diff --git a/runLite.sh b/runLite.sh index de515ac..e0408d3 100755 --- a/runLite.sh +++ b/runLite.sh @@ -15,7 +15,8 @@ -p 8308:8308/udp \ -e HOME=/home/ubuntu \ -e SHELL=/bin/bash \ - --entrypoint '/startup.sh' \ + --shm-size=512m \ + --entrypoint '/startup.sh'\ bvbnatsu/tsukuba2022:$TAG #-e RESOLUTION=1920x1080 \ diff --git a/src/ZLAC8015D_python/examples/ZLAC8015D.py b/src/ZLAC8015D_python/examples/ZLAC8015D.py new file mode 100644 index 0000000..274fa36 --- /dev/null +++ b/src/ZLAC8015D_python/examples/ZLAC8015D.py @@ -0,0 +1,331 @@ + +from pymodbus.client.sync import ModbusSerialClient as ModbusClient +import numpy as np + +class Controller: + + def __init__(self, port="/dev/ttyUSB0"): + + self._port = port + + self.client = ModbusClient(method='rtu', port=self._port, baudrate=115200, timeout=1) + + self.client.connect() + + self.ID = 1 + + ###################### + ## Register Address ## + ###################### + ## Common + self.CONTROL_REG = 0x200E + self.OPR_MODE = 0x200D + self.L_ACL_TIME = 0x2080 + self.R_ACL_TIME = 0x2081 + self.L_DCL_TIME = 0x2082 + self.R_DCL_TIME = 0x2083 + + ## Velocity control + self.L_CMD_RPM = 0x2088 + self.R_CMD_RPM = 0x2089 + self.L_FB_RPM = 0x20AB + self.R_FB_RPM = 0x20AC + + ## Position control + self.POS_CONTROL_TYPE = 0x200F + + self.L_MAX_RPM_POS = 0x208E + self.R_MAX_RPM_POS = 0x208F + + self.L_CMD_REL_POS_HI = 0x208A + self.L_CMD_REL_POS_LO = 0x208B + self.R_CMD_REL_POS_HI = 0x208C + self.R_CMD_REL_POS_LO = 0x208D + + self.L_FB_POS_HI = 0x20A7 + self.L_FB_POS_LO = 0x20A8 + self.R_FB_POS_HI = 0x20A9 + self.R_FB_POS_LO = 0x20AA + + ## Troubleshooting + self.L_FAULT = 0x20A5 + self.R_FAULT = 0x20A6 + + ######################## + ## Control CMDs (REG) ## + ######################## + self.EMER_STOP = 0x05 + self.ALRM_CLR = 0x06 + self.DOWN_TIME = 0x07 + self.ENABLE = 0x08 + self.POS_SYNC = 0x10 + self.POS_L_START = 0x11 + self.POS_R_START = 0x12 + + #################### + ## Operation Mode ## + #################### + self.POS_REL_CONTROL = 1 + self.POS_ABS_CONTROL = 2 + self.VEL_CONTROL = 3 + + self.ASYNC = 0 + self.SYNC = 1 + + ################# + ## Fault codes ## + ################# + self.NO_FAULT = 0x0000 + self.OVER_VOLT = 0x0001 + self.UNDER_VOLT = 0x0002 + self.OVER_CURR = 0x0004 + self.OVER_LOAD = 0x0008 + self.CURR_OUT_TOL = 0x0010 + self.ENCOD_OUT_TOL = 0x0020 + self.MOTOR_BAD = 0x0040 + self.REF_VOLT_ERROR = 0x0080 + self.EEPROM_ERROR = 0x0100 + self.WALL_ERROR = 0x0200 + self.HIGH_TEMP = 0x0400 + self.FAULT_LIST = [self.OVER_VOLT, self.UNDER_VOLT, self.OVER_CURR, self.OVER_LOAD, self.CURR_OUT_TOL, self.ENCOD_OUT_TOL, \ + self.MOTOR_BAD, self.REF_VOLT_ERROR, self.EEPROM_ERROR, self.WALL_ERROR, self.HIGH_TEMP] + + ############## + ## Odometry ## + ############## + ## 8 inches wheel + self.travel_in_one_rev = 0.655 + self.cpr = 16385 + self.R_Wheel = 0.105 #meter + print(self.R_Wheel) + + ## Some time if read immediatly after write, it would show ModbusIOException when get data from registers + def modbus_fail_read_handler(self, ADDR, WORD): + + read_success = False + reg = [None]*WORD + while not read_success: + result = self.client.read_holding_registers(ADDR, WORD, unit=self.ID) + try: + for i in range(WORD): + reg[i] = result.registers[i] + read_success = True + except AttributeError as e: + print(e) + pass + + return reg + + def rpm_to_radPerSec(self, rpm): + return rpm*2*np.pi/60.0 + + def rpm_to_linear(self, rpm): + + W_Wheel = self.rpm_to_radPerSec(rpm) + V = W_Wheel*self.R_Wheel + + return V + + def set_mode(self, MODE): + if MODE == 1: + print("Set relative position control") + elif MODE == 2: + print("Set absolute position control") + elif MODE == 3: + print("Set speed rpm control") + else: + print("set_mode ERROR: set only 1, 2, or 3") + return 0 + + result = self.client.write_register(self.OPR_MODE, MODE, unit=self.ID) + return result + + def get_mode(self): + + # result = self.client.read_holding_registers(self.OPR_MODE, 1, unit=self.ID) + registers = self.modbus_fail_read_handler(self.OPR_MODE, 1) + + mode = registers[0] + + return mode + + def enable_motor(self): + result = self.client.write_register(self.CONTROL_REG, self.ENABLE, unit=self.ID) + + def disable_motor(self): + result = self.client.write_register(self.CONTROL_REG, self.DOWN_TIME, unit=self.ID) + + def get_fault_code(self): + + fault_codes = self.client.read_holding_registers(self.L_FAULT, 2, unit=self.ID) + + L_fault_code = fault_codes.registers[0] + R_fault_code = fault_codes.registers[1] + + L_fault_flag = L_fault_code in self.FAULT_LIST + R_fault_flag = R_fault_code in self.FAULT_LIST + + return (L_fault_flag, L_fault_code), (R_fault_flag, R_fault_code) + + def clear_alarm(self): + result = self.client.write_register(self.CONTROL_REG, self.ALRM_CLR, unit=self.ID) + + def set_accel_time(self, L_ms, R_ms): + + if L_ms > 32767: + L_ms = 32767 + elif L_ms < 0: + L_ms = 0 + + if R_ms > 32767: + R_ms = 32767 + elif R_ms < 0: + R_ms = 0 + + result = self.client.write_registers(self.L_ACL_TIME, [int(L_ms),int(R_ms)], unit=self.ID) + + + def set_decel_time(self, L_ms, R_ms): + + if L_ms > 32767: + L_ms = 32767 + elif L_ms < 0: + L_ms = 0 + + if R_ms > 32767: + R_ms = 32767 + elif R_ms < 0: + R_ms = 0 + + result = self.client.write_registers(self.L_DCL_TIME, [int(L_ms), int(R_ms)], unit=self.ID) + + def int16Dec_to_int16Hex(self,int16): + + lo_byte = (int16 & 0x00FF) + hi_byte = (int16 & 0xFF00) >> 8 + + all_bytes = (hi_byte << 8) | lo_byte + + return all_bytes + + + def set_rpm(self, L_rpm, R_rpm): + + if L_rpm > 3000: + L_rpm = 3000 + elif L_rpm < -3000: + L_rpm = -3000 + + if R_rpm > 3000: + R_rpm = 3000 + elif R_rpm < -3000: + R_rpm = -3000 + + left_bytes = self.int16Dec_to_int16Hex(L_rpm) + right_bytes = self.int16Dec_to_int16Hex(R_rpm) + + result = self.client.write_registers(self.L_CMD_RPM, [left_bytes, right_bytes], unit=self.ID) + + def get_rpm(self): + + + # rpms = self.client.read_holding_registers(self.L_FB_RPM, 2, unit=self.ID) + # fb_L_rpm = np.int16(rpms.registers[0])/10.0 + # fb_R_rpm = np.int16(rpms.registers[1])/10.0 + + registers = self.modbus_fail_read_handler(self.L_FB_RPM, 2) + fb_L_rpm = np.int16(registers[0])/10.0 + fb_R_rpm = np.int16(registers[1])/10.0 + + return fb_L_rpm, fb_R_rpm + + def get_linear_velocities(self): + + rpmL, rpmR = self.get_rpm() + + VL = self.rpm_to_linear(rpmL) + VR = self.rpm_to_linear(-rpmR) + + return VL, VR + + def map(self, val, in_min, in_max, out_min, out_max): + + return (val - in_min) * (out_max - out_min) / (in_max - in_min) + out_min + + def set_maxRPM_pos(self, max_L_rpm, max_R_rpm): + + if max_L_rpm > 1000: + max_L_rpm = 1000 + elif max_L_rpm < 1: + max_L_rpm = 1 + + if max_R_rpm > 1000: + max_R_rpm = 1000 + elif max_R_rpm < 1: + max_R_rpm = 1 + + result = self.client.write_registers(self.L_MAX_RPM_POS, [int(max_L_rpm), int(max_R_rpm)], unit=self.ID) + + def set_position_async_control(self): + + result = self.client.write_register(self.POS_CONTROL_TYPE, self.ASYNC, unit=self.ID) + + def move_left_wheel(self): + + result = self.client.write_register(self.CONTROL_REG, self.POS_L_START, unit=self.ID) + + def move_right_wheel(self): + + result = self.client.write_register(self.CONTROL_REG, self.POS_R_START, unit=self.ID) + + def deg_to_32bitArray(self, deg): + + dec = int(self.map(deg, -1440, 1440, -65536, 65536)) + HI_WORD = (dec & 0xFFFF0000) >> 16 + LO_WORD = dec & 0x0000FFFF + + return [HI_WORD, LO_WORD] + + def set_relative_angle(self, ang_L, ang_R): + + L_array = self.deg_to_32bitArray(ang_L) + R_array = self.deg_to_32bitArray(ang_R) + all_cmds_array = L_array + R_array + + result = self.client.write_registers(self.L_CMD_REL_POS_HI, all_cmds_array, unit=self.ID) + + def get_wheels_travelled(self): + + # read_success = False + # while not read_success: + + # result = self.client.read_holding_registers(self.L_FB_POS_HI, 4, unit=self.ID) + # try: + # l_pul_hi = result.registers[0] + # l_pul_lo = result.registers[1] + # r_pul_hi = result.registers[2] + # r_pul_lo = result.registers[3] + + # l_pulse = ((l_pul_hi & 0xFFFF) << 16) | (l_pul_lo & 0xFFFF) + # r_pulse = ((r_pul_hi & 0xFFFF) << 16) | (r_pul_lo & 0xFFFF) + # l_travelled = (float(l_pulse)/self.cpr)*self.travel_in_one_rev # unit in meter + # r_travelled = (float(r_pulse)/self.cpr)*self.travel_in_one_rev # unit in meter + + # read_success = True + + # except AttributeError: + # # print("error") + # pass + + registers = self.modbus_fail_read_handler(self.L_FB_POS_HI, 4) + l_pul_hi = registers[0] + l_pul_lo = registers[1] + r_pul_hi = registers[2] + r_pul_lo = registers[3] + + l_pulse = np.int32(((l_pul_hi & 0xFFFF) << 16) | (l_pul_lo & 0xFFFF)) + r_pulse = np.int32(((r_pul_hi & 0xFFFF) << 16) | (r_pul_lo & 0xFFFF)) + l_travelled = (float(l_pulse)/self.cpr)*self.travel_in_one_rev # unit in meter + r_travelled = (float(r_pulse)/self.cpr)*self.travel_in_one_rev # unit in meter + + return l_travelled, r_travelled diff --git a/src/ZLAC8015D_python/examples/test_speed_control.py b/src/ZLAC8015D_python/examples/test_speed_control.py index fcff88c..de92eb6 100644 --- a/src/ZLAC8015D_python/examples/test_speed_control.py +++ b/src/ZLAC8015D_python/examples/test_speed_control.py @@ -1,23 +1,21 @@ -from zlac8015d import ZLAC8015D -import importlib -importlib.reload(ZLAC8015D) +import ZLAC8015D import time motors = ZLAC8015D.Controller(port="/dev/ZLAC8015D") motors.disable_motor() -motors.set_accel_time(500,500) +motors.set_accel_time(1000,1000) motors.set_decel_time(1000,1000) motors.set_mode(3) motors.enable_motor() -cmds = [-140, 170] +# cmds = [140, 170] #cmds = [100, 50] #cmds = [150, -100] -#cmds = [-50, 30] +cmds = [-50, 30] motors.set_rpm(cmds[0],cmds[1]) @@ -29,13 +27,12 @@ # motors.set_rpm(cmds[0],cmds[1]) rpmL, rpmR = motors.get_rpm() - #print("period: {:.4f} rpmL: {:.1f} | rpmR: {:.1f}".format(period,rpmL,rpmR)) - print("{:.4f},{:.1f},{:.1f}".format(period,rpmL,rpmR)) + print("period: {:.4f} rpmL: {:.1f} | rpmR: {:.1f}".format(period,rpmL,rpmR)) time.sleep(0.01) - + except KeyboardInterrupt: motors.disable_motor() break - #last_time = time.time() + last_time = time.time() diff --git a/src/ZLAC8015D_python/zlac8015d/ZLAC8015D.py b/src/ZLAC8015D_python/zlac8015d/ZLAC8015D.py index 45541fe..cbc8c30 100644 --- a/src/ZLAC8015D_python/zlac8015d/ZLAC8015D.py +++ b/src/ZLAC8015D_python/zlac8015d/ZLAC8015D.py @@ -1,6 +1,7 @@ from pymodbus.client.sync import ModbusSerialClient as ModbusClient import numpy as np +import time class Controller: @@ -110,6 +111,7 @@ reg[i] = result.registers[i] read_success = True except AttributeError as e: + time.sleep(0.5) print(e) pass @@ -131,8 +133,7 @@ elif MODE == 2: print("Set absolute position control") elif MODE == 3: - dummy = 0 - #print("Set speed rpm control") + print("Set speed rpm control") else: print("set_mode ERROR: set only 1, 2, or 3") return 0 diff --git a/src/ira_laser_tools b/src/ira_laser_tools new file mode 160000 index 0000000..958d0ac --- /dev/null +++ b/src/ira_laser_tools @@ -0,0 +1 @@ +Subproject commit 958d0ac8e103822ce9ce04c0bb9c3b499322575d diff --git a/src/junk/tsukuba2022/config/gps_parameters.yaml b/src/junk/tsukuba2022/config/gps_parameters.yaml new file mode 100644 index 0000000..38970f9 --- /dev/null +++ b/src/junk/tsukuba2022/config/gps_parameters.yaml @@ -0,0 +1,37 @@ +# maintainer:kbkn/mori +# +# name of the port that connects to gps device +dev_name: /dev/sensors/rtkgps +# directory of the file where waypoints will be saved +output_file: /home/ubuntu/catkin_ws/src/igvc2022/config/gps_waypoints/gps_waypoints.yaml +#output_file: /home/ubuntu/catkin_ws/src/igvc2022/config/gps_waypoints/qualification_waypoints.yaml +# country_id: 0, then Japan +# country_id: 1, then USA +country_id: 0 +# true north is 0 degrees, clockwise angle +azimuth: 180 +# latitude and longitude information given by the organizer at IGVC +# - - latitude(1) +# - longitude(1) +# - - latitude(2) +# - longitude(2) +# ............ +latitude_longitude: + - - 42.66792770 + - -83.21932764 + - - 42.66807663 + - -83.21935915 + - - 42.66812064 + - -83.21936060 + - - 42.66826972 + - -83.21934030 + + +# - - 42.66826972 +# - -83,21934030 +# - - 42.66812064 +# - -83.21936060 +# - - 42.66807663 +# - -83.21935915 +# - - 42.66792770 +# - -83.21932764 diff --git a/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints.yaml b/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints.yaml new file mode 100644 index 0000000..1de4c59 --- /dev/null +++ b/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: 23.832395277342513 + y: -39.51859423889264 + z: 0 + - point: + x: 7.288423107180874 + y: -42.101774823056566 + z: 0 + - point: + x: 2.399529025831852 + y: -42.22065671153237 + z: 0 + - point: + x: -14.161232871434652 + y: -40.556537994560074 + z: 0 diff --git a/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_north.yaml b/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_north.yaml new file mode 100644 index 0000000..ff46ecf --- /dev/null +++ b/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_north.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: 18.6965 + y: 41.0993 + z: 0 + - point: + x: 4.5435 + y: 41.0993 + z: 0 + - point: + x: -5.1435 + y: 41.0993 + z: 0 + - point: + x: -19.2965 + y: 41.0993 + z: 0 diff --git a/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation.yaml b/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation.yaml new file mode 100644 index 0000000..01d3b85 --- /dev/null +++ b/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: 15.799 + y: 30.600 + z: 0 + - point: + x: 4.700 + y: 30.142 + z: 0 + - point: + x: -4.420 + y: 30.514 + z: 0 + - point: + x: -15.912 + y: 30.702 + z: 0 diff --git a/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation_reverse.yaml b/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation_reverse.yaml new file mode 100644 index 0000000..9897947 --- /dev/null +++ b/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation_reverse.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: -15.799 + y: -30.600 + z: 0 + - point: + x: -4.700 + y: -30.142 + z: 0 + - point: + x: 4.420 + y: -30.514 + z: 0 + - point: + x: 15.912 + y: -30.702 + z: 0 diff --git a/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_south.yaml b/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_south.yaml new file mode 100644 index 0000000..f08bc57 --- /dev/null +++ b/src/junk/tsukuba2022/config/gps_waypoints/gps_waypoints_south.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: 19.2965 + y: -41.0993 + z: 0 + - point: + x: 5.1435 + y: -41.0993 + z: 0 + - point: + x: -4.5435 + y: -41.0993 + z: 0 + - point: + x: -18.6965 + y: -41.0993 + z: 0 diff --git a/src/junk/tsukuba2022/config/gps_waypoints/qualification_waypoints.yaml b/src/junk/tsukuba2022/config/gps_waypoints/qualification_waypoints.yaml new file mode 100644 index 0000000..de097ab --- /dev/null +++ b/src/junk/tsukuba2022/config/gps_waypoints/qualification_waypoints.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: 7.058685 + y: 0.5 + z: 0 + - point: + x: 14.117370781974484 + y: 1 + z: 0 + - point: + x: 14.117370781974484 + y: -2.1647149478696024 + z: 0 + - point: + x: -258532440.12709326 + y: 18422863.225660857 + z: 0 diff --git a/src/junk/tsukuba2022/config/igvc_robot_control.yaml b/src/junk/tsukuba2022/config/igvc_robot_control.yaml new file mode 100644 index 0000000..bb3afc4 --- /dev/null +++ b/src/junk/tsukuba2022/config/igvc_robot_control.yaml @@ -0,0 +1,43 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 100 + +igvc_robot: + type : "diff_drive_controller/DiffDriveController" + left_wheel : 'right_wheel_hinge' + right_wheel : 'left_wheel_hinge' + publish_rate: 100 + + enable_odom_tf: false + + pose_covariance_diagonal : [0.00001, 0.00001, 1000000000000.0, 1000000000000.0, 1000000000000.0, 0.001] + twist_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + + # Wheel separation and radius multipliers + wheel_separation_multiplier: 1.0 # default: 1.0 + wheel_radius_multiplier : 1.0 # default: 1.0 + + # Velocity commands timeout [s], default 0.5 + cmd_vel_timeout: 1.0 + + # Base frame_id + base_frame_id: base_link + + # Velocity and acceleration limits + # Whenever a min_* is unspecified, default to -max_* + linear: + x: + has_velocity_limits : true + max_velocity : 0.8 # m/s + min_velocity : -0.8 # m/s + has_acceleration_limits: true + max_acceleration : 0.8 # m/s^2 + min_acceleration : -0.8 # m/s^2 + angular: + z: + has_velocity_limits : true + max_velocity : 0.4 # rad/s + min_velocity : -0.4 # rad/s + has_acceleration_limits: true + max_acceleration : 0.3 # rad/s^2 + min_acceleration : -0.3 # rad/s^2 diff --git a/src/junk/tsukuba2022/config/igvc_robot_control_sim.yaml b/src/junk/tsukuba2022/config/igvc_robot_control_sim.yaml new file mode 100644 index 0000000..cb6b6b3 --- /dev/null +++ b/src/junk/tsukuba2022/config/igvc_robot_control_sim.yaml @@ -0,0 +1,45 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 100 + +igvc_robot: + #type: "icart_mini_controller/ICartMiniController" + type : "diff_drive_controller/DiffDriveController" + left_wheel : 'left_wheel_hinge' + right_wheel : 'right_wheel_hinge' + publish_rate: 100 + + enable_odom_tf: false + + #pose_covariance_diagonal : [0.00001, 0.00001, 1000000000000.0, 1000000000000.0, 1000000000000.0, 0.001] + #twist_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + pose_covariance_diagonal : [0.01, 0.01, 10000.0, 10000.0, 10000.0, 10.0] + twist_covariance_diagonal: [0.01, 0.01, 10000.0, 10000.0, 10000.0, 10.0] + + # Wheel separation and radius multipliers + wheel_separation_multiplier: 1.0 # default: 1.0 + wheel_radius_multiplier : 1.0 # default: 1.0 + + # Velocity commands timeout [s], default 0.5 + cmd_vel_timeout: 1.0 + + # Base frame_id + base_frame_id: base_link + + # Velocity and acceleration limits + # Whenever a min_* is unspecified, default to -max_* + linear: + x: + has_velocity_limits : false + #max_velocity : 0.9 # m/s + #min_velocity : -0.9 # m/s + has_acceleration_limits: true + max_acceleration : 1.5 # m/s^2 + min_acceleration : -1.5 # m/s^2 + angular: + z: + has_velocity_limits : false + #max_velocity : 0.5 # rad/s + has_acceleration_limits: false + #max_acceleration : 1.5 # rad/s^2 + diff --git a/src/junk/tsukuba2022/urdf/igvc_robot.gazebo b/src/junk/tsukuba2022/urdf/igvc_robot.gazebo new file mode 100644 index 0000000..f32242a --- /dev/null +++ b/src/junk/tsukuba2022/urdf/igvc_robot.gazebo @@ -0,0 +1,76 @@ + + + + + + + + + igvc_robot/cmd_vel + igvc_robot/odom + base_link + odom + world + + true + false + false + + true + + true + + 30 + left_wheel_hinge + right_wheel_hinge + 0.670 + 0.192 + 1 + 10 + na + false + + + + + + + Gazebo/Black + + + + + 5.0 + 5.0 + 1000000.0 + 100.0 + 0.001 + 1.0 + + + + + 5.0 + 5.0 + 1000000.0 + 100.0 + 0.001 + 1.0 + + + + + 0.0 + 0.0 + + + + 0.0 + 0.0 + + + diff --git a/src/junk/tsukuba2022/urdf/igvc_robot.xacro b/src/junk/tsukuba2022/urdf/igvc_robot.xacro new file mode 100644 index 0000000..513d453 --- /dev/null +++ b/src/junk/tsukuba2022/urdf/igvc_robot.xacro @@ -0,0 +1,221 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + left_wheel + base_link + + + + + + + + + + + + + + + + + + + + + + + + + + + + right_wheel + base_link + + + + + + + transmission_interface/SimpleTransmission + + VelocityJointInterface + + + VelocityJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + VelocityJointInterface + + + VelocityJointInterface + 1 + + + + diff --git a/src/junk/tsukuba2022/urdf/igvc_robot_cp.urdf b/src/junk/tsukuba2022/urdf/igvc_robot_cp.urdf new file mode 100644 index 0000000..3ecfca1 --- /dev/null +++ b/src/junk/tsukuba2022/urdf/igvc_robot_cp.urdf @@ -0,0 +1,220 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + left_wheel + base_link + + + + + + + + + + + + + + + + + + + + + + + + + + + + right_wheel + base_link + + + + + + + transmission_interface/SimpleTransmission + + VelocityJointInterface + + + VelocityJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + VelocityJointInterface + + + VelocityJointInterface + 1 + + + diff --git a/src/junk/tsukuba2022/urdf/sensors/camera.urdf.xacro b/src/junk/tsukuba2022/urdf/sensors/camera.urdf.xacro new file mode 100644 index 0000000..9326083 --- /dev/null +++ b/src/junk/tsukuba2022/urdf/sensors/camera.urdf.xacro @@ -0,0 +1,76 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 30.0 + + 0 0 0 0 ${PI/2} 0 + 3.1415 + + R8G8B8 + 800 + 800 + + + 0.01 + 100 + + + stereographic + 1 + 1.5707 + 512 + + + + + true + 0.0 + cv_camera + image_raw + camera_info + camera_link + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + Gazebo/DarkGray + + + + + + diff --git a/src/tsukuba2022/CMakeLists.txt b/src/tsukuba2022/CMakeLists.txt new file mode 100644 index 0000000..632f934 --- /dev/null +++ b/src/tsukuba2022/CMakeLists.txt @@ -0,0 +1,212 @@ +cmake_minimum_required(VERSION 3.0.2) +project(tsukuba2022) + +## 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 + roscpp + rospy + std_msgs + geometry_msgs + move_base_msgs + actionlib_msgs + sensor_msgs + tf2_sensor_msgs + move_base + actionlib + hardware_interface + controller_manager + message_filters + nodelet + std_srvs + tf + tf2 + tf2_ros +) + + +################################################ +## 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 + CATKIN_DEPENDS roscpp std_msgs message_filters nodelet sensor_msgs tf2 tf2_ros tf2_sensor_msgs + LIBRARIES ${PROJECT_NAME} +) + +########### +## 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/${PROJECT_NAME}/tsukuba2022.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/tsukuba2022_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_tsukuba2022.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/tsukuba2022/config/elecom_joy.yaml b/src/tsukuba2022/config/elecom_joy.yaml new file mode 100644 index 0000000..de1c032 --- /dev/null +++ b/src/tsukuba2022/config/elecom_joy.yaml @@ -0,0 +1,9 @@ +axis_linear: 1 +scale_linear: 0.4 #0.4 +scale_linear_turbo: 0.8 #0.8 + +axis_angular: 0 +scale_angular: 0.5 #0.9 + +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 new file mode 100644 index 0000000..38970f9 --- /dev/null +++ b/src/tsukuba2022/config/gps_parameters.yaml @@ -0,0 +1,37 @@ +# maintainer:kbkn/mori +# +# name of the port that connects to gps device +dev_name: /dev/sensors/rtkgps +# directory of the file where waypoints will be saved +output_file: /home/ubuntu/catkin_ws/src/igvc2022/config/gps_waypoints/gps_waypoints.yaml +#output_file: /home/ubuntu/catkin_ws/src/igvc2022/config/gps_waypoints/qualification_waypoints.yaml +# country_id: 0, then Japan +# country_id: 1, then USA +country_id: 0 +# true north is 0 degrees, clockwise angle +azimuth: 180 +# latitude and longitude information given by the organizer at IGVC +# - - latitude(1) +# - longitude(1) +# - - latitude(2) +# - longitude(2) +# ............ +latitude_longitude: + - - 42.66792770 + - -83.21932764 + - - 42.66807663 + - -83.21935915 + - - 42.66812064 + - -83.21936060 + - - 42.66826972 + - -83.21934030 + + +# - - 42.66826972 +# - -83,21934030 +# - - 42.66812064 +# - -83.21936060 +# - - 42.66807663 +# - -83.21935915 +# - - 42.66792770 +# - -83.21932764 diff --git a/src/tsukuba2022/config/gps_waypoints/gps_waypoints.yaml b/src/tsukuba2022/config/gps_waypoints/gps_waypoints.yaml new file mode 100644 index 0000000..1de4c59 --- /dev/null +++ b/src/tsukuba2022/config/gps_waypoints/gps_waypoints.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: 23.832395277342513 + y: -39.51859423889264 + z: 0 + - point: + x: 7.288423107180874 + y: -42.101774823056566 + z: 0 + - point: + x: 2.399529025831852 + y: -42.22065671153237 + z: 0 + - point: + x: -14.161232871434652 + y: -40.556537994560074 + z: 0 diff --git a/src/tsukuba2022/config/gps_waypoints/gps_waypoints_north.yaml b/src/tsukuba2022/config/gps_waypoints/gps_waypoints_north.yaml new file mode 100644 index 0000000..ff46ecf --- /dev/null +++ b/src/tsukuba2022/config/gps_waypoints/gps_waypoints_north.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: 18.6965 + y: 41.0993 + z: 0 + - point: + x: 4.5435 + y: 41.0993 + z: 0 + - point: + x: -5.1435 + y: 41.0993 + z: 0 + - point: + x: -19.2965 + y: 41.0993 + z: 0 diff --git a/src/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation.yaml b/src/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation.yaml new file mode 100644 index 0000000..01d3b85 --- /dev/null +++ b/src/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: 15.799 + y: 30.600 + z: 0 + - point: + x: 4.700 + y: 30.142 + z: 0 + - point: + x: -4.420 + y: 30.514 + z: 0 + - point: + x: -15.912 + y: 30.702 + z: 0 diff --git a/src/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation_reverse.yaml b/src/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation_reverse.yaml new file mode 100644 index 0000000..9897947 --- /dev/null +++ b/src/tsukuba2022/config/gps_waypoints/gps_waypoints_simulation_reverse.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: -15.799 + y: -30.600 + z: 0 + - point: + x: -4.700 + y: -30.142 + z: 0 + - point: + x: 4.420 + y: -30.514 + z: 0 + - point: + x: 15.912 + y: -30.702 + z: 0 diff --git a/src/tsukuba2022/config/gps_waypoints/gps_waypoints_south.yaml b/src/tsukuba2022/config/gps_waypoints/gps_waypoints_south.yaml new file mode 100644 index 0000000..f08bc57 --- /dev/null +++ b/src/tsukuba2022/config/gps_waypoints/gps_waypoints_south.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: 19.2965 + y: -41.0993 + z: 0 + - point: + x: 5.1435 + y: -41.0993 + z: 0 + - point: + x: -4.5435 + y: -41.0993 + z: 0 + - point: + x: -18.6965 + y: -41.0993 + z: 0 diff --git a/src/tsukuba2022/config/gps_waypoints/qualification_waypoints.yaml b/src/tsukuba2022/config/gps_waypoints/qualification_waypoints.yaml new file mode 100644 index 0000000..de097ab --- /dev/null +++ b/src/tsukuba2022/config/gps_waypoints/qualification_waypoints.yaml @@ -0,0 +1,17 @@ +waypoints: + - point: + x: 7.058685 + y: 0.5 + z: 0 + - point: + x: 14.117370781974484 + y: 1 + z: 0 + - point: + x: 14.117370781974484 + y: -2.1647149478696024 + z: 0 + - point: + x: -258532440.12709326 + y: 18422863.225660857 + z: 0 diff --git a/src/tsukuba2022/config/igvc_robot_control.yaml b/src/tsukuba2022/config/igvc_robot_control.yaml new file mode 100644 index 0000000..bb3afc4 --- /dev/null +++ b/src/tsukuba2022/config/igvc_robot_control.yaml @@ -0,0 +1,43 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 100 + +igvc_robot: + type : "diff_drive_controller/DiffDriveController" + left_wheel : 'right_wheel_hinge' + right_wheel : 'left_wheel_hinge' + publish_rate: 100 + + enable_odom_tf: false + + pose_covariance_diagonal : [0.00001, 0.00001, 1000000000000.0, 1000000000000.0, 1000000000000.0, 0.001] + twist_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + + # Wheel separation and radius multipliers + wheel_separation_multiplier: 1.0 # default: 1.0 + wheel_radius_multiplier : 1.0 # default: 1.0 + + # Velocity commands timeout [s], default 0.5 + cmd_vel_timeout: 1.0 + + # Base frame_id + base_frame_id: base_link + + # Velocity and acceleration limits + # Whenever a min_* is unspecified, default to -max_* + linear: + x: + has_velocity_limits : true + max_velocity : 0.8 # m/s + min_velocity : -0.8 # m/s + has_acceleration_limits: true + max_acceleration : 0.8 # m/s^2 + min_acceleration : -0.8 # m/s^2 + angular: + z: + has_velocity_limits : true + max_velocity : 0.4 # rad/s + min_velocity : -0.4 # rad/s + has_acceleration_limits: true + max_acceleration : 0.3 # rad/s^2 + min_acceleration : -0.3 # rad/s^2 diff --git a/src/tsukuba2022/config/igvc_robot_control_sim.yaml b/src/tsukuba2022/config/igvc_robot_control_sim.yaml new file mode 100644 index 0000000..cb6b6b3 --- /dev/null +++ b/src/tsukuba2022/config/igvc_robot_control_sim.yaml @@ -0,0 +1,45 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 100 + +igvc_robot: + #type: "icart_mini_controller/ICartMiniController" + type : "diff_drive_controller/DiffDriveController" + left_wheel : 'left_wheel_hinge' + right_wheel : 'right_wheel_hinge' + publish_rate: 100 + + enable_odom_tf: false + + #pose_covariance_diagonal : [0.00001, 0.00001, 1000000000000.0, 1000000000000.0, 1000000000000.0, 0.001] + #twist_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + pose_covariance_diagonal : [0.01, 0.01, 10000.0, 10000.0, 10000.0, 10.0] + twist_covariance_diagonal: [0.01, 0.01, 10000.0, 10000.0, 10000.0, 10.0] + + # Wheel separation and radius multipliers + wheel_separation_multiplier: 1.0 # default: 1.0 + wheel_radius_multiplier : 1.0 # default: 1.0 + + # Velocity commands timeout [s], default 0.5 + cmd_vel_timeout: 1.0 + + # Base frame_id + base_frame_id: base_link + + # Velocity and acceleration limits + # Whenever a min_* is unspecified, default to -max_* + linear: + x: + has_velocity_limits : false + #max_velocity : 0.9 # m/s + #min_velocity : -0.9 # m/s + has_acceleration_limits: true + max_acceleration : 1.5 # m/s^2 + min_acceleration : -1.5 # m/s^2 + angular: + z: + has_velocity_limits : false + #max_velocity : 0.5 # rad/s + has_acceleration_limits: false + #max_acceleration : 1.5 # rad/s^2 + diff --git a/src/tsukuba2022/config/initial_pose.yaml b/src/tsukuba2022/config/initial_pose.yaml new file mode 100644 index 0000000..17a3691 --- /dev/null +++ b/src/tsukuba2022/config/initial_pose.yaml @@ -0,0 +1,7 @@ +# initial pose config +initial_pose_x: 0.0 #1>-24.5767439585681 2>-245.4480394671959 3>-370.909143639328 4>-369.881981133847 +initial_pose_y: 0.0 #1>-31.51237091 2>36.445157264051545 3>86.6870392345253 4>88.4367336233475 +initial_pose_a: 0.0 #1>3.14159263 2>3.14159263 3>1.57079632 4>-1.57079632 +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 new file mode 100644 index 0000000..60740d6 --- /dev/null +++ b/src/tsukuba2022/config/orange2022_control.yaml @@ -0,0 +1,43 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 100 + +diff_drive_controller: + type : "diff_drive_controller/DiffDriveController" + left_wheel : 'left_wheel_hinge' + right_wheel : 'right_wheel_hinge' + publish_rate: 100 + + enable_odom_tf: false + + pose_covariance_diagonal : [0.00001, 0.00001, 1000000000000.0, 1000000000000.0, 1000000000000.0, 0.001] + twist_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + + # Wheel separation and radius multipliers + wheel_separation_multiplier: 1.0 # default: 1.0 + wheel_radius_multiplier : 1.0 # default: 1.0 + + # Velocity commands timeout [s], default 0.5 + cmd_vel_timeout: 1.0 + + # Base frame_id + base_frame_id: base_link + + # Velocity and acceleration limits + # Whenever a min_* is unspecified, default to -max_* + linear: + x: + has_velocity_limits : true + max_velocity : 0.8 # m/s + min_velocity : -0.8 # m/s + has_acceleration_limits: true + max_acceleration : 0.8 # m/s^2 + min_acceleration : -0.8 # m/s^2 + angular: + z: + has_velocity_limits : true + max_velocity : 0.4 # rad/s + min_velocity : -0.4 # rad/s + has_acceleration_limits: true + max_acceleration : 0.3 # rad/s^2 + min_acceleration : -0.3 # rad/s^2 diff --git a/src/tsukuba2022/config/orange2022_control_sim.yaml b/src/tsukuba2022/config/orange2022_control_sim.yaml new file mode 100644 index 0000000..edc0632 --- /dev/null +++ b/src/tsukuba2022/config/orange2022_control_sim.yaml @@ -0,0 +1,41 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 100 + +diff_drive_controller: + type : "diff_drive_controller/DiffDriveController" + left_wheel : 'left_wheel_hinge' + right_wheel : 'right_wheel_hinge' + publish_rate: 100 + + enable_odom_tf: false + + pose_covariance_diagonal : [0.01, 0.01, 10000.0, 10000.0, 10000.0, 10.0] + twist_covariance_diagonal: [0.01, 0.01, 10000.0, 10000.0, 10000.0, 10.0] + + # Wheel separation and radius multipliers + wheel_separation_multiplier: 1.0 # default: 1.0 + wheel_radius_multiplier : 1.0 # default: 1.0 + + # Velocity commands timeout [s], default 0.5 + cmd_vel_timeout: 1.0 + + # Base frame_id + base_frame_id: base_link + + # Velocity and acceleration limits + # Whenever a min_* is unspecified, default to -max_* + linear: + x: + has_velocity_limits : false + #max_velocity : 0.9 # m/s + #min_velocity : -0.9 # m/s + has_acceleration_limits: true + max_acceleration : 1.5 # m/s^2 + min_acceleration : -1.5 # m/s^2 + angular: + z: + has_velocity_limits : false + #max_velocity : 0.5 # rad/s + has_acceleration_limits: false + #max_acceleration : 1.5 # rad/s^2 diff --git a/src/tsukuba2022/config/waypoints/waypoints.yaml b/src/tsukuba2022/config/waypoints/waypoints.yaml new file mode 100644 index 0000000..33c7c83 --- /dev/null +++ b/src/tsukuba2022/config/waypoints/waypoints.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/waypoints_nakaniwa.yaml b/src/tsukuba2022/config/waypoints/waypoints_nakaniwa.yaml new file mode 100644 index 0000000..03e07a4 --- /dev/null +++ b/src/tsukuba2022/config/waypoints/waypoints_nakaniwa.yaml @@ -0,0 +1,33 @@ +waypoints: +- point: {x: 4.8992, y: 0.0763934, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 17.334, y: -0.0478781, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 25.9562, y: -0.150485, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 34.8965, y: -2.35386, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 43.2493, y: -4.61744, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 52.0631, y: -4.78826, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 53.2674, y: 7.98859, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 53.0977, y: 20.0885, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 52.5512, y: 29.5179, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 52.225629, y: 42.300035, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 51.282771, y: 54.557184, z: 0, vel: 1, rad: 0.6, stop: false} +- point: {x: 37.976717, y: 54.326666, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 27.652743, y: 54.28618, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 16.033212, y: 54.367152, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 5.061459, y: 53.516942, z: 0, vel: 1, rad: 0.5, stop: true} +- point: {x: 6.397503, y: 50.520966, z: 0, vel: 0.3, rad: 0.3, stop: false} +- point: {x: 9.777492, y: 43.91924, z: 0, vel: 0.3, rad: 0.3, stop: false} +- point: {x: 12.326369, y: 38.156927, z: 0.0, vel: 1.0, rad: 0.4, stop: false} +- point: {x: 14.7664, y: 33.8169, z: 0, vel: 0.3, rad: 0.3, stop: false} +- point: {x: 18.112117, y: 26.331971, z: 0, vel: 0.3, rad: 0.3, stop: false} +- point: {x: 20.711327, y: 20.328163, z: 0, vel: 0.3, rad: 0.3, stop: false} +- point: {x: 22.614973, y: 15.935132, z: 0, vel: 0.3, rad: 0.3, stop: false} +- point: {x: 24.408794, y: 12.164447, z: 0, vel: 0.3, rad: 0.3, stop: false} +- point: {x: 29.131302, y: 2.572996, z: 0, vel: 0.3, rad: 0.3, stop: false} +- point: {x: 28.801589, y: 0.126455, z: 0, vel: 0.3, rad: 0.5, stop: false} +- point: {x: 19.9255, y: 0.305246, z: 0, vel: 1, rad: 1.0, stop: false} +- point: {x: 9.62386, y: 1.54376, z: 0, vel: 1, rad: 1.0, stop: false} +finish_pose: + header: {seq: 0, stamp: 1663209268.6905353, frame_id: map} + pose: + position: {x: -0.0241434, y: 1.60681, z: 0} + orientation: {x: 0, y: 0, z: 0.999995, w: 0.00303693} \ No newline at end of file diff --git a/src/tsukuba2022/config/waypoints/waypoints_sim_nakaniwa.yaml b/src/tsukuba2022/config/waypoints/waypoints_sim_nakaniwa.yaml new file mode 100644 index 0000000..33c7c83 --- /dev/null +++ b/src/tsukuba2022/config/waypoints/waypoints_sim_nakaniwa.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/launch/buildmap_from_bag.launch b/src/tsukuba2022/launch/buildmap_from_bag.launch new file mode 100644 index 0000000..bd635a5 --- /dev/null +++ b/src/tsukuba2022/launch/buildmap_from_bag.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/src/tsukuba2022/launch/buildmap_teleop_joy.launch b/src/tsukuba2022/launch/buildmap_teleop_joy.launch new file mode 100644 index 0000000..acdc48d --- /dev/null +++ b/src/tsukuba2022/launch/buildmap_teleop_joy.launch @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/tsukuba2022/launch/motor.launch b/src/tsukuba2022/launch/motor.launch new file mode 100644 index 0000000..e41ec65 --- /dev/null +++ b/src/tsukuba2022/launch/motor.launch @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/tsukuba2022/launch/segmentaion.launch b/src/tsukuba2022/launch/segmentaion.launch new file mode 100644 index 0000000..6141ea3 --- /dev/null +++ b/src/tsukuba2022/launch/segmentaion.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/tsukuba2022/launch/start.launch b/src/tsukuba2022/launch/start.launch new file mode 100644 index 0000000..6c5fd1e --- /dev/null +++ b/src/tsukuba2022/launch/start.launch @@ -0,0 +1,140 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/tsukuba2022/launch/start_sim.launch b/src/tsukuba2022/launch/start_sim.launch new file mode 100644 index 0000000..dedba07 --- /dev/null +++ b/src/tsukuba2022/launch/start_sim.launch @@ -0,0 +1,71 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + !-----> + + + + + + + + + + + + diff --git a/src/tsukuba2022/launch/teb_local_planner_test.launch b/src/tsukuba2022/launch/teb_local_planner_test.launch new file mode 100644 index 0000000..93c2543 --- /dev/null +++ b/src/tsukuba2022/launch/teb_local_planner_test.launch @@ -0,0 +1,49 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/tsukuba2022/launch/teleop_joy.launch b/src/tsukuba2022/launch/teleop_joy.launch new file mode 100644 index 0000000..8b8fe08 --- /dev/null +++ b/src/tsukuba2022/launch/teleop_joy.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/tsukuba2022/launch/waypoint_navigation.launch b/src/tsukuba2022/launch/waypoint_navigation.launch new file mode 100644 index 0000000..a896ca9 --- /dev/null +++ b/src/tsukuba2022/launch/waypoint_navigation.launch @@ -0,0 +1,47 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/tsukuba2022/maps/mymap.pgm b/src/tsukuba2022/maps/mymap.pgm new file mode 100644 index 0000000..7bedc78 --- /dev/null +++ b/src/tsukuba2022/maps/mymap.pgm Binary files differ diff --git a/src/tsukuba2022/maps/mymap.yaml b/src/tsukuba2022/maps/mymap.yaml new file mode 100644 index 0000000..ca6f07f --- /dev/null +++ b/src/tsukuba2022/maps/mymap.yaml @@ -0,0 +1,7 @@ +image: /home/ubuntu/catkin_ws/src/tsukuba2022/maps/mymap.pgm +resolution: 0.050000 +origin: [-60.000000, -60.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/tsukuba2022/maps/mymap_nakaniwa.pgm b/src/tsukuba2022/maps/mymap_nakaniwa.pgm new file mode 100644 index 0000000..86ebccd --- /dev/null +++ b/src/tsukuba2022/maps/mymap_nakaniwa.pgm Binary files differ diff --git a/src/tsukuba2022/maps/mymap_nakaniwa.yaml b/src/tsukuba2022/maps/mymap_nakaniwa.yaml new file mode 100644 index 0000000..deebdb7 --- /dev/null +++ b/src/tsukuba2022/maps/mymap_nakaniwa.yaml @@ -0,0 +1,7 @@ +image: /home/ubuntu/catkin_ws/src/tsukuba2022/maps/mymap_nakaniwa.pgm +resolution: 0.050000 +origin: [-60.000000, -60.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/tsukuba2022/maps/mymap_sim_nakaniwa.pgm b/src/tsukuba2022/maps/mymap_sim_nakaniwa.pgm new file mode 100644 index 0000000..7bedc78 --- /dev/null +++ b/src/tsukuba2022/maps/mymap_sim_nakaniwa.pgm Binary files differ diff --git a/src/tsukuba2022/maps/mymap_sim_nakaniwa.yaml b/src/tsukuba2022/maps/mymap_sim_nakaniwa.yaml new file mode 100644 index 0000000..e95a921 --- /dev/null +++ b/src/tsukuba2022/maps/mymap_sim_nakaniwa.yaml @@ -0,0 +1,7 @@ +image: 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+ + + + + + + 10 10 10 + model://construction_cone/meshes/construction_cone.dae + + + + + + + 10 10 10 + model://construction_cone/meshes/construction_cone.dae + + + + + -6.54537 1.86773 -0.365854 0 -0 0 + + + + + + + 10 10 10 + model://construction_cone/meshes/construction_cone.dae + + + + + + + 10 10 10 + model://construction_cone/meshes/construction_cone.dae + + + + + 3.70243 7.58522 -0.365854 0 -0 0 + + 0 + 1 + + diff --git a/src/tsukuba2022/models/ramp/model.config b/src/tsukuba2022/models/ramp/model.config new file mode 100644 index 0000000..d0b4039 --- /dev/null +++ b/src/tsukuba2022/models/ramp/model.config @@ -0,0 +1,5 @@ + + ramp + 1.0 + model.sdf + diff --git a/src/tsukuba2022/models/ramp/model.sdf b/src/tsukuba2022/models/ramp/model.sdf new file mode 100644 index 0000000..38884e5 --- /dev/null +++ b/src/tsukuba2022/models/ramp/model.sdf @@ -0,0 +1,73 @@ + + + + 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/package.xml b/src/tsukuba2022/package.xml new file mode 100644 index 0000000..f01ac38 --- /dev/null +++ b/src/tsukuba2022/package.xml @@ -0,0 +1,93 @@ + + + tsukuba2022 + 0.0.1 + The tsukuba2022 package + + + + + ubuntu + + + + + + TODO + + + + + + + + + + + + + + + catkin + + roscpp + rospy + std_msgs + hardware_interface + controller_manager + controller_interface + diff_drive_controller + message_filters + nodelet + sensor_msgs + tf + tf2 + tf2_ros + tf2_sensor_msgs + move_base + move_base_msgs + geometry_msgs + actionlib + actionlib_msgs + yaml-cpp + std_srvs + gazebo + + + +roscpp + rospy + std_msgs + hardware_interface + controller_manager + controller_interface + diff_drive_controller + joint_state_controller + urg_node + robot_pose_ekf + rosserial_python + message_filters + nodelet + sensor_msgs + tf + tf2 + tf2_ros + tf2_sensor_msgs + move_base + move_base_msgs + geometry_msgs + actionlib + actionlib_msgs + yaml-cpp + ruamel.yaml + std_srvs + gazebo_ros + + roslint + + + + + + + diff --git a/src/tsukuba2022/params/VLP16db.yaml b/src/tsukuba2022/params/VLP16db.yaml new file mode 100644 index 0000000..4717aea --- /dev/null +++ b/src/tsukuba2022/params/VLP16db.yaml @@ -0,0 +1,51 @@ +lasers: +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, rot_correction: 0.0, + vert_correction: -0.2617993877991494, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, rot_correction: 0.0, + vert_correction: 0.017453292519943295, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, rot_correction: 0.0, + vert_correction: -0.22689280275926285, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, rot_correction: 0.0, + vert_correction: 0.05235987755982989, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, rot_correction: 0.0, + vert_correction: -0.19198621771937624, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, rot_correction: 0.0, + vert_correction: 0.08726646259971647, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, rot_correction: 0.0, + vert_correction: -0.15707963267948966, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, rot_correction: 0.0, + vert_correction: 0.12217304763960307, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, rot_correction: 0.0, + vert_correction: -0.12217304763960307, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, rot_correction: 0.0, + vert_correction: 0.15707963267948966, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, rot_correction: 0.0, + vert_correction: -0.08726646259971647, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, rot_correction: 0.0, + vert_correction: 0.19198621771937624, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, rot_correction: 0.0, + vert_correction: -0.05235987755982989, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, rot_correction: 0.0, + vert_correction: 0.22689280275926285, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, rot_correction: 0.0, + vert_correction: -0.017453292519943295, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, rot_correction: 0.0, + vert_correction: 0.2617993877991494, vert_offset_correction: 0.0} +num_lasers: 16 +distance_resolution: 0.002 diff --git a/src/tsukuba2022/params/base_global_planner_params.yaml b/src/tsukuba2022/params/base_global_planner_params.yaml new file mode 100644 index 0000000..267db3d --- /dev/null +++ b/src/tsukuba2022/params/base_global_planner_params.yaml @@ -0,0 +1,17 @@ +base_global_planner: global_planner/GlobalPlanner + +GlobalPlanner: + allow_unknown: true + default_tolerance: 0.0 + visualize_potential: false + use_dijkstra: true + use_quadratic: true + use_grid_path: false + old_navfn_behavior: false + lethal_cost: 253 + neutral_cost: 66 + cost_factor: 0.55 + publish_potential: false + orientation_mode: 0 + orientation_window_size: 1 + outline_map: true \ No newline at end of file diff --git a/src/tsukuba2022/params/base_local_planner_params.yaml b/src/tsukuba2022/params/base_local_planner_params.yaml new file mode 100644 index 0000000..9ac04fc --- /dev/null +++ b/src/tsukuba2022/params/base_local_planner_params.yaml @@ -0,0 +1,33 @@ +base_local_planner: base_local_planner/TrajectoryPlannerROS + +TrajectoryPlannerROS: + # Robot Configuration Parameters + holonomic_robot: false + acc_lim_x: 3.5 + acc_lim_theta: 1.0 #1.5 + max_vel_x: 2.0 + min_vel_x: 0.1 + max_vel_theta: 0.3 + min_vel_theta: -0.3 #-0.4 + min_in_place_vel_theta: 0.3 #0.2 + escape_vel: -0.2 + + # Goal Tolerance Parameters + yaw_goal_tolerance: 0.5 + xy_goal_tolerance: 0.4 + + # Forward Simulation Parameters + sim_time: 3 + sim_granularity: 0.05 + vx_samples: 7 + vtheta_samples: 30 + + # Trajectory Scoring Parameters + dwa: true + meter_scoring: true + path_distance_bias: 0.4 #0.7 + goal_distance_bias: 1.0 #0.8 + occdist_scale : 0.05 #0.01 + heading_lookahead: 0.325 + heading_scoring: true + heading_scoring_timestep: 1.2 diff --git a/src/tsukuba2022/params/costmap_common_params.yaml b/src/tsukuba2022/params/costmap_common_params.yaml new file mode 100644 index 0000000..13b542b --- /dev/null +++ b/src/tsukuba2022/params/costmap_common_params.yaml @@ -0,0 +1,18 @@ +#max_obstacle_height: 0.60 # assume something like an arm is mounted on top of the robot +#obstacle_range: 4.0 #2.5 +#raytrace_range: 3.0 +#inflation_radius: 0.25 +#update_frequency: 2 + +#width: 5.0 +#height: 5.0 +#resolution: 0.15 + + +#observation_sources: scan point_cloud + +#scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, inf_is_valid: true, min_obstacle_height: 0.08, max_obstacle_height: 1.0} + +#point_cloud: {data_type: PointCloud, topic: /filtered_cloud, marking: true, clearing: true} + + diff --git a/src/tsukuba2022/params/dwa_local_planner_params.yaml b/src/tsukuba2022/params/dwa_local_planner_params.yaml new file mode 100644 index 0000000..5d40319 --- /dev/null +++ b/src/tsukuba2022/params/dwa_local_planner_params.yaml @@ -0,0 +1,32 @@ +base_local_planner: dwa_local_planner/DWAPlannerROS + +DWAPlannerROS: + # Robot Configuration Parameters + holonomic_robot: false + acc_lim_x: 0.8 + acc_lim_theta: 0.2 + max_vel_x: 1.0 + min_vel_x: -0.1 + max_vel_trans: 1.0 + min_vel_trans: -0.1 + max_rot_vel: 0.4 #0.1 #0.8 + min_rot_vel: -0.4 #-0.1 #-0.8 + + # Goal Tolerance Parameters + yaw_goal_tolerance: 0.3 + xy_goal_tolerance: 0.1 + + # Forward Simulation Parameters + sim_time: 1.0 + sim_granularity: 0.03 + vx_samples: 3 + vth_samples: 16 + + # Trajectory Scoring Parameters + path_distance_bias: 36 + goal_distance_bias: 24 + occdist_scale : 0.01 + forward_point_destance: 0.325 + stop_time_buffer: 0.2 + scaling_speed: 0.25 + max_scaling_factor: 0.2 diff --git a/src/tsukuba2022/params/foot_print.yaml b/src/tsukuba2022/params/foot_print.yaml new file mode 100644 index 0000000..9f9bd76 --- /dev/null +++ b/src/tsukuba2022/params/foot_print.yaml @@ -0,0 +1 @@ +footprint: [ [0.25, 0.4], [0.25, -0.4], [-0.65, -0.4], [-0.65, 0.4] ] diff --git a/src/tsukuba2022/params/global_costmap_params.yaml b/src/tsukuba2022/params/global_costmap_params.yaml new file mode 100644 index 0000000..69534a3 --- /dev/null +++ b/src/tsukuba2022/params/global_costmap_params.yaml @@ -0,0 +1,24 @@ +global_costmap: + map_topic: map #map_for_costmap + global_frame: map + robot_base_frame: base_footprint + update_frequency: 1.0 + publish_frequency: 1.0 + transform_tolerance: 1.0 + always_send_full_costmap: false + rolling_window: false + resolution: 0.1 + + plugins: + - {name: static_layer, type: "costmap_2d::StaticLayer"} + - {name: inflater_layer, type: "costmap_2d::InflationLayer"} + + static_layer: + map_topic: map + subscribe_to_updates: true + lethal_cost_threshold: 50 + track_unknown_space: false + + inflater_layer: + inflation_radius: 2.0 + cost_scaling_factor: 5.0 diff --git a/src/tsukuba2022/params/gmapping_common_params.yaml b/src/tsukuba2022/params/gmapping_common_params.yaml new file mode 100644 index 0000000..0261dbb --- /dev/null +++ b/src/tsukuba2022/params/gmapping_common_params.yaml @@ -0,0 +1,35 @@ +inverted_laser: false +throttle_scans: 1 +base_frame: base_footprint +map_frame: map +odom_frame: odom +map_update_interval: 2.0 +maxUrange: 40.0 +sigma: 0.05 +kernelSize: 1 +lstep: 0.05 +astep: 0.05 +iterations: 5 +lsigma: 0.075 +ogain: 3.0 +lskip: 1 +minimumScore: 0.0 +srr: 0.01 +srt: 0.02 +str: 0.01 +stt: 0.02 +linearUpdate: 0.5 +angularUpdate: 0.2 +temporalUpdate: -1.0 +resampleThreshold: 0.5 +particles: 20 +xmin: -60.0 +ymin: -60.0 +xmax: 60.0 +ymax: 60.0 +delta: 0.05 +llsamplerange: 0.01 +llsamplestep: 0.01 +lasamplerange: 0.005 +transform_publish_period: 0.05 +occ_thresh: 0.2 diff --git a/src/tsukuba2022/params/local_costmap_params.yaml b/src/tsukuba2022/params/local_costmap_params.yaml new file mode 100644 index 0000000..2812066 --- /dev/null +++ b/src/tsukuba2022/params/local_costmap_params.yaml @@ -0,0 +1,36 @@ +local_costmap: + global_frame: map + robot_base_frame: base_footprint + update_frequency: 5.0 + publish_frequency: 5.0 + rolling_window: true + resolution: 0.05 + width: 8 + height: 8 + always_send_full_costmap: true + transform_tolerance: 1.0 + + plugins: + - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"} + - {name: inflater_layer, type: "costmap_2d::InflationLayer"} + + obstacle_layer: + observation_sources: scan + scan: + data_type: LaserScan + topic: /scan + sensor_frame: velodyne_link + marking: true + clearing: true + inf_is_valid: true + max_obstacle_height: 2.5 + min_obstacle_height: 0.0 + obstacle_range: 8 + raytrace_range: 8 + observation_persistence: 0.0 + + inflater_layer: + inflation_radius: 0.4 + cost_scaling_factor: 5.0 + +# https://answers.ros.org/question/326867/local_costmap-not-showing-every-obstacle/ diff --git a/src/tsukuba2022/params/localization_params.yaml b/src/tsukuba2022/params/localization_params.yaml new file mode 100644 index 0000000..89604bb --- /dev/null +++ b/src/tsukuba2022/params/localization_params.yaml @@ -0,0 +1,31 @@ +odom_model_type: diff +transform_tolerance: 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 +laser_z_short: 0.05 +laser_z_max: 0.05 +laser_z_rand: 0.5 +laser_sigma_hit: 0.2 +laser_lambda_short: 0.1 +laser_lambda_short: 0.1 +laser_model_type: likelihood_field +laser_likelihood_max_dist: 2.0 +update_min_d: 0.2 +update_min_a: 0.5 +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 + +reset_th_alpha: 0.003 diff --git a/src/tsukuba2022/params/move_base_params.yaml b/src/tsukuba2022/params/move_base_params.yaml new file mode 100644 index 0000000..5acfd08 --- /dev/null +++ b/src/tsukuba2022/params/move_base_params.yaml @@ -0,0 +1,15 @@ +# Move base node parameters. For full documentation of the parameters in this file, please see +# +# http://www.ros.org/wiki/move_base +# + +shutdown_costmaps: true + +controller_frequency: 6 +controller_patience: 3.0 + +planner_frequency: 0.5 +planner_patience: 5.0 + +oscillation_timeout: 10.0 +oscillation_distance: 0.2 diff --git a/src/tsukuba2022/params/pointcloud_to_laserscan_params.yaml b/src/tsukuba2022/params/pointcloud_to_laserscan_params.yaml new file mode 100644 index 0000000..4df1b20 --- /dev/null +++ b/src/tsukuba2022/params/pointcloud_to_laserscan_params.yaml @@ -0,0 +1,17 @@ +target_frame: velodyne_link # Leave disabled to output scan in pointcloud frame +transform_tolerance: 0.01 +min_height: -0.7 #-0.4 +max_height: 0.3 #1.5 +angle_min: -2.3565 +angle_max: 2.3565 +angle_increment: 0.008711645 +scan_time: 0.03333 +range_min: 0.2 +range_max: 100.0 +use_inf: true + +# Concurrency level, affects number of pointclouds queued for processing and number of threads used +# 0 : Detect number of cores +# 1 : Single threaded +# 2->inf : Parallelism level +concurrency_level: 1 diff --git a/src/tsukuba2022/params/recovery_params.yaml b/src/tsukuba2022/params/recovery_params.yaml new file mode 100644 index 0000000..92afe1a --- /dev/null +++ b/src/tsukuba2022/params/recovery_params.yaml @@ -0,0 +1,4 @@ +recovery_behaviors: [{name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}, + {name: simple_lead_out, type: simple_lead_out/SimpleLeadOut}, + {name: rotate_recovery, type: rotate_recovery/RotateRecovery}, + {name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}] diff --git a/src/tsukuba2022/params/segmentation_params.yaml b/src/tsukuba2022/params/segmentation_params.yaml new file mode 100644 index 0000000..2a6b3af --- /dev/null +++ b/src/tsukuba2022/params/segmentation_params.yaml @@ -0,0 +1,22 @@ +n_threads: 1 # number of threads to use. + +r_min: 0.5 # minimum point distance. +r_max: 100 # maximum point distance. +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. + +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. +long_threshold: 10.0 ## distance between points after which they are considered far from each other. +max_long_height: 0.3 # maximum height change to previous point in long line. +max_start_height: 0.5 ## maximum difference to estimated ground height to start a new line. +line_search_angle: 0.2 ## how far to search in angular direction to find a line [rad]. + +gravity_aligned_frame: "" # Frame which has its z axis aligned with gravity. (Sensor frame if empty.) + +latch: false # latch output topics or not +visualize: false # visualize segmentation result - USE ONLY FOR DEBUGGING diff --git a/src/tsukuba2022/params/teb_local_planner_params.yaml b/src/tsukuba2022/params/teb_local_planner_params.yaml new file mode 100644 index 0000000..e0531bc --- /dev/null +++ b/src/tsukuba2022/params/teb_local_planner_params.yaml @@ -0,0 +1,90 @@ +base_local_planner: teb_local_planner/TebLocalPlannerROS + +TebLocalPlannerROS: + + odom_topic: odom + map_frame: /map + + # Trajectory + teb_autosize: True + dt_ref: 0.5 #0.3 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 + feasibility_check_no_poses: 5 + + # Robot + max_vel_x: 1.2 + max_vel_x_backwards: 0.2 + max_vel_theta: 1.0 + acc_lim_x: 2.0 + acc_lim_theta: 1.0 + min_turning_radius: 0.0 + footprint_model: # types: "point", "circular", "two_circles", "line", "polygon" + # type: "polygon" + # vertices: [ [0.25, 0.4], [0.25, -0.4], [-0.65, -0.4], [-0.65, 0.4] ] + type: "line" + line_start: [-0.09, 0.0] + line_end: [-0.31, 0.0] + + # GoalTolerance + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.3 + free_goal_vel: False + + # Obstacles + min_obstacle_dist: 0.4 + inflation_dist: 0.5 #0.6 + include_dynamic_obstacles: False + include_costmap_obstacles: True # False -> 障害物割と無視 + costmap_obstacles_behind_robot_dist: 0.5 #1.0 + obstacle_poses_affected: 30 #30 # 障害物に対して考慮する軌道の数？ + costmap_converter_plugin: "" + costmap_converter_spin_thread: True + costmap_converter_rate: 5 + + # Optimization + no_inner_iterations: 4 #5 反復計算の回数？ + no_outer_iterations: 3 #4 no_inner_iterations x no_outer_iterations 回だけ計算をする？ + optimization_activate: True + optimization_verbose: False + penalty_epsilon: 0.1 + weight_max_vel_x: 1000 #2 + weight_max_vel_theta: 1000 #1 + weight_acc_lim_x: 1 #100 #1 + weight_acc_lim_theta: 1 #1 + weight_kinematics_nh: 1000 + weight_kinematics_forward_drive: 100 #1 + weight_kinematics_turning_radius: 1 + weight_optimaltime: 1 + weight_shortest_path: 40 + weight_obstacle: 40 + weight_inflation: 0.1 + weight_dynamic_obstacle: 10 # not in use yet + 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_multithreading: False #True + simple_exploration: False + max_number_classes: 2 #4 軌道の代替案の計算個数 + roadmap_graph_no_samples: 15 + roadmap_graph_area_width: 5 + h_signature_prescaler: 0.5 + h_signature_threshold: 0.1 + obstacle_keypoint_offset: 0.1 + obstacle_heading_threshold: 0.45 + visualize_hc_graph: False + + + # https://mowito-navstack.readthedocs.io/en/latest/step_5c.html + # 処理を速くするために + # ・costmap_obstacles_behind_robot_dist -> 小さく + # ・obstacle_poses_affected -> 小さく + # ・footprint_model -> polygonを避ける + # ・dt_ref -> 大きく + # ・max_global_plan_lookahead_dist -> 小さく + # ・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 diff --git a/src/tsukuba2022/rviz_cfg/teb_nav.rviz b/src/tsukuba2022/rviz_cfg/teb_nav.rviz new file mode 100644 index 0000000..a62c8a7 --- /dev/null +++ b/src/tsukuba2022/rviz_cfg/teb_nav.rviz @@ -0,0 +1,385 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 538 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: LaserScan + - Class: orne_rviz_plugins/StateTriggerPanel + Name: StateTriggerPanel +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + hokuyo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_caster_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_caster_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 0; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 170; 0; 0 + Min Color: 0; 85; 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 5 + Size (m): 0.10000000149011612 + Style: Points + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: Particles + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /particlecloud + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Global Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base/TebLocalPlannerROS/global_plan + Unreliable: false + Value: true + - Alpha: 0.30000001192092896 + 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: 0.07000000029802322 + Name: Local Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base/TebLocalPlannerROS/local_plan + Unreliable: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: true + Enabled: true + Name: GlobalCostmap + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: LocalCostmap + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 0; 0; 127 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: Waypoints + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /waypoints + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 0; 0; 127 + Enabled: false + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Pose + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /move_base_simple/goal + Unreliable: false + Value: false + - Alpha: 1 + Class: rviz/PointStamped + Color: 204; 41; 204 + Enabled: false + History Length: 10 + Name: PointStamped + Queue Size: 10 + Radius: 0.20000000298023224 + Topic: /target_point + Unreliable: false + Value: false + - Alpha: 1 + Class: rviz/PointStamped + Color: 239; 41; 41 + Enabled: false + History Length: 1 + Name: PointStamped + Queue Size: 10 + Radius: 0.4000000059604645 + Topic: /filtered_target_point + Unreliable: false + Value: false + - Class: rviz/Marker + Enabled: true + Marker Topic: /move_base/TebLocalPlannerROS/teb_markers + Name: Teb Marker + Namespaces: + PointObstacles: true + RobotFootprintModel: true + Queue Size: 100 + Value: true + - Alpha: 1 + Arrow Length: 0.5 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 85; 0; 255 + Enabled: false + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: Teb Poses + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /move_base/TebLocalPlannerROS/teb_poses + Unreliable: false + Value: 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: 12.89369010925293 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: -1.3679986000061035 + Y: 0.15001505613327026 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.5647963285446167 + Target Frame: base_link + Yaw: 3.135395050048828 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 786 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + StateTriggerPanel: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1282 + X: 217 + Y: 1 diff --git a/src/tsukuba2022/scripts/rename.sh b/src/tsukuba2022/scripts/rename.sh new file mode 100755 index 0000000..184693b --- /dev/null +++ b/src/tsukuba2022/scripts/rename.sh @@ -0,0 +1,9 @@ +#!/bin/sh + +MAPPATH="/home/ubuntu/catkin_ws/src/tsukuba2022/maps" +WPPATH="/home/ubuntu/catkin_ws/src/tsukuba2022/config/waypoints" +index=`date +%Y%m%d%H%M` + +cp "${MAPPATH}/mymap.pgm" "${MAPPATH}/mymap_${index}.pgm" +cp "${MAPPATH}/mymap.yaml" "${MAPPATH}/mymap_${index}.yaml" +cp "${WPPATH}/waypoints.yaml" "${WPPATH}/waypoints_${index}.yaml" \ No newline at end of file diff --git a/src/tsukuba2022/urdf/igvc_robot.gazebo b/src/tsukuba2022/urdf/igvc_robot.gazebo new file mode 100644 index 0000000..f32242a --- /dev/null +++ b/src/tsukuba2022/urdf/igvc_robot.gazebo @@ -0,0 +1,76 @@ + + + + + + + + + igvc_robot/cmd_vel + igvc_robot/odom + base_link + odom + world + + true + false + false + + true + + true + + 30 + left_wheel_hinge + right_wheel_hinge + 0.670 + 0.192 + 1 + 10 + na + false + + + + + + + Gazebo/Black + + + + + 5.0 + 5.0 + 1000000.0 + 100.0 + 0.001 + 1.0 + + + + + 5.0 + 5.0 + 1000000.0 + 100.0 + 0.001 + 1.0 + + + + + 0.0 + 0.0 + + + + 0.0 + 0.0 + + + diff --git a/src/tsukuba2022/urdf/igvc_robot.xacro b/src/tsukuba2022/urdf/igvc_robot.xacro new file mode 100644 index 0000000..bcf1d93 --- /dev/null +++ b/src/tsukuba2022/urdf/igvc_robot.xacro @@ -0,0 +1,221 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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 new file mode 100644 index 0000000..3ecfca1 --- /dev/null +++ b/src/tsukuba2022/urdf/igvc_robot_cp.urdf @@ -0,0 +1,220 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + left_wheel + base_link + + + + + + + + + + + + + + + + + + + + + + + + + + + + right_wheel + base_link + + + + + + + transmission_interface/SimpleTransmission + + VelocityJointInterface + + + VelocityJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + VelocityJointInterface + + + VelocityJointInterface + 1 + + + diff --git a/src/tsukuba2022/urdf/orange2022.gazebo b/src/tsukuba2022/urdf/orange2022.gazebo new file mode 100644 index 0000000..5bd5d41 --- /dev/null +++ b/src/tsukuba2022/urdf/orange2022.gazebo @@ -0,0 +1,63 @@ + + + + + + cmd_vel + odom + base_link + odom + world + + true + false + false + + true + + true + + 30 + left_wheel_hinge + right_wheel_hinge + 0.5672 + 0.203 + 2 + 20 + na + false + + + + + + + 5.0 + 5.0 + 1000000.0 + 100.0 + 0.001 + 3.0 + + + + + 5.0 + 5.0 + 1000000.0 + 100.0 + 0.001 + 3.0 + + + + + 0.0 + 0.0 + + + + 0.0 + 0.0 + + diff --git a/src/tsukuba2022/urdf/orange2022.xacro b/src/tsukuba2022/urdf/orange2022.xacro new file mode 100644 index 0000000..622cff8 --- /dev/null +++ b/src/tsukuba2022/urdf/orange2022.xacro @@ -0,0 +1,179 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + left_wheel + base_link + + + + + + + right_wheel + base_link + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/tsukuba2022/urdf/sensors/camera.urdf.xacro b/src/tsukuba2022/urdf/sensors/camera.urdf.xacro new file mode 100644 index 0000000..9326083 --- /dev/null +++ b/src/tsukuba2022/urdf/sensors/camera.urdf.xacro @@ -0,0 +1,76 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 30.0 + + 0 0 0 0 ${PI/2} 0 + 3.1415 + + R8G8B8 + 800 + 800 + + + 0.01 + 100 + + + stereographic + 1 + 1.5707 + 512 + + + + + true + 0.0 + cv_camera + image_raw + camera_info + camera_link + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + Gazebo/DarkGray + + + + + + diff --git a/src/tsukuba2022/urdf/sensors/hokuyo.urdf.xacro b/src/tsukuba2022/urdf/sensors/hokuyo.urdf.xacro new file mode 100644 index 0000000..999bf08 --- /dev/null +++ b/src/tsukuba2022/urdf/sensors/hokuyo.urdf.xacro @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 0 + false + 40 + + + + 1 + ${samples} + ${min_angle} + ${max_angle} + + + + 0.10 + 30.0 + 0.01 + + + gaussian + + 0.0 + 0.01 + + + + /hokuyo_scan + hokuyo_link + + + + + + + diff --git a/src/tsukuba2022/urdf/sensors/imu.urdf.xacro b/src/tsukuba2022/urdf/sensors/imu.urdf.xacro new file mode 100644 index 0000000..2c54901 --- /dev/null +++ b/src/tsukuba2022/urdf/sensors/imu.urdf.xacro @@ -0,0 +1,52 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + imu + + ${name}_link + ${name}_link + imu + 10.0 + 0.001 + 0 0 0 + 0 0 0 + + + Gazebo/White + + + + diff --git a/src/tsukuba2022/urdf/sensors/velodyne.urdf.xacro b/src/tsukuba2022/urdf/sensors/velodyne.urdf.xacro new file mode 100644 index 0000000..90303e5 --- /dev/null +++ b/src/tsukuba2022/urdf/sensors/velodyne.urdf.xacro @@ -0,0 +1,110 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 0 + false + 10 + + + + 1 + 1875 + ${-PI} + ${PI} + + + 1 + 16 + ${-PI/12} + ${PI/12} + + + + 0.9 + 100 + 0.001 + + + + + velodyne_points + velodyne_link + 0.9 + 100 + 0.01 + + + + + + + + + diff --git a/src/tsukuba2022/world/course.world b/src/tsukuba2022/world/course.world new file mode 100644 index 0000000..19db764 --- /dev/null +++ b/src/tsukuba2022/world/course.world @@ -0,0 +1,232 @@ + + + + + + 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 new file mode 100644 index 0000000..b31e86f --- /dev/null +++ b/src/tsukuba2022/world/course_v2.world @@ -0,0 +1,255 @@ + + + + + + 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/tsukuba2022/world/hoseicourse.world b/src/tsukuba2022/world/hoseicourse.world new file mode 100644 index 0000000..be81612 --- /dev/null +++ b/src/tsukuba2022/world/hoseicourse.world @@ -0,0 +1,28 @@ + + + + + + -10 8 30 0 1.1 0 + + + + 0 + 1 + + + + model://ground_plane + + + + model://sun + + + + model://hoseicourse + 7.5 9.4 0 0 0 3.141592 + Course + + + diff --git a/src/turtlebot3/ISSUE_TEMPLATE.md b/src/turtlebot3/ISSUE_TEMPLATE.md new file mode 100644 index 0000000..c36cfc2 --- /dev/null +++ b/src/turtlebot3/ISSUE_TEMPLATE.md @@ -0,0 +1,57 @@ +ISSUE TEMPLATE ver. 0.4.0 + +1. Which TurtleBot3 platform do you use? + + - [ ] Burger + - [ ] Waffle + - [ ] Waffle Pi + +2. Which ROS is working with TurtleBot3? + + - [ ] ROS 1 Kinetic Kame + - [ ] ROS 1 Melodic Morenia + - [ ] ROS 1 Noetic Ninjemys + - [ ] ROS 2 Dashing Diademata + - [ ] ROS 2 Eloquent Elusor + - [ ] ROS 2 Foxy Fitzroy + - [ ] etc (Please specify your ROS Version here) + +3. Which SBC(Single Board Computer) is working on TurtleBot3? + + - [ ] Intel Joule 570x + - [ ] Raspberry Pi 3B+ + - [ ] Raspberry Pi 4 + - [ ] etc (Please specify your SBC here) + +4. Which OS you installed on SBC? + + - [ ] Raspbian distributed by ROBOTIS + - [ ] Ubuntu MATE (16.04/18.04/20.04) + - [ ] Ubuntu preinstalled server (18.04/20.04) + - [ ] etc (Please specify your OS here) + +5. Which OS you installed on Remote PC? + + - [ ] Ubuntu 16.04 LTS (Xenial Xerus) + - [ ] Ubuntu 18.04 LTS (Bionic Beaver) + - [ ] Ubuntu 20.04 LTS (Focal Fossa) + - [ ] Windows 10 + - [ ] MAC OS X (Specify version) + - [ ] etc (Please specify your OS here) + +6. Specify the software and firmware version(Can be found from Bringup messages) + + - Software version: [x.x.x] + - Firmware version: [x.x.x] + +7. Specify the commands or instructions to reproduce the issue. + + - HERE + +8. Copy and Paste the error messages on terminal. + + - HERE + +9. Please describe the issue in detail. + + - HERE diff --git a/src/turtlebot3/LICENSE b/src/turtlebot3/LICENSE new file mode 100644 index 0000000..8dada3e --- /dev/null +++ b/src/turtlebot3/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright {yyyy} {name of copyright owner} + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/src/turtlebot3/README.md b/src/turtlebot3/README.md new file mode 100644 index 0000000..6febf35 --- /dev/null +++ b/src/turtlebot3/README.md @@ -0,0 +1,53 @@ +# TurtleBot3 + + +[![kinetic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/kinetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/kinetic-devel) + +[![melodic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/melodic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/melodic-devel) + +[![noetic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/noetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/noetic-devel) + +[![dashing-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/dashing-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/dashing-devel) + +[![foxy-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/foxy-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/foxy-devel) + +[![galactic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3/workflows/galactic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3/tree/galactic-devel) + +## ROBOTIS e-Manual for TurtleBot3 +- [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/) + +## Wiki for turtlebot3 Packages +- http://wiki.ros.org/turtlebot3 (metapackage) +- http://wiki.ros.org/turtlebot3_bringup +- http://wiki.ros.org/turtlebot3_description +- http://wiki.ros.org/turtlebot3_example +- http://wiki.ros.org/turtlebot3_navigation +- http://wiki.ros.org/turtlebot3_slam +- http://wiki.ros.org/turtlebot3_teleop + +## Open Source related to TurtleBot3 +- [turtlebot3](https://github.com/ROBOTIS-GIT/turtlebot3) +- [turtlebot3_msgs](https://github.com/ROBOTIS-GIT/turtlebot3_msgs) +- [turtlebot3_simulations](https://github.com/ROBOTIS-GIT/turtlebot3_simulations) +- [turtlebot3_applications_msgs](https://github.com/ROBOTIS-GIT/turtlebot3_applications_msgs) +- [turtlebot3_applications](https://github.com/ROBOTIS-GIT/turtlebot3_applications) +- [turtlebot3_autorace](https://github.com/ROBOTIS-GIT/turtlebot3_autorace) +- [turtlebot3_deliver](https://github.com/ROBOTIS-GIT/turtlebot3_deliver) +- [hls_lfcd_lds_driver](https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver) +- [turtlebot3_manipulation](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation.git) +- [turtlebot3_manipulation_simulations](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation_simulations.git) +- [open_manipulator_msgs](https://github.com/ROBOTIS-GIT/open_manipulator_msgs) +- [open_manipulator](https://github.com/ROBOTIS-GIT/open_manipulator) +- [open_manipulator_simulations](https://github.com/ROBOTIS-GIT/open_manipulator_simulations) +- [open_manipulator_perceptions](https://github.com/ROBOTIS-GIT/open_manipulator_perceptions) +- [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK) +- [OpenCR-Hardware](https://github.com/ROBOTIS-GIT/OpenCR-Hardware) +- [OpenCR](https://github.com/ROBOTIS-GIT/OpenCR) + +## Documents and Videos related to TurtleBot3 +- [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/) +- [ROBOTIS e-Manual for OpenManipulator](http://emanual.robotis.com/docs/en/platform/openmanipulator/) +- [ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/) +- [Website for TurtleBot Series](http://www.turtlebot.com/) +- [e-Book for TurtleBot3](https://community.robotsource.org/t/download-the-ros-robot-programming-book-for-free/51/) +- [Videos for TurtleBot3 ](https://www.youtube.com/playlist?list=PLRG6WP3c31_XI3wlvHlx2Mp8BYqgqDURU) diff --git a/src/turtlebot3/turtlebot3/CHANGELOG.rst b/src/turtlebot3/turtlebot3/CHANGELOG.rst new file mode 100644 index 0000000..7a5e478 --- /dev/null +++ b/src/turtlebot3/turtlebot3/CHANGELOG.rst @@ -0,0 +1,155 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package turtlebot3 +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.2.6 (2022-02-24) +------------------ +* add LDS-02 support +* Use OpenCV for Picam(Noetic only) +* Fix teleop_key on Windows 10 +* Contributors: Rushikesh Kamalapurkar, Ashe Kim, Will Son + +1.2.5 (2020-12-30) +------------------ +* Python 2/3 compatibility fix +* Rectify IMU update rate to 0 on Gazebo +* Contributors: Sean Yen, PinkDraconian + +1.2.4 (2020-09-29) +------------------ +* Package info updated +* Contributors: Will Son + +1.2.3 (2020-03-03) +------------------ +* Updated inertial data in turtlebot3_waffle_for_open_manipulator.urdf.xacro, turtlebot3_waffle_pi_for_open_manipulator.urdf.xacro +* Added turtlebot3_manipulation_slam.launch for TurtleBot3 SLAM with OpenMANIPULATOR +* Contributors: Ryan Shim, Will Son + +1.2.2 (2019-08-20) +------------------ +* Fixed `dwa local planner params` for dwa_local_planner 1.16.2 `#415 `_ +* This patch only applies to ROS 1 Melodic. +* Contributors: atinfinity, Kayman + +1.2.1 (2019-08-20) +------------------ +* Fixed typo `#436 `_ +* Fixed ROS_ASSERT bug `#416 `_ +* Deleted '/' to sync tf2 `#402 `_ +* Added turtlebot3_remote.launch to turtlebot3_model.launch `#389 `_ +* Contributors: Jonathan Hechtbauer, Pallav Bhalla, ant, Ryan Shim, Kayman, Darby Lim, Gilbert, Pyo + +1.2.0 (2019-01-22) +------------------ +* changed math.ceil() operation `#373 `_ +* fixed TypeError integers +* fixed read of scanned samples when there isn't 360 +* updated map.yaml `#348 `_ +* added an additional argument move_forward_only to prohibit backward locomotion in navigation `#339 `_ +* fixed typo `#280 `_ +* added windows port `#358 `_ +* Contributors: Gilbert, Darby Lim, linzhibo, oiz5201618, yoshimalucky, Steven Macenski, Eduardo Avelar, Sean Yen, Pyo + +1.1.0 (2018-07-23) +------------------ +* added bringup to load multiple robot simply #251 +* added arguments for multiple robot +* added odometrySource +* modified camera topic name +* modified base_scan update_rate and add param on diff_drive #258 +* modified the laser scanner update_rate in the gazebo xacro files #258 +* modified origin of collision in Waffle URDF +* updated turtlebot3_diagnostic node +* updated firmware version from 1.2.0 to 1.2.2 +* updated get firmware version +* updated version check function +* updated warn msg for version check +* deleted unused get_scan function #227 +* Contributors: Darby Lim, Gilbert, Eduardo Avelar, shtseng, Pyo + +1.0.0 (2018-05-29) +------------------ +* added cartographer +* added hector mapping +* added karto SLAM +* added frontier_exploration +* added launch files to run various SLAMs +* added robot model for OpenManipulator and turtlebot3_autorace +* added exec python nodes like marker_server in catkin_install_python +* added frameName for imu on gazebo (however, there is no effect.) +* added variable to check version only once (turtlebot3_bringup) +* modified global names `#211 `_ from FurqanHabibi/fix_global_topic_name +* modified gmapping parameters +* modified navigation parameters +* modified version check and firmware version (turtlebot3_bringup) +* modified robot names +* modified range of lidar, lidar position, scan param +* modified camera position and fixed slip bug +* modified waffle_pi stl files +* modified initial value, profile function, limit velocity msg (teleop) +* merged pull request `#154 `_ `#153 `_ `#148 `_ `#147 `_ `#146 `_ `#145 `_ +* Contributors: Darby Lim, Leon Jung, Gilbert, KurtE, ncnynl, FurqanHabibi, skasperski, ihadzic, Pyo + +0.2.1 (2018-03-14) +------------------ +* added install directory +* refactoring for release +* Contributors: Pyo + +0.2.0 (2018-03-12) +------------------ +* added turtlebot3_rpicamera.launch for raspberry pi camera +* added waffle pi model (urdf and gazebo) +* added verion check function +* added diagnostics node +* added scripts for reload rules +* added example package +* modified firmware version +* modified param config +* modified topic of gazebo plugin +* modified r200 tf tree +* modified gazebo imu link +* removed the large bag file and added download command from other site +* refactoring for release +* Contributors: Darby Lim, Gilbert, Leon Jung, Pyo + +0.1.6 (2017-08-14) +------------------ +* fixed typo +* fixed xacro.py deprecation +* modified file location +* updated nav param +* updated SLAM param +* updated model.launch +* updated IMU link +* updated gazebo config +* Contributors: Darby Lim, Hunter L. Allen + +0.1.5 (2017-05-25) +------------------ +* updated turtlebot3 waffle URDF +* changed the node name from hlds_laser_publisher to turtlebot3_lds +* modified bag and map files +* added SLAM bag file +* Contributors: Darby Lim, Pyo + +0.1.4 (2017-05-23) +------------------ +* modified launch file name +* added teleop package +* Contributors: Darby Lim + +0.1.3 (2017-04-24) +------------------ +* Detached turtlebot3_msgs package from turtlebot3 package for uploading to rosdistro +* modified the package information for release +* modified SLAM param +* modified the description, authors, depend option and delete the core package +* modified the turtlebot bringup files +* modified pkg setting for turtlebot3_core +* modified the navigation package and turtlebot3 node for demo +* modified the wheel speed gain +* added Intel RealSense R200 +* added LDS sensor +* Contributors: Darby Lim, Leon Jung, Pyo diff --git a/src/turtlebot3/turtlebot3/CMakeLists.txt b/src/turtlebot3/turtlebot3/CMakeLists.txt new file mode 100644 index 0000000..64469eb --- /dev/null +++ b/src/turtlebot3/turtlebot3/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 3.0.2) +project(turtlebot3) +find_package(catkin REQUIRED) +catkin_metapackage() diff --git a/src/turtlebot3/turtlebot3/package.xml b/src/turtlebot3/turtlebot3/package.xml new file mode 100644 index 0000000..e766173 --- /dev/null +++ b/src/turtlebot3/turtlebot3/package.xml @@ -0,0 +1,29 @@ + + + turtlebot3 + 1.2.6 + + ROS packages for the Turtlebot3 (meta package) + + Apache 2.0 + BSD + Pyo + Darby Lim + Gilbert + HanCheol Cho + Ashe Kim + Leon Jung + Will Son + http://wiki.ros.org/turtlebot3 + http://turtlebot3.robotis.com + https://github.com/ROBOTIS-GIT/turtlebot3 + https://github.com/ROBOTIS-GIT/turtlebot3/issues + catkin + turtlebot3_bringup + turtlebot3_description + turtlebot3_example + turtlebot3_navigation + turtlebot3_slam + turtlebot3_teleop + + diff --git a/src/turtlebot3/turtlebot3_teleop/CHANGELOG.rst b/src/turtlebot3/turtlebot3_teleop/CHANGELOG.rst new file mode 100644 index 0000000..d266a37 --- /dev/null +++ b/src/turtlebot3/turtlebot3_teleop/CHANGELOG.rst @@ -0,0 +1,73 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package turtlebot3_teleop +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.2.6 (2022-02-24) +------------------ +* Fix teleop_key on Windows 10 +* Contributors: Rushikesh Kamalapurkar + +1.2.5 (2020-12-30) +------------------ +* Python 2/3 compatibility fix +* Contributors: Sean Yen + +1.2.4 (2020-09-29) +------------------ +* Package info updated +* Contributors: Will Son + +1.2.3 (2020-03-03) +------------------ +* none + +1.2.2 (2019-08-20) +------------------ +* none + +1.2.1 (2019-08-20) +------------------ +* none + +1.2.0 (2019-01-22) +------------------ +* added windows port `#358 `_ +* Contributors: Sean Yen, Taehun Lim + +1.1.0 (2018-07-23) +------------------ +* none + +1.0.0 (2018-05-29) +------------------ +* added constrain to limit velocity +* modified initial value, profile function, limit velocity msg +* modified global names `#211 `_ from FurqanHabibi/fix_global_topic_name +* Contributors: Darby Lim, Muhammad Furqan Habibi, Pyo + +0.2.1 (2018-03-14) +------------------ +* none + +0.2.0 (2018-03-12) +------------------ +* refactoring for release +* Contributors: Pyo + +0.1.6 (2017-08-14) +------------------ +* none + +0.1.5 (2017-05-25) +------------------ +* none + +0.1.4 (2017-05-23) +------------------ +* modified launch file name +* added teleop package +* Contributors: Darby Lim + +0.1.3 (2017-04-24) +------------------ +* none diff --git a/src/turtlebot3/turtlebot3_teleop/CMakeLists.txt b/src/turtlebot3/turtlebot3_teleop/CMakeLists.txt new file mode 100644 index 0000000..48a5b1e --- /dev/null +++ b/src/turtlebot3/turtlebot3_teleop/CMakeLists.txt @@ -0,0 +1,53 @@ +################################################################################ +# Set minimum required version of cmake, project name and compile options +################################################################################ +cmake_minimum_required(VERSION 3.0.2) +project(turtlebot3_teleop) + +################################################################################ +# Find catkin packages and libraries for catkin and system dependencies +################################################################################ +find_package(catkin REQUIRED COMPONENTS + rospy + geometry_msgs +) + +################################################################################ +# Setup for python modules and scripts +################################################################################ +catkin_python_setup() + +################################################################################ +# Declare ROS messages, services and actions +################################################################################ + +################################################################################ +# Declare ROS dynamic reconfigure parameters +################################################################################ + +################################################################################ +# Declare catkin specific configuration to be passed to dependent projects +################################################################################ +catkin_package( + CATKIN_DEPENDS rospy geometry_msgs +) + +################################################################################ +# Build +################################################################################ + +################################################################################ +# Install +################################################################################ +catkin_install_python(PROGRAMS + nodes/turtlebot3_teleop_key + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +################################################################################ +# Test +################################################################################ diff --git a/src/turtlebot3/turtlebot3_teleop/launch/turtlebot3_teleop_key.launch b/src/turtlebot3/turtlebot3_teleop/launch/turtlebot3_teleop_key.launch new file mode 100644 index 0000000..b6753ab --- /dev/null +++ b/src/turtlebot3/turtlebot3_teleop/launch/turtlebot3_teleop_key.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/src/turtlebot3/turtlebot3_teleop/nodes/turtlebot3_teleop_key b/src/turtlebot3/turtlebot3_teleop/nodes/turtlebot3_teleop_key new file mode 100755 index 0000000..f6b5d7d --- /dev/null +++ b/src/turtlebot3/turtlebot3_teleop/nodes/turtlebot3_teleop_key @@ -0,0 +1,202 @@ +#!/usr/bin/env python + +# Copyright (c) 2011, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# * Neither the name of the Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived from +# this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +import rospy +from geometry_msgs.msg import Twist +import sys, select, os +if os.name == 'nt': + import msvcrt, time +else: + import tty, termios + +BURGER_MAX_LIN_VEL = 1.6 +BURGER_MAX_ANG_VEL = 2.84 + +WAFFLE_MAX_LIN_VEL = 0.26 +WAFFLE_MAX_ANG_VEL = 1.82 + +LIN_VEL_STEP_SIZE = 0.1 +ANG_VEL_STEP_SIZE = 0.1 + +msg = """ +Control Your TurtleBot3! +--------------------------- +Moving around: + w + a s d + x + +w/x : increase/decrease linear velocity (Burger : ~ 0.22, Waffle and Waffle Pi : ~ 0.26) +a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82) + +space key, s : force stop + +CTRL-C to quit +""" + +e = """ +Communications Failed +""" + +def getKey(): + if os.name == 'nt': + timeout = 0.1 + startTime = time.time() + while(1): + if msvcrt.kbhit(): + if sys.version_info[0] >= 3: + return msvcrt.getch().decode() + else: + return msvcrt.getch() + elif time.time() - startTime > timeout: + return '' + + tty.setraw(sys.stdin.fileno()) + rlist, _, _ = select.select([sys.stdin], [], [], 0.1) + if rlist: + key = sys.stdin.read(1) + else: + key = '' + + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) + return key + +def vels(target_linear_vel, target_angular_vel): + return "currently:\tlinear vel %s\t angular vel %s " % (target_linear_vel,target_angular_vel) + +def makeSimpleProfile(output, input, slop): + if input > output: + output = min( input, output + slop ) + elif input < output: + output = max( input, output - slop ) + else: + output = input + + return output + +def constrain(input, low, high): + if input < low: + input = low + elif input > high: + input = high + else: + input = input + + return input + +def checkLinearLimitVelocity(vel): + if turtlebot3_model == "burger": + vel = constrain(vel, -BURGER_MAX_LIN_VEL, BURGER_MAX_LIN_VEL) + elif turtlebot3_model == "waffle" or turtlebot3_model == "waffle_pi": + vel = constrain(vel, -WAFFLE_MAX_LIN_VEL, WAFFLE_MAX_LIN_VEL) + else: + vel = constrain(vel, -BURGER_MAX_LIN_VEL, BURGER_MAX_LIN_VEL) + + return vel + +def checkAngularLimitVelocity(vel): + if turtlebot3_model == "burger": + vel = constrain(vel, -BURGER_MAX_ANG_VEL, BURGER_MAX_ANG_VEL) + elif turtlebot3_model == "waffle" or turtlebot3_model == "waffle_pi": + vel = constrain(vel, -WAFFLE_MAX_ANG_VEL, WAFFLE_MAX_ANG_VEL) + else: + vel = constrain(vel, -BURGER_MAX_ANG_VEL, BURGER_MAX_ANG_VEL) + + return vel + +if __name__=="__main__": + if os.name != 'nt': + settings = termios.tcgetattr(sys.stdin) + + rospy.init_node('turtlebot3_teleop') + pub = rospy.Publisher('cmd_vel', Twist, queue_size=10) + + turtlebot3_model = rospy.get_param("model", "burger") + + status = 0 + target_linear_vel = 0.0 + target_angular_vel = 0.0 + control_linear_vel = 0.0 + control_angular_vel = 0.0 + + try: + print(msg) + while not rospy.is_shutdown(): + key = getKey() + if key == 'w' : + target_linear_vel = checkLinearLimitVelocity(target_linear_vel + LIN_VEL_STEP_SIZE) + status = status + 1 + print(vels(target_linear_vel,target_angular_vel)) + elif key == 'x' : + target_linear_vel = checkLinearLimitVelocity(target_linear_vel - LIN_VEL_STEP_SIZE) + status = status + 1 + print(vels(target_linear_vel,target_angular_vel)) + elif key == 'a' : + target_angular_vel = checkAngularLimitVelocity(target_angular_vel + ANG_VEL_STEP_SIZE) + status = status + 1 + print(vels(target_linear_vel,target_angular_vel)) + elif key == 'd' : + target_angular_vel = checkAngularLimitVelocity(target_angular_vel - ANG_VEL_STEP_SIZE) + status = status + 1 + print(vels(target_linear_vel,target_angular_vel)) + elif key == ' ' or key == 's' : + target_linear_vel = 0.0 + control_linear_vel = 0.0 + target_angular_vel = 0.0 + control_angular_vel = 0.0 + print(vels(target_linear_vel, target_angular_vel)) + else: + if (key == '\x03'): + break + + if status == 20 : + print(msg) + status = 0 + + twist = Twist() + + control_linear_vel = makeSimpleProfile(control_linear_vel, target_linear_vel, (LIN_VEL_STEP_SIZE/2.0)) + twist.linear.x = control_linear_vel; twist.linear.y = 0.0; twist.linear.z = 0.0 + + control_angular_vel = makeSimpleProfile(control_angular_vel, target_angular_vel, (ANG_VEL_STEP_SIZE/2.0)) + twist.angular.x = 0.0; twist.angular.y = 0.0; twist.angular.z = control_angular_vel + + pub.publish(twist) + + except: + print(e) + + finally: + twist = Twist() + twist.linear.x = 0.0; twist.linear.y = 0.0; twist.linear.z = 0.0 + twist.angular.x = 0.0; twist.angular.y = 0.0; twist.angular.z = 0.0 + pub.publish(twist) + + if os.name != 'nt': + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) diff --git a/src/turtlebot3/turtlebot3_teleop/package.xml b/src/turtlebot3/turtlebot3_teleop/package.xml new file mode 100644 index 0000000..5deb078 --- /dev/null +++ b/src/turtlebot3/turtlebot3_teleop/package.xml @@ -0,0 +1,20 @@ + + + turtlebot3_teleop + 1.2.6 + + Provides teleoperation using keyboard for TurtleBot3. + + BSD + Melonee Wise + Darby Lim + Pyo + Will Son + http://wiki.ros.org/turtlebot3_teleop + http://turtlebot3.robotis.com + https://github.com/ROBOTIS-GIT/turtlebot3 + https://github.com/ROBOTIS-GIT/turtlebot3/issues + catkin + rospy + geometry_msgs + diff --git a/src/turtlebot3/turtlebot3_teleop/setup.py b/src/turtlebot3/turtlebot3_teleop/setup.py new file mode 100644 index 0000000..0621677 --- /dev/null +++ b/src/turtlebot3/turtlebot3_teleop/setup.py @@ -0,0 +1,12 @@ +## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +# fetch values from package.xml +setup_args = generate_distutils_setup( + packages=['turtlebot3_teleop'], + package_dir={'': 'src'} +) + +setup(**setup_args) diff --git a/src/turtlebot3/turtlebot3_teleop/src/turtlebot3_teleop/__init__.py b/src/turtlebot3/turtlebot3_teleop/src/turtlebot3_teleop/__init__.py new file mode 100644 index 0000000..e69de29 --- /dev/null +++ b/src/turtlebot3/turtlebot3_teleop/src/turtlebot3_teleop/__init__.py diff --git a/src/velodyne/velodyne/CHANGELOG.rst b/src/velodyne/velodyne/CHANGELOG.rst index a0b4d68..813f4b7 100644 --- a/src/velodyne/velodyne/CHANGELOG.rst +++ b/src/velodyne/velodyne/CHANGELOG.rst @@ -1,6 +1,9 @@ Change history ============== +1.7.0 (2022-07-08) +------------------ + 1.6.1 (2020-11-09) ------------------ diff --git a/src/velodyne/velodyne/package.xml b/src/velodyne/velodyne/package.xml index a81a960..7c3389c 100644 --- a/src/velodyne/velodyne/package.xml +++ b/src/velodyne/velodyne/package.xml @@ -1,7 +1,7 @@ velodyne - 1.6.1 + 1.7.0 Basic ROS support for the Velodyne 3D LIDARs. diff --git a/src/velodyne/velodyne_driver/CHANGELOG.rst b/src/velodyne/velodyne_driver/CHANGELOG.rst index 1215fbf..37af3d6 100644 --- a/src/velodyne/velodyne_driver/CHANGELOG.rst +++ b/src/velodyne/velodyne_driver/CHANGELOG.rst @@ -1,6 +1,25 @@ Change history ============== +1.7.0 (2022-07-08) +------------------ +* Fix non-responsive node on packet timeout (`#466 `_) + * No abort on packet timeout + Changed getPacket() to return 0 on timeout and 1 on success. + * Removed trailing whitespace +* reuse Velodyne UDP port (`#427 `_) +* add missing include to pcap.h that prevents tests from being built (`#406 `_) +* PCAP timestamps & PCAP+GPS timestamps (`#384 `_) + * Add pcap_time param and implement gps_time with it + * If gps_time == true, ignore pcap_time +* Add support for the velodyne Alpha Prime (`#370 `_) + * Add support for the velodyne Alpha Prime + * Change packet rate for the VLS128 according to the times specified in the manual + * Organize setup functions to avoid code duplication. Add a constant for the model ID of the VLS128. + * Use the defined constants to calculate the time offset of the points for the VLS128 + Co-authored-by: jugo +* Contributors: HMellor, Institute for Autonomous Systems Technology, JKaniarz, Nagy Dániel Zoltán, Sebastian Scherer + 1.6.1 (2020-11-09) ------------------ diff --git a/src/velodyne/velodyne_driver/package.xml b/src/velodyne/velodyne_driver/package.xml index 4d6f21a..bd82707 100644 --- a/src/velodyne/velodyne_driver/package.xml +++ b/src/velodyne/velodyne_driver/package.xml @@ -1,7 +1,7 @@ velodyne_driver - 1.6.1 + 1.7.0 ROS device driver for Velodyne 3D LIDARs. diff --git a/src/velodyne/velodyne_driver/src/driver/driver.cc b/src/velodyne/velodyne_driver/src/driver/driver.cc index f3b4a72..be9ef29 100644 --- a/src/velodyne/velodyne_driver/src/driver/driver.cc +++ b/src/velodyne/velodyne_driver/src/driver/driver.cc @@ -220,8 +220,9 @@ while(true) { int rc = input_->getPacket(&tmp_packet, config_.time_offset); - if (rc == 0) break; // got a full packet? + if (rc == 1) break; // got a full packet? if (rc < 0) return false; // end of file reached? + if (rc == 0) continue; //timeout? } scan->packets.push_back(tmp_packet); @@ -255,8 +256,9 @@ { // keep reading until full packet received int rc = input_->getPacket(&scan->packets[i], config_.time_offset); - if (rc == 0) break; // got a full packet? + if (rc == 1) break; // got a full packet? if (rc < 0) return false; // end of file reached? + if (rc == 0) continue; //timeout? } } } diff --git a/src/velodyne/velodyne_driver/src/lib/input.cc b/src/velodyne/velodyne_driver/src/lib/input.cc index 76ee219..ba49c1f 100644 --- a/src/velodyne/velodyne_driver/src/lib/input.cc +++ b/src/velodyne/velodyne_driver/src/lib/input.cc @@ -189,7 +189,7 @@ if (retval == 0) // poll() timeout? { ROS_WARN("Velodyne poll() timeout"); - return -1; + return 0; } if ((fds[0].revents & POLLERR) || (fds[0].revents & POLLHUP) @@ -243,7 +243,7 @@ pkt->stamp = rosTimeFromGpsTimestamp(&(pkt->data[1200])); } - return 0; + return 1; } //////////////////////////////////////////////////////////////////////// @@ -339,7 +339,7 @@ pkt->stamp = rosTimeFromGpsTimestamp(&(pkt->data[1200]), header); } empty_ = false; - return 0; // success + return 1; // success } if (empty_) // no data in file? diff --git a/src/velodyne/velodyne_laserscan/CHANGELOG.rst b/src/velodyne/velodyne_laserscan/CHANGELOG.rst index 00db0c5..a48de9a 100644 --- a/src/velodyne/velodyne_laserscan/CHANGELOG.rst +++ b/src/velodyne/velodyne_laserscan/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package velodyne_laserscan ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.7.0 (2022-07-08) +------------------ + 1.6.1 (2020-11-09) ------------------ diff --git a/src/velodyne/velodyne_laserscan/package.xml b/src/velodyne/velodyne_laserscan/package.xml index 205d49d..47a88c5 100644 --- a/src/velodyne/velodyne_laserscan/package.xml +++ b/src/velodyne/velodyne_laserscan/package.xml @@ -1,7 +1,7 @@ velodyne_laserscan - 1.6.1 + 1.7.0 Extract a single ring of a Velodyne PointCloud2 and publish it as a LaserScan message diff --git a/src/velodyne/velodyne_msgs/CHANGELOG.rst b/src/velodyne/velodyne_msgs/CHANGELOG.rst index 7d0d1ab..fd70ea0 100644 --- a/src/velodyne/velodyne_msgs/CHANGELOG.rst +++ b/src/velodyne/velodyne_msgs/CHANGELOG.rst @@ -1,6 +1,9 @@ Change history ============== +1.7.0 (2022-07-08) +------------------ + 1.6.1 (2020-11-09) ------------------ diff --git a/src/velodyne/velodyne_msgs/package.xml b/src/velodyne/velodyne_msgs/package.xml index f585130..1e46bf2 100644 --- a/src/velodyne/velodyne_msgs/package.xml +++ b/src/velodyne/velodyne_msgs/package.xml @@ -1,7 +1,7 @@ velodyne_msgs - 1.6.1 + 1.7.0 ROS message definitions for Velodyne 3D LIDARs. diff --git a/src/velodyne/velodyne_pcl/CHANGELOG.rst b/src/velodyne/velodyne_pcl/CHANGELOG.rst index 6c4c260..ebad296 100644 --- a/src/velodyne/velodyne_pcl/CHANGELOG.rst +++ b/src/velodyne/velodyne_pcl/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package velodyne_pcl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.7.0 (2022-07-08) +------------------ +* Use std::uint16_t to reduce build warnings from PCL (`#449 `_) +* Contributors: icolwell-as + 1.6.1 (2020-11-09) ------------------ * Fix typo in velodyne_pcl/point_types.h (`#357 `_) diff --git a/src/velodyne/velodyne_pcl/package.xml b/src/velodyne/velodyne_pcl/package.xml index b8bd708..a57d315 100644 --- a/src/velodyne/velodyne_pcl/package.xml +++ b/src/velodyne/velodyne_pcl/package.xml @@ -1,7 +1,7 @@ velodyne_pcl - 1.6.1 + 1.7.0 The velodyne_pcl package Josh Whitley diff --git a/src/velodyne/velodyne_pointcloud/CHANGELOG.rst b/src/velodyne/velodyne_pointcloud/CHANGELOG.rst index 58741ab..c6e3427 100644 --- a/src/velodyne/velodyne_pointcloud/CHANGELOG.rst +++ b/src/velodyne/velodyne_pointcloud/CHANGELOG.rst @@ -1,6 +1,36 @@ Change history ============== +1.7.0 (2022-07-08) +------------------ +* build timings in offline setup (`#428 `_) + Currently when using the offline setup, it does not build the per-point timing offsets which means when unpacking the packets in the offline mode, you cannot timestamp each point with its packet time. + This commit does the following: + - call buildTimings from setupOffline function + - add model to setupOffline interface + - set config model param which is needed by buildTimings +* vls128: add line only once all four banks are processed (`#413 `_) +* PCAP timestamps & PCAP+GPS timestamps (`#384 `_) + * Add pcap_time param and implement gps_time with it + * If gps_time == true, ignore pcap_time +* Fixed row_step=0 when init_width=0 (dense cloud) (`#404 `_) + The PointCloud2 msg will be then valid: http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/PointCloud2.html + Referred issues: + * https://answers.ros.org/question/377470/rtabmap-icp_odometrycpp453callbackcloud-fatal-error/ + * http://official-rtab-map-forum.67519.x6.nabble.com/Condition-scan3dMsg-data-size-scan3dMsg-row-step-scan3dMsg-height-not-met-td7852.html +* Fix accidental integer division (`#391 `_) + Intensity values for VLP-16 were being calculated incorrectly. +* Add VLS128 launch and calibration file (`#382 `_) +* Fixing incorrect type in velodyne_pointcloud. +* Fixing typo. +* Add support for the velodyne Alpha Prime (`#370 `_) + * Add support for the velodyne Alpha Prime + * Change packet rate for the VLS128 according to the times specified in the manual + * Organize setup functions to avoid code duplication. Add a constant for the model ID of the VLS128. + * Use the defined constants to calculate the time offset of the points for the VLS128 + Co-authored-by: jugo +* Contributors: Daisuke Nishimatsu, HMellor, Institute for Autonomous Systems Technology, Joshua Whitley, Martin Valgur, Nick Charron, Sebastian Scherer, matlabbe + 1.6.1 (2020-11-09) ------------------ * Add invalid points in organized cloud (`#360 `_) diff --git a/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/rawdata.h b/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/rawdata.h index 76b4262..95e9453 100644 --- a/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/rawdata.h +++ b/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/rawdata.h @@ -176,12 +176,14 @@ * through a communication overhead. * * @param calibration_file path to the calibration file + * @param model sensor model type * @param max_range_ cutoff for maximum range * @param min_range_ cutoff for minimum range * @returns 0 if successful; * errno value for failure */ - int setupOffline(std::string calibration_file, double max_range_, double min_range_); + int setupOffline(std::string calibration_file, std::string model, double max_range_, + double min_range_); void unpack(const velodyne_msgs::VelodynePacket& pkt, DataContainerBase& data, const ros::Time& scan_start_time); diff --git a/src/velodyne/velodyne_pointcloud/package.xml b/src/velodyne/velodyne_pointcloud/package.xml index 639e00a..89c8315 100644 --- a/src/velodyne/velodyne_pointcloud/package.xml +++ b/src/velodyne/velodyne_pointcloud/package.xml @@ -1,7 +1,7 @@ velodyne_pointcloud - 1.6.1 + 1.7.0 Point cloud conversions for Velodyne 3D LIDARs. diff --git a/src/velodyne/velodyne_pointcloud/src/lib/calibration.cc b/src/velodyne/velodyne_pointcloud/src/lib/calibration.cc index 4940a4f..9f19dd4 100644 --- a/src/velodyne/velodyne_pointcloud/src/lib/calibration.cc +++ b/src/velodyne/velodyne_pointcloud/src/lib/calibration.cc @@ -188,8 +188,7 @@ calibration.laser_corrections[next_index].laser_ring = ring; next_angle = min_seen; if (calibration.ros_info) { - ROS_INFO("laser_ring[%2u] = %2u, angle = %+.6f", - next_index, ring, next_angle); + //ROS_INFO("laser_ring[%2u] = %2u, angle = %+.6f", next_index, ring, next_angle); } } } diff --git a/src/velodyne/velodyne_pointcloud/src/lib/rawdata.cc b/src/velodyne/velodyne_pointcloud/src/lib/rawdata.cc index 2600bca..e870db4 100644 --- a/src/velodyne/velodyne_pointcloud/src/lib/rawdata.cc +++ b/src/velodyne/velodyne_pointcloud/src/lib/rawdata.cc @@ -202,12 +202,12 @@ if (timing_offsets.size()){ // ROS_INFO("VELODYNE TIMING TABLE:"); - for (size_t x = 0; x < timing_offsets.size(); ++x){ - for (size_t y = 0; y < timing_offsets[x].size(); ++y){ - printf("%04.3f ", timing_offsets[x][y] * 1e6); - } - printf("\n"); - } + // for (size_t x = 0; x < timing_offsets.size(); ++x){ + // for (size_t y = 0; y < timing_offsets[x].size(); ++y){ + // printf("%04.3f ", timing_offsets[x][y] * 1e6); + // } + // printf("\n"); + // } return true; } else{ @@ -253,9 +253,13 @@ } /** Set up for offline operation */ - int RawData::setupOffline(std::string calibration_file, double max_range_, double min_range_) + int RawData::setupOffline(std::string calibration_file, std::string model, + double max_range_, double min_range_) { + config_.model = model; + buildTimings(); + config_.max_range = max_range_; config_.min_range = min_range_; ROS_INFO_STREAM("data ranges to publish: [" @@ -313,7 +317,7 @@ } } else{ - ROS_WARN("No Azimuth Cache configured for model %s", config_.model.c_str()); + // ROS_WARN("No Azimuth Cache configured for model %s", config_.model.c_str()); } } @@ -676,7 +680,7 @@ // some packets contain an angle overflow where azimuth_diff < 0 if(raw_azimuth_diff < 0)//raw->blocks[block+1].rotation - raw->blocks[block].rotation < 0) { - ROS_WARN_STREAM_THROTTLE(60, "Packet containing angle overflow, first angle: " << raw->blocks[block].rotation << " second angle: " << raw->blocks[block+1].rotation); + // ROS_WARN_STREAM_THROTTLE(60, "Packet containing angle overflow, first angle: " << raw->blocks[block].rotation << " second angle: " << raw->blocks[block+1].rotation); // if last_azimuth_diff was not zero, we can assume that the velodyne's speed did not change very much and use the same difference if(last_azimuth_diff > 0){ azimuth_diff = last_azimuth_diff; diff --git a/src/waypoint_navigation/.gitignore b/src/waypoint_navigation/.gitignore new file mode 100644 index 0000000..dbe9c82 --- /dev/null +++ b/src/waypoint_navigation/.gitignore @@ -0,0 +1 @@ +.vscode/ \ No newline at end of file diff --git a/src/waypoint_navigation/README.md b/src/waypoint_navigation/README.md index e69de29..693cfbc 100644 --- a/src/waypoint_navigation/README.md +++ b/src/waypoint_navigation/README.md @@ -0,0 +1,8 @@ +- Python 3.8.10 +- Tkinter 8.6 +- Pillow 9.2.0 +- ruamel.yaml 0.17.21 + +waypoint_manager 参考 +- https://imagingsolution.net/category/program/python/tkinter/ +- https://daeudaeu.com/tkinter-mousewheel/ diff --git a/src/waypoint_navigation/orne_rviz_plugins/CMakeLists.txt b/src/waypoint_navigation/orne_rviz_plugins/CMakeLists.txt new file mode 100644 index 0000000..54a4b6d --- /dev/null +++ b/src/waypoint_navigation/orne_rviz_plugins/CMakeLists.txt @@ -0,0 +1,52 @@ +cmake_minimum_required(VERSION 2.8.3) +project(orne_rviz_plugins) +find_package(catkin REQUIRED COMPONENTS rviz std_srvs) +catkin_package() +include_directories(${catkin_INCLUDE_DIRS}) +link_directories(${catkin_LIBRARY_DIRS}) + +## This setting causes Qt's "MOC" generation to happen automatically. +set(CMAKE_AUTOMOC ON) + +## This plugin includes Qt widgets, so we must include Qt. +## We'll use the version that rviz used so they are compatible. +if(rviz_QT_VERSION VERSION_LESS "5") + message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") + find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui) + ## pull in all required include dirs, define QT_LIBRARIES, etc. + include(${QT_USE_FILE}) +else() + message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") + find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) + ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies + set(QT_LIBRARIES Qt5::Widgets) +endif() + +add_definitions(-DQT_NO_KEYWORDS) + +set(SOURCE_FILES + src/state_trigger_panel.cpp + ${MOC_FILES} +) + +add_library(${PROJECT_NAME} ${SOURCE_FILES}) + +target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES} ${catkin_LIBRARIES}) + +install(TARGETS + ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(FILES + plugin_description.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(DIRECTORY media/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/media) + +install(DIRECTORY icons/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/icons) + diff --git a/src/waypoint_navigation/orne_rviz_plugins/icons/classes/Imu.png b/src/waypoint_navigation/orne_rviz_plugins/icons/classes/Imu.png new file mode 100644 index 0000000..7d90110 --- /dev/null +++ b/src/waypoint_navigation/orne_rviz_plugins/icons/classes/Imu.png Binary files differ diff --git a/src/waypoint_navigation/orne_rviz_plugins/icons/classes/PlantFlag.png b/src/waypoint_navigation/orne_rviz_plugins/icons/classes/PlantFlag.png new file mode 100644 index 0000000..d11c0ee --- /dev/null +++ b/src/waypoint_navigation/orne_rviz_plugins/icons/classes/PlantFlag.png Binary files differ diff --git a/src/waypoint_navigation/orne_rviz_plugins/icons/classes/Teleop.png b/src/waypoint_navigation/orne_rviz_plugins/icons/classes/Teleop.png new file mode 100644 index 0000000..d96e6c1 --- /dev/null +++ b/src/waypoint_navigation/orne_rviz_plugins/icons/classes/Teleop.png Binary files differ diff --git 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a/src/waypoint_navigation/orne_rviz_plugins/plugin_description.xml b/src/waypoint_navigation/orne_rviz_plugins/plugin_description.xml new file mode 100644 index 0000000..ccb9e11 --- /dev/null +++ b/src/waypoint_navigation/orne_rviz_plugins/plugin_description.xml @@ -0,0 +1,9 @@ + + + + TODO + + + diff --git a/src/waypoint_navigation/orne_rviz_plugins/src/state_trigger_panel.cpp b/src/waypoint_navigation/orne_rviz_plugins/src/state_trigger_panel.cpp new file mode 100644 index 0000000..7e2a334 --- /dev/null +++ b/src/waypoint_navigation/orne_rviz_plugins/src/state_trigger_panel.cpp @@ -0,0 +1,63 @@ +#include + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "state_trigger_panel.h" + +namespace orne_rviz_plugins +{ + +StateTriggerPanel::StateTriggerPanel( QWidget* parent ) + : rviz::Panel( parent ) +{ + start_client_ = nh_.serviceClient("start_wp_nav", false); + resume_client_ = nh_.serviceClient("resume_nav", false); + + start_nav_button_ = new QPushButton("StartWaypointsNavigation"); + resume_nav_button_ = new QPushButton("ResumeWaypointsNavigation"); + + QHBoxLayout* layout = new QHBoxLayout; + layout->addWidget(start_nav_button_); + layout->addWidget(resume_nav_button_); + setLayout( layout ); + + connect(start_nav_button_, SIGNAL(clicked()), this, SLOT(pushStartNavigation())); + connect(resume_nav_button_, SIGNAL(clicked()), this, SLOT(pushResumeNavigation())); +} + +void StateTriggerPanel::save( rviz::Config config ) const +{ + rviz::Panel::save( config ); +} + +void StateTriggerPanel::load( const rviz::Config& config ) +{ + rviz::Panel::load( config ); +} + +void StateTriggerPanel::pushStartNavigation() { + ROS_INFO("Service call: start waypoints navigation"); + + std_srvs::Trigger trigger; + start_client_.call(trigger); +} + +void StateTriggerPanel::pushResumeNavigation() { + ROS_INFO("Service call: resume waypoints navigation"); + + std_srvs::Trigger trigger; + resume_client_.call(trigger); +} + +} // end namespace orne_rviz_plugins + +#include +PLUGINLIB_EXPORT_CLASS(orne_rviz_plugins::StateTriggerPanel,rviz::Panel ) diff --git a/src/waypoint_navigation/orne_rviz_plugins/src/state_trigger_panel.h b/src/waypoint_navigation/orne_rviz_plugins/src/state_trigger_panel.h new file mode 100644 index 0000000..461b3a0 --- /dev/null +++ b/src/waypoint_navigation/orne_rviz_plugins/src/state_trigger_panel.h @@ -0,0 +1,38 @@ +#ifndef STATE_TRIGGER_PANEL_H +#define STATE_TRIGGER_PANEL_H + +#ifndef Q_MOC_RUN +# include + +# include +#endif + +class QPushButton; + +namespace orne_rviz_plugins +{ + +class StateTriggerPanel: public rviz::Panel +{ +Q_OBJECT +public: + StateTriggerPanel( QWidget* parent = 0 ); + + virtual void load( const rviz::Config& config ); + virtual void save( rviz::Config config ) const; + +public Q_SLOTS: + void pushStartNavigation(); + void pushResumeNavigation(); + +protected: + ros::NodeHandle nh_; + ros::ServiceClient start_client_, resume_client_; + QPushButton *start_nav_button_; + QPushButton *resume_nav_button_; + +}; + +} // end namespace orne_rviz_plugins + +#endif // STATE_TRIGGER_PANEL_H diff --git a/src/waypoint_navigation/waypoint_manager/scripts/lib/__init__.py b/src/waypoint_navigation/waypoint_manager/scripts/lib/__init__.py new file mode 100644 index 0000000..e69de29 --- /dev/null +++ b/src/waypoint_navigation/waypoint_manager/scripts/lib/__init__.py diff --git a/src/waypoint_navigation/waypoint_manager/scripts/lib/__pycache__/__init__.cpython-38.pyc b/src/waypoint_navigation/waypoint_manager/scripts/lib/__pycache__/__init__.cpython-38.pyc new file mode 100644 index 0000000..0227a91 --- /dev/null +++ b/src/waypoint_navigation/waypoint_manager/scripts/lib/__pycache__/__init__.cpython-38.pyc Binary files differ diff --git a/src/waypoint_navigation/waypoint_manager/scripts/lib/__pycache__/mymaplib.cpython-38.pyc b/src/waypoint_navigation/waypoint_manager/scripts/lib/__pycache__/mymaplib.cpython-38.pyc new file mode 100644 index 0000000..5048aa5 --- /dev/null +++ b/src/waypoint_navigation/waypoint_manager/scripts/lib/__pycache__/mymaplib.cpython-38.pyc Binary files differ diff --git a/src/waypoint_navigation/waypoint_manager/scripts/lib/__pycache__/waypointlib.cpython-38.pyc b/src/waypoint_navigation/waypoint_manager/scripts/lib/__pycache__/waypointlib.cpython-38.pyc new file mode 100644 index 0000000..f8c3b92 --- /dev/null +++ b/src/waypoint_navigation/waypoint_manager/scripts/lib/__pycache__/waypointlib.cpython-38.pyc Binary files differ diff --git a/src/waypoint_navigation/waypoint_manager/scripts/lib/mymaplib.py b/src/waypoint_navigation/waypoint_manager/scripts/lib/mymaplib.py new file mode 100644 index 0000000..884b300 --- /dev/null +++ b/src/waypoint_navigation/waypoint_manager/scripts/lib/mymaplib.py @@ -0,0 +1,85 @@ +import numpy as np +from PIL import Image, ImageTk +from pathlib import Path + + +class MyMap(): + + def __init__(self, path: Path, map_yaml): + if map_yaml["image"][0] == "/": + img_path = map_yaml["image"] + else: + img_path = path.with_name(map_yaml["image"]).resolve() + self.pil_img = Image.open(img_path).convert("RGBA") + self.tk_img = ImageTk.PhotoImage(self.pil_img) + self.origin = map_yaml["origin"] + self.resolution = map_yaml["resolution"] + self.img_origin = [-self.origin[0]/self.resolution, self.origin[1]/self.resolution+self.height()] + self.mat_affine = np.eye(3) + return + + + def translate(self, x, y): + self.affine_tf(x, y, 1) + return + + + def scale_at(self, x, y, scale): + self.affine_tf(-x, -y, 1) + self.affine_tf(0, 0, scale) + self.affine_tf(x, y, 1) + return + + + def affine_tf(self, x, y, scale): + x = float(x) + y = float(y) + scale = float(scale) + mat = np.array([[scale,0,x], [0,scale,y], [0,0,1]]) + self.mat_affine = np.dot(mat, self.mat_affine) + return + + + def get_draw_image(self, canvas_size): + mat_inv = np.linalg.inv(self.mat_affine) + img = self.pil_img.transform(canvas_size, + Image.Transform.AFFINE, tuple(mat_inv.flatten()), + Image.Resampling.NEAREST, + fillcolor="#0000" + ) + self.tk_img = ImageTk.PhotoImage(image=img) + return self.tk_img + + + def real2image(self, real_x, real_y): + img_x = self.img_origin[0] + real_x / self.resolution + img_y = self.img_origin[1] - real_y / self.resolution + return img_x, img_y + + + def image2real(self, img_x, img_y): + real_x = (img_x - self.img_origin[0]) * self.resolution + real_y = -(img_y - self.img_origin[1]) * self.resolution + real_x = round(real_x, 6) + real_y = round(real_y, 6) + return real_x, real_y + + + def transform(self, img_x, img_y): + mat = [img_x, img_y, 1] + tf_mat = np.dot(self.mat_affine, mat) + return tf_mat[0], tf_mat[1] + + + def inv_transform(self, x, y): + mat = [x, y, 1] + inv_affine = np.linalg.inv(self.mat_affine) + inv = np.dot(inv_affine, mat) + return inv[0], inv[1] + + + def width(self): + return self.pil_img.width + + def height(self): + return self.pil_img.height \ No newline at end of file diff --git a/src/waypoint_navigation/waypoint_manager/scripts/lib/waypointlib.py b/src/waypoint_navigation/waypoint_manager/scripts/lib/waypointlib.py new file mode 100644 index 0000000..ab54d33 --- /dev/null +++ b/src/waypoint_navigation/waypoint_manager/scripts/lib/waypointlib.py @@ -0,0 +1,118 @@ +import numpy as np +import quaternion + + +class WaypointList(): + def __init__(self, wp_yaml): + self.waypoints = [] + for point in wp_yaml["waypoints"]: + wp = {} + for key, val in point["point"].items(): + wp[key] = val + self.append(wp) + + self.point_keys = self.waypoints[0].keys() + self.number_dict = {} + return + + + def append(self, waypoint: dict, id=None): + self.waypoints.append(waypoint) + if id: self.set_id(len(self.waypoints), id) + return len(self.waypoints) + + + def insert(self, num, waypoint: dict, id=None): + self.waypoints.insert(num-1, waypoint) + for i, n in self.number_dict.items(): + self.number_dict[i] = n+1 if (n>=num) else n + if id: self.set_id(num, id) + return + + + def remove(self, id): + num = self.get_num(str(id)) + self.waypoints.pop(num-1) + self.number_dict.pop(str(id)) + for i, n in self.number_dict.items(): + self.number_dict[i] = n-1 if (n>num) else n + return + + + def set_waypoint_val(self, id, key, val): + self.waypoints[self.get_num(id)-1][key] = val + return + + + def get_waypoint(self, id=None, num=None): + if id: return self.waypoints[self.get_num(str(id)) - 1] + if num: return self.waypoints[num-1] + return self.waypoints + + + def get_id_list(self): + return self.number_dict.keys() + + + def set_id(self, num, id): + self.number_dict[str(id)] = num + return + + + def get_num(self, id): + return self.number_dict[str(id)] + + + + +class FinishPose(): + def __init__(self, wp_yaml): + super().__init__() + + self.header = {} + for key, val in wp_yaml["finish_pose"]["header"].items(): + self.header[key] = val + + self.position = {} + for key, val in wp_yaml["finish_pose"]["pose"]["position"].items(): + self.position[key] = val + + self.orientation = {} + for key, val in wp_yaml["finish_pose"]["pose"]["orientation"].items(): + self.orientation[key] = val + + self.x = self.position["x"] + self.y = self.position["y"] + self.yaw = self.get_euler() + self.id = None + return + + + def get_euler(self): + o = self.orientation + q = np.quaternion(o["x"], o["y"], o["z"], o["w"]) + return quaternion.as_euler_angles(q)[1] + + + +def get_waypoint_yaml(waypoints: WaypointList, finish_pose: FinishPose): + s = ["waypoints:" + "\n"] + for point in waypoints.get_waypoint(): + s.append("- point: {") + for i, (key, val) in enumerate(point.items()): + if (i != 0): s.append(", ") + s.append(key + ": " + str(val).lower()) + s.append("}" + "\n") + + s.append("finish_pose:" + "\n") + seq, stamp, frame = (finish_pose.header["seq"], finish_pose.header["stamp"], finish_pose.header["frame_id"]) + s.append(" header: {" + "seq: {}, stamp: {}, frame_id: {}".format(seq,stamp,frame) + "}" + "\n") + s.append(" pose:" + "\n") + p = finish_pose.position + s.append(" position: {" + "x: {}, y: {}, z: {}".format(p["x"], p["y"], p["z"]) + "}" + "\n") + o = finish_pose.orientation + s.append(" orientation: {" + "x: {}, y: {}, z: {}, w: {}".format(o["x"],o["y"],o["z"],o["w"]) + "}") + return "".join(s) + + + \ No newline at end of file diff --git a/src/waypoint_navigation/waypoint_manager/scripts/manager_GUI.py b/src/waypoint_navigation/waypoint_manager/scripts/manager_GUI.py old mode 100644 new mode 100755 index e69de29..9bd2d1f --- a/src/waypoint_navigation/waypoint_manager/scripts/manager_GUI.py +++ b/src/waypoint_navigation/waypoint_manager/scripts/manager_GUI.py @@ -0,0 +1,705 @@ +import tkinter as tk +import tkinter.filedialog +import math +import ruamel.yaml +from pathlib import Path +from lib.mymaplib import MyMap +from lib.waypointlib import WaypointList, FinishPose, get_waypoint_yaml + + + + +class Application(tk.Frame): + + def __init__(self, master): + super().__init__(master) # スーパークラスのコンストラクタを実行 + self.master.title("Waypoints Manager") + + #### 画面上部のメニューを作成 #### + self.menu_bar = tk.Menu(self) # メニューバーを配置 + self.file_menu = tk.Menu(self.menu_bar, tearoff=tk.OFF) # バーに追加するメニューを作成 + self.menu_bar.add_cascade(label="File", menu=self.file_menu) # Fileメニューとしてバーに追加 + self.open_menu = tk.Menu(self.file_menu, tearoff=tk.OFF) # Openメニュー + self.open_menu.add_command(label="Map", command=self.menu_open_map) + self.open_menu.add_command(label="Waypoints", command=self.menu_open_waypoints, state=tk.DISABLED) + self.file_menu.add_cascade(label="Open", menu=self.open_menu) + self.file_menu.add_command(label="Save", command=self.menu_save, #コールバック関数を設定 + accelerator="Ctrl+S", state=tk.DISABLED + ) + self.file_menu.add_command(label="Save As", command=self.menu_saveas, + accelerator="Ctrl+Shift+S", state=tk.DISABLED + ) + self.file_menu.add_separator() + self.file_menu.add_command(label="Exit", command=self.menu_exit, accelerator="Ctrl+Q") + self.bind_all("", self.menu_save) #キーボードショートカットを設定 + self.bind_all("", self.menu_saveas) + self.bind_all("", self.menu_exit) + self.master.config(menu=self.menu_bar) # 大元に作成したメニューバーを設定 + + #### 画面上部に、システムからのメッセージを表示するラベルを配置 #### + self.msg_label = tk.Label(self.master, text="Please open map file ", anchor=tk.E) + self.msg_label.pack(fill=tk.X, padx=5) + + #### 画面下部に、カーソルの座標やピクセル情報を表示するステータスバーを表示 #### + self.status_bar = tk.Frame(self.master) + self.mouse_position = tk.Label(self.status_bar, relief=tk.SUNKEN, + text=" (x, y) = ", anchor=tk.W, font=("", 15) + ) + self.mouse_position.pack(side=tk.LEFT, padx=3) + self.waypoint_num = tk.Label(self.status_bar, relief=tk.SUNKEN, + text=" Waypoint No. -----", anchor=tk.W, font=("", 15) + ) + self.waypoint_num.pack(side=tk.RIGHT, padx=3) + self.status_bar.pack(side=tk.BOTTOM, fill=tk.X) + + #### 右クリックしたときに表示するポップアップメニューを作成 #### + self.popup_menu = tk.Menu(self, tearoff=tk.OFF) + self.popup_menu.add_command(label="Add waypoint here", command=self.add_waypoint_here, state=tk.DISABLED) + self.right_click_coord = None # 右クリックしたときの座標を保持する変数 + + #### canvasを配置、サイズを取得 #### + self.canvas = tk.Canvas(self.master, bg="#034") # 画像を描画するcanvas + self.canvas.pack(expand=True, fill=tk.BOTH) # canvasを配置 + self.update() # 情報の更新をする(canvasのサイズなどの情報が更新される) + self.canv_w = self.canvas.winfo_width() # canvasの幅を取得 + self.canv_h = self.canvas.winfo_height() # canvasの高さを取得 + + #### イベントに対するコールバックを設定 #### + self.master.bind("", self.mouse_move) + self.master.bind("", self.mouse_wheel) + self.master.bind("", self.left_click_move) + self.master.bind("", self.left_click) + self.master.bind("", self.left_click_release) + self.master.bind("", self.right_click) + self.master.bind("", self.ctrl_left_click) + self.master.bind("", self.ctrl_right_click) + self.master.bind("", self.window_resize_callback) + + #### その他必要になる変数 #### + self.mymap = None + self.waypoints = None + self.finish_pose = None + self.waypoints_filepath = None + self.editing_waypoint_id = None # 編集中のウェイポイントを示す図形のオブジェクトID + self.moving_waypoint = False # ウェイポイントをDnDで動かしている最中かどうか + self.old_click_point = None # 最後にカーソルのあった座標を保持 + self.wp_info_win = None # ウェイポイント情報を表示するウィンドウ + self.point_rad = 10 # 画像上に示すポイントの半径ピクセル + return + + + + """ + ############################### + メニューコールバック関数 + ############################### + """ + """ + +++++ File -> Open -> Map +++++ + """ + def menu_open_map(self): + map_path = tkinter.filedialog.askopenfilename( + parent=self.master, + title="Select map yaml file", + initialdir=str(Path(".")), + filetypes=[("YAML", ".yaml")] + ) + if not map_path: return + + with open(map_path) as file: # .yamlを読み込む + map_yaml = ruamel.yaml.YAML().load(file) + self.mymap = MyMap(Path(map_path), map_yaml) + ## キャンバスサイズに合わせて画像を表示 + scale = 1 + offset_x = 0 + offset_y = 0 + if (self.canv_w / self.canv_h) > (self.mymap.width() / self.mymap.height()): + # canvasの方が横長　画像をcanvasの縦に合わせてリサイズ + scale = self.canv_h / self.mymap.height() + offset_x = (self.canv_w - self.mymap.width()*scale) / 2 + else: + # canvasの方が縦長　画像をcanvasの横に合わせてリサイズ + scale = self.canv_w / self.mymap.width() + offset_y = (self.canv_h - self.mymap.height()*scale) / 2 + + self.mymap.scale_at(0, 0, scale) + self.mymap.translate(offset_x, offset_y) + self.draw_image() # 画像を描画 + self.plot_origin() # 原点を示す円を描画 + self.master.title(Path(map_path).name + " - " + self.master.title()) + self.open_menu.entryconfigure("Map", state=tk.DISABLED) + self.open_menu.entryconfigure("Waypoints", state=tk.NORMAL) + self.message("Please open waypoints file ") + return + + + """ + +++++ File -> Open -> Waypionts +++++ + """ + def menu_open_waypoints(self): + filepath = tkinter.filedialog.askopenfilename( + parent=self.master, + title="Select map yaml file", + initialdir=str(Path(".")), + filetypes=[("YAML", ".yaml")] + ) + if not filepath: return + with open(filepath) as file: + wp_yaml = ruamel.yaml.YAML().load(file) + self.waypoints = WaypointList(wp_yaml) + self.finish_pose = FinishPose(wp_yaml) + self.waypoints_filepath = Path(filepath) + self.plot_waypoints() + self.master.title(Path(filepath).name + " - " + self.master.title()) + self.file_menu.entryconfigure("Save", state=tk.NORMAL) + self.file_menu.entryconfigure("Save As", state=tk.NORMAL) + self.popup_menu.entryconfigure("Add waypoint here", state=tk.NORMAL) + return + + + """ + +++++ File -> Save +++++ + """ + def menu_save(self, event=None): + self.save_waypoints(str(self.waypoints_filepath)) + self.message("Saved changes!") + return + + + """ + +++++ File -> Save As +++++ + """ + def menu_saveas(self, event=None): + new_filepath = tkinter.filedialog.asksaveasfilename( + parent=self.master, + title="Save As", + initialdir=str(Path('..','..','waypoint_nav','param')), + filetypes=[("YAML", ".yaml")], + defaultextension=".yaml" + ) + if len(new_filepath) == 0: return # cancel + self.save_waypoints(new_filepath) + current_title = self.master.title() + old_filename = self.waypoints_filepath.name + self.waypoints_filepath = Path(new_filepath) + self.master.title(current_title.replace(old_filename, self.waypoints_filepath.name)) + self.message("Save As" + "\"" + str(new_filepath) + "\"") + return + + + """ + +++++ File -> Exit +++++ + """ + def menu_exit(self, event=None): + self.master.destroy() + + + """ + +++++ 現在のウェイポイント情報を指定のファイルに書き込む +++++ + """ + def save_waypoints(self, path): + with open(path, 'w') as f: + f.write(get_waypoint_yaml(self.waypoints, self.finish_pose)) + return + + + + """ + ################################# + 原点とウェイポイントの表示 + ################################# + """ + """ + +++++ 地図上の原点に円を描画 +++++ + """ + def plot_origin(self): + x, y = self.mymap.transform(self.mymap.img_origin[0], self.mymap.img_origin[1]) + r = self.point_rad # 円の半径（ピクセル） + x0 = x - r + y0 = y - r + x1 = x + r + 1 + y1 = y + r + 1 + if self.canvas.find_withtag("origin"): + self.canvas.moveto("origin", x0, y0) + else: + self.canvas.create_oval(x0, y0, x1, y1, tags="origin", fill='cyan', outline='blue') + return + + + """ + +++++ 地図上にウェイポイントとフィニッシュポーズを描画 +++++ + """ + def plot_waypoints(self, id=None): + if not self.waypoints: return + # 引数にidが指定された場合、そのポイントのみを再描画して終了 + if id: + wp = self.waypoints.get_waypoint(id) + cx, cy = self.real2canvas(float(wp["x"]), float(wp["y"])) + x0 = cx - self.point_rad + y0 = cy - self.point_rad + self.canvas.moveto(id, round(x0), round(y0)) + return + + if len(self.waypoints.get_id_list()) == 0: + # 初めて描画する場合 + for n, wp in enumerate(self.waypoints.get_waypoint()): + id = self.create_waypoint(wp) + self.waypoints.set_id(num=n+1, id=id) + else: + # 既に描画されている場合 + for id in self.waypoints.get_id_list(): + wp = self.waypoints.get_waypoint(id) + cx, cy = self.real2canvas(float(wp["x"]), float(wp["y"])) + x0 = cx - self.point_rad + y0 = cy - self.point_rad + self.canvas.moveto(id, round(x0), round(y0)) + # Finish poseを描画 + cx, cy = self.real2canvas(self.finish_pose.x, self.finish_pose.y) + x0 = cx + y0 = cy + x1 = x0 + math.cos(self.finish_pose.yaw) * self.point_rad * 3 + y1 = y0 - math.sin(self.finish_pose.yaw) * self.point_rad * 3 + if self.finish_pose.id is not None: + # movetoだと上手くいかないので、毎回削除、再描画 + self.canvas.delete(self.finish_pose.id) + self.finish_pose.id = self.canvas.create_line(x0, y0, x1, y1, tags="finish_pose", + width=10, arrow=tk.LAST, arrowshape=(12,15,9), fill="#AAF" + ) + return + + + """ + +++++ キャンバスに新たなウェイポイントを描画する +++++ + """ + def create_waypoint(self, waypoint: dict): + cx, cy = self.real2canvas(float(waypoint["x"]), float(waypoint["y"])) + x0 = round(cx - self.point_rad) + y0 = round(cy - self.point_rad) + x1 = round(cx + self.point_rad + 1) + y1 = round(cy + self.point_rad + 1) + id = self.canvas.create_oval(x0, y0, x1, y1, fill='#FDD', outline='red', activefill='red') + self.canvas.tag_bind(id, "", lambda event, wp_id=id: self.waypoint_clicked(event, wp_id)) + self.canvas.tag_bind(id, "", lambda event, wp_id=id: self.waypoint_enter(event, wp_id)) + self.canvas.tag_bind(id, "", self.waypoint_leave) + self.canvas.tag_bind(id, "", self.waypoint_click_move) + return id + + + """ + +++++ ウェイポイントが左クリックされたときのコールバック +++++ + """ + def waypoint_clicked(self, event, wp_id): + if wp_id != self.editing_waypoint_id: # 編集中のウェイポイントを切り替え + self.canvas.itemconfig(self.editing_waypoint_id, fill='#FDD') + self.editing_waypoint_id = wp_id + self.canvas.itemconfig(wp_id, fill='red') + self.disp_waypoint_info(wp_id) + self.message("Show selected waypoint information") + return + + + """ + +++++ ウェイポイントを左クリックしながら動かしたときのコールバック +++++ + """ + def waypoint_click_move(self, event): + if not self.moving_waypoint: return + if self.old_click_point is None: + self.old_click_point = [event.x, event.y] + return + delta_x = event.x-self.old_click_point[0] + delta_y = event.y-self.old_click_point[1] + self.canvas.move(self.editing_waypoint_id, delta_x, delta_y) + box = self.canvas.bbox(self.editing_waypoint_id) + px = (box[2] + box[0]) / 2 # ウィンドウ上の座標 + py = (box[3] + box[1]) / 2 + img_x, img_y = self.mymap.inv_transform(px, py) + # マップ画像上の座標を、実際の座標に変換 + x, y = self.mymap.image2real(img_x, img_y) + # 編集中のウェイポイント情報を更新 + self.waypoints.set_waypoint_val(self.editing_waypoint_id, "x", x) + self.waypoints.set_waypoint_val(self.editing_waypoint_id, "y", y) + # 表示中のウェイポイント情報を更新 + txt_box = self.wp_info_win.grid_slaves(column=1, row=0)[0] + txt_box.delete(0, tk.END) + txt_box.insert(tk.END, x) + txt_box = self.wp_info_win.grid_slaves(column=1, row=1)[0] + txt_box.delete(0, tk.END) + txt_box.insert(tk.END, y) + self.old_click_point = [event.x, event.y] + return + + + """ + +++++ ウェイポイントを示す円にカーソルが入ったときと出たときのコールバック +++++ + """ + def waypoint_enter(self, event, wp_id): + wp_num = self.waypoints.get_num(wp_id) + self.waypoint_num["text"] = " Waypoint No. {} " .format(str(wp_num)) + + def waypoint_leave(self, event): + self.waypoint_num["text"] = " Waypoint No. ----- " + + + + """ + ###################################### + 別窓でのウェイポイントの情報表示 + ###################################### + """ + """ + +++++ ウェイポイントが左クリックされたとき、別窓で情報を表示する関数 +++++ + """ + def disp_waypoint_info(self, id): + point = self.waypoints.get_waypoint(id=id) + if (self.wp_info_win is None) or (not self.wp_info_win.winfo_exists()): + # ウィンドウが表示されてない場合、初期化 + self.wp_info_win = tk.Toplevel() + self.wp_info_win.lower() + self.wp_info_win.protocol("WM_DELETE_WINDOW", self.close_wp_info) + # ウェイポイントファイルのキーを取得し、ラベルとテキストボックスを配置 + for i, key in enumerate(point.keys()): + key_label = tk.Label(self.wp_info_win, text=key+":", width=6, font=("Consolas",15), anchor=tk.E) + key_label.grid(column=0, row=i, padx=2, pady=5) + txt_box = tk.Entry(self.wp_info_win, width=20, font=("Consolas", 15)) + txt_box.insert(tk.END, str(point[key]).lower()) + txt_box.grid(column=1, row=i, padx=2, pady=2, ipady=3, sticky=tk.EW) + # Apply, DnD(Drag & Drop), remove ボタン + canv = tk.Canvas(self.wp_info_win) + canv.grid(column=0, columnspan=2, row=self.wp_info_win.grid_size()[1], sticky=tk.EW) + apply_btn = tk.Button(canv, text="Apply", width=5, height=1, bg="#FDD", + command=self.apply_btn_callback) + apply_btn.pack(side=tk.RIGHT, anchor=tk.SE, padx=5, pady=5) + dnd_btn = tk.Button(canv, text="DnD", width=5, height=1, bg="#EEE") + dnd_btn["command"] = lambda obj=dnd_btn: self.dnd_btn_callback(dnd_btn) + dnd_btn.pack(side=tk.RIGHT, anchor=tk.SE, padx=5, pady=5) + remove_btn = tk.Button(canv, text="Remove", width=7, height=1, bg="#F00", + command=self.remove_btn_callback) + remove_btn.pack(side=tk.LEFT, anchor=tk.SE, padx=5, pady=5) + # 位置とサイズを設定 + self.wp_info_win.update() + w = self.wp_info_win.winfo_width() + h = self.wp_info_win.winfo_height() + x = self.master.winfo_x() + self.canv_w - w + y = self.master.winfo_y() + self.canv_h - h + geometry = "{}x{}+{}+{}".format(w, h, x, y) + self.wp_info_win.geometry(geometry) + self.wp_info_win.lift() + self.wp_info_win.attributes('-topmost', True) # サブウィンドウを最前面で固定 + else: + # 既にウィンドウが表示されている場合、テキストボックスの中身を変える + for i, key in enumerate(point): + txt_box = self.wp_info_win.grid_slaves(column=1, row=i)[0] + txt_box.delete(0, tk.END) + txt_box.insert(tk.END, str(point[key]).lower()) + self.wp_info_win.title("Waypoint " + str(self.waypoints.get_num(id))) # タイトルを設定 + return + + + """ + +++++ Applyボタンを押したときのコールバック +++++ + """ + def apply_btn_callback(self): + point = self.waypoints.get_waypoint(id=self.editing_waypoint_id) + for i, key in enumerate(point.keys()): + txt_box = self.wp_info_win.grid_slaves(column=1, row=i)[0] + self.waypoints.set_waypoint_val(self.editing_waypoint_id, key, txt_box.get()) + self.plot_waypoints(id=self.editing_waypoint_id) + self.message("Apply changes of waypoint parameters") + return + + + """ + +++++ ドラッグ&ドロップボタン(DnD)を押したときのコールバック +++++ + """ + def dnd_btn_callback(self, obj=None): + if obj is None: return + btn = obj + # 押された状態とそうでない状態を切り替える + if btn["relief"] == tk.RAISED: + btn["relief"] = tk.SUNKEN + btn["bg"] = "#AAA" + self.moving_waypoint = True + self.message("Drag & Drop to move waypoint") + elif btn["relief"] == tk.SUNKEN: + btn["relief"] = tk.RAISED + btn["bg"] = "#EEE" + self.moving_waypoint = False + self.message("Show selected waypoint information") + return + + + """ + +++++ removeボタンを押したときのコールバック +++++ + """ + def remove_btn_callback(self): + self.waypoints.remove(self.editing_waypoint_id) + self.canvas.delete(self.editing_waypoint_id) # ウェイポイントを示す円を削除 + self.close_wp_info() + self.message("Removed waypoint") + return + + + """ + +++++ ウェイポイント情報を表示するサブウィンドウを閉じたときのコールバック +++++ + """ + def close_wp_info(self): + self.canvas.itemconfig(self.editing_waypoint_id, fill='#FDD') + self.editing_waypoint_id = None + self.wp_info_win.destroy() + return + + + + """ + ########################### + ウェイポイントの追加 + ########################### + """ + """ + +++++ 右クリックしてポップアップメニューのadd waypoint hereをクリックしたときのコールバック関数 +++++ + """ + def add_waypoint_here(self): + if (self.wp_info_win is not None) and (self.wp_info_win.winfo_exists()): + self.close_wp_info() + img_xy = self.right_click_coord + if self.mymap.pil_img.getpixel((img_xy[0], img_xy[1]))[0] == 0: + self.message("There is obstacles") + return + # 何番目のウェイポイントの次に追加するか入力させる + add_wp_win = tk.Toplevel() + add_wp_win.title("Add waypoint") + add_wp_win.protocol("WM_DELETE_WINDOW") + add_wp_win.attributes('-topmost', True) # サブウィンドウを最前面で固定 + msg = tk.Label(add_wp_win, text="Add waypoint after no. ", font=("Consolas",15), anchor=tk.E) + msg.grid(column=0, row=0, padx=10, pady=10, sticky=tk.EW) + txt_box = tk.Entry(add_wp_win, width=4, font=("Consolas",15)) + txt_box.grid(column=1, row=0, pady=10, sticky=tk.W) + # Add ボタン + add_btn = tk.Button(add_wp_win, text="Add", width=5, height=1, + command=lambda num_box=txt_box, win=add_wp_win: self.add_btn_callback(num_box, win) + ) + add_btn.grid(column=0, columnspan=2, row=1, padx=10, pady=10) + add_wp_win.update() + w = add_wp_win.winfo_width() + 10 + h = add_wp_win.winfo_height() + x = int((self.canv_w - w) / 2) + y = int((self.canv_h - h) / 2) + geometry = "{}x{}+{}+{}".format(w, h, x, y) + add_wp_win.geometry(geometry) + self.message("Add waypoint") + return + + + """ + +++++ add waypoint hereをクリックして開いた別窓のAddボタンのコールバック +++++ + """ + def add_btn_callback(self, num_box: tk.Entry, win: tk.Toplevel): + prev_num = num_box.get() + if (prev_num == ""): + self.message("Please enter number") + return + win.destroy() + prev_num = int(prev_num) + img_xy = self.right_click_coord + # ウェイポイント座標を計算 + x, y = self.mymap.image2real(img_xy[0], img_xy[1]) + # ウェイポイントを追加 + point = {} + for key in self.waypoints.point_keys: + if (key=="x"): point[key] = x + elif (key=="y"): point[key] = y + elif (key=="z"): point[key] = 0.0 + else: point[key] = "" + id = self.create_waypoint(point) + self.waypoints.insert(prev_num+1, point, id=id) + self.plot_waypoints(id=id) + self.editing_waypoint_id = id + self.canvas.itemconfig(id, fill='red') + self.disp_waypoint_info(id) + return + + + + """ + ############################### + イベントコールバック関数 + ############################### + """ + """ + +++++ キャンバス内でマウスを動かしたとき +++++ + """ + def mouse_move(self, event): + if not self.mymap: return + img_x, img_y = self.mymap.inv_transform(event.x, event.y) + if (img_x < 0) or (img_y < 0) or (img_x > self.mymap.width()) or (img_y > self.mymap.height()): + self.mouse_position["text"] = " Out of map " + return + x, y = self.mymap.image2real(img_x, img_y) + self.mouse_position["text"] = " ( x, y ) = ( {}, {} ) ".format(x, y) + return + + + """ + +++++ マウスホイールを回転したとき（タッチパッドをドラッグしたとき） +++++ + """ + def mouse_wheel(self, event): + if not self.mymap: return + if event.delta > 0: + # 上に回転（タッチパッドなら下にドラッグ）=> 拡大 + self.mymap.scale_at(event.x, event.y, 1.1) + else: + # 下に回転（タッチパッドなら上にドラッグ）=> 縮小 + self.mymap.scale_at(event.x, event.y, 0.9) + self.draw_image() + self.plot_origin() + self.plot_waypoints() + return + + + """ + +++++ 左クリックされたとき +++++ + """ + def left_click(self, event): + self.popup_menu.unpost() # 右クリックで出るポップアップメニューを非表示 + return + + + """ + +++++ マウスを左クリックしながらドラッグしたとき +++++ + """ + def left_click_move(self, event): + if not self.mymap: return + if self.moving_waypoint: return + if self.old_click_point is None: + self.old_click_point = [event.x, event.y] + return + # カーソルの移動量を計算 + delta_x = event.x - self.old_click_point[0] + delta_y = event.y - self.old_click_point[1] + # ウェイポイント移動モードでないとき、地図を平行移動 + self.mymap.translate(delta_x, delta_y) + self.draw_image() + # origin, waypoints finish_pose を平行移動 + self.canvas.move("origin", delta_x, delta_y) + if self.waypoints: + for id in self.waypoints.get_id_list(): + self.canvas.move(id, delta_x, delta_y) + self.canvas.move("finish_pose", delta_x, delta_y) + self.old_click_point = [event.x, event.y] + return + + + """ + +++++ マウスの左クリックを離したとき +++++ + """ + def left_click_release(self, event): + self.old_click_point = None + return + + + """ + +++++ 右クリックしたとき +++++ + """ + def right_click(self, event): + if not self.mymap: return + # クリックした座標の近くにあるオブジェクトを取得 + clicked_obj = self.canvas.find_enclosed(event.x-20, event.y-20, event.x+20, event.y+20) + if clicked_obj: # 何かオブジェクトがクリックされていた場合 + return + # クリックされた座標 => 元画像の座標 の変換 + img_x, img_y = self.mymap.inv_transform(event.x, event.y) + # 変換後の元画像の座標がサイズから外れている場合（地図画像の外をクリックしている） + if (img_x < 0) or (img_y < 0) or (img_x > self.mymap.width()) or (img_y > self.mymap.height()): + return + self.popup_menu.post(event.x_root, event.y_root) # メニューをポップアップ + self.right_click_coord = [img_x, img_y] # クリックされた元画像上の座標を変数に格納 + return + + + """ + +++++ Ctrl押しながら左クリックしたとき +++++ + """ + def ctrl_left_click(self, event): + if not self.mymap: return + self.mymap.scale_at(event.x, event.y, 1.2) + self.draw_image() + self.plot_origin() + self.plot_waypoints() + self.message("Zoom In") + return + + + """ + +++++ Ctrl押しながら右クリックしたとき +++++ + """ + def ctrl_right_click(self, event): + if not self.mymap: return + self.mymap.scale_at(event.x, event.y, 0.8) + self.draw_image() + self.plot_origin() + self.plot_waypoints() + self.message("Zoom Out") + return + + + """ + +++++ ウィンドウサイズが変更されたとき、情報を更新する +++++ + """ + def window_resize_callback(self, event): + cw = self.canvas.winfo_width() + ch = self.canvas.winfo_height() + if (self.canv_w != cw) or (self.canv_h != ch): + self.canv_w = cw + self.canv_h = ch + self.draw_image() + return + + + + """ + ############################################## + 地図画像の表示、メッセージ表示、座標変換 + ############################################## + """ + """ + +++++ 元画像をaffne変換して描画 +++++ + """ + def draw_image(self): + if not self.mymap: return + if not self.canvas.find_withtag("map_image"): # 初めて画像を描画するとき + self.canvas.create_image(0, 0, anchor='nw', tags="map_image", + image=self.mymap.get_draw_image((self.canv_w, self.canv_h)) + ) + else: + # 既に描画された画像を差し替える + self.canvas.itemconfig("map_image", image=self.mymap.get_draw_image((self.canv_w, self.canv_h))) + return + + + """ + +++++ 画面上部にメッセージを表示する +++++ + """ + def message(self, msg): + if not isinstance(msg, str): + msg = str(msg) + self.msg_label["text"] = str(msg) + + + """ + +++++ 実際の座標をキャンバス上の座標に変換 +++++ + """ + def real2canvas(self, x, y): + img_x, img_y = self.mymap.real2image(x,y) + real_x, real_y = self.mymap.transform(img_x, img_y) + return real_x, real_y + + + + + +if __name__ == "__main__": + root = tk.Tk() # 大元になるウィンドウ + w, h = root.winfo_screenwidth()-10, root.winfo_screenheight()-100 + root.geometry("%dx%d+0+0" % (w, h)) + app = Application(master=root) # tk.Frameを継承したApplicationクラスのインスタンス + app.mainloop() diff --git a/src/waypoint_navigation/waypoint_nav/CMakeLists.txt b/src/waypoint_navigation/waypoint_nav/CMakeLists.txt index af262e2..b4c1003 100644 --- a/src/waypoint_navigation/waypoint_nav/CMakeLists.txt +++ b/src/waypoint_navigation/waypoint_nav/CMakeLists.txt @@ -7,196 +7,55 @@ ## 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) +find_package(catkin REQUIRED + move_base_msgs + geometry_msgs + move_base + roscpp + actionlib_msgs + actionlib + tf + std_srvs + dynamic_reconfigure + base_local_planner + dwa_local_planner + std_msgs +) -## 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 ## -################################################ +find_package(PkgConfig) +pkg_search_module(yaml-cpp REQUIRED yaml-cpp) +pkg_search_module(waypoint_saver REQUIRED waypoint_saver) -## 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 ...) +if(NOT ${yaml-cpp_VERSION} VERSION_LESS "0.5") +add_definitions(-DNEW_YAMLCPP) +endif() -## 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_nav -# CATKIN_DEPENDS other_catkin_pkg -# DEPENDS system_lib + INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME} + DEPENDS waypoint_saver ) -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations include_directories( -# include -# ${catkin_INCLUDE_DIRS} + include + ${catkin_INCLUDE_DIRS} + ${yaml-cpp_INCLUDE_DIRS} + ${waypoint_saver_INCLUDE_DIRS} + ../waypoint_saver/include ) -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/waypoint_nav.cpp -# ) +add_executable(waypoint_nav src/waypoint_nav.cpp) -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(waypoint_nav + ${catkin_LIBRARIES} + ${yaml-cpp_LIBRARIES} +) -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/waypoint_nav_node.cpp) +add_executable(velocity_controller src/velocity_controller.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 "") +target_link_libraries(velocity_controller + ${catkin_LIBRARIES} +) -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${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_nav.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_nav/include/waypoint_nav.h b/src/waypoint_navigation/waypoint_nav/include/waypoint_nav.h index e69de29..de4896e 100644 --- a/src/waypoint_navigation/waypoint_nav/include/waypoint_nav.h +++ b/src/waypoint_navigation/waypoint_nav/include/waypoint_nav.h @@ -0,0 +1,34 @@ +// #include +// #include // include Waypoint class +// #include + + +// class WaypointArray : public geometry_msgs::PoseArray { +// /* +// std_msgs/Header header +// geometry_msgs/Pose[] poses +// */ +// public: +// std::vector waypoint_list; + + +// void add_waypoint(double x, double y, double z, float vel, float rad) +// { +// Waypoint point; +// point.set_x(x); +// point.set_y(y); +// point.set_z(z); +// point.set_vel(vel); +// point.set_rad(rad); +// waypoint_list.push_back(point); +// } + + +// geometry_msgs::PoseArray get_posearray_msg() +// { +// geometry_msgs::PoseArray posearray; +// posearray.header = header; +// posearray.poses = poses; +// return posearray; +// } +// }; \ No newline at end of file diff --git a/src/waypoint_navigation/waypoint_nav/launch/waypoint_nav.launch b/src/waypoint_navigation/waypoint_nav/launch/waypoint_nav.launch index e69de29..e7b5ece 100644 --- a/src/waypoint_navigation/waypoint_nav/launch/waypoint_nav.launch +++ b/src/waypoint_navigation/waypoint_nav/launch/waypoint_nav.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/waypoint_navigation/waypoint_nav/map/mymap.pgm b/src/waypoint_navigation/waypoint_nav/map/mymap.pgm deleted file mode 100644 index 26ecee0..0000000 --- a/src/waypoint_navigation/waypoint_nav/map/mymap.pgm +++ /dev/null Binary files differ diff --git a/src/waypoint_navigation/waypoint_nav/maps/map.pgm b/src/waypoint_navigation/waypoint_nav/maps/map.pgm new file mode 100644 index 0000000..10700a1 --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/maps/map.pgm Binary files differ diff --git a/src/waypoint_navigation/waypoint_nav/maps/map.yaml b/src/waypoint_navigation/waypoint_nav/maps/map.yaml new file mode 100644 index 0000000..8cf0bd4 --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/maps/map.yaml @@ -0,0 +1,7 @@ +image: ./map.pgm +resolution: 0.050000 +origin: [-10.000000, -10.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/waypoint_navigation/waypoint_nav/maps/map_gakunai.pgm b/src/waypoint_navigation/waypoint_nav/maps/map_gakunai.pgm new file mode 100644 index 0000000..8a70604 --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/maps/map_gakunai.pgm Binary files differ diff --git a/src/waypoint_navigation/waypoint_nav/maps/map_gakunai.yaml b/src/waypoint_navigation/waypoint_nav/maps/map_gakunai.yaml new file mode 100644 index 0000000..27872d5 --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/maps/map_gakunai.yaml @@ -0,0 +1,7 @@ +image: map_gakunai.pgm +resolution: 0.050000 +origin: [-100.000000, -100.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/waypoint_navigation/waypoint_nav/package.xml b/src/waypoint_navigation/waypoint_nav/package.xml index 45f9037..b993d36 100644 --- a/src/waypoint_navigation/waypoint_nav/package.xml +++ b/src/waypoint_navigation/waypoint_nav/package.xml @@ -16,40 +16,37 @@ TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin + move_base + yaml-cpp + move_base_msgs + geometry_msgs + roscpp + actionlib_msgs + actionlib + tf + std_srvs + dynamic_reconfigure + base_local_planner + dwa_local_planner + waypoint_saver + std_msgs + + move_base + yaml-cpp + move_base_msgs + geometry_msgs + roscpp + actionlib_msgs + actionlib + tf + dynamic_reconfigure + base_local_planner + dwa_local_planner + waypoint_saver + std_msgs + diff --git a/src/waypoint_navigation/waypoint_nav/param/waypoints.yaml b/src/waypoint_navigation/waypoint_nav/param/waypoints.yaml deleted file mode 100644 index 96e2676..0000000 --- a/src/waypoint_navigation/waypoint_nav/param/waypoints.yaml +++ /dev/null @@ -1,13 +0,0 @@ -waypoints: -- point: {x: -8.729468527653239, y: 0.27403092325199907, z: 0.0} -- point: {x: -2.4868552877312595, y: -4.692719756685904, z: 0.0} -- point: {x: 2.8899940722015174, y: -5.102818436680778, z: 0.0} -- point: {x: 14.363099999999989, y: 0.3898580000000038, z: 0.0} -- point: {x: 16.024200000000008, y: 2.0383000000000067, z: 0.0} -- point: {x: 16.2397, y: 8.29131000000001, z: 0.0} -- point: {x: 16.376199999999997, y: 12.534899999999993, z: 0.0} -finish_pose: - header: {seq: 0.0, stamp: 1.6203674303803937E9, frame_id: hokuyo_link} - pose: - position: {x: 1.41991, y: 0.45038, z: 0.0} - orientation: {x: 0.0, y: 0.0, z: -0.705545, w: 0.708666} diff --git a/src/waypoint_navigation/waypoint_nav/rviz_cfg/nav.rviz b/src/waypoint_navigation/waypoint_nav/rviz_cfg/nav.rviz new file mode 100644 index 0000000..e0e7674 --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/rviz_cfg/nav.rviz @@ -0,0 +1,368 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 636 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: "" + - Class: orne_rviz_plugins/StateTriggerPanel + Name: StateTriggerPanel +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + hokuyo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_caster_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_caster_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 0; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 170; 0; 0 + Min Color: 0; 85; 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 5 + Size (m): 0.10000000149011612 + Style: Points + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: Particles + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /particlecloud + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Footprint + Queue Size: 10 + Topic: /move_base/global_costmap/obstacle_layer_footprint/footprint_stamped + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Global Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base/NavfnROS/plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Billboards + Line Width: 0.10000000149011612 + Name: Local Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base/TrajectoryPlannerROS/local_plan + Unreliable: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: true + Enabled: true + Name: GlobalCostmap + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: LocalCostmap + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 0; 0; 127 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: Waypoints + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /waypoints + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 0; 0; 127 + Enabled: false + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Pose + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /move_base_simple/goal + Unreliable: false + Value: false + - Alpha: 1 + Class: rviz/PointStamped + Color: 204; 41; 204 + Enabled: false + History Length: 10 + Name: PointStamped + Queue Size: 10 + Radius: 0.20000000298023224 + Topic: /target_point + Unreliable: false + Value: false + - Alpha: 1 + Class: rviz/PointStamped + Color: 239; 41; 41 + Enabled: false + History Length: 1 + Name: PointStamped + Queue Size: 10 + Radius: 0.4000000059604645 + Topic: /filtered_target_point + Unreliable: false + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 10 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/ThirdPersonFollower + Distance: 35.39775466918945 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: -0.3276565670967102 + Y: -0.7599051594734192 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.339796543121338 + Target Frame: base_link + Yaw: 3.1153953075408936 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 897 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + StateTriggerPanel: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1269 + X: 564 + Y: -20 diff --git a/src/waypoint_navigation/waypoint_nav/src/velocity_controller.cpp b/src/waypoint_navigation/waypoint_nav/src/velocity_controller.cpp new file mode 100644 index 0000000..53735d7 --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/src/velocity_controller.cpp @@ -0,0 +1,79 @@ +#include +#include +#include +#include +#include + +#include + + +class VelocityController { +public: + VelocityController() : + move_base_action_("move_base", true), + standard_vel_(1.0), + current_max_vel_(1.0), + min_vel_(0.0) + { + while((move_base_action_.waitForServer(ros::Duration(1.0)) == false) && (ros::ok() == true)) { + ROS_INFO("Waiting..."); + } + + ros::NodeHandle private_nh("~"); + std::string max_vel_param = "/move_base/TrajectoryPlannerROS/max_vel_x"; + std::string min_vel_param = "/move_base/TrajectoryPlannerROS/min_vel_x"; + private_nh.param("max_vel_param", max_vel_param, max_vel_param); + private_nh.param("min_vel_param", min_vel_param, min_vel_param); + + 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); + + nh.param(max_vel_param, standard_vel_, standard_vel_); + nh.param(min_vel_param, min_vel_, min_vel_); + ROS_INFO_STREAM("Standard max vel: " << standard_vel_); + } + + + + void maxVelCallback(const std_msgs::Float32 &msg) + { + current_max_vel_ = standard_vel_ * msg.data; + current_max_vel_ = std::max(current_max_vel_, min_vel_); + ROS_INFO_STREAM("Set max vel: " << current_max_vel_); + } + + + + void cmdVelCallback(const geometry_msgs::Twist &msg) + { + pub_msg_.linear.x = std::min(float(msg.linear.x), current_max_vel_); + pub_msg_.angular = msg.angular; + cmd_vel_pub_.publish(pub_msg_); + } + + + +private: + actionlib::SimpleActionClient move_base_action_; + ros::Subscriber max_vel_sub_; + ros::Subscriber cmd_vel_sub_; + ros::Publisher cmd_vel_pub_; + float standard_vel_, current_max_vel_, min_vel_; + geometry_msgs::Twist pub_msg_; +}; + + + + + + + +int main(int argc, char *argv[]) { + ros::init(argc, argv, "velocity_controller"); + VelocityController vc; + + ros::spin(); + return 0; +} \ No newline at end of file diff --git a/src/waypoint_navigation/waypoint_nav/src/waypoint_nav.cpp b/src/waypoint_navigation/waypoint_nav/src/waypoint_nav.cpp index e69de29..cb1f6e8 100644 --- a/src/waypoint_navigation/waypoint_nav/src/waypoint_nav.cpp +++ b/src/waypoint_navigation/waypoint_nav/src/waypoint_nav.cpp @@ -0,0 +1,470 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include // include Waypoint class + +#include +#include +#include +#include +#include + +#ifdef NEW_YAMLCPP +template +void operator >> (const YAML::Node& node, T& i) +{ + i = node.as(); +} +#endif + + +class SwitchRunningStatus : public std::exception { +public: + SwitchRunningStatus() : std::exception() { } +}; + + + +class WaypointsNavigation{ +public: + /* + ++++++++++ Constructer ++++++++++ + */ + WaypointsNavigation() : + has_activate_(false), + stopped_(false), + move_base_action_("move_base", true), + rate_(10), + last_moved_time_(0), + dist_err_(1.0) + { + while((move_base_action_.waitForServer(ros::Duration(1.0)) == false) && (ros::ok() == true)) + { + ROS_INFO("Waiting..."); + } + ros::NodeHandle private_nh("~"); + private_nh.param("robot_frame", robot_frame_, std::string("base_link")); + private_nh.param("world_frame", world_frame_, std::string("map")); + + double max_update_rate; + private_nh.param("max_update_rate", max_update_rate, 10.0); + rate_ = ros::Rate(max_update_rate); + std::string filename = ""; + private_nh.param("filename", filename, filename); + if (filename != "") { + ROS_INFO_STREAM("Read waypoints data from " << filename); + if (!readFile(filename)) { + ROS_ERROR("Failed loading waypoints file"); + } else { + finish_pose_ = waypoints_.poses.end()-1; + computeWpOrientation(); + } + current_waypoint_ = waypoints_.poses.begin(); + wp_num_.data = 1; + } else { + ROS_ERROR("waypoints file doesn't have name"); + } + + ros::NodeHandle nh; + start_server_ = nh.advertiseService("start_wp_nav", &WaypointsNavigation::startNavigationCallback, this); + stop_server_ = nh.advertiseService("stop_wp_nav", &WaypointsNavigation::stopNavigationCallback, this); + resume_server_ = nh.advertiseService("resume_nav", &WaypointsNavigation::resumeNavigationCallback, this); + cmd_vel_sub_ = nh.subscribe("cmd_vel", 1, &WaypointsNavigation::cmdVelCallback, this); + wp_pub_ = nh.advertise("waypoints", 10); + max_vel_pub_ = nh.advertise("max_vel", 5); + wp_num_pub_ = nh.advertise("waypoint_number", 5); + clear_costmaps_srv_ = nh.serviceClient("/move_base/clear_costmaps"); + } + + + + /* + ++++++++++ Read waypoints file ++++++++++ + */ + bool readFile(const std::string &filename) + { + waypoints_.poses.clear(); + try { + std::ifstream ifs(filename.c_str(), std::ifstream::in); + if (ifs.good() == false) return false; + + YAML::Node node; + #ifdef NEW_YAMLCPP + node = YAML::Load(ifs); + #else + YAML::Parser parser(ifs); + parser.GetNextDocument(node); + #endif + + // Read waypoints from yaml file + #ifdef NEW_YAMLCPP + const YAML::Node &wp_node_tmp = node["waypoints"]; + const YAML::Node *wp_node = wp_node_tmp ? &wp_node_tmp : NULL; + #else + const YAML::Node *wp_node = node.FindValue("waypoints"); + #endif + geometry_msgs::Pose pose; + Waypoint point; + if (wp_node != NULL) { + for(int i=0; i < wp_node->size(); i++) { + (*wp_node)[i]["point"]["x"] >> pose.position.x; + (*wp_node)[i]["point"]["y"] >> pose.position.y; + (*wp_node)[i]["point"]["z"] >> pose.position.z; + waypoints_.poses.push_back(pose); + point.x = pose.position.x; + point.y = pose.position.y; + point.z = pose.position.z; + (*wp_node)[i]["point"]["vel"] >> point.vel; + (*wp_node)[i]["point"]["rad"] >> point.rad; + (*wp_node)[i]["point"]["stop"] >> point.stop; + waypoint_list_.push_back(point); + } + } else { + return false; + } + + // Read finish_pose + #ifdef NEW_YAMLCPP + const YAML::Node &fp_node_tmp = node["finish_pose"]; + const YAML::Node *fp_node = fp_node_tmp ? &fp_node_tmp : NULL; + #else + const YAML::Node *fp_node = node.FindValue("finish_pose"); + #endif + if (fp_node != NULL) { + (*fp_node)["pose"]["position"]["x"] >> pose.position.x; + (*fp_node)["pose"]["position"]["y"] >> pose.position.y; + (*fp_node)["pose"]["position"]["z"] >> pose.position.z; + (*fp_node)["pose"]["orientation"]["x"] >> pose.orientation.x; + (*fp_node)["pose"]["orientation"]["y"] >> pose.orientation.y; + (*fp_node)["pose"]["orientation"]["z"] >> pose.orientation.z; + (*fp_node)["pose"]["orientation"]["w"] >> pose.orientation.w; + waypoints_.poses.push_back(pose); + point.x = pose.position.x; + point.y = pose.position.y; + point.z = pose.position.z; + waypoint_list_.push_back(point); + } else { + return false; + } + + } catch(YAML::ParserException &e) { + return false; + + } catch(YAML::RepresentationException &e) { + return false; + } + + return true; + } + + + + /* + ++++++++++ Compute target orientation for each waypoint ++++++++++ + */ + void computeWpOrientation() + { + for(std::vector::iterator it = waypoints_.poses.begin(); it != finish_pose_; it++) { + double goal_direction = atan2((it+1)->position.y - (it)->position.y, + (it+1)->position.x - (it)->position.x); + (it)->orientation = tf::createQuaternionMsgFromYaw(goal_direction); + } + waypoints_.header.frame_id = world_frame_; + } + + + + /* + ++++++++++ Callback function for "StartWaypointsNavigation" button on rviz ++++++++++ + */ + bool startNavigationCallback(std_srvs::Trigger::Request &request, std_srvs::Trigger::Response &response) + { + if ((has_activate_) || (current_waypoint_ != waypoints_.poses.begin())) { + ROS_WARN("Waypoint navigation is already started"); + response.success = false; + return false; + } + std_srvs::Empty empty; + while(!clear_costmaps_srv_.call(empty)) { + ROS_WARN("Resend clear costmap service"); + sleep(); + } + current_waypoint_ = waypoints_.poses.begin(); + wp_num_.data = 1; + has_activate_ = true; + response.success = true; + return true; + } + + + + /* + ++++++++++ Callback function for "ResumeWaypointsNavigation" button on rviz ++++++++++ + */ + bool resumeNavigationCallback(std_srvs::Trigger::Request &request, std_srvs::Trigger::Response &response) + { + if (has_activate_) { + ROS_WARN("Navigation is already active"); + response.success = false; + } else { + ROS_INFO("Navigation has resumed"); + has_activate_ = true; + response.success = true; + } + return true; + } + + + + /* + ++++++++++ Callback function for service of "stop_wp_nav" ++++++++++ + */ + bool stopNavigationCallback(std_srvs::Trigger::Request &request, std_srvs::Trigger::Response &response) + { + if (has_activate_) { + ROS_INFO("Waypoint navigation has been stopped"); + has_activate_ = false; + response.success = true; + } else { + ROS_WARN("Waypoint navigation is already stopped"); + response.success = false; + } + return true; + } + + + + /* + ++++++++++ Callback function for /cmd_vel topic ++++++++++ + */ + void cmdVelCallback(const geometry_msgs::Twist &msg) + { + if (has_activate_ && + msg.linear.x > -0.001 && msg.linear.x < 0.001 && + msg.linear.y > -0.001 && msg.linear.y < 0.001 && + msg.linear.z > -0.001 && msg.linear.z < 0.001 && + msg.angular.x > -0.001 && msg.angular.x < 0.001 && + msg.angular.y > -0.001 && msg.angular.y < 0.001 && + msg.angular.z > -0.001 && msg.angular.z < 0.001) + { + // ROS_INFO("command velocity all zero"); + } else { + last_moved_time_ = ros::Time::now().toSec(); + } + } + + + + /* + ++++++++++ Check if robot reached the goal sent to move_base ++++++++++ + */ + bool navigationFinished() + { + return move_base_action_.getState() == actionlib::SimpleClientGoalState::SUCCEEDED; + } + + + + /* + ++++++++++ Check if robot reached current waypoint ++++++++++ + */ + bool onNavigationPoint(const geometry_msgs::Point &dest, double dist_err=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)); + return dist < dist_err; + } + + + + /* + ++++++++++ Get gloabl position of robot ++++++++++ + */ + tf::StampedTransform getRobotPosGL() + { + tf::StampedTransform robot_gl; + try { + tf_listener_.lookupTransform(world_frame_, robot_frame_, ros::Time(0.0), robot_gl); + } catch(tf::TransformException &e) { + ROS_WARN_STREAM("tf::TransformException: " << e.what()); + } + return robot_gl; + } + + + + /* + ++++++++++ Sleep function used in main loop function ++++++++++ + */ + void sleep() + { + rate_.sleep(); + ros::spinOnce(); + publishPoseArray(); + } + + + + /* + ++++++++++ Publish waypoints to be displayed as arrows on rviz ++++++++++ + */ + void publishPoseArray() + { + waypoints_.header.stamp = ros::Time::now(); + wp_pub_.publish(waypoints_); + } + + + + /* + ++++++++++ Send goal to move_base ++++++++++ + */ + void startNavigationGL(const geometry_msgs::Pose &dest) + { + setMaxVel(); + move_base_msgs::MoveBaseGoal move_base_goal; + move_base_goal.target_pose.header.stamp = ros::Time::now(); + move_base_goal.target_pose.header.frame_id = world_frame_; + move_base_goal.target_pose.pose.position = dest.position; + move_base_goal.target_pose.pose.orientation = dest.orientation; + move_base_action_.sendGoal(move_base_goal); + } + + + + /* + ++++++++++ Publish ratio to maximum speed ++++++++++ + */ + void setMaxVel() + { + float max_vel_rate = waypoint_list_[wp_num_.data-1].vel; + max_vel_msg_.data = max_vel_rate; + max_vel_pub_.publish(max_vel_msg_); + } + + + + /* + ++++++++++ Main loop function ++++++++++ + */ + void run() + { + ROS_INFO("Waiting for waypoint navigation to start."); + while(ros::ok()) { + // has_activate_ is false, nothing to do + if (!has_activate_) { + sleep(); + continue; + } + // go to fianal goal and finish process + if (current_waypoint_ == finish_pose_) { + ROS_INFO_STREAM("Go to final goal"); + startNavigationGL(*current_waypoint_); + while(!navigationFinished() && ros::ok()) sleep(); + ROS_INFO("Final goal reached!!"); + has_activate_ = false; + continue; + } + // go to current waypoint + ROS_INFO_STREAM("Go to waypoint " << wp_num_.data); + ROS_INFO_STREAM("x: " << waypoint_list_[wp_num_.data-1].x << ", y: " << waypoint_list_[wp_num_.data-1].y); + startNavigationGL(*current_waypoint_); + int resend_goal = 0; + double start_nav_time = ros::Time::now().toSec(); + dist_err_ = waypoint_list_[wp_num_.data-1].rad; + try { + // loop until reach waypoint + while(!onNavigationPoint(current_waypoint_->position, dist_err_)) { + if (!has_activate_) throw SwitchRunningStatus(); + if ((!waypoint_list_[wp_num_.data-1].stop) && (navigationFinished())) { + ROS_WARN("Reached default yaw_goal_torelance."); + break; + } + double time = ros::Time::now().toSec(); + if (time - start_nav_time > 10.0 && time - last_moved_time_ > 10.0) { + ROS_WARN("Resend the navigation goal."); + std_srvs::Empty empty; + clear_costmaps_srv_.call(empty); + startNavigationGL(*current_waypoint_); + resend_goal++; + if (resend_goal == 3) { + ROS_WARN("Skip waypoint."); + break; + } + start_nav_time = time; + } + wp_num_pub_.publish(wp_num_); + sleep(); + } + // if current waypoint is stop point + if (waypoint_list_[wp_num_.data-1].stop) { + has_activate_ = false; + move_base_action_.cancelAllGoals(); + ROS_INFO("Waiting for navigation to resume..."); + } + // update current waypoint + current_waypoint_++; + wp_num_.data++; + + } catch(const SwitchRunningStatus &e) { + ROS_INFO_STREAM("Running status switched"); + } + sleep(); + } + } + + + + +private: + actionlib::SimpleActionClient move_base_action_; + geometry_msgs::PoseArray waypoints_; + visualization_msgs::MarkerArray marker_; + std::vector waypoint_list_; + std::vector::iterator current_waypoint_; + std::vector::iterator finish_pose_; + bool has_activate_, stopped_; + std::string robot_frame_, world_frame_; + tf::TransformListener tf_listener_; + ros::Rate rate_; + ros::ServiceServer start_server_, stop_server_, resume_server_; + ros::Subscriber cmd_vel_sub_, 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_; + std_msgs::UInt16 wp_num_; + std_msgs::Float32 max_vel_msg_; +}; + + + + + + +int main(int argc, char *argv[]) { + ros::init(argc, argv, ROS_PACKAGE_NAME); + WaypointsNavigation w_nav; + w_nav.run(); + + return 0; +} diff --git a/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints.yaml b/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints.yaml new file mode 100644 index 0000000..92f70d6 --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints.yaml @@ -0,0 +1,10 @@ +waypoints: +- point: {x: -0.45, y: -0.499032, z: 0.0, vel: 1.0, rad: 0.3, stop: false} +- point: {x: 0.50, y: -0.576395, z: 0.0, vel: 0.5, rad: 0.1, stop: true} +- point: {x: 0.50, y: 0.80, z: 0.0, vel: 1.0, rad: 0.3, stop: false} +- point: {x: 0.515219, y: 1.8, z: 0.0, vel: 0.3, rad: 0.1, stop: true} +finish_pose: + header: {seq: 0.0, stamp: 1620367430.3803937, frame_id: base_link} + pose: + position: {x: -0.550981, y: 1.8, z: 0.0} + orientation: {x: 0.0, y: 0.0, z: 0.99749, w: 0.07074} \ No newline at end of file diff --git a/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints_gakunai.yaml b/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints_gakunai.yaml new file mode 100644 index 0000000..1b42abe --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints_gakunai.yaml @@ -0,0 +1,27 @@ +waypoints: +- point: {x: 15.549, y: 1.99887, z: 0} +- point: {x: 27.7033, y: 0.740999, z: 0} +- point: {x: 44.367489, y: -3.73285, z: 0.0} +- point: {x: 53.4473, y: -1.98026, z: 0} +- point: {x: 53.5381, y: 13.9875, z: 0} +- point: {x: 53.0202, y: 25.7033, z: 0} +- point: {x: 52.624, y: 40.8326, z: 0} +- point: {x: 52.4651, y: 56.1678, z: 0} +- point: {x: 47.4651, y: 55.9678, z: 0} +- point: {x: 41.1833, y: 55.7508, z: 0} +- point: {x: 30.9773, y: 56.3972, z: 0} +- point: {x: 19.605, y: 55.9349, z: 0} +- point: {x: 9.74244, y: 57.775, z: 0} +- point: {x: 9.04664, y: 53.1814, z: 0} +- point: {x: 12.2474, y: 45.1187, z: 0} +- point: {x: 17.5568, y: 32.2592, z: 0} +- point: {x: 19.6331, y: 27.0299, z: 0} +- point: {x: 23.7635, y: 17.3945, z: 0} +- point: {x: 27.6797, y: 6.92171, z: 0} +- point: {x: 29.8247, y: 1.30448, z: 0} +- point: {x: 12.7818, y: 1.13019, z: 0} +finish_pose: + header: {seq: 0, stamp: 1623386648.025251, frame_id: base_link} + pose: + position: {x: -0.8863756, y: 0.5020624, z: 0} + orientation: {x: 0, y: 0, z: 0.999797, w: -0.0201511} \ No newline at end of file diff --git a/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints_gakunai_edit.yaml b/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints_gakunai_edit.yaml new file mode 100644 index 0000000..5d13f3a --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints_gakunai_edit.yaml @@ -0,0 +1,27 @@ +waypoints: +- point: {x: 15.549, y: 1.99887, z: 0} +- point: {x: 27.7033, y: 0.740999, z: 0} +- point: {x: 44.5033, y: -3.88193, z: 0} +- point: {x: 53.4473, y: -1.98026, z: 0} +- point: {x: 53.5381, y: 13.9875, z: 0} +- point: {x: 53.0202, y: 25.7033, z: 0} +- point: {x: 52.624, y: 40.8326, z: 0} +- point: {x: 52.4651, y: 56.1678, z: 0} +- point: {x: 47.4651, y: 55.9678, z: 0} +- point: {x: 41.1833, y: 55.7508, z: 0} +- point: {x: 30.9773, y: 56.3972, z: 0} +- point: {x: 19.605, y: 55.9349, z: 0} +- point: {x: 9.74244, y: 57.775, z: 0} +- point: {x: 9.04664, y: 53.1814, z: 0} +- point: {x: 12.2474, y: 45.1187, z: 0} +- point: {x: 17.5568, y: 32.2592, z: 0} +- point: {x: 19.6331, y: 27.0299, z: 0} +- point: {x: 23.7635, y: 17.3945, z: 0} +- point: {x: 27.6797, y: 6.92171, z: 0} +- point: {x: 29.8247, y: 1.30448, z: 0} +- point: {x: 12.7818, y: 1.13019, z: 0} +finish_pose: + header: {seq: 0, stamp: 1623386648.025251, frame_id: base_link} + pose: + position: {x: -0.8863756, y: 0.5020624, z: 0} + orientation: {x: 0, y: 0, z: 0.999797, w: -0.0201511} \ No newline at end of file diff --git a/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints_test.yaml b/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints_test.yaml new file mode 100644 index 0000000..713cc07 --- /dev/null +++ b/src/waypoint_navigation/waypoint_nav/waypoints_cfg/waypoints_test.yaml @@ -0,0 +1,13 @@ +waypoints: +- point: {x: -1.01321, y: -0.528956, z: -0.000870705, vel: 1, rad: 0.8, stop: 0} +- point: {x: -0.0284393, y: -0.471859, z: 0.00520468, vel: 1, rad: 0.8, stop: 0} +- point: {x: 0.981428, y: -0.5452, z: 0.00261879, vel: 1, rad: 0.8, stop: 0} +- point: {x: 1.90456, y: -0.536331, z: 0.00246334, vel: 1, rad: 0.8, stop: 0} +- point: {x: 1.95224, y: 0.538929, z: 0.00476408, vel: 1, rad: 0.8, stop: 0} +- point: {x: 0.603558, y: 0.551442, z: 0.00079298, vel: 1, rad: 0.8, stop: 0} +- point: {x: 0.539775, y: 1.787, z: 0.00275993, vel: 1, rad: 0.8, stop: 0} +finish_pose: + header: {seq: 0, stamp: 244.465000000, frame_id: map} + pose: + position: {x: -0.488029, y: 1.82672, z: 0} + orientation: {x: 0, y: 0, z: 0.999992, w: 0.00399584} diff --git a/src/waypoint_navigation/waypoint_saver/CMakeLists.txt b/src/waypoint_navigation/waypoint_saver/CMakeLists.txt index 497b438..4134cad 100644 --- a/src/waypoint_navigation/waypoint_saver/CMakeLists.txt +++ b/src/waypoint_navigation/waypoint_saver/CMakeLists.txt @@ -1,150 +1,37 @@ cmake_minimum_required(VERSION 3.0.2) project(waypoint_saver) -## 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() +find_package(catkin REQUIRED + geometry_msgs + visualization_msgs + roscpp + tf +) -################################################ -## 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_saver -# CATKIN_DEPENDS other_catkin_pkg -# DEPENDS system_lib + INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME} ) -########### -## Build ## -########### -## Specify additional locations of header files -## Your package locations should be listed before other locations + include_directories( -# include -# ${catkin_INCLUDE_DIRS} + include + ${catkin_INCLUDE_DIRS} + ${yaml-cpp_INCLUDE_DIRS} ) -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/waypoint_saver.cpp -# ) -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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_saver_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(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") +add_executable(waypoint_saver src/waypoint_saver.cpp) -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${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} -# ) +target_link_libraries(waypoint_saver + ${catkin_LIBRARIES} +) ############# ## Install ## diff --git a/src/waypoint_navigation/waypoint_saver/include/waypoint_saver.h b/src/waypoint_navigation/waypoint_saver/include/waypoint_saver.h index e69de29..9cf23da 100644 --- a/src/waypoint_navigation/waypoint_saver/include/waypoint_saver.h +++ b/src/waypoint_navigation/waypoint_saver/include/waypoint_saver.h @@ -0,0 +1,36 @@ +#include +#include + +class Waypoint { +public: + double x, y, z; + float vel; + float rad; + bool stop; + + Waypoint() : + x(0.0), + y(0.0), + z(0.0), + vel(1.0), + rad(0.8), + stop(false) + { + } + + + std::string getYAMLstr() + { + std::stringstream ss; + ss << "{"; + ss << "x: " << x << ", " ; + ss << "y: " << y << ", " ; + ss << "z: " << z << ", " ; + ss << "vel: " << vel << ", " ; + ss << "rad: " << rad << ", " ; + ss << "stop: " << (stop ? "true" : "false") << "}" ; + return ss.str(); + // {x: *, y: *, z: *, vel: *, rad: *, stop: *} + } + +}; \ No newline at end of file diff --git a/src/waypoint_navigation/waypoint_saver/launch/waypoint_saver.launch b/src/waypoint_navigation/waypoint_saver/launch/waypoint_saver.launch index e69de29..9873494 100644 --- a/src/waypoint_navigation/waypoint_saver/launch/waypoint_saver.launch +++ b/src/waypoint_navigation/waypoint_saver/launch/waypoint_saver.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/waypoint_navigation/waypoint_saver/package.xml b/src/waypoint_navigation/waypoint_saver/package.xml index e64c74b..1ce6999 100644 --- a/src/waypoint_navigation/waypoint_saver/package.xml +++ b/src/waypoint_navigation/waypoint_saver/package.xml @@ -16,41 +16,20 @@ TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin + geometry_msgs + visualization_msgs + roscpp + tf + + geometry_msgs + visualization_msgs + roscpp + tf + + diff --git a/src/waypoint_navigation/waypoint_saver/rviz_cfg/record_waypoints.rviz b/src/waypoint_navigation/waypoint_saver/rviz_cfg/record_waypoints.rviz new file mode 100644 index 0000000..659846c --- /dev/null +++ b/src/waypoint_navigation/waypoint_saver/rviz_cfg/record_waypoints.rviz @@ -0,0 +1,240 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 418 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_scan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_back_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + wheel_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /waypoints + Name: Waypoints + Namespaces: + {} + Queue Size: 100 + Value: true + - Alpha: 1 + Class: rviz/PointStamped + Color: 204; 41; 204 + Enabled: true + History Length: 1 + Name: PointStamped + Queue Size: 10 + Radius: 0.20000000298023224 + Topic: /clicked_point + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Pose + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /move_base_simple/goal + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 10 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 9.116127014160156 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: -0.43540072441101074 + Y: -0.04363036900758743 + Z: 0.47935307025909424 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.179796576499939 + Target Frame: + Yaw: 3.1354191303253174 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 716 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000001560000022dfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e0000022d000000cb00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000252fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000252000000a500fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000026c00fffffffb0000000800540069006d00650100000000000004500000000000000000000003540000022d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 195 + Y: 59 diff --git a/src/waypoint_navigation/waypoint_saver/src/waypoint_saver.cpp b/src/waypoint_navigation/waypoint_saver/src/waypoint_saver.cpp index e69de29..61b6e02 100644 --- a/src/waypoint_navigation/waypoint_saver/src/waypoint_saver.cpp +++ b/src/waypoint_navigation/waypoint_saver/src/waypoint_saver.cpp @@ -0,0 +1,229 @@ +#include +#include + +#include +#include +#include +#include +#include + +#include +#include +#include + +#include // include Waypoint class + + + +class WaypointsSaver{ +public: + WaypointsSaver() : + filename_("waypoints.yaml"), + default_rad_(0.8) + { + waypoints_viz_sub_ = nh_.subscribe("waypoints_viz", 1, &WaypointsSaver::waypointsVizCallback, this); + waypoints_joy_sub_ = nh_.subscribe("waypoints_joy", 1, &WaypointsSaver::waypointsJoyCallback, this); + finish_pose_sub_ = nh_.subscribe("finish_pose", 1, &WaypointsSaver::finishPoseCallback, this); + markers_pub_ = nh_.advertise("waypoints", 10); + + ros::NodeHandle private_nh("~"); + private_nh.param("filename", filename_, filename_); + private_nh.param("save_joy_button", save_joy_button_, 0); + private_nh.param("robot_frame", robot_frame_, std::string("base_link")); + private_nh.param("world_frame", world_frame_, std::string("map")); + private_nh.param("default_rad", default_rad_, default_rad_); + } + + + + /* + ++++++++++ Save waypoint by joy stick button ++++++++++ + */ + void waypointsJoyCallback(const sensor_msgs::Joy &msg) + { + static ros::Time saved_time(0.0); + if (msg.buttons[save_joy_button_] == 1 && (ros::Time::now() - saved_time).toSec() > 3.0) { + pushbackWaypoint(); + saved_time = ros::Time::now(); + } + publishMarkerArray(); + } + + + + /* + ++++++++++ Save waypoint by "Publish Point" on rviz ++++++++++ + */ + void waypointsVizCallback(const geometry_msgs::PointStamped &msg) + { + Waypoint point; + point.x = msg.point.x; + point.y = msg.point.y; + point.z = msg.point.z; + point.rad = default_rad_; + waypoints_.push_back(point); + addWaypointMarker(point); + publishMarkerArray(); + } + + + + /* + ++++++++++ Save finish pose by "2D Nav Goal" on rviz ++++++++++ + */ + void finishPoseCallback(const geometry_msgs::PoseStamped &msg) + { + finish_pose_ = msg; + save(); + waypoints_.clear(); + } + + + + /* + ++++++++++ Get robot's pose and add waypoint ++++++++++ + */ + void pushbackWaypoint() + { + tf::StampedTransform robot_gl; + try { + tf_listener_.lookupTransform(world_frame_, robot_frame_, ros::Time(0.0), robot_gl); + Waypoint point; + point.x = robot_gl.getOrigin().x(); + point.y = robot_gl.getOrigin().y(); + point.z = robot_gl.getOrigin().z(); + point.rad = default_rad_; + waypoints_.push_back(point); + addWaypointMarker(point); + } + catch(tf::TransformException &e) { + ROS_WARN_STREAM("tf::TransformException: " << e.what()); + } + } + + + + /* + ++++++++++ Add marker to display on rviz ++++++++++ + */ + void addWaypointMarker(Waypoint point) + { + double scale = 0.2; + int number = waypoints_.size(); + std::stringstream name; + name << "Waypoint " << number; + + visualization_msgs::Marker marker; + marker.header.frame_id = world_frame_; + marker.header.stamp = ros::Time::now(); + marker.ns = name.str(); + marker.id = number; + marker.type = visualization_msgs::Marker::SPHERE; + marker.action = visualization_msgs::Marker::ADD; + marker.pose.position.x = point.x; + marker.pose.position.y = point.y; + marker.pose.position.z = scale/2; + marker.scale.x = scale; + marker.scale.y = scale; + marker.scale.z = scale; + marker.color.r=0.8f; + marker.color.g=0.2f; + marker.color.b=0.2f; + marker.color.a = 1.0f; + + markers_.push_back(marker); + } + + + + /* + ++++++++++ Publish markerArray to display waypoints on rviz ++++++++++ + */ + void publishMarkerArray() + { + visualization_msgs::MarkerArray marker_array; + marker_array.markers = markers_; + markers_pub_.publish(marker_array); + } + + + + /* + ++++++++++ Save waypoints as yaml file ++++++++++ + */ + void save() + { + std::ofstream ofs(filename_.c_str(), std::ios::out); + /* + waypoints: + - point: {x: *, y: *, z: *, ...} + */ + ofs << "waypoints:" << std::endl; + for(int i=0; i < waypoints_.size(); i++) { + ofs << "- point: " << waypoints_[i].getYAMLstr() << std::endl; + } + /* + finish_pose: + header: {seq: *, stamp: *, frame_id: *} + pose: + positioin: {x: *, y: *, z: *} + orientation: {x: *, y: *, z: *, w: *} + */ + ofs << "finish_pose:" << std::endl; + ofs << " header: {" ; + ofs << "seq: " << finish_pose_.header.seq << ", " ; + ofs << "stamp: " << finish_pose_.header.stamp << ", " ; + ofs << "frame_id: " << finish_pose_.header.frame_id << "}" << std::endl; + ofs << " pose: " << std::endl; + ofs << " position: {" ; + ofs << "x: " << finish_pose_.pose.position.x << ", " ; + ofs << "y: " << finish_pose_.pose.position.y << ", " ; + ofs << "z: " << finish_pose_.pose.position.z << "}" << std::endl; + ofs << " orientation: {" ; + ofs << "x: " << finish_pose_.pose.orientation.x << ", " ; + ofs << "y: " << finish_pose_.pose.orientation.y << ", " ; + ofs << "z: " << finish_pose_.pose.orientation.z << ", " ; + ofs << "w: " << finish_pose_.pose.orientation.w << "}" << std::endl; + + ofs.close(); + ROS_INFO_STREAM("write success"); + } + + + + void run() + { + ros::spin(); + } + + + +private: + ros::Subscriber waypoints_viz_sub_; + ros::Subscriber waypoints_joy_sub_; + ros::Subscriber finish_pose_sub_; + ros::Publisher markers_pub_; + std::vector waypoints_; + std::vector markers_; + geometry_msgs::PoseStamped finish_pose_; + tf::TransformListener tf_listener_; + int save_joy_button_; + ros::NodeHandle nh_; + std::string filename_; + std::string world_frame_; + std::string robot_frame_; + float default_rad_; +}; + + + + + +int main(int argc, char *argv[]) +{ + ros::init(argc, argv, "waypoints_saver"); + WaypointsSaver saver; + saver.run(); + + return 0; +} diff --git a/src/zlac8015d_ros/LICENSE b/src/zlac8015d_ros/LICENSE new file mode 100644 index 0000000..f288702 --- /dev/null +++ b/src/zlac8015d_ros/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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It is safest +to attach them to the start of each source file to most effectively +state the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. + + + Copyright (C) + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/src/zlac8015d_ros/README.md b/src/zlac8015d_ros/README.md index bf8aa92..d38891e 100644 --- a/src/zlac8015d_ros/README.md +++ b/src/zlac8015d_ros/README.md @@ -37,10 +37,10 @@ - `max_left_rpm`: Maximum rpm of left tire. Default is `150`. - `max_right_rpm`: Maximum rpm of right tire. Default is `150`. - `deadband_rpm`: Width of rpm to be regarded as 0. If `3`, then -3 to 3 is considered rpm 0. Default is `3`. -- `TF_header_flame`: Header flame of TF. Default is `odom`. -- `TF_child_flame`: Child flame of TF. Default is `base_link`. -- `odom_header_flame`: Header flame of odom. Default is `odom`. -- `odom_child_flame`: Child flame of odom. Default is `base_link`. +- `TF_header_frame`: Header frame of TF. Default is `odom`. +- `TF_child_frame`: Child frame of TF. Default is `base_link`. +- `odom_header_frame`: Header frame of odom. Default is `odom`. +- `odom_child_frame`: Child frame of odom. Default is `base_link`. ### Topics This node publishes the following topics. diff --git a/src/zlac8015d_ros/emergency_stop/emergency_stop.ino b/src/zlac8015d_ros/emergency_stop/emergency_stop.ino new file mode 100644 index 0000000..e8ad546 --- /dev/null +++ b/src/zlac8015d_ros/emergency_stop/emergency_stop.ino @@ -0,0 +1,109 @@ +/* +Copyright (C) 2022 Alpaca-zip + +This program is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program. If not, see . + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +For the emergency stop to work correctly, you will need to: + +1, Edit ModbusMaster.h + +2, Line 252: static const uint16_t ku16MBResponseTimeout = 2000; => static const uint16_t ku16MBResponseTimeout = 100; +*/ + +#include +#define MAX485_DE 3 +#define MAX485_RE_NEG 2 + +ModbusMaster node; // instantiate ModbusMaster object + +// set pin numbers: +const int estop_buttonPin = 7; // the number of the estop button pin +const int reset_buttonPin = 8; // the number of the reset button pin +const int ledPin = 13; // the number of the LED pin +int estop_buttonState = 0; // variable for reading the estop button status +int reset_buttonState = 0; // variable for reading the reset button status +bool estop_flag; // flag for emer_stop() +bool reset_flag; // flag for reset() + +void preTransmission(){ + digitalWrite(MAX485_RE_NEG, 1); + digitalWrite(MAX485_DE, 1); +} + +void postTransmission(){ + digitalWrite(MAX485_RE_NEG, 0); + digitalWrite(MAX485_DE, 0); +} + +void emer_stop(){ + uint8_t estop_response; + while(estop_flag){ + estop_response = node.writeSingleRegister(0x200E, 0x05); // 0x05: emergency stop + if(estop_response == 0){ + digitalWrite(ledPin, HIGH); // turn LED on + estop_flag = false; + reset_flag = true; + } + } +} + +void reset(){ + uint8_t reset_response; + while(reset_flag){ + reset_response = node.writeSingleRegister(0x200E, 0x06); // 0x06: clear fault + if(reset_response == 0) continue; + reset_response = node.writeSingleRegister(0x200E, 0x07); // 0x07: stop + if(reset_response == 0) continue; + reset_response = node.writeSingleRegister(0x200E, 0x08); // 0x08: enable + if(reset_response == 0){ + digitalWrite(ledPin, LOW); // turn LED off + estop_flag = true; + reset_flag = false; + } + } +} + +void setup(){ + pinMode(ledPin, OUTPUT); // initialize the LED pin as an output: + pinMode(estop_buttonPin, INPUT_PULLUP); // initialize the estop button pin as an input + pinMode(reset_buttonPin, INPUT_PULLUP); // initialize the reset button pin as an input + pinMode(MAX485_RE_NEG, OUTPUT); // initialize the MAX485_RE_NEG pin as an output + pinMode(MAX485_DE, OUTPUT); // initialize the MAX485_DE pin as an output + + // Init in receive mode + digitalWrite(MAX485_RE_NEG, 0); + digitalWrite(MAX485_DE, 0); + + Serial.begin(115200); // modbus communication runs at 115200 baud + node.begin(1, Serial); // modbus slave ID 1 + // callbacks allow us to configure the RS485 transceiver correctly + node.preTransmission(preTransmission); + node.postTransmission(postTransmission); + + estop_flag = true; // initialize the flag as a TRUE + reset_flag = false; // initialize the flag as a FALSE +} + +void loop(){ + estop_buttonState = digitalRead(estop_buttonPin); // read the state of the estop_buttonPin value + reset_buttonState = digitalRead(reset_buttonPin); // read the state of the reset_buttonPin value + + if(estop_buttonState == LOW){ // estop button is pressed + emer_stop(); + }else if(reset_buttonState == LOW){ // reset button is pressed + reset(); + } +} diff --git a/src/zlac8015d_ros/emergency_stop/module_PCB/emergency_stop.fzz b/src/zlac8015d_ros/emergency_stop/module_PCB/emergency_stop.fzz new file mode 100644 index 0000000..b2e7678 --- /dev/null +++ b/src/zlac8015d_ros/emergency_stop/module_PCB/emergency_stop.fzz Binary files differ diff --git a/src/zlac8015d_ros/emergency_stop/module_PCB/gerber/emergency_stop_contour.gm1 b/src/zlac8015d_ros/emergency_stop/module_PCB/gerber/emergency_stop_contour.gm1 new file mode 100644 index 0000000..367d0be --- /dev/null +++ b/src/zlac8015d_ros/emergency_stop/module_PCB/gerber/emergency_stop_contour.gm1 @@ -0,0 +1,26 @@ +G04 MADE WITH FRITZING* +G04 WWW.FRITZING.ORG* +G04 DOUBLE SIDED* +G04 HOLES PLATED* +G04 CONTOUR ON CENTER OF CONTOUR VECTOR* +%ASAXBY*% +%FSLAX23Y23*% +%MOIN*% +%OFA0B0*% +%SFA1.0B1.0*% +%ADD10R,2.602410X1.799010*% +%ADD11C,0.008000*% +%ADD10C,0.008*% +%LNCONTOUR*% +G90* 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new file mode 100644 index 0000000..8c47f66 --- /dev/null +++ b/src/zlac8015d_ros/emergency_stop/module_PCB/gerber/emergency_stop_pnp.txt @@ -0,0 +1,33 @@ +*Pick And Place List +*Company= +*Author= +*eMail= +* +*Project=emergency_stop +*Date=14:38:19 +*CreatedBy=Fritzing 0.9.10b.2022-07-01.CD-2134-0-40d23c29 +* +* +*Coordinates in mm, always center of component +*Origin 0/0=Lower left corner of PCB +*Rotation in degree (0-360, math. pos.) +* +*No;Value;Package;X;Y;Rotation;Side;Name +1;;;15.6175;-12.3318;0;Bottom;TXT1 +2;;;50.7814;-22.8277;0;Bottom;�p�[�c1 +3;;;2.52128;-43.1561;0;Bottom;Hole2 +4;;THT;16.4914;-27.9161;-90;Bottom;J1 +5;;;25.3492;-22.7586;0;Bottom;Copper Fill5 +6;;THT;25.3814;-41.8861;0;Bottom;J2 +7;;;63.4813;-2.51621;0;Bottom;Hole4 +8;;;33.0454;-22.8602;0;Bottom;Copper Fill3 +9;;;29.21;-21.4886;0;Bottom;Copper Fill4 +10;;THT;34.2714;-2.51612;-90;Bottom;J5 +11;;THT;7.60137;-41.8861;0;Bottom;J3 +12;;;63.4813;-43.1561;0;Bottom;Hole1 +13;;;39.37;-36.7286;0;Bottom;Copper 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b/src/zlac8015d_ros/launch/motor_driver_node.launch new file mode 100644 index 0000000..9d10fa5 --- /dev/null +++ b/src/zlac8015d_ros/launch/motor_driver_node.launch @@ -0,0 +1,53 @@ + + +　 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/zlac8015d_ros/params/motor_driver_params.yaml b/src/zlac8015d_ros/params/motor_driver_params.yaml index 5ce5850..b31cdcd 100644 --- a/src/zlac8015d_ros/params/motor_driver_params.yaml +++ b/src/zlac8015d_ros/params/motor_driver_params.yaml @@ -1,25 +1,20 @@ -# Name of USB port for zlac8015d -port: /dev/ttyUSB0 - # Tire & Encoder Parameters # Default: 8 inches wheel ############################### -# Tire circumference -travel_in_one_rev: 0.655 # meter # Tire radius -R_Wheel: 0.105 # meter +left_wheel_radius: 0.0974 # meter 0.1015 +right_wheel_radius: 0.0974 # meter 0.1015 + +# For odometry computation +computation_left_wheel_radius: 0.09806 # meter 0.1015 0.09735 +computation_right_wheel_radius: 0.09794 # meter 0.1015 + # Encoder CPR(counts per revolution) cpr: 16385 ############################### # Distance between tires -wheels_base_width: 0.440 # meter -# Control mode -# 1: relative position control mode -# Subscribe to "/zlac8015d/pos/cmd_deg" and "/zlac8015d/pos/cmd_dist" -# 3: Speed rpm control mode -# Subscribe to "/zlac8015d/twist/cmd_vel", "/zlac8015d/vel/cmd_vel" and "/zlac8015d/vel/cmd_rpm" -control_mode: 3 +wheels_base_width: 0.608 # meter 0.5668 # Motor automatically stops if no topics are received for a certain period of time callback_timeout: 0.5 # seconds # Smaller values will cause small changes in tire motion to have a greater impact on the odometry calculations @@ -27,10 +22,10 @@ decimil_coefficient: 0.001 # Time to reach target position -set_accel_time_left: 200 # ms -set_accel_time_right: 200 # ms -set_decel_time_left: 200 # ms -set_decel_time_right: 200 # ms +set_accel_time_left: 1000 # ms +set_accel_time_right: 1000 # ms +set_decel_time_left: 1000 # ms +set_decel_time_right: 1000 # ms # Maximum rpm max_left_rpm: 150 @@ -38,13 +33,3 @@ # Width of rpm to be regarded as 0 # If 3, then -3 to 3 is considered rpm 0 deadband_rpm: 3 - -# Header flame of TF -TF_header_flame: odom -# Child flame of TF -TF_child_flame: base_link - -# Header flame of odom -odom_header_flame: odom -# Child flame of odom -odom_child_flame: base_link \ No newline at end of file diff --git a/src/zlac8015d_ros/scripts/ZLAC8015D.py b/src/zlac8015d_ros/scripts/ZLAC8015D.py old mode 100644 new mode 100755 index 04b9536..c4ffd1f --- a/src/zlac8015d_ros/scripts/ZLAC8015D.py +++ b/src/zlac8015d_ros/scripts/ZLAC8015D.py @@ -1,8 +1,25 @@ -# This script is taken from the following Python API. -# https://github.com/rasheeddo/ZLAC8015D_python.git +#!/usr/bin/env python3 +""" +Copyright (C) 2022 rasheeddo +Copyright (C) 2022 Alpaca-zip + +This program is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program. If not, see . +""" from pymodbus.client.sync import ModbusSerialClient as ModbusClient import numpy as np +import time class Controller: @@ -96,9 +113,15 @@ ## Odometry ## ############## ## 8 inches wheel - self.travel_in_one_rev = 0.655 + #self.travel_in_one_rev = 0.655 self.cpr = 16385 - self.R_Wheel = 0.105 #meter + #self.R_Wheel = 0.105 #meter + self.left_wheel_radius = 0.105 #meter + self.right_wheel_radius = 0.105 #meter + self.left_circumference = 0.655 + self.right_circumference = 0.655 + self.computation_left_wheel_radius = 0.105 + self.computation_right_wheel_radius = 0.105 ## Some time if read immediatly after write, it would show ModbusIOException when get data from registers def modbus_fail_read_handler(self, ADDR, WORD): @@ -113,19 +136,23 @@ read_success = True except AttributeError as e: print(e) + time.sleep(2) + #time.sleep(0.5) pass return reg def rpm_to_radPerSec(self, rpm): return rpm*2*np.pi/60.0 - + + """ def rpm_to_linear(self, rpm): W_Wheel = self.rpm_to_radPerSec(rpm) V = W_Wheel*self.R_Wheel return V + """ def set_mode(self, MODE): """ @@ -157,6 +184,9 @@ def disable_motor(self): result = self.client.write_register(self.CONTROL_REG, self.DOWN_TIME, unit=self.ID) + + def estop(self): + result = self.client.write_register(self.CONTROL_REG, self.EMER_STOP, unit=self.ID) def get_fault_code(self): @@ -333,7 +363,7 @@ #l_travelled = (float(l_pulse)/self.cpr)*self.travel_in_one_rev # unit in meter #r_travelled = (float(r_pulse)/self.cpr)*self.travel_in_one_rev # unit in meter - l_travelled = (float(l_pulse)/self.cpr)*self.travel_in_one_rev*4 # unit in meter - r_travelled = (float(r_pulse)/self.cpr)*self.travel_in_one_rev*4 # unit in meter + l_travelled = (float(l_pulse)/self.cpr)*self.computation_left_wheel_radius*np.pi*8 # unit in meter + r_travelled = (float(r_pulse)/self.cpr)*self.computation_right_wheel_radius*np.pi*8 # unit in meter return l_travelled, r_travelled diff --git a/src/zlac8015d_ros/scripts/__pycache__/ZLAC8015D.cpython-38.pyc b/src/zlac8015d_ros/scripts/__pycache__/ZLAC8015D.cpython-38.pyc new file mode 100644 index 0000000..7357f31 --- /dev/null +++ b/src/zlac8015d_ros/scripts/__pycache__/ZLAC8015D.cpython-38.pyc Binary files differ diff --git a/src/zlac8015d_ros/scripts/motor_driver_node.py b/src/zlac8015d_ros/scripts/motor_driver_node.py old mode 100644 new mode 100755 index 066c921..a857603 --- a/src/zlac8015d_ros/scripts/motor_driver_node.py +++ b/src/zlac8015d_ros/scripts/motor_driver_node.py @@ -1,13 +1,31 @@ #!/usr/bin/env python3 +""" +Copyright (C) 2022 rasheeddo +Copyright (C) 2022 Alpaca-zip + +This program is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program. If not, see . +""" import rospy import ZLAC8015D +import tf import tf2_ros import numpy as np import time -import yaml from decimal import Decimal, ROUND_HALF_UP from std_msgs.msg import Float32MultiArray +from std_msgs.msg import Bool from geometry_msgs.msg import Twist from nav_msgs.msg import Odometry from tf.transformations import quaternion_from_euler @@ -18,38 +36,39 @@ print("\033[32m" + "Start motor driver node!!" + "\033[0m") print("#########################") #-----Initialize publisher----- - self.wheels_rpm_pub = rospy.Publisher("/wheels_rpm", Float32MultiArray, queue_size=10) - self.wheels_rpm_msg = Float32MultiArray() self.odom_pub = rospy.Publisher("/odom", Odometry, queue_size=10) self.odom_msg = Odometry() #-----Initialize subscriber----- - rospy.Subscriber("/zlac8015d/twist/cmd_vel", Twist, self.zlac8015d_twist_cmd_callback) - rospy.Subscriber("/zlac8015d/vel/cmd_vel", Float32MultiArray, self.zlac8015d_vel_cmd_callback) - rospy.Subscriber("/zlac8015d/vel/cmd_rpm", Float32MultiArray, self.zlac8015d_rpm_cmd_callback) - rospy.Subscriber("/zlac8015d/pos/cmd_deg", Float32MultiArray, self.zlac8015d_deg_cmd_callback) - rospy.Subscriber("/zlac8015d/pos/cmd_dist", Float32MultiArray, self.zlac8015d_dist_cmd_callback) - - #-----Import parameters from yaml file----- - self.load_file = "/home/ubuntu/catkin_ws/src/zlac8015d_ros/params/motor_driver_params.yaml" - with open(self.load_file) as file: - self.obj = yaml.safe_load(file) + rospy.Subscriber(rospy.get_param("/motor_driver_node/twist_cmd_vel_topic"), Twist, self.zlac8015d_twist_cmd_callback) + rospy.Subscriber(rospy.get_param("/motor_driver_node/cmd_vel_topic"), Float32MultiArray, self.zlac8015d_vel_cmd_callback) + rospy.Subscriber(rospy.get_param("/motor_driver_node/cmd_rpm_topic"), Float32MultiArray, self.zlac8015d_rpm_cmd_callback) + rospy.Subscriber(rospy.get_param("/motor_driver_node/cmd_deg_topic"), Float32MultiArray, self.zlac8015d_deg_cmd_callback) + rospy.Subscriber(rospy.get_param("/motor_driver_node/cmd_dist_topic"), Float32MultiArray, self.zlac8015d_dist_cmd_callback) + #-For E-stop- + rospy.Subscriber("/estop", Bool, self.zlac8015d_estop_callback) #-----Initialize ZLAC8015D----- - self.zlc = ZLAC8015D.Controller(self.obj["port"]) - self.zlc.travel_in_one_rev = float(self.obj["travel_in_one_rev"]) - self.zlc.cpr = int(self.obj["cpr"]) - self.zlc.R_Wheel = float(self.obj["R_Wheel"]) - self.control_mode = int(self.obj["control_mode"]) - if self.control_mode == 3: + self.zlc = ZLAC8015D.Controller(rospy.get_param("/motor_driver_node/port")) + self.zlc.cpr = int(rospy.get_param("/motor_driver_node/cpr")) + self.zlc.left_wheel_radius = float(rospy.get_param("/motor_driver_node/left_wheel_radius")) + self.zlc.right_wheel_radius = float(rospy.get_param("/motor_driver_node/right_wheel_radius")) + self.zlc.left_circumference = self.zlc.left_wheel_radius * 2 * np.pi + self.zlc.right_circumference = self.zlc.right_wheel_radius * 2 * np.pi + self.zlc.computation_left_wheel_radius = float(rospy.get_param("/motor_driver_node/computation_left_wheel_radius")) + self.zlc.computation_right_wheel_radius = float(rospy.get_param("/motor_driver_node/computation_right_wheel_radius")) + + + self.control_mode = int(rospy.get_param("/motor_driver_node/control_mode")) + if (self.control_mode == 3): self.zlac8015d_speed_mode_init() - elif self.control_mode == 1: + elif (self.control_mode == 1): self.zlac8015d_position_mode_init() #-----Initialize variable----- self.last_subscribed_time = 0.0 - self.callback_timeout = float(self.obj["callback_timeout"]) - self.deadband_rpm = int(self.obj["deadband_rpm"]) + self.callback_timeout = float(rospy.get_param("/motor_driver_node/callback_timeout")) + self.deadband_rpm = int(rospy.get_param("/motor_driver_node/deadband_rpm")) self.linear_vel_cmd = 0.0 self.angular_vel_cmd = 0.0 self.got_twist_cmd = False @@ -73,15 +92,32 @@ self.theta = 0.0 self.x = 0.0 self.y = 0.0 + self.Wr = 0.0 + self.Wl = 0.0 self.period = 0.05 self.l_meter = 0.0 self.r_meter = 0.0 self.l_meter_init, self.r_meter_init = self.zlc.get_wheels_travelled() self.prev_l_meter = 0.0 self.prev_r_meter = 0.0 + self.wheels_base_width = float(rospy.get_param("/motor_driver_node/wheels_base_width")) self.br = tf2_ros.TransformBroadcaster() self.t = TransformStamped() + self.state_vector = np.zeros((3, 1)) + + #-For E-stop- + self.estop = False + + + """ + ++++++++++++++++++++++++++++++++++++++++++ + zlac8015d_estop_callback function + ++++++++++++++++++++++++++++++++++++++++++ + Callback function to subscribe for "/estop". + """ + def zlac8015d_estop_callback(self, msg): + self.estop = msg.data """ ++++++++++++++++++++++++++++++++++++++++++ @@ -93,7 +129,7 @@ self.linear_vel_cmd = msg.linear.x self.angular_vel_cmd = msg.angular.z self.got_twist_cmd = True - self.last_subscribed_time = rospy.Time.now().nsecs + self.last_subscribed_time = time.perf_counter() """ ++++++++++++++++++++++++++++++++++++++++++ @@ -149,8 +185,8 @@ """ def zlac8015d_speed_mode_init(self): self.zlc.disable_motor() - self.zlc.set_accel_time(int(self.obj["set_accel_time_left"]), int(self.obj["set_accel_time_right"])) - self.zlc.set_decel_time(int(self.obj["set_decel_time_left"]), int(self.obj["set_decel_time_right"])) + self.zlc.set_accel_time(int(rospy.get_param("/motor_driver_node/set_accel_time_left")), int(rospy.get_param("/motor_driver_node/set_accel_time_right"))) + self.zlc.set_decel_time(int(rospy.get_param("/motor_driver_node/set_decel_time_left")), int(rospy.get_param("/motor_driver_node/set_accel_time_right"))) self.zlc.set_mode(3) self.zlc.enable_motor() @@ -162,11 +198,11 @@ """ def zlac8015d_position_mode_init(self): self.zlc.disable_motor() - self.zlc.set_accel_time(int(self.obj["set_accel_time_left"]), int(self.obj["set_accel_time_right"])) - self.zlc.set_decel_time(int(self.obj["set_decel_time_left"]), int(self.obj["set_decel_time_right"])) + self.zlc.set_accel_time(int(rospy.get_param("/motor_driver_node/set_accel_time_left")), int(rospy.get_param("/motor_driver_node/set_accel_time_right"))) + self.zlc.set_decel_time(int(rospy.get_param("/motor_driver_node/set_decel_time_left")), int(rospy.get_param("/motor_driver_node/set_decel_time_right"))) self.zlc.set_mode(1) self.zlc.set_position_async_control() - self.zlc.set_maxRPM_pos(int(self.obj["max_left_rpm"]), int(self.obj["max_right_rpm"])) + self.zlc.set_maxRPM_pos(int(rospy.get_param("/motor_driver_node/max_left_rpm")), int(rospy.get_param("/motor_driver_node/max_right_rpm"))) self.zlc.enable_motor() """ @@ -176,8 +212,8 @@ Convert from twist to rpm. """ def twist_to_rpm(self, linear_vel, angular_vel): - left_vel = linear_vel - float(self.obj["wheels_base_width"]) / 2 * angular_vel - right_vel = linear_vel + float(self.obj["wheels_base_width"]) / 2 * angular_vel + left_vel = linear_vel - self.wheels_base_width / 2 * angular_vel + right_vel = linear_vel + self.wheels_base_width / 2 * angular_vel left_rpm, right_rpm = self.vel_to_rpm(left_vel, -right_vel) return left_rpm, right_rpm @@ -188,8 +224,8 @@ Convert from speed to rpm. """ def vel_to_rpm(self, left_vel, right_vel): - left_rpm = 60 * left_vel / (2 * np.pi * self.zlc.R_Wheel) - right_rpm = 60 * right_vel / (2 * np.pi * self.zlc.R_Wheel) + left_rpm = 60 * left_vel / (2 * np.pi * self.zlc.left_wheel_radius) + right_rpm = 60 * right_vel / (2 * np.pi * self.zlc.right_wheel_radius) return left_rpm, right_rpm """ @@ -199,15 +235,17 @@ Set rpm with limit. """ def zlac8015d_set_rpm_with_limit(self, left_rpm, right_rpm): - if (-int(self.obj["max_left_rpm"]) < left_rpm < int(self.obj["max_left_rpm"])) and (-int(self.obj["max_right_rpm"]) < right_rpm < int(self.obj["max_right_rpm"])): - if (-self.deadband_rpm < left_rpm < self.deadband_rpm): - left_rpm = 0 - if (-self.deadband_rpm < right_rpm < self.deadband_rpm): - right_rpm = 0 - - self.zlc.set_rpm(int(left_rpm), int(right_rpm)) - else: - rospy.logerr("Set RPM exceeds the limit.") + left_rpm_lim = int(rospy.get_param("/motor_driver_node/max_left_rpm")) + right_rpm_lim = int(rospy.get_param("/motor_driver_node/max_right_rpm")) + if ((-left_rpm_lim < left_rpm < left_rpm_lim) and (-right_rpm_lim < right_rpm < right_rpm_lim)): + if (-self.deadband_rpm < left_rpm < self.deadband_rpm): + left_rpm = 0 + if (-self.deadband_rpm < right_rpm < self.deadband_rpm): + right_rpm = 0 + + self.zlc.set_rpm(int(left_rpm), int(right_rpm)) + else: + rospy.logerr("Set RPM exceeds the limit.") """ ++++++++++++++++++++++++++++++++++++++++++ @@ -216,31 +254,101 @@ Odometry computation. """ def calculate_odometry(self): + """ + l_rpm, r_rpm = self.zlc.get_rpm() + self.Wl = self.zlc.rpm_to_radPerSec(l_rpm) + self.Wr = self.zlc.rpm_to_radPerSec(-r_rpm) + """ self.l_meter, self.r_meter = self.zlc.get_wheels_travelled() self.l_meter = self.l_meter - self.l_meter_init self.r_meter = (-1 * self.r_meter) - (-1 * self.r_meter_init) - if self.control_mode == 3: + vl = (self.l_meter - self.prev_l_meter) / self.period + vr = (self.r_meter - self.prev_r_meter) / self.period + self.Wl = vl / self.zlc.computation_left_wheel_radius + self.Wr = vr / self.zlc.computation_right_wheel_radius + + matrix = np.array([[self.zlc.computation_right_wheel_radius / 2, self.zlc.computation_left_wheel_radius / 2], [self.zlc.computation_right_wheel_radius / self.wheels_base_width, -self.zlc.computation_left_wheel_radius / self.wheels_base_width]]) + vector = np.array([[self.Wr], [self.Wl]]) + input_vector = np.dot(matrix, vector) + V = input_vector[0, 0] + Wz = input_vector[1, 0] + + out_matrix = np.array([[1, 0, 0], [0, 1, 0], [0, 0, 1]]) + dirc_matrix = np.array([[np.cos(self.state_vector[2, 0]) * self.period, 0], [np.sin(self.state_vector[2, 0]) * self.period, 0], [0, self.period]]) + out_vector = np.dot(out_matrix, self.state_vector) + np.dot(dirc_matrix, input_vector) + self.x = out_vector[0, 0] + self.y = out_vector[1, 0] + self.theta = out_vector[2, 0] + + #-----Construct tf----- + if(rospy.get_param("/motor_driver_node/publish_TF")): + self.t.header.stamp = rospy.Time.now() + self.t.header.frame_id = rospy.get_param("/motor_driver_node/TF_header_frame") + self.t.child_frame_id = rospy.get_param("/motor_driver_node/TF_child_frame") + self.t.transform.translation.x = self.x + self.t.transform.translation.y = self.y + self.t.transform.translation.z = 0.0 + rotation = tf.transformations.quaternion_from_euler(0, 0, self.theta) + self.t.transform.rotation.x = rotation[0] + self.t.transform.rotation.y = rotation[1] + self.t.transform.rotation.z = rotation[2] + self.t.transform.rotation.w = rotation[3] + self.br.sendTransform(self.t) + + #-----Construct odom message----- + if(rospy.get_param("/motor_driver_node/publish_odom")): + self.odom_msg.header.stamp = rospy.Time.now() + self.odom_msg.header.frame_id = rospy.get_param("/motor_driver_node/odom_header_frame") + self.odom_msg.child_frame_id = rospy.get_param("/motor_driver_node/odom_child_frame") + self.odom_msg.pose.pose.position.x = self.x + self.odom_msg.pose.pose.position.y = self.y + self.odom_msg.pose.pose.position.z = 0.0 + orientation = tf.transformations.quaternion_from_euler(0, 0, self.theta) + self.odom_msg.pose.pose.orientation.x = orientation[0] + self.odom_msg.pose.pose.orientation.y = orientation[1] + self.odom_msg.pose.pose.orientation.z = orientation[2] + self.odom_msg.pose.pose.orientation.w = orientation[3] + self.odom_msg.pose.covariance[0] = 0.0001 + self.odom_msg.pose.covariance[7] = 0.0001 + self.odom_msg.pose.covariance[14] = 0.000001 + self.odom_msg.pose.covariance[21] = 0.000001 + self.odom_msg.pose.covariance[28] = 0.000001 + self.odom_msg.pose.covariance[35] = 0.0001 + self.odom_msg.twist.twist.linear.x = V + self.odom_msg.twist.twist.linear.y = 0.0 + self.odom_msg.twist.twist.angular.z = Wz + self.odom_pub.publish(self.odom_msg) + + self.state_vector[0, 0] = self.x + self.state_vector[1, 0] = self.y + self.state_vector[2, 0] = self.theta + + """ + def calculate_odometry(self): + self.l_meter, self.r_meter = self.zlc.get_wheels_travelled() + self.l_meter = self.l_meter - self.l_meter_init + self.r_meter = (-1 * self.r_meter) - (-1 * self.r_meter_init) + if (self.control_mode == 3): vl, vr = self.zlc.get_linear_velocities() - elif self.control_mode == 1: + elif (self.control_mode == 1): vl = (self.l_meter - self.prev_l_meter) / self.period vr = (self.r_meter - self.prev_r_meter) / self.period - round_vl = float(Decimal(str(vl)).quantize(Decimal(self.obj["decimil_coefficient"]), rounding = ROUND_HALF_UP)) - round_vr = float(Decimal(str(vr)).quantize(Decimal('0.001'), rounding = ROUND_HALF_UP)) - self.obj["TF_header_flame"] + round_vl = float(Decimal(str(vl)).quantize(Decimal(str(rospy.get_param("/motor_driver_node/decimil_coefficient"))), rounding = ROUND_HALF_UP)) + round_vr = float(Decimal(str(vr)).quantize(Decimal(str(rospy.get_param("/motor_driver_node/decimil_coefficient"))), rounding = ROUND_HALF_UP)) #-----Rotatiing----- if ((round_vl * round_vr) < 0.0) and (abs(round_vl) == abs(round_vr)): V = 0.0 - Wz = 2.0 * vr / float(self.obj["wheels_base_width"]) + Wz = 2.0 * vr / self.wheels_base_width self.theta = self.theta + Wz * self.period path = "Rotatiing" #-----Curving----- - elif (round_vl - round_vr) != 0: + elif ((round_vl - round_vr) != 0): V = (vl + vr) / 2.0 - Wz = (vr - vl) / float(self.obj["wheels_base_width"]) - R_ICC = (float(self.obj["wheels_base_width"]) / 2.0) * ((vr + vl) / (vr - vl)) + Wz = (vr - vl) / self.wheels_base_width + R_ICC = (self.wheels_base_width / 2.0) * ((vr + vl) / (vr - vl)) self.x = self.x - R_ICC * np.sin(self.theta) + R_ICC * np.sin(self.theta + Wz * self.period) self.y = self.y + R_ICC * np.cos(self.theta) - R_ICC * np.cos(self.theta + Wz * self.period) self.theta = self.theta + Wz * self.period @@ -256,41 +364,44 @@ #-----Construct tf----- q = quaternion_from_euler(0, 0, self.theta) - self.t.header.stamp = rospy.Time.now() - self.t.header.frame_id = self.obj["TF_header_flame"] - self.t.child_frame_id = self.obj["TF_child_flame"] - self.t.transform.translation.x = self.x - self.t.transform.translation.y = self.y - self.t.transform.translation.z = 0.0 - self.t.transform.rotation.x = q[0] - self.t.transform.rotation.y = q[1] - self.t.transform.rotation.z = q[2] - self.t.transform.rotation.w = q[3] - self.br.sendTransform(self.t) + if(rospy.get_param("/motor_driver_node/publish_TF")): + self.t.header.stamp = rospy.Time.now() + self.t.header.frame_id = rospy.get_param("/motor_driver_node/TF_header_frame") + self.t.child_frame_id = rospy.get_param("/motor_driver_node/TF_child_frame") + self.t.transform.translation.x = self.x + self.t.transform.translation.y = self.y + self.t.transform.translation.z = 0.0 + self.t.transform.rotation.x = q[0] + self.t.transform.rotation.y = q[1] + self.t.transform.rotation.z = q[2] + self.t.transform.rotation.w = q[3] + self.br.sendTransform(self.t) #-----Construct odom message----- - self.odom_msg.header.stamp = rospy.Time.now() - self.odom_msg.header.frame_id = self.obj["odom_header_flame"] - self.odom_msg.child_frame_id = self.obj["odom_child_flame"] - self.odom_msg.pose.pose.position.x = self.x - self.odom_msg.pose.pose.position.y = self.y - self.odom_msg.pose.pose.position.z = 0.0 - self.odom_msg.pose.pose.orientation.x = q[0] - self.odom_msg.pose.pose.orientation.y = q[1] - self.odom_msg.pose.pose.orientation.z = q[2] - self.odom_msg.pose.pose.orientation.w = q[3] - self.odom_msg.pose.covariance[0] = 0.0001 - self.odom_msg.pose.covariance[7] = 0.0001 - self.odom_msg.pose.covariance[14] = 0.000001 - self.odom_msg.pose.covariance[21] = 0.000001 - self.odom_msg.pose.covariance[28] = 0.000001 - self.odom_msg.pose.covariance[35] = 0.0001 - self.odom_msg.twist.twist.linear.x = V - self.odom_msg.twist.twist.linear.y = 0.0 - self.odom_msg.twist.twist.angular.z = Wz - self.odom_pub.publish(self.odom_msg) + if(rospy.get_param("/motor_driver_node/publish_odom")): + self.odom_msg.header.stamp = rospy.Time.now() + self.odom_msg.header.frame_id = rospy.get_param("/motor_driver_node/odom_header_frame") + self.odom_msg.child_frame_id = rospy.get_param("/motor_driver_node/odom_child_frame") + self.odom_msg.pose.pose.position.x = self.x + self.odom_msg.pose.pose.position.y = self.y + self.odom_msg.pose.pose.position.z = 0.0 + self.odom_msg.pose.pose.orientation.x = q[0] + self.odom_msg.pose.pose.orientation.y = q[1] + self.odom_msg.pose.pose.orientation.z = q[2] + self.odom_msg.pose.pose.orientation.w = q[3] + self.odom_msg.pose.covariance[0] = 0.0001 + self.odom_msg.pose.covariance[7] = 0.0001 + self.odom_msg.pose.covariance[14] = 0.000001 + self.odom_msg.pose.covariance[21] = 0.000001 + self.odom_msg.pose.covariance[28] = 0.000001 + self.odom_msg.pose.covariance[35] = 0.0001 + self.odom_msg.twist.twist.linear.x = V + self.odom_msg.twist.twist.linear.y = 0.0 + self.odom_msg.twist.twist.angular.z = Wz + self.odom_pub.publish(self.odom_msg) return vl, vr + """ """ ++++++++++++++++++++++++++++++++++++++++++ @@ -300,64 +411,68 @@ """ def control_loop(self): rate = rospy.Rate(20) # 20Hz + reset_flag = False while True: - if rospy.is_shutdown(): + if (rospy.is_shutdown()): self.zlc.disable_motor() break start_time = time.perf_counter() - - #-----Speed rpm control mode----- - if self.control_mode == 3: - if self.got_twist_cmd: - self.left_rpm_cmd, self.right_rpm_cmd = self.twist_to_rpm(self.linear_vel_cmd, self.angular_vel_cmd) - self.zlac8015d_set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) - self.got_twist_cmd = False - elif self.got_vel_cmd: - self.left_rpm_cmd, self.right_rpm_cmd = self.vel_to_rpm(self.left_vel_cmd, self.right_vel_cmd) - self.zlac8015d_set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) - self.got_vel_cmd = False - elif self.got_vel_rpm_cmd: - self.zlac8015d_set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) - self.got_vel_rpm_cmd = False - elif (time.perf_counter() - self.last_subscribed_time > self.callback_timeout): - self.left_rpm_cmd = 0.0 - self.right_rpm_cmd = 0.0 - self.zlac8015d_set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) - - fb_L_rpm, fb_R_rpm = self.zlc.get_rpm() - self.wheels_rpm_msg.data = [fb_L_rpm, fb_R_rpm] - self.wheels_rpm_pub.publish(self.wheels_rpm_msg) - #-----relative position control mode----- - elif self.control_mode == 1: - if self.got_pos_deg_cmd: - self.zlc.set_relative_angle(self.left_pos_deg_cmd ,self.right_pos_deg_cmd) - self.zlc.move_left_wheel() - self.zlc.move_right_wheel() - self.got_pos_deg_cmd = False - elif self.got_pos_dist_cmd: - left_cmd_deg = (self.left_pos_dist_cmd * 360.0) / self.zlc.travel_in_one_rev - right_cmd_deg = (-self.right_pos_dist_cmd * 360.0) / self.zlc.travel_in_one_rev - self.zlc.set_relative_angle(left_cmd_deg, right_cmd_deg) - self.zlc.move_left_wheel() - self.zlc.move_right_wheel() - self.got_pos_dist_cmd = False + if (self.estop == True): + self.zlc.estop() + reset_flag = True + else: + if(reset_flag == True): + self.zlc.clear_alarm() + self.zlc.disable_motor() + self.zlc.enable_motor() + reset_flag = False + #-----Speed rpm control mode----- + if (self.control_mode == 3): + if (self.got_twist_cmd): + self.left_rpm_cmd, self.right_rpm_cmd = self.twist_to_rpm(self.linear_vel_cmd, self.angular_vel_cmd) + self.zlac8015d_set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) + self.got_twist_cmd = False + elif (self.got_vel_cmd): + self.left_rpm_cmd, self.right_rpm_cmd = self.vel_to_rpm(self.left_vel_cmd, self.right_vel_cmd) + self.zlac8015d_set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) + self.got_vel_cmd = False + elif (self.got_vel_rpm_cmd): + self.zlac8015d_set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) + self.got_vel_rpm_cmd = False + elif (time.perf_counter() - self.last_subscribed_time > self.callback_timeout): + self.left_rpm_cmd = 0.0 + self.right_rpm_cmd = 0.0 + self.zlac8015d_set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) + + #-----relative position control mode----- + elif (self.control_mode == 1): + if (self.got_pos_deg_cmd): + self.zlc.set_relative_angle(self.left_pos_deg_cmd ,self.right_pos_deg_cmd) + self.zlc.move_left_wheel() + self.zlc.move_right_wheel() + self.got_pos_deg_cmd = False + elif (self.got_pos_dist_cmd): + left_cmd_deg = (self.left_pos_dist_cmd * 360.0) / self.zlc.left_circumference + right_cmd_deg = (-self.right_pos_dist_cmd * 360.0) / self.zlc.right_circumference + self.zlc.set_relative_angle(left_cmd_deg, right_cmd_deg) + self.zlc.move_left_wheel() + self.zlc.move_right_wheel() + self.got_pos_dist_cmd = False #-----Odometry computation----- - vl, vr = self.calculate_odometry() - + self.calculate_odometry() self.period = time.perf_counter() - start_time self.prev_l_meter = self.l_meter self.prev_r_meter = self.r_meter #-----Logging to screen----- - if self.control_mode == 1: - print("\033[32m" + "\rcontrol_mode: {:d} | l_meter: {:.2f} | r_meter: {:.2f} | VL: {:.3f} | VR: {:.3f}".format(\ - self.control_mode, self.l_meter, self.r_meter, vl, vr) + "\033[0m", end = "") + if (rospy.get_param("/motor_driver_node/debug")): + print("\033[32m" + "x: {:f} | y: {:f} | yaw: {:f} | Wr: {:f} | Wl: {:f}".format(self.x, self.y, np.rad2deg(self.theta), self.Wr, self.Wl) + "\033[0m") else: - print("\033[32m" + "\rcontrol_mode: {:d} | left_rpm: {:.2f} | right_rpm: {:.2f} | l_meter: {:.2f} | r_meter: {:.2f} | VL: {:.3f} | VR: {:.3f}".format(\ - self.control_mode, fb_L_rpm, -fb_R_rpm, self.l_meter, self.r_meter, vl, vr) + "\033[0m", end = "") + #print("\033[32m" + "Debugging features disable" + "\033[0m") + pass rate.sleep() @@ -374,4 +489,4 @@ rospy.spin() if __name__ == "__main__": - main() \ No newline at end of file + main()