed RPM Control + self.L_CMD_RPM = 0x2088 + + # Position Control + self.POS_CONTROL_TYPE = 0x200F + self.L_MAX_RPM_POS = 0x208E + self.L_CMD_REL_POS_HI = 0x208A + self.L_FB_POS_HI = 0x20A7 + + # -----Control CMDs (REG)----- + self.EMER_STOP = 0x05 + self.ALRM_CLR = 0x06 + self.DOWN_TIME = 0x07 + self.ENABLE = 0x08 + self.POS_L_START = 0x11 + self.POS_R_START = 0x12 + + # -----Operation Mode----- + self.ASYNC = 0 + + # -----Initialize Publisher----- self.odom_pub = rospy.Publisher("/odom", Odometry, queue_size=10) self.odom_msg = Odometry() - #-----Initialize subscriber----- - 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(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")) - - + # -----Initialize subscriber----- + rospy.Subscriber(rospy.get_param("/motor_driver_node/twist_cmd_vel_topic"), Twist, self.twist_cmd_callback) + rospy.Subscriber(rospy.get_param("/motor_driver_node/cmd_vel_topic"), Float32MultiArray, self.vel_cmd_callback) + rospy.Subscriber(rospy.get_param("/motor_driver_node/cmd_rpm_topic"), Float32MultiArray, self.rpm_cmd_callback) + rospy.Subscriber(rospy.get_param("/motor_driver_node/cmd_deg_topic"), Float32MultiArray, self.deg_cmd_callback) + rospy.Subscriber(rospy.get_param("/motor_driver_node/cmd_dist_topic"), Float32MultiArray, self.dist_cmd_callback) + rospy.Subscriber("/estop", Bool, self.estop_callback) + + # -----Initialize Control Mode----- 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): - self.zlac8015d_position_mode_init() - - #-----Initialize variable----- - self.last_subscribed_time = 0.0 - self.callback_timeout = float(rospy.get_param("/motor_driver_node/callback_timeout")) - self.deadband_rpm = int(rospy.get_param("/motor_driver_node/deadband_rpm")) + if self.control_mode == 3: + self.speed_mode_init() + elif self.control_mode == 1: + self.position_mode_init() + + # -----Initialize Variable----- self.linear_vel_cmd = 0.0 self.angular_vel_cmd = 0.0 self.got_twist_cmd = False - + self.left_vel_cmd = 0.0 self.right_vel_cmd = 0.0 self.got_vel_cmd = False @@ -81,229 +92,420 @@ self.right_rpm_cmd = 0.0 self.got_vel_rpm_cmd = False - self.left_pos_deg_cmd = 0.0 - self.right_pos_deg_cmd = 0.0 + self.left_pos_deg_cmd = 0.0 + self.right_pos_deg_cmd = 0.0 self.got_pos_deg_cmd = False self.left_pos_dist_cmd = 0.0 self.right_pos_dist_cmd = 0.0 self.got_pos_dist_cmd = False - - self.theta = 0.0 + + self.estop = False + + self.last_subscribed_time = 0.0 + self.callback_timeout = float(rospy.get_param("/motor_driver_node/callback_timeout")) + self.wheels_base_width = float(rospy.get_param("/motor_driver_node/wheels_base_width")) + self.left_wheel_radius = float(rospy.get_param("/motor_driver_node/left_wheel_radius")) + self.right_wheel_radius = float(rospy.get_param("/motor_driver_node/right_wheel_radius")) + self.computation_left_wheel_radius = float(rospy.get_param("/motor_driver_node/computation_left_wheel_radius")) + self.computation_right_wheel_radius = float(rospy.get_param("/motor_driver_node/computation_right_wheel_radius")) + self.cpr = int(rospy.get_param("/motor_driver_node/cpr")) + self.deadband_rpm = int(rospy.get_param("/motor_driver_node/deadband_rpm")) + self.left_rpm_lim = int(rospy.get_param("/motor_driver_node/max_left_rpm")) + self.right_rpm_lim = int(rospy.get_param("/motor_driver_node/max_right_rpm")) + self.publish_TF = rospy.get_param("/motor_driver_node/publish_TF") + self.publish_odom = rospy.get_param("/motor_driver_node/publish_odom") + self.TF_header_frame = rospy.get_param("/motor_driver_node/TF_header_frame") + self.TF_child_frame = rospy.get_param("/motor_driver_node/TF_child_frame") + self.odom_header_frame = rospy.get_param("/motor_driver_node/odom_header_frame") + self.odom_child_frame = rospy.get_param("/motor_driver_node/odom_child_frame") + self.debug = rospy.get_param("/motor_driver_node/debug") + self.period = 0.05 self.x = 0.0 self.y = 0.0 - self.Wr = 0.0 - self.Wl = 0.0 - self.period = 0.05 + self.theta = 0.0 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.l_meter_init, self.r_meter_init = self.get_wheels_travelled() self.t = TransformStamped() + self.br = tf2_ros.TransformBroadcaster() self.state_vector = np.zeros((3, 1)) - - #-For E-stop- - self.estop = False - - + + print("\033[32m" + "Start ZLAC8015D motor driver node" + "\033[0m") + print("#########################") + """ - ++++++++++++++++++++++++++++++++++++++++++ - zlac8015d_estop_callback function - ++++++++++++++++++++++++++++++++++++++++++ - Callback function to subscribe for "/estop". + ############################## + ## speed_mode_init function ## + ############################## + Initialization of speed RPM control mode. """ - def zlac8015d_estop_callback(self, msg): - self.estop = msg.data - + def speed_mode_init(self): + # -----Disable Motor----- + result = self.client.write_register(self.CONTROL_REG, self.DOWN_TIME, unit = self.ID) + + # -----Set Accel Time----- + AL_ms = int(rospy.get_param("/motor_driver_node/set_accel_time_left")) + AR_ms = int(rospy.get_param("/motor_driver_node/set_accel_time_right")) + if AL_ms > 32767: + AL_ms = 32767 + elif AL_ms < 0: + AL_ms = 0 + + if AR_ms > 32767: + AR_ms = 32767 + elif AR_ms < 0: + AR_ms = 0 + + result = self.client.write_registers(self.L_ACL_TIME, [AL_ms, AR_ms], unit = self.ID) + + # -----Set Decel Time----- + DL_ms = int(rospy.get_param("/motor_driver_node/set_decel_time_left")) + DR_ms = int(rospy.get_param("/motor_driver_node/set_decel_time_right")) + if DL_ms > 32767: + DL_ms = 32767 + elif DL_ms < 0: + DL_ms = 0 + + if DR_ms > 32767: + DR_ms = 32767 + elif DR_ms < 0: + DR_ms = 0 + + result = self.client.write_registers(self.L_DCL_TIME, [DL_ms, DR_ms], unit = self.ID) + + # -----Set Mode----- + mode = 3 + result = self.client.write_register(self.OPR_MODE, mode, unit=self.ID) + print("\033[32m" + "Set mode as speed RPM control" + "\033[0m") + + # -----Enable Motor----- + result = self.client.write_register(self.CONTROL_REG, self.ENABLE, unit = self.ID) + """ - ++++++++++++++++++++++++++++++++++++++++++ - zlac8015d_twist_cmd_callback function - ++++++++++++++++++++++++++++++++++++++++++ + ################################# + ## position_mode_init function ## + ################################# + Initialization of relative position control mode. + """ + def position_mode_init(self): + # -----Disable Motor----- + result = self.client.write_register(self.CONTROL_REG, self.DOWN_TIME, unit = self.ID) + + # -----Set Accel Time----- + AL_ms = int(rospy.get_param("/motor_driver_node/set_accel_time_left")) + AR_ms = int(rospy.get_param("/motor_driver_node/set_accel_time_right")) + if AL_ms > 32767: + AL_ms = 32767 + elif AL_ms < 0: + AL_ms = 0 + + if AR_ms > 32767: + AR_ms = 32767 + elif AR_ms < 0: + AR_ms = 0 + + result = self.client.write_registers(self.L_ACL_TIME, [AL_ms, AR_ms], unit = self.ID) + + # -----Set Decel Time----- + DL_ms = int(rospy.get_param("/motor_driver_node/set_decel_time_left")) + DR_ms = int(rospy.get_param("/motor_driver_node/set_decel_time_right")) + if DL_ms > 32767: + DL_ms = 32767 + elif DL_ms < 0: + DL_ms = 0 + + if DR_ms > 32767: + DR_ms = 32767 + elif DR_ms < 0: + DR_ms = 0 + + result = self.client.write_registers(self.L_DCL_TIME, [DL_ms, DR_ms], unit = self.ID) + + # -----Set Mode----- + mode = 1 + result = self.client.write_register(self.OPR_MODE, mode, unit=self.ID) + print("\033[32m" + "Set mode as relative position control" + "\033[0m") + + # -----Set Position Async Control----- + result = self.client.write_register(self.POS_CONTROL_TYPE, self.ASYNC, unit = self.ID) + + # -----Set Position Async Control----- + max_L_rpm = int(rospy.get_param("/motor_driver_node/max_left_rpm")) + max_R_rpm = int(rospy.get_param("/motor_driver_node/max_right_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, [max_L_rpm, max_R_rpm], unit = self.ID) + + # -----Enable Motor----- + result = self.client.write_register(self.CONTROL_REG, self.ENABLE, unit = self.ID) + + """ + ################################# + ## twist_cmd_callback function ## + ################################# Callback function to subscribe for "/zlac8015d/twist/cmd_vel". """ - def zlac8015d_twist_cmd_callback(self, msg): + def twist_cmd_callback(self, msg): self.linear_vel_cmd = msg.linear.x self.angular_vel_cmd = msg.angular.z self.got_twist_cmd = True self.last_subscribed_time = time.perf_counter() - + """ - ++++++++++++++++++++++++++++++++++++++++++ - zlac8015d_vel_cmd_callback function - ++++++++++++++++++++++++++++++++++++++++++ + ############################### + ## vel_cmd_callback function ## + ############################### Callback function to subscribe for "/zlac8015d/vel/cmd_vel". """ - def zlac8015d_vel_cmd_callback(self, msg): + def vel_cmd_callback(self, msg): self.left_vel_cmd = msg.data[0] self.right_vel_cmd = -msg.data[1] self.got_vel_cmd = True self.last_subscribed_time = time.perf_counter() """ - ++++++++++++++++++++++++++++++++++++++++++ - zlac8015d_rpm_cmd_callback function - ++++++++++++++++++++++++++++++++++++++++++ + ############################### + ## rpm_cmd_callback function ## + ############################### Callback function to subscribe for "/zlac8015d/vel/cmd_rpm". """ - def zlac8015d_rpm_cmd_callback(self, msg): + def rpm_cmd_callback(self, msg): self.left_rpm_cmd = msg.data[0] self.right_rpm_cmd = -msg.data[1] self.got_vel_rpm_cmd = True self.last_subscribed_time = time.perf_counter() """ - ++++++++++++++++++++++++++++++++++++++++++ - zlac8015d_deg_cmd_callback function - ++++++++++++++++++++++++++++++++++++++++++ + ############################### + ## deg_cmd_callback function ## + ############################### Callback function to subscribe for "/zlac8015d/pos/cmd_deg". """ - def zlac8015d_deg_cmd_callback(self, msg): + def deg_cmd_callback(self, msg): self.left_pos_deg_cmd = msg.data[0] self.right_pos_deg_cmd = -msg.data[1] self.got_pos_deg_cmd = True """ - ++++++++++++++++++++++++++++++++++++++++++ - zlac8015d_dist_cmd_callback function - ++++++++++++++++++++++++++++++++++++++++++ + ################################ + ## dist_cmd_callback function ## + ################################ Callback function to subscribe for "/zlac8015d/pos/cmd_dist". """ - def zlac8015d_dist_cmd_callback(self, msg): + def dist_cmd_callback(self, msg): self.left_pos_dist_cmd = msg.data[0] self.right_pos_dist_cmd = msg.data[1] self.got_pos_dist_cmd = True + + """ + ############################## + ## estop_callback function ## + ############################## + Callback function to subscribe for "/estop". + """ + def estop_callback(self, msg): + self.estop = msg.data """ - ++++++++++++++++++++++++++++++++++++++++++ - zlac8015d_speed_mode_init function - ++++++++++++++++++++++++++++++++++++++++++ - Initialization of speed rpm control mode. - """ - def zlac8015d_speed_mode_init(self): - self.zlc.disable_motor() - 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() - - """ - ++++++++++++++++++++++++++++++++++++++++++ - zlac8015d_position_mode_init function - ++++++++++++++++++++++++++++++++++++++++++ - Initialization of relative position control mode. - """ - def zlac8015d_position_mode_init(self): - self.zlc.disable_motor() - 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(rospy.get_param("/motor_driver_node/max_left_rpm")), int(rospy.get_param("/motor_driver_node/max_right_rpm"))) - self.zlc.enable_motor() - - """ - ++++++++++++++++++++++++++++++++++++++++++ - twist_to_rpm function - ++++++++++++++++++++++++++++++++++++++++++ - Convert from twist to rpm. + ########################### + ## twist_to_rpm function ## + ########################### + Convert from twist to RPM. """ def twist_to_rpm(self, linear_vel, 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 - + """ - ++++++++++++++++++++++++++++++++++++++++++ - vel_to_rpm function - ++++++++++++++++++++++++++++++++++++++++++ - Convert from speed to rpm. + ######################### + ## vel_to_rpm function ## + ######################### + Convert from speed to RPM. """ def vel_to_rpm(self, left_vel, right_vel): - 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) + left_rpm = 60 * left_vel / (2 * np.pi * self.left_wheel_radius) + right_rpm = 60 * right_vel / (2 * np.pi * self.right_wheel_radius) return left_rpm, right_rpm + + """ + ##################################### + ## dist_to_relative_angle function ## + ##################################### + Convert from distance to relative angle. + """ + def dist_to_relative_angle(self, left_dist, right_dist): + left_circumference = self.left_wheel_radius * 2 * np.pi + right_circumference = self.right_wheel_radius * 2 * np.pi + left_relative_deg = (left_dist * 360.0) / left_circumference + right_relative_deg = (-right_dist * 360.0) / right_circumference + return left_relative_deg, right_relative_deg """ - ++++++++++++++++++++++++++++++++++++++++++ - zlac8015d_set_rpm_with_limit function - ++++++++++++++++++++++++++++++++++++++++++ - Set rpm with limit. + ################################### + ## int16Dec_to_int16Hex function ## + ################################### + Convert from int16Dec to int16Hex. """ - def zlac8015d_set_rpm_with_limit(self, left_rpm, right_rpm): - 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.") + 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 """ - ++++++++++++++++++++++++++++++++++++++++++ - calculate_odometry function - ++++++++++++++++++++++++++++++++++++++++++ + ################################# + ## deg_to_32bitArray function ## + ################################# + Convert from degree to 32bitArray. + """ + def deg_to_32bitArray(self, deg): + dec = int((deg + 1440) * (65536 + 65536) / (1440 + 1440) - 65536) + HI_WORD = (dec & 0xFFFF0000) >> 16 + LO_WORD = dec & 0x0000FFFF + return [HI_WORD, LO_WORD] + + """ + ################################### + ## get_wheels_travelled function ## + ################################### + Get distance traveled by left and right wheels. + """ + def get_wheels_travelled(self): + 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.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 + + """ + ####################################### + ## modbus_fail_read_handler function ## + ####################################### + 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 + + """ + ################################# + ## set_rpm_with_limit function ## + ################################# + Set RPM with limit. + """ + def set_rpm_with_limit(self, left_rpm, right_rpm): + if self.left_rpm_lim < left_rpm: + left_rpm = self.left_rpm_lim + rospy.logwarn("RPM reach the limit.") + elif left_rpm < -self.left_rpm_lim: + left_rpm = -self.left_rpm_lim + rospy.logwarn("RPM reach the limit.") + elif -self.deadband_rpm < left_rpm < self.deadband_rpm: + left_rpm = 0 + + if self.right_rpm_lim < right_rpm: + right_rpm = self.right_rpm_lim + rospy.logwarn("RPM reach the limit.") + elif right_rpm < -self.right_rpm_lim: + right_rpm = -self.right_rpm_lim + rospy.logwarn("RPM reach the limit.") + elif -self.deadband_rpm < right_rpm < self.deadband_rpm: + right_rpm = 0 + + left_bytes = self.int16Dec_to_int16Hex(int(left_rpm)) + right_bytes = self.int16Dec_to_int16Hex(int(right_rpm)) + result = self.client.write_registers(self.L_CMD_RPM, [left_bytes, right_bytes], unit = self.ID) + + """ + ################################# + ## set_relative_angle function ## + ################################# + Set relative angle. + """ + def set_relative_angle(self, ang_L, ang_R): + L_array = self.deg_to_32bitArray(ang_L / 4) + R_array = self.deg_to_32bitArray(ang_R / 4) + all_cmds_array = L_array + R_array + result = self.client.write_registers(self.L_CMD_REL_POS_HI, all_cmds_array, unit = self.ID) + + """ + ################################# + ## calculate_odometry function ## + ################################# 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.r_meter = self.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) 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]]) + Wl = vl / self.computation_left_wheel_radius + Wr = vr / self.computation_right_wheel_radius + matrix = np.array([[self.computation_right_wheel_radius / 2, self.computation_left_wheel_radius / 2], [self.computation_right_wheel_radius / self.wheels_base_width, -self.computation_left_wheel_radius / self.wheels_base_width]]) + vector = np.array([[Wr], [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] + x = out_vector[0, 0] + y = out_vector[1, 0] + theta = out_vector[2, 0] - #-----Construct tf----- - if(rospy.get_param("/motor_driver_node/publish_TF")): + # -----Construct TF----- + if(self.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.header.frame_id = self.TF_header_frame + self.t.child_frame_id = self.TF_child_frame + self.t.transform.translation.x = x + self.t.transform.translation.y = y self.t.transform.translation.z = 0.0 - rotation = tf.transformations.quaternion_from_euler(0, 0, self.theta) + rotation = quaternion_from_euler(0, 0, 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")): + # -----Construct Odom Message----- + if(self.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.header.frame_id = self.odom_header_frame + self.odom_msg.child_frame_id = self.odom_child_frame + self.odom_msg.pose.pose.position.x = x + self.odom_msg.pose.pose.position.y = y self.odom_msg.pose.pose.position.z = 0.0 - orientation = tf.transformations.quaternion_from_euler(0, 0, self.theta) + orientation = quaternion_from_euler(0, 0, 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] @@ -318,168 +520,114 @@ 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): - 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(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 / self.wheels_base_width - self.theta = self.theta + Wz * self.period - path = "Rotatiing" - - #-----Curving----- - elif ((round_vl - round_vr) != 0): - V = (vl + vr) / 2.0 - 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 - path = "Curving" - - #-----Going straight----- - else: - V = (vl + vr)/2.0 - Wz = 0.0 - self.x = self.x + V * np.cos(self.theta) * self.period - self.y = self.y + V * np.sin(self.theta) * self.period - path = "Going straight" - #-----Construct tf----- - q = quaternion_from_euler(0, 0, self.theta) - 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----- - 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 - """ + self.state_vector[0, 0] = x + self.state_vector[1, 0] = y + self.state_vector[2, 0] = theta + return x, y, theta """ - ++++++++++++++++++++++++++++++++++++++++++ - control_loop function - ++++++++++++++++++++++++++++++++++++++++++ + ############################## + ## control_loop function ## + ############################## Control loop. """ def control_loop(self): - rate = rospy.Rate(20) # 20Hz - reset_flag = False + rate = rospy.Rate(1 / self.period) + estop_reset_flag = False + while True: - if (rospy.is_shutdown()): - self.zlc.disable_motor() + if rospy.is_shutdown(): + # -----Disable Motor----- + result = self.client.write_register(self.CONTROL_REG, self.DOWN_TIME, unit = self.ID) break - + start_time = time.perf_counter() - - 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): + if self.estop: + # -----Emergency Stop----- + if self.control_mode == 3: + self.set_rpm_with_limit(0, 0) + elif self.control_mode == 1: + result = self.client.write_register(self.CONTROL_REG, self.EMER_STOP, unit=self.ID) + + if not estop_reset_flag: + #result = self.client.write_register(self.CONTROL_REG, self.EMER_STOP, unit=self.ID) + + rospy.logwarn("####################") + rospy.logwarn("---EMERGENCY STOP---") + rospy.logwarn("####################") + estop_reset_flag = True + elif not self.estop: + if estop_reset_flag: + # -----Clear Alarm----- + result = self.client.write_register(self.CONTROL_REG, self.ALRM_CLR, unit=self.ID) + + # -----Disable Motor----- + result = self.client.write_register(self.CONTROL_REG, self.DOWN_TIME, unit = self.ID) + + # -----Enable Motor----- + result = self.client.write_register(self.CONTROL_REG, self.ENABLE, unit = self.ID) + + estop_reset_flag = False + + # -----Speed RPM Control----- + 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.set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) self.got_twist_cmd = False - elif (self.got_vel_cmd): + 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.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) + elif self.got_vel_rpm_cmd: + self.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): + 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.set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) + + # -----Position Control----- + elif self.control_mode == 1: + if self.got_pos_deg_cmd: + self.set_relative_angle(self.left_pos_deg_cmd ,self.right_pos_deg_cmd) + # -----Move Left Wheel----- + result = self.client.write_register(self.CONTROL_REG, self.POS_L_START, unit=self.ID) + + # -----Move Right Wheel----- + result = self.client.write_register(self.CONTROL_REG, self.POS_R_START, unit=self.ID) + 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() + elif self.got_pos_dist_cmd: + self.left_pos_deg_cmd, self.right_pos_deg_cmd = self.dist_to_relative_angle(self.left_pos_dist_cmd, self.right_pos_dist_cmd) + self.set_relative_angle(self.left_pos_deg_cmd ,self.right_pos_deg_cmd) + # -----Move Left Wheel----- + result = self.client.write_register(self.CONTROL_REG, self.POS_L_START, unit=self.ID) + + # -----Move Right Wheel----- + result = self.client.write_register(self.CONTROL_REG, self.POS_R_START, unit=self.ID) + self.got_pos_dist_cmd = False #-----Odometry computation----- - self.calculate_odometry() + x, y, theta = 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 (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") + #-----Debugging Feature----- + if (self.debug): + print("\033[32m" + "x: {:f} | y: {:f} | yaw: {:f}".format(x, y, np.rad2deg(theta)) + "\033[0m") else: - #print("\033[32m" + "Debugging features disable" + "\033[0m") pass - - rate.sleep() + rate.sleep() + """ -++++++++++++++++++++++++++++++++++++++++++ - main function -++++++++++++++++++++++++++++++++++++++++++ +################### +## Main function ## +################### Main. """ def main():