From ba53ee490bf1fbd2d5c3ba86c8d9bb29349685fe Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Tue, 20 Oct 2020 01:24:48 -0500 Subject: [PATCH 01/89] Create dad.txt --- Raspi/dad.txt | 1 + 1 file changed, 1 insertion(+) create mode 100644 Raspi/dad.txt diff --git a/Raspi/dad.txt b/Raspi/dad.txt new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/Raspi/dad.txt @@ -0,0 +1 @@ + From db08f39111dfc379c99c3afaabad49280679007a Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Tue, 20 Oct 2020 01:25:48 -0500 Subject: [PATCH 02/89] Add files via upload --- Raspi/CMakeLists.txt | 211 +++++++++++++++++++++++++++++++++++++++++++ Raspi/package.xml | 69 ++++++++++++++ 2 files changed, 280 insertions(+) create mode 100644 Raspi/CMakeLists.txt create mode 100644 Raspi/package.xml diff --git a/Raspi/CMakeLists.txt b/Raspi/CMakeLists.txt new file mode 100644 index 0000000..96113fc --- /dev/null +++ b/Raspi/CMakeLists.txt @@ -0,0 +1,211 @@ +cmake_minimum_required(VERSION 3.0.2) +project(lea_6h_gps) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS roslaunch + roscpp + rospy + std_msgs + genmsg + message_generation + sensor_msgs + nav_msgs + geometry_msgs +) +roslaunch_add_file_check(launch) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# geometry_msgs# nav_msgs# sensor_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES lea_6h_gps +# CATKIN_DEPENDS genmsg geometry_msgs nav_msgs rospy sensor_msgs std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/lea_6h_gps.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/lea_6h_gps_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 src/lea_6h_gps.py + 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_lea_6h_gps.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/Raspi/package.xml b/Raspi/package.xml new file mode 100644 index 0000000..93f3dc6 --- /dev/null +++ b/Raspi/package.xml @@ -0,0 +1,69 @@ + + + lea_6h_gps + 0.0.0 + The lea_6h_gps package + + + + + sebas + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roslaunch + + + + + + + + From 7cf69be364df33f4187975179d95913965522dad Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Tue, 20 Oct 2020 01:26:35 -0500 Subject: [PATCH 03/89] Delete CMakeLists.txt --- Raspi/CMakeLists.txt | 211 ------------------------------------------- 1 file changed, 211 deletions(-) delete mode 100644 Raspi/CMakeLists.txt diff --git a/Raspi/CMakeLists.txt b/Raspi/CMakeLists.txt deleted file mode 100644 index 96113fc..0000000 --- a/Raspi/CMakeLists.txt +++ /dev/null @@ -1,211 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(lea_6h_gps) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS roslaunch - roscpp - rospy - std_msgs - genmsg - message_generation - sensor_msgs - nav_msgs - geometry_msgs -) -roslaunch_add_file_check(launch) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# geometry_msgs# nav_msgs# sensor_msgs# std_msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES lea_6h_gps -# CATKIN_DEPENDS genmsg geometry_msgs nav_msgs rospy sensor_msgs std_msgs -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include - ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/lea_6h_gps.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/lea_6h_gps_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 src/lea_6h_gps.py - 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_lea_6h_gps.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) From e949183611d88e2bcc7a7faf4d0cb8ea16ec36df Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Tue, 20 Oct 2020 01:26:45 -0500 Subject: [PATCH 04/89] Delete dad.txt --- Raspi/dad.txt | 1 - 1 file changed, 1 deletion(-) delete mode 100644 Raspi/dad.txt diff --git a/Raspi/dad.txt b/Raspi/dad.txt deleted file mode 100644 index 8b13789..0000000 --- a/Raspi/dad.txt +++ /dev/null @@ -1 +0,0 @@ - From dc8215dc2ea31dadd65721df39f7932fe611d341 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Tue, 20 Oct 2020 01:26:55 -0500 Subject: [PATCH 05/89] Delete package.xml --- Raspi/package.xml | 69 ----------------------------------------------- 1 file changed, 69 deletions(-) delete mode 100644 Raspi/package.xml diff --git a/Raspi/package.xml b/Raspi/package.xml deleted file mode 100644 index 93f3dc6..0000000 --- a/Raspi/package.xml +++ /dev/null @@ -1,69 +0,0 @@ - - - lea_6h_gps - 0.0.0 - The lea_6h_gps package - - - - - sebas - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - rospy - std_msgs - roscpp - rospy - std_msgs - roscpp - rospy - std_msgs - roslaunch - - - - - - - - From f179c213b1c1b349aa7854a69947e3e8f555d715 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Tue, 20 Oct 2020 01:28:04 -0500 Subject: [PATCH 06/89] Create CMakeLists.txt --- Raspi_nodes/lea_6h_gps/CMakeLists.txt | 211 ++++++++++++++++++++++++++ 1 file changed, 211 insertions(+) create mode 100644 Raspi_nodes/lea_6h_gps/CMakeLists.txt diff --git a/Raspi_nodes/lea_6h_gps/CMakeLists.txt b/Raspi_nodes/lea_6h_gps/CMakeLists.txt new file mode 100644 index 0000000..96113fc --- /dev/null +++ b/Raspi_nodes/lea_6h_gps/CMakeLists.txt @@ -0,0 +1,211 @@ +cmake_minimum_required(VERSION 3.0.2) +project(lea_6h_gps) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS roslaunch + roscpp + rospy + std_msgs + genmsg + message_generation + sensor_msgs + nav_msgs + geometry_msgs +) +roslaunch_add_file_check(launch) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# geometry_msgs# nav_msgs# sensor_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES lea_6h_gps +# CATKIN_DEPENDS genmsg geometry_msgs nav_msgs rospy sensor_msgs std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/lea_6h_gps.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/lea_6h_gps_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 src/lea_6h_gps.py + 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_lea_6h_gps.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) From 494de5eac6585bed6be6a134d45e059791d3d4ee Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Tue, 20 Oct 2020 01:28:20 -0500 Subject: [PATCH 07/89] Add files via upload --- Raspi_nodes/lea_6h_gps/package.xml | 69 ++++++++++++++++++++++++++++++ 1 file changed, 69 insertions(+) create mode 100644 Raspi_nodes/lea_6h_gps/package.xml diff --git a/Raspi_nodes/lea_6h_gps/package.xml b/Raspi_nodes/lea_6h_gps/package.xml new file mode 100644 index 0000000..93f3dc6 --- /dev/null +++ b/Raspi_nodes/lea_6h_gps/package.xml @@ -0,0 +1,69 @@ + + + lea_6h_gps + 0.0.0 + The lea_6h_gps package + + + + + sebas + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roslaunch + + + + + + + + From 653e669a2df78cad7cc974e3cfe82019ceac83f8 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Tue, 20 Oct 2020 01:29:11 -0500 Subject: [PATCH 08/89] Create lea_6h_gps.py --- Raspi_nodes/lea_6h_gps/src/lea_6h_gps.py | 166 +++++++++++++++++++++++ 1 file changed, 166 insertions(+) create mode 100644 Raspi_nodes/lea_6h_gps/src/lea_6h_gps.py diff --git a/Raspi_nodes/lea_6h_gps/src/lea_6h_gps.py b/Raspi_nodes/lea_6h_gps/src/lea_6h_gps.py new file mode 100644 index 0000000..d3f104c --- /dev/null +++ b/Raspi_nodes/lea_6h_gps/src/lea_6h_gps.py @@ -0,0 +1,166 @@ +#!/usr/bin/env python3 + +import serial +# import time +import rospy +import numpy as np # se emplea esta para operar matrices + +from nav_msgs.msg import Odometry +from sensor_msgs.msg import NavSatFix + +class GPS(object): + def __init__(self): + #initial param + self.port = rospy.get_param('/lea_6h_gps/device_port') + self.baud = rospy.get_param('/lea_6h_gps/baud') + # Geometria del elipsoide + self.a = rospy.get_param('/lea_6h_gps/a') # radius of the earth in metters + self.b = rospy.get_param('/lea_6h_gps/b') + self.e1 = rospy.get_param('/lea_6h_gps/e1') + self.e2 = rospy.get_param('/lea_6h_gps/e2') + # Radio polar de curvatura + self.c = rospy.get_param('/lea_6h_gps/c') + # Central meridian of huso + self.huso = rospy.get_param('/lea_6h_gps/huso') # huso to use in Colombia + + self.Latitude = 0.0 + self.Longitude = 0.0 + self.quality = 0 + self.DOP = 0.0 + self.satelites = 0 + self.altitude = 0.0 + self.distance = 0.0 + self.MeasureCounting = 0 + self.time_utc = 0.0 + self.speed_m_s = 0.0 + + self.x = 0.0 + self.y = 0.0 + + def GpsTimeSeconds(self, Time_Gps): + H = float(Time_Gps[0:2]) + M = float(Time_Gps[2:4]) + S = float(Time_Gps[4:9]) + + Time_seconds = H*3600 + M*60 + S + return Time_seconds + + def GPS_read(self,serial): + line = str(serial.readline()) + data = line.split(",") + aux = data[0].split("'") + data[0] = aux[1] + if data[0] == "$GPGGA": + self.time_utc = float(data[1]) + self.Latitude = int(float(data[2])/100.0) + self.Latitude = self.Latitude + (float(data[2])%100.0)/60.0 + if data[3]=='N': + self.Latitude = self.Latitude*1.0 + elif data[3]=='S': + self.Latitude = self.Latitude*-1.0 + self.Longitude = int(float(data[4])/100.0) + self.Longitude = self.Longitude + (float(data[4])%100.0)/60.0 + if data[5]=='E': + self.Latitude = self.Longitude*1.0 + elif data[5]=='W': + self.Longitude = self.Longitude*-1.0 + self.quality = int(data[6]) + self.satelites = float(data[7]) + self.DOP = float(data[8]) + self.altitude = float(data[9]) + if data[0] == "$GPRMC": + self.Latitude = int(float(data[3])/100.0) + self.Latitude = self.Latitude + (float(data[3])%100.0)/60.0 + self.Longitude = int(float(data[5])/100.0) + self.Longitude = self.Longitude + (float(data[5])%100.0)/60.0 + self.speed_m_s = float(data[7]) * 0.514444 + self.time_utc = float(data[1]) + if self.speed_m_s < 0.5: + self.speed_m_s = 0.0 + self.MeasureCounting += 1 + if self.MeasureCounting == 1: + t_0 = self.GpsTimeSeconds(data[1]) + else: + t_1 = self.GpsTimeSeconds(data[1]) + self.distance = (t_1 - t_0) * self.speed_m_s + t_0 = t_1 + + def LLH2GPS(self,Lat,Long): + Long_rad = Long * (np.pi/180.0) + Lat_rad = Lat * (np.pi/180.0) + # Get the central meridian of huso = lamnda0 + lamnda0 = (self.huso * 6.0 - 183.0)*(np.pi/180.0) + + #Determination of anglular distance that exist between + #point Longitude and central meridian of huso + delta_lambda0 = Long_rad - lamnda0 + + #Coticchia-Surace ecuations for the direct problem + #Switch geographics to UTM + #Estimation of parameters + + A = np.cos(Lat_rad) * np.sin(delta_lambda0) + xi = 0.5 * np.log((1+A)/(1.0-A)) + eta = np.arctan(np.tan(Lat_rad)/np.cos(delta_lambda0)) - Lat_rad + nu = (self.c*0.9996)/np.sqrt((1.0 + self.e2*np.cos(Lat_rad)*np.cos(Lat_rad))) + zeta = (self.e2/2.0)*(xi*xi)*(np.cos(Lat_rad)*np.cos(Lat_rad)) + A1 = np.sin(2.0*Lat_rad) + A2 = A1 * (np.cos(Lat_rad)*np.cos(Lat_rad)) + J2 = Lat_rad + A1/2.0 + J4 = (3*J2 + A2)/4.0 + J6 = (5*J4 + A2 * (np.cos(Lat_rad)*np.cos(Lat_rad)))/3.0 + alpha2 = (3.0/4.0)*(self.e2) + beta = (5.0/3.0)*(alpha2*alpha2) + gamma = (35.0/27.0)*(np.power(alpha2,2)) + B_phi = 0.9996 * self.c * (Lat_rad - alpha2 * J2 + beta * J4 - gamma * J6) + + self.x = xi*nu*(1+zeta/3.0)+500000.0 + self.y = eta*nu*(1+zeta)+B_phi + + def ubicacion(self): + rospy.init_node("GPS_DATA") + # pub = rospy.Publisher('/gps/utm', Vector3Stamped, queue_size=10) + pub1 = rospy.Publisher('/gps/odom', Odometry, queue_size=10) + pub2 = rospy.Publisher('/gps/data', NavSatFix, queue_size=10) + gps = serial.Serial(self.port, baudrate = self.baud, timeout=0.1) + if gps.isOpen(): + rate = rospy.Rate(100) # 100hz + while not rospy.is_shutdown(): + try: + self.GPS_read(gps) + self.LLH2GPS(self.Latitude,self.Longitude) + except: + pass + # PUBLISH DATA + gps_msg = NavSatFix() + gps_msg.header.stamp = rospy.get_rostime() + gps_msg.header.frame_id = "gps_data" + gps_msg.status.status = -1 + if self.quality == 1: + gps_msg.status.status = 0 + elif self.quality == 4: + gps_msg.status.status = 2 + elif self.quality == 5: + gps_msg.status.status = 1 + gps_msg.latitude = self.Latitude + gps_msg.longitude = self.Longitude + gps_msg.altitude = self.altitude + + gps_odm = Odometry() + gps_odm.header.stamp = rospy.get_rostime() + gps_odm.header.frame_id = "gps_odom_data" + gps_odm.child_frame_id = "UTM_coordenates" + gps_odm.pose.pose.position.x = self.x + gps_odm.pose.pose.position.y = self.y + gps_odm.pose.pose.position.z = self.altitude + + pub1.publish(gps_odm) + pub2.publish(gps_msg) + rate.sleep() + +if __name__ == '__main__': + try: + cv = GPS() + cv.ubicacion() + except rospy.ROSInterruptException: + pass From 04e5fce65e929f87009991ac07047c2962587664 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Tue, 20 Oct 2020 01:30:10 -0500 Subject: [PATCH 09/89] Create lea_6h_gps.launch --- .../lea_6h_gps/launch/lea_6h_gps.launch | 30 +++++++++++++++++++ 1 file changed, 30 insertions(+) create mode 100644 Raspi_nodes/lea_6h_gps/launch/lea_6h_gps.launch diff --git a/Raspi_nodes/lea_6h_gps/launch/lea_6h_gps.launch b/Raspi_nodes/lea_6h_gps/launch/lea_6h_gps.launch new file mode 100644 index 0000000..4ee972d --- /dev/null +++ b/Raspi_nodes/lea_6h_gps/launch/lea_6h_gps.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From dad82a58e1c436eddc1da0badc0f451673c774b4 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Tue, 20 Oct 2020 01:30:53 -0500 Subject: [PATCH 10/89] Create CMakeLists.txt --- Raspi_nodes/um7_node/CMakeLists.txt | 207 ++++++++++++++++++++++++++++ 1 file changed, 207 insertions(+) create mode 100644 Raspi_nodes/um7_node/CMakeLists.txt diff --git a/Raspi_nodes/um7_node/CMakeLists.txt b/Raspi_nodes/um7_node/CMakeLists.txt new file mode 100644 index 0000000..0966b2c --- /dev/null +++ b/Raspi_nodes/um7_node/CMakeLists.txt @@ -0,0 +1,207 @@ +cmake_minimum_required(VERSION 3.0.2) +project(um7_node) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS roslaunch + roscpp + rospy + std_msgs + std_srvs +) +roslaunch_add_file_check(launch) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES um7_node +# CATKIN_DEPENDS roscpp rospy std_msgs std_srvs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/um7_node.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/um7_node_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 src/um7_node.py + 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_um7_node.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) From 1ef8802368ab1ed763a4750648ab8eec6108012b Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Tue, 20 Oct 2020 01:31:25 -0500 Subject: [PATCH 11/89] Create um7_node.py --- Raspi_nodes/um7_node/src/um7_node.py | 66 ++++++++++++++++++++++++++++ 1 file changed, 66 insertions(+) create mode 100644 Raspi_nodes/um7_node/src/um7_node.py diff --git a/Raspi_nodes/um7_node/src/um7_node.py b/Raspi_nodes/um7_node/src/um7_node.py new file mode 100644 index 0000000..2059393 --- /dev/null +++ b/Raspi_nodes/um7_node/src/um7_node.py @@ -0,0 +1,66 @@ +#!/usr/bin/env python3 + +""" +Created on Wed Oct 14 16:26:49 2020 +Webpage IMU: https://pypi.org/project/um7py/ +@author: Sebastian Tilaguy +""" + +import rospy +from sensor_msgs.msg import Imu +from geometry_msgs.msg import Quaternion, Vector3 +import transformations as tf +import numpy as np + +from um7py import UM7Serial + +def deg2rad(angle): + out = angle*np.pi/180.0 + return out + +class IMU_node(): + def __init__(self): + # Quaternion data + self.q = 0.0 + # angular velocities data + self.velocities = 0.0 + #initial param + port = rospy.get_param('/um7_node/device_port') + + rospy.init_node('UM7_node') + + self.um7_serial = UM7Serial(port_name=port) + self.um7_serial.zero_gyros = 1 + + self.run() + + def run(self): + pub = rospy.Publisher('um7', Imu, queue_size=10) + rate = rospy.Rate(100) # 100hz + while not rospy.is_shutdown(): + self.UM7(self.um7_serial) + + mesg = Imu() + mesg.header.stamp = rospy.Time.now() + mesg.header.frame_id = 'UM7' + mesg.orientation = Quaternion(*self.q) + mesg.angular_velocity = Vector3(*self.velocities) + + pub.publish(mesg) + rate.sleep() + + + def UM7(self,IMU): + for packet in IMU.recv_euler_broadcast(5): + # print(f"packet: {packet}") + roll = packet.roll + pitch = packet.pitch + yaw = packet.yaw + self.velocities = [packet.roll_rate, packet.pitch_rate, packet.yaw_rate] + self.q = tf.quaternion_from_euler(deg2rad(roll), deg2rad(pitch), deg2rad(yaw)) + +if __name__ == '__main__': + try: + IMU_node() + except rospy.ROSInterruptException: + pass From b06b2a9ccaee7f7a7f6f81365e28cdc2ffdb7158 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Tue, 20 Oct 2020 01:31:51 -0500 Subject: [PATCH 12/89] Add files via upload --- Raspi_nodes/um7_node/package.xml | 69 ++++++++++++++++++++++++++++++++ 1 file changed, 69 insertions(+) create mode 100644 Raspi_nodes/um7_node/package.xml diff --git a/Raspi_nodes/um7_node/package.xml b/Raspi_nodes/um7_node/package.xml new file mode 100644 index 0000000..1cb703e --- /dev/null +++ b/Raspi_nodes/um7_node/package.xml @@ -0,0 +1,69 @@ + + + um7_node + 0.0.0 + The um7_node package + + + + + sebas + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roslaunch + + + + + + + + From 92232af82f30692d034be3398d023efcdd3fcc9d Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Tue, 20 Oct 2020 01:32:57 -0500 Subject: [PATCH 13/89] Create um7_node.launch --- Raspi_nodes/um7_node/launch/um7_node.launch | 9 +++++++++ 1 file changed, 9 insertions(+) create mode 100644 Raspi_nodes/um7_node/launch/um7_node.launch diff --git a/Raspi_nodes/um7_node/launch/um7_node.launch b/Raspi_nodes/um7_node/launch/um7_node.launch new file mode 100644 index 0000000..60dd5ce --- /dev/null +++ b/Raspi_nodes/um7_node/launch/um7_node.launch @@ -0,0 +1,9 @@ + + + + + + + + + From 31a193cb67a842912cc1e24d09cf79d396e79191 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Wed, 21 Oct 2020 15:22:51 -0500 Subject: [PATCH 14/89] Add files via upload --- Raspi_nodes/lea_6h_gps/src/lea_6h_gps.py | 50 ++++++++++++++---------- 1 file changed, 29 insertions(+), 21 deletions(-) diff --git a/Raspi_nodes/lea_6h_gps/src/lea_6h_gps.py b/Raspi_nodes/lea_6h_gps/src/lea_6h_gps.py index d3f104c..5e0f949 100644 --- a/Raspi_nodes/lea_6h_gps/src/lea_6h_gps.py +++ b/Raspi_nodes/lea_6h_gps/src/lea_6h_gps.py @@ -1,4 +1,4 @@ -#!/usr/bin/env python3 +#!/usr/bin/env python import serial # import time @@ -33,14 +33,25 @@ def __init__(self): self.MeasureCounting = 0 self.time_utc = 0.0 self.speed_m_s = 0.0 + self.eLat = 0.0 + self.eLon = 0.0 + self.eAlt = 0.0 + self.date = 0.0 + self.COG = 0.0 + self.Mag = 0.0 + self.eMag = 0.0 + self.x = 0.0 self.y = 0.0 def GpsTimeSeconds(self, Time_Gps): - H = float(Time_Gps[0:2]) - M = float(Time_Gps[2:4]) - S = float(Time_Gps[4:9]) + aux = float(Time_Gps) + H = int(aux/10000.0) + aux = aux%10000.0 + M = int(aux/100.0) + aux = aux%100.0 + S = aux/100.0 Time_seconds = H*3600 + M*60 + S return Time_seconds @@ -51,7 +62,7 @@ def GPS_read(self,serial): aux = data[0].split("'") data[0] = aux[1] if data[0] == "$GPGGA": - self.time_utc = float(data[1]) + self.time_utc = self.GpsTimeSeconds(data[1]) self.Latitude = int(float(data[2])/100.0) self.Latitude = self.Latitude + (float(data[2])%100.0)/60.0 if data[3]=='N': @@ -69,21 +80,18 @@ def GPS_read(self,serial): self.DOP = float(data[8]) self.altitude = float(data[9]) if data[0] == "$GPRMC": - self.Latitude = int(float(data[3])/100.0) - self.Latitude = self.Latitude + (float(data[3])%100.0)/60.0 - self.Longitude = int(float(data[5])/100.0) - self.Longitude = self.Longitude + (float(data[5])%100.0)/60.0 - self.speed_m_s = float(data[7]) * 0.514444 - self.time_utc = float(data[1]) - if self.speed_m_s < 0.5: - self.speed_m_s = 0.0 - self.MeasureCounting += 1 - if self.MeasureCounting == 1: - t_0 = self.GpsTimeSeconds(data[1]) - else: - t_1 = self.GpsTimeSeconds(data[1]) - self.distance = (t_1 - t_0) * self.speed_m_s - t_0 = t_1 + self.speed_m_s = float(data[7])*0.514444 + self.COG = float(data[8]) + self.date = data[9] + self.Mag = float(data[10]) + if data[11]=='E': + self.Mag = self.Mag*1.0 + elif data[11]=='W': + self.Mag = self.Mag*-1.0 + if data[0] == "$GPGBS": + self.eLat = float(data[2]) + self.eLon = float(data[3]) + self.eAlt = float(data[4]) def LLH2GPS(self,Lat,Long): Long_rad = Long * (np.pi/180.0) @@ -163,4 +171,4 @@ def ubicacion(self): cv = GPS() cv.ubicacion() except rospy.ROSInterruptException: - pass + pass \ No newline at end of file From 6b2410a2290a54ae09aaf8af95c03e926d110bc7 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Fri, 23 Oct 2020 12:18:42 -0500 Subject: [PATCH 15/89] Update lea_6h_gps.py --- Raspi_nodes/lea_6h_gps/src/lea_6h_gps.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Raspi_nodes/lea_6h_gps/src/lea_6h_gps.py b/Raspi_nodes/lea_6h_gps/src/lea_6h_gps.py index 5e0f949..030d669 100644 --- a/Raspi_nodes/lea_6h_gps/src/lea_6h_gps.py +++ b/Raspi_nodes/lea_6h_gps/src/lea_6h_gps.py @@ -72,7 +72,7 @@ def GPS_read(self,serial): self.Longitude = int(float(data[4])/100.0) self.Longitude = self.Longitude + (float(data[4])%100.0)/60.0 if data[5]=='E': - self.Latitude = self.Longitude*1.0 + self.Longitude = self.Longitude*1.0 elif data[5]=='W': self.Longitude = self.Longitude*-1.0 self.quality = int(data[6]) @@ -171,4 +171,4 @@ def ubicacion(self): cv = GPS() cv.ubicacion() except rospy.ROSInterruptException: - pass \ No newline at end of file + pass From 7a5ae14ec75aafc280871b0282bfc2adea3323e9 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Fri, 23 Oct 2020 14:57:50 -0500 Subject: [PATCH 16/89] Create sdjs.txt --- src/GPS/sdjs.txt | 1 + 1 file changed, 1 insertion(+) create mode 100644 src/GPS/sdjs.txt diff --git a/src/GPS/sdjs.txt b/src/GPS/sdjs.txt new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/src/GPS/sdjs.txt @@ -0,0 +1 @@ + From 38a8af881dc442af4cf9f53ea397a32d8d8c2c58 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Fri, 23 Oct 2020 14:58:16 -0500 Subject: [PATCH 17/89] Create fjaskf.txt --- src/GPS/src/fjaskf.txt | 1 + 1 file changed, 1 insertion(+) create mode 100644 src/GPS/src/fjaskf.txt diff --git a/src/GPS/src/fjaskf.txt b/src/GPS/src/fjaskf.txt new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/src/GPS/src/fjaskf.txt @@ -0,0 +1 @@ + From fdb0480d320074d8c9ce713e74fcf20651799f11 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Fri, 23 Oct 2020 14:58:34 -0500 Subject: [PATCH 18/89] Create jsdkfj.txt --- src/GPS/launch/jsdkfj.txt | 1 + 1 file changed, 1 insertion(+) create mode 100644 src/GPS/launch/jsdkfj.txt diff --git a/src/GPS/launch/jsdkfj.txt b/src/GPS/launch/jsdkfj.txt new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/src/GPS/launch/jsdkfj.txt @@ -0,0 +1 @@ + From 3541228ee6735ab0ffea46c5e92b9a9b80c0a365 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Fri, 23 Oct 2020 14:59:04 -0500 Subject: [PATCH 19/89] Add files via upload --- src/GPS/CMakeLists.txt | 211 +++++++++++++++++++++++++++++++++++++++++ src/GPS/package.xml | 69 ++++++++++++++ 2 files changed, 280 insertions(+) create mode 100644 src/GPS/CMakeLists.txt create mode 100644 src/GPS/package.xml diff --git a/src/GPS/CMakeLists.txt b/src/GPS/CMakeLists.txt new file mode 100644 index 0000000..96113fc --- /dev/null +++ b/src/GPS/CMakeLists.txt @@ -0,0 +1,211 @@ +cmake_minimum_required(VERSION 3.0.2) +project(lea_6h_gps) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS roslaunch + roscpp + rospy + std_msgs + genmsg + message_generation + sensor_msgs + nav_msgs + geometry_msgs +) +roslaunch_add_file_check(launch) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# geometry_msgs# nav_msgs# sensor_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES lea_6h_gps +# CATKIN_DEPENDS genmsg geometry_msgs nav_msgs rospy sensor_msgs std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/lea_6h_gps.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/lea_6h_gps_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 src/lea_6h_gps.py + 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_lea_6h_gps.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/GPS/package.xml b/src/GPS/package.xml new file mode 100644 index 0000000..93f3dc6 --- /dev/null +++ b/src/GPS/package.xml @@ -0,0 +1,69 @@ + + + lea_6h_gps + 0.0.0 + The lea_6h_gps package + + + + + sebas + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roslaunch + + + + + + + + From ae67aa11a48fef94fadbed0b185fcdf3804091fa Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Fri, 23 Oct 2020 14:59:27 -0500 Subject: [PATCH 20/89] Delete Arduino_serial.py --- src/Arduinio_gps+imu/Arduino_serial.py | 67 -------------------------- 1 file changed, 67 deletions(-) delete mode 100755 src/Arduinio_gps+imu/Arduino_serial.py diff --git a/src/Arduinio_gps+imu/Arduino_serial.py b/src/Arduinio_gps+imu/Arduino_serial.py deleted file mode 100755 index 99b634b..0000000 --- a/src/Arduinio_gps+imu/Arduino_serial.py +++ /dev/null @@ -1,67 +0,0 @@ -""" -Created on Sat Aug 8 16:56:14 2020 - -@author: Sebastian_Tilaguy -""" - -import rospy -from sensor_msgs.msg import NavSatFix, Imu -import serial -import tf -from geometry_msgs.msg import Quaternion - -ser = serial.Serial( - port='/dev/tty_Arduino',\ - baudrate=9600,\ - parity=serial.PARITY_NONE,\ - stopbits=serial.STOPBITS_ONE,\ - bytesize=serial.EIGHTBITS) - -def talker(): - pub_imu = rospy.Publisher('/IMU_LiDAR', Imu, queue_size=10) - pub_gps = rospy.Publisher('/GPS', NavSatFix, queue_size=10) - rospy.init_node('IMU_GPS', anonymous=False) - rate = rospy.Rate(10) # 10hz - Imu_msg = Imu() - Gps_msg = NavSatFix() - print("connected to: " + ser.portstr) - while not rospy.is_shutdown(): - line = str(ser.readline()) - line = line.replace("\\r\\n'",'') - data = line.split('$') -# print(data) - try: - data = data[1].split(',') - # print(str(count) + str(': ') + str(data) ) - if (data[0]=='GPS'): - Gps_msg.header.frame_id = 'GPS' - Gps_msg.header.stamp = rospy.Time.now() - Lat = float(data[1]) - Long = float(data[2]) - Ns = float(data[3]) - Hsnm = float(data[4]) - # print(str(Lat) + str(', ') + str(Long) + str(', ') + str(Ns) + str(', ') + str(Hsnm)) - Gps_msg.latitude = Lat - Gps_msg.longitude = Long - Gps_msg.altitude = Hsnm - elif(data[0]=='IMU'): - Imu_msg.header.frame_id = 'Imu_Lidar' - Imu_msg.header.stamp = rospy.Time.now() - Roll = float(data[1]) - Pitch = float(data[2]) - Yaw = float(data[3]) - # print(str(Roll) + str(', ') + str(Pitch) + str(', ') + str(Yaw)) - q = tf.transformations.quaternion_from_euler(Roll, Pitch, Yaw) - Imu_msg.orientation = Quaternion(*q) - pub_imu.publish(Imu_msg) - pub_gps.publish(Gps_msg) - except: - pass - rate.sleep() - -if __name__ == '__main__': - try: - talker() - except rospy.ROSInterruptException: - pass - From 25832d91007e0e3f76d77bd4922d61c55fb4c2b5 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Fri, 23 Oct 2020 14:59:39 -0500 Subject: [PATCH 21/89] Delete sdjs.txt --- src/GPS/sdjs.txt | 1 - 1 file changed, 1 deletion(-) delete mode 100644 src/GPS/sdjs.txt diff --git a/src/GPS/sdjs.txt b/src/GPS/sdjs.txt deleted file mode 100644 index 8b13789..0000000 --- a/src/GPS/sdjs.txt +++ /dev/null @@ -1 +0,0 @@ - From 78a131335beb6295b6ef186971d35b77fb8b9599 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Fri, 23 Oct 2020 14:59:56 -0500 Subject: [PATCH 22/89] Add files via upload --- src/GPS/src/lea_6h_gps.py | 175 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 175 insertions(+) create mode 100644 src/GPS/src/lea_6h_gps.py diff --git a/src/GPS/src/lea_6h_gps.py b/src/GPS/src/lea_6h_gps.py new file mode 100644 index 0000000..87418ad --- /dev/null +++ b/src/GPS/src/lea_6h_gps.py @@ -0,0 +1,175 @@ +#!/usr/bin/env python3 + +import serial +# import time +import rospy +import numpy as np # se emplea esta para operar matrices + +from nav_msgs.msg import Odometry +from sensor_msgs.msg import NavSatFix + +class GPS(object): + def __init__(self): + #initial param + self.port = rospy.get_param('/lea_6h_gps/device_port') + self.baud = rospy.get_param('/lea_6h_gps/baud') + # Geometria del elipsoide + self.a = rospy.get_param('/lea_6h_gps/a') # radius of the earth in metters + self.b = rospy.get_param('/lea_6h_gps/b') + self.e1 = rospy.get_param('/lea_6h_gps/e1') + self.e2 = rospy.get_param('/lea_6h_gps/e2') + # Radio polar de curvatura + self.c = rospy.get_param('/lea_6h_gps/c') + # Central meridian of huso + self.huso = rospy.get_param('/lea_6h_gps/huso') # huso to use in Colombia + + self.Latitude = 0.0 + self.Longitude = 0.0 + self.quality = 0 + self.DOP = 0.0 + self.satelites = 0 + self.altitude = 0.0 + self.distance = 0.0 + self.MeasureCounting = 0 + self.time_utc = 0.0 + self.speed_m_s = 0.0 + self.eLat = 0.0 + self.eLon = 0.0 + self.eAlt = 0.0 + self.date = 0.0 + self.COG = 0.0 + self.Mag = 0.0 + self.eMag = 0.0 + + + self.x = 0.0 + self.y = 0.0 + + def GpsTimeSeconds(self, Time_Gps): + print(Time_Gps) + aux = float(Time_Gps) + H = int(aux/10000.0) + aux = aux%10000.0 + M = int(aux/100.0) + aux = aux%100.0 + S = aux/100.0 + + Time_seconds = H*3600 + M*60 + S + return Time_seconds + + def GPS_read(self,serial): + line = str(serial.readline()) + print(line) + data = line.split(",") + if data[0] == "$GPGGA": + self.time_utc = self.GpsTimeSeconds(data[1]) + self.Latitude = int(float(data[2])/100.0) + self.Latitude = self.Latitude + (float(data[2])%100.0)/60.0 + if data[3]=='N': + self.Latitude = self.Latitude*1.0 + elif data[3]=='S': + self.Latitude = self.Latitude*-1.0 + self.Longitude = int(float(data[4])/100.0) + self.Longitude = self.Longitude + (float(data[4])%100.0)/60.0 + if data[5]=='E': + self.Latitude = self.Longitude*1.0 + elif data[5]=='W': + self.Longitude = self.Longitude*-1.0 + self.quality = int(data[6]) + self.satelites = float(data[7]) + self.DOP = float(data[8]) + self.altitude = float(data[9]) + if data[0] == "$GPRMC": + self.speed_m_s = float(data[7])*0.514444 + self.COG = float(data[8]) + self.date = data[9] + self.Mag = float(data[10]) + if data[11]=='E': + self.Mag = self.Mag*1.0 + elif data[11]=='W': + self.Mag = self.Mag*-1.0 + print(self.Mag) + if data[0] == "$GPGBS": + self.eLat = float(data[2]) + self.eLon = float(data[3]) + self.eAlt = float(data[4]) + + def LLH2GPS(self,Lat,Long): + Long_rad = Long * (np.pi/180.0) + Lat_rad = Lat * (np.pi/180.0) + # Get the central meridian of huso = lamnda0 + lamnda0 = (self.huso * 6.0 - 183.0)*(np.pi/180.0) + + #Determination of anglular distance that exist between + #point Longitude and central meridian of huso + delta_lambda0 = Long_rad - lamnda0 + + #Coticchia-Surace ecuations for the direct problem + #Switch geographics to UTM + #Estimation of parameters + + A = np.cos(Lat_rad) * np.sin(delta_lambda0) + xi = 0.5 * np.log((1+A)/(1.0-A)) + eta = np.arctan(np.tan(Lat_rad)/np.cos(delta_lambda0)) - Lat_rad + nu = (self.c*0.9996)/np.sqrt((1.0 + self.e2*np.cos(Lat_rad)*np.cos(Lat_rad))) + zeta = (self.e2/2.0)*(xi*xi)*(np.cos(Lat_rad)*np.cos(Lat_rad)) + A1 = np.sin(2.0*Lat_rad) + A2 = A1 * (np.cos(Lat_rad)*np.cos(Lat_rad)) + J2 = Lat_rad + A1/2.0 + J4 = (3*J2 + A2)/4.0 + J6 = (5*J4 + A2 * (np.cos(Lat_rad)*np.cos(Lat_rad)))/3.0 + alpha2 = (3.0/4.0)*(self.e2) + beta = (5.0/3.0)*(alpha2*alpha2) + gamma = (35.0/27.0)*(np.power(alpha2,2)) + B_phi = 0.9996 * self.c * (Lat_rad - alpha2 * J2 + beta * J4 - gamma * J6) + + self.x = xi*nu*(1+zeta/3.0)+500000.0 + self.y = eta*nu*(1+zeta)+B_phi + + def ubicacion(self): + rospy.init_node("GPS_DATA") + pub1 = rospy.Publisher('/gps/odom', Odometry, queue_size=10) + pub2 = rospy.Publisher('/gps/data', NavSatFix, queue_size=10) + gps = serial.Serial(self.port, baudrate = self.baud, timeout=0.1) + if gps.isOpen(): + rate = rospy.Rate(100) # 100hz + while not rospy.is_shutdown(): + try: + self.GPS_read(gps) + self.LLH2GPS(self.Latitude,self.Longitude) + except: + pass + # PUBLISH DATA + gps_msg = NavSatFix() + gps_msg.header.stamp = rospy.get_rostime() + gps_msg.header.frame_id = "gps_data" + gps_msg.status.status = -1 + if self.quality == 1: + gps_msg.status.status = 0 + elif self.quality == 4: + gps_msg.status.status = 2 + elif self.quality == 5: + gps_msg.status.status = 1 + gps_msg.latitude = self.Latitude + gps_msg.longitude = self.Longitude + gps_msg.altitude = self.altitude + gps_msg.position_covariance = np.array([self.eLat,0.0,0.0, 0.0,self.eLon,0.0, 0.0,0.0,self.eLon]) + + gps_odm = Odometry() + gps_odm.header.stamp = rospy.get_rostime() + gps_odm.header.frame_id = "gps_odom_data" + gps_odm.child_frame_id = "UTM_coordenates" + gps_odm.pose.pose.position.x = self.x + gps_odm.pose.pose.position.y = self.y + gps_odm.pose.pose.position.z = self.altitude + + pub1.publish(gps_odm) + pub2.publish(gps_msg) + rate.sleep() + +if __name__ == '__main__': + try: + cv = GPS() + cv.ubicacion() + except rospy.ROSInterruptException: + pass From fbd37e22188fe2de4492d53407435d323062edb5 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Fri, 23 Oct 2020 15:00:30 -0500 Subject: [PATCH 23/89] Add files via upload --- src/GPS/launch/lea_6h_gps.launch | 31 +++++++++++++++++++++++++++++++ 1 file changed, 31 insertions(+) create mode 100644 src/GPS/launch/lea_6h_gps.launch diff --git a/src/GPS/launch/lea_6h_gps.launch b/src/GPS/launch/lea_6h_gps.launch new file mode 100644 index 0000000..defcd4a --- /dev/null +++ b/src/GPS/launch/lea_6h_gps.launch @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From d67fbf26f1e25ac0c0d1b7ae3bc68b8a044f7a8f Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Fri, 23 Oct 2020 15:00:46 -0500 Subject: [PATCH 24/89] Delete fjaskf.txt --- src/GPS/src/fjaskf.txt | 1 - 1 file changed, 1 deletion(-) delete mode 100644 src/GPS/src/fjaskf.txt diff --git a/src/GPS/src/fjaskf.txt b/src/GPS/src/fjaskf.txt deleted file mode 100644 index 8b13789..0000000 --- a/src/GPS/src/fjaskf.txt +++ /dev/null @@ -1 +0,0 @@ - From 7b68528ea1b6cec5cc54d748a2fe3089f3be5d03 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Fri, 23 Oct 2020 15:00:57 -0500 Subject: [PATCH 25/89] Delete jsdkfj.txt --- src/GPS/launch/jsdkfj.txt | 1 - 1 file changed, 1 deletion(-) delete mode 100644 src/GPS/launch/jsdkfj.txt diff --git a/src/GPS/launch/jsdkfj.txt b/src/GPS/launch/jsdkfj.txt deleted file mode 100644 index 8b13789..0000000 --- a/src/GPS/launch/jsdkfj.txt +++ /dev/null @@ -1 +0,0 @@ - From 7fe28257d429ec2a04758993370b4ef0650a2041 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Fri, 23 Oct 2020 15:01:57 -0500 Subject: [PATCH 26/89] Create sdf.txt --- src/um7_node/src/sdf.txt | 1 + 1 file changed, 1 insertion(+) create mode 100644 src/um7_node/src/sdf.txt diff --git a/src/um7_node/src/sdf.txt b/src/um7_node/src/sdf.txt new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/src/um7_node/src/sdf.txt @@ -0,0 +1 @@ + From 1771691587554b3359d3e67b94abdc94be2bd5be Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Fri, 23 Oct 2020 15:02:13 -0500 Subject: [PATCH 27/89] Add files via upload --- src/um7_node/src/um7_node.py | 66 ++++++++++++++++++++++++++++++++++++ 1 file changed, 66 insertions(+) create mode 100644 src/um7_node/src/um7_node.py diff --git a/src/um7_node/src/um7_node.py b/src/um7_node/src/um7_node.py new file mode 100644 index 0000000..9686781 --- /dev/null +++ b/src/um7_node/src/um7_node.py @@ -0,0 +1,66 @@ +#!/usr/bin/env python3 + +""" +Created on Wed Oct 14 16:26:49 2020 +Webpage IMU: https://pypi.org/project/um7py/ +@author: Sebastian Tilaguy +""" + +import rospy +from sensor_msgs.msg import Imu +from geometry_msgs.msg import Quaternion, Vector3 +import transformations as tf +import numpy as np + +from um7py import UM7Serial + +def deg2rad(angle): + out = angle*np.pi/180.0 + return out + +class IMU_node(): + def __init__(self): + # Quaternion data + self.q = 0.0 + # angular velocities data + self.velocities = 0.0 + #initial param + port = rospy.get_param('/um7_node/device_port') + + rospy.init_node('UM7_node') + + self.um7_serial = UM7Serial(port_name=port) + self.um7_serial.zero_gyros = 1 + + self.run() + + def run(self): + pub = rospy.Publisher('um7', Imu, queue_size=10) + rate = rospy.Rate(100) # 100hz + while not rospy.is_shutdown(): + self.UM7(self.um7_serial) + + mesg = Imu() + mesg.header.stamp = rospy.Time.now() + mesg.header.frame_id = 'UM7' + mesg.orientation = Quaternion(*self.q) + mesg.angular_velocity = Vector3(*self.velocities) + + pub.publish(mesg) + rate.sleep() + + + def UM7(self,IMU): + for packet in IMU.recv_euler_broadcast(5): + # print(f"packet: {packet}") + roll = packet.roll + pitch = packet.pitch + yaw = packet.yaw + self.velocities = [packet.roll_rate, packet.pitch_rate, packet.yaw_rate] + self.q = tf.quaternion_from_euler(deg2rad(roll), deg2rad(pitch), deg2rad(yaw)) + +if __name__ == '__main__': + try: + IMU_node() + except rospy.ROSInterruptException: + pass \ No newline at end of file From 0f10caa2e63bd5dc1cc4e37ddaa80f50dead61b6 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Fri, 23 Oct 2020 15:02:34 -0500 Subject: [PATCH 28/89] Delete sdf.txt --- src/um7_node/src/sdf.txt | 1 - 1 file changed, 1 deletion(-) delete mode 100644 src/um7_node/src/sdf.txt diff --git a/src/um7_node/src/sdf.txt b/src/um7_node/src/sdf.txt deleted file mode 100644 index 8b13789..0000000 --- a/src/um7_node/src/sdf.txt +++ /dev/null @@ -1 +0,0 @@ - From a2d583921b258fbde9103abff68366843f08b34b Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Fri, 23 Oct 2020 15:02:57 -0500 Subject: [PATCH 29/89] Create dad.txt --- src/um7_node/launch/dad.txt | 1 + 1 file changed, 1 insertion(+) create mode 100644 src/um7_node/launch/dad.txt diff --git a/src/um7_node/launch/dad.txt b/src/um7_node/launch/dad.txt new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/src/um7_node/launch/dad.txt @@ -0,0 +1 @@ + From 8d039f7f2f81c7fa664c897aa68a574a1b20174a Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Fri, 23 Oct 2020 15:03:12 -0500 Subject: [PATCH 30/89] Add files via upload --- src/um7_node/launch/um7_node.launch | 9 +++++++++ 1 file changed, 9 insertions(+) create mode 100644 src/um7_node/launch/um7_node.launch diff --git a/src/um7_node/launch/um7_node.launch b/src/um7_node/launch/um7_node.launch new file mode 100644 index 0000000..60dd5ce --- /dev/null +++ b/src/um7_node/launch/um7_node.launch @@ -0,0 +1,9 @@ + + + + + + + + + From 59cf7e24969e4cf5dcc29216d25dae51d974bb0e Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Fri, 23 Oct 2020 15:03:31 -0500 Subject: [PATCH 31/89] Delete dad.txt --- src/um7_node/launch/dad.txt | 1 - 1 file changed, 1 deletion(-) delete mode 100644 src/um7_node/launch/dad.txt diff --git a/src/um7_node/launch/dad.txt b/src/um7_node/launch/dad.txt deleted file mode 100644 index 8b13789..0000000 --- a/src/um7_node/launch/dad.txt +++ /dev/null @@ -1 +0,0 @@ - From 061ce994c4c324440f6fb8fad3b828b4db8113e6 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Fri, 23 Oct 2020 15:03:57 -0500 Subject: [PATCH 32/89] Add files via upload --- src/um7_node/CMakeLists.txt | 207 ++++++++++++++++++++++++++++++++++++ src/um7_node/package.xml | 69 ++++++++++++ 2 files changed, 276 insertions(+) create mode 100644 src/um7_node/CMakeLists.txt create mode 100644 src/um7_node/package.xml diff --git a/src/um7_node/CMakeLists.txt b/src/um7_node/CMakeLists.txt new file mode 100644 index 0000000..0966b2c --- /dev/null +++ b/src/um7_node/CMakeLists.txt @@ -0,0 +1,207 @@ +cmake_minimum_required(VERSION 3.0.2) +project(um7_node) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS roslaunch + roscpp + rospy + std_msgs + std_srvs +) +roslaunch_add_file_check(launch) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES um7_node +# CATKIN_DEPENDS roscpp rospy std_msgs std_srvs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/um7_node.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/um7_node_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 src/um7_node.py + 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_um7_node.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/um7_node/package.xml b/src/um7_node/package.xml new file mode 100644 index 0000000..1cb703e --- /dev/null +++ b/src/um7_node/package.xml @@ -0,0 +1,69 @@ + + + um7_node + 0.0.0 + The um7_node package + + + + + sebas + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roslaunch + + + + + + + + From d2d048fa2e6ee063eca0687448fe86ce856460e9 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Fri, 23 Oct 2020 15:06:39 -0500 Subject: [PATCH 33/89] Delete lea_6h_gps.launch --- .../lea_6h_gps/launch/lea_6h_gps.launch | 30 ------------------- 1 file changed, 30 deletions(-) delete mode 100644 Raspi_nodes/lea_6h_gps/launch/lea_6h_gps.launch diff --git a/Raspi_nodes/lea_6h_gps/launch/lea_6h_gps.launch b/Raspi_nodes/lea_6h_gps/launch/lea_6h_gps.launch deleted file mode 100644 index 4ee972d..0000000 --- a/Raspi_nodes/lea_6h_gps/launch/lea_6h_gps.launch +++ /dev/null @@ -1,30 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - From 6fae3f8ca9c6be50b3e63aa78dccd3975227eba1 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Fri, 23 Oct 2020 15:06:55 -0500 Subject: [PATCH 34/89] Delete lea_6h_gps.py --- Raspi_nodes/lea_6h_gps/src/lea_6h_gps.py | 174 ----------------------- 1 file changed, 174 deletions(-) delete mode 100644 Raspi_nodes/lea_6h_gps/src/lea_6h_gps.py diff --git a/Raspi_nodes/lea_6h_gps/src/lea_6h_gps.py b/Raspi_nodes/lea_6h_gps/src/lea_6h_gps.py deleted file mode 100644 index 030d669..0000000 --- a/Raspi_nodes/lea_6h_gps/src/lea_6h_gps.py +++ /dev/null @@ -1,174 +0,0 @@ -#!/usr/bin/env python - -import serial -# import time -import rospy -import numpy as np # se emplea esta para operar matrices - -from nav_msgs.msg import Odometry -from sensor_msgs.msg import NavSatFix - -class GPS(object): - def __init__(self): - #initial param - self.port = rospy.get_param('/lea_6h_gps/device_port') - self.baud = rospy.get_param('/lea_6h_gps/baud') - # Geometria del elipsoide - self.a = rospy.get_param('/lea_6h_gps/a') # radius of the earth in metters - self.b = rospy.get_param('/lea_6h_gps/b') - self.e1 = rospy.get_param('/lea_6h_gps/e1') - self.e2 = rospy.get_param('/lea_6h_gps/e2') - # Radio polar de curvatura - self.c = rospy.get_param('/lea_6h_gps/c') - # Central meridian of huso - self.huso = rospy.get_param('/lea_6h_gps/huso') # huso to use in Colombia - - self.Latitude = 0.0 - self.Longitude = 0.0 - self.quality = 0 - self.DOP = 0.0 - self.satelites = 0 - self.altitude = 0.0 - self.distance = 0.0 - self.MeasureCounting = 0 - self.time_utc = 0.0 - self.speed_m_s = 0.0 - self.eLat = 0.0 - self.eLon = 0.0 - self.eAlt = 0.0 - self.date = 0.0 - self.COG = 0.0 - self.Mag = 0.0 - self.eMag = 0.0 - - - self.x = 0.0 - self.y = 0.0 - - def GpsTimeSeconds(self, Time_Gps): - aux = float(Time_Gps) - H = int(aux/10000.0) - aux = aux%10000.0 - M = int(aux/100.0) - aux = aux%100.0 - S = aux/100.0 - - Time_seconds = H*3600 + M*60 + S - return Time_seconds - - def GPS_read(self,serial): - line = str(serial.readline()) - data = line.split(",") - aux = data[0].split("'") - data[0] = aux[1] - if data[0] == "$GPGGA": - self.time_utc = self.GpsTimeSeconds(data[1]) - self.Latitude = int(float(data[2])/100.0) - self.Latitude = self.Latitude + (float(data[2])%100.0)/60.0 - if data[3]=='N': - self.Latitude = self.Latitude*1.0 - elif data[3]=='S': - self.Latitude = self.Latitude*-1.0 - self.Longitude = int(float(data[4])/100.0) - self.Longitude = self.Longitude + (float(data[4])%100.0)/60.0 - if data[5]=='E': - self.Longitude = self.Longitude*1.0 - elif data[5]=='W': - self.Longitude = self.Longitude*-1.0 - self.quality = int(data[6]) - self.satelites = float(data[7]) - self.DOP = float(data[8]) - self.altitude = float(data[9]) - if data[0] == "$GPRMC": - self.speed_m_s = float(data[7])*0.514444 - self.COG = float(data[8]) - self.date = data[9] - self.Mag = float(data[10]) - if data[11]=='E': - self.Mag = self.Mag*1.0 - elif data[11]=='W': - self.Mag = self.Mag*-1.0 - if data[0] == "$GPGBS": - self.eLat = float(data[2]) - self.eLon = float(data[3]) - self.eAlt = float(data[4]) - - def LLH2GPS(self,Lat,Long): - Long_rad = Long * (np.pi/180.0) - Lat_rad = Lat * (np.pi/180.0) - # Get the central meridian of huso = lamnda0 - lamnda0 = (self.huso * 6.0 - 183.0)*(np.pi/180.0) - - #Determination of anglular distance that exist between - #point Longitude and central meridian of huso - delta_lambda0 = Long_rad - lamnda0 - - #Coticchia-Surace ecuations for the direct problem - #Switch geographics to UTM - #Estimation of parameters - - A = np.cos(Lat_rad) * np.sin(delta_lambda0) - xi = 0.5 * np.log((1+A)/(1.0-A)) - eta = np.arctan(np.tan(Lat_rad)/np.cos(delta_lambda0)) - Lat_rad - nu = (self.c*0.9996)/np.sqrt((1.0 + self.e2*np.cos(Lat_rad)*np.cos(Lat_rad))) - zeta = (self.e2/2.0)*(xi*xi)*(np.cos(Lat_rad)*np.cos(Lat_rad)) - A1 = np.sin(2.0*Lat_rad) - A2 = A1 * (np.cos(Lat_rad)*np.cos(Lat_rad)) - J2 = Lat_rad + A1/2.0 - J4 = (3*J2 + A2)/4.0 - J6 = (5*J4 + A2 * (np.cos(Lat_rad)*np.cos(Lat_rad)))/3.0 - alpha2 = (3.0/4.0)*(self.e2) - beta = (5.0/3.0)*(alpha2*alpha2) - gamma = (35.0/27.0)*(np.power(alpha2,2)) - B_phi = 0.9996 * self.c * (Lat_rad - alpha2 * J2 + beta * J4 - gamma * J6) - - self.x = xi*nu*(1+zeta/3.0)+500000.0 - self.y = eta*nu*(1+zeta)+B_phi - - def ubicacion(self): - rospy.init_node("GPS_DATA") - # pub = rospy.Publisher('/gps/utm', Vector3Stamped, queue_size=10) - pub1 = rospy.Publisher('/gps/odom', Odometry, queue_size=10) - pub2 = rospy.Publisher('/gps/data', NavSatFix, queue_size=10) - gps = serial.Serial(self.port, baudrate = self.baud, timeout=0.1) - if gps.isOpen(): - rate = rospy.Rate(100) # 100hz - while not rospy.is_shutdown(): - try: - self.GPS_read(gps) - self.LLH2GPS(self.Latitude,self.Longitude) - except: - pass - # PUBLISH DATA - gps_msg = NavSatFix() - gps_msg.header.stamp = rospy.get_rostime() - gps_msg.header.frame_id = "gps_data" - gps_msg.status.status = -1 - if self.quality == 1: - gps_msg.status.status = 0 - elif self.quality == 4: - gps_msg.status.status = 2 - elif self.quality == 5: - gps_msg.status.status = 1 - gps_msg.latitude = self.Latitude - gps_msg.longitude = self.Longitude - gps_msg.altitude = self.altitude - - gps_odm = Odometry() - gps_odm.header.stamp = rospy.get_rostime() - gps_odm.header.frame_id = "gps_odom_data" - gps_odm.child_frame_id = "UTM_coordenates" - gps_odm.pose.pose.position.x = self.x - gps_odm.pose.pose.position.y = self.y - gps_odm.pose.pose.position.z = self.altitude - - pub1.publish(gps_odm) - pub2.publish(gps_msg) - rate.sleep() - -if __name__ == '__main__': - try: - cv = GPS() - cv.ubicacion() - except rospy.ROSInterruptException: - pass From 7004897c01f24f4fd2fc176a5ec05ceffa812b86 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Fri, 23 Oct 2020 15:07:20 -0500 Subject: [PATCH 35/89] Delete CMakeLists.txt --- Raspi_nodes/lea_6h_gps/CMakeLists.txt | 211 -------------------------- 1 file changed, 211 deletions(-) delete mode 100644 Raspi_nodes/lea_6h_gps/CMakeLists.txt diff --git a/Raspi_nodes/lea_6h_gps/CMakeLists.txt b/Raspi_nodes/lea_6h_gps/CMakeLists.txt deleted file mode 100644 index 96113fc..0000000 --- a/Raspi_nodes/lea_6h_gps/CMakeLists.txt +++ /dev/null @@ -1,211 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(lea_6h_gps) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS roslaunch - roscpp - rospy - std_msgs - genmsg - message_generation - sensor_msgs - nav_msgs - geometry_msgs -) -roslaunch_add_file_check(launch) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# geometry_msgs# nav_msgs# sensor_msgs# std_msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES lea_6h_gps -# CATKIN_DEPENDS genmsg geometry_msgs nav_msgs rospy sensor_msgs std_msgs -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include - ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/lea_6h_gps.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/lea_6h_gps_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 src/lea_6h_gps.py - 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_lea_6h_gps.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) From cf63a93e7a114036251b5d2f393c500a7bdbec13 Mon Sep 17 00:00:00 2001 From: Sebas Date: Fri, 23 Oct 2020 15:17:46 -0500 Subject: [PATCH 36/89] Alpha_repo_changed --- Raspi_nodes/um7_node/CMakeLists.txt | 207 ------------------ Raspi_nodes/um7_node/launch/um7_node.launch | 9 - Raspi_nodes/um7_node/package.xml | 69 ------ Raspi_nodes/um7_node/src/um7_node.py | 66 ------ src/GPS/package.xml | 69 ------ src/{GPS => lea_6h_gps}/CMakeLists.txt | 0 .../launch/lea_6h_gps.launch | 0 {Raspi_nodes => src}/lea_6h_gps/package.xml | 0 src/{GPS => lea_6h_gps}/src/lea_6h_gps.py | 2 +- 9 files changed, 1 insertion(+), 421 deletions(-) delete mode 100644 Raspi_nodes/um7_node/CMakeLists.txt delete mode 100644 Raspi_nodes/um7_node/launch/um7_node.launch delete mode 100644 Raspi_nodes/um7_node/package.xml delete mode 100644 Raspi_nodes/um7_node/src/um7_node.py delete mode 100644 src/GPS/package.xml rename src/{GPS => lea_6h_gps}/CMakeLists.txt (100%) rename src/{GPS => lea_6h_gps}/launch/lea_6h_gps.launch (100%) rename {Raspi_nodes => src}/lea_6h_gps/package.xml (100%) rename src/{GPS => lea_6h_gps}/src/lea_6h_gps.py (99%) mode change 100644 => 100755 diff --git a/Raspi_nodes/um7_node/CMakeLists.txt b/Raspi_nodes/um7_node/CMakeLists.txt deleted file mode 100644 index 0966b2c..0000000 --- a/Raspi_nodes/um7_node/CMakeLists.txt +++ /dev/null @@ -1,207 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(um7_node) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS roslaunch - roscpp - rospy - std_msgs - std_srvs -) -roslaunch_add_file_check(launch) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES um7_node -# CATKIN_DEPENDS roscpp rospy std_msgs std_srvs -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include - ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/um7_node.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/um7_node_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 src/um7_node.py - 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_um7_node.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/Raspi_nodes/um7_node/launch/um7_node.launch b/Raspi_nodes/um7_node/launch/um7_node.launch deleted file mode 100644 index 60dd5ce..0000000 --- a/Raspi_nodes/um7_node/launch/um7_node.launch +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - - diff --git a/Raspi_nodes/um7_node/package.xml b/Raspi_nodes/um7_node/package.xml deleted file mode 100644 index 1cb703e..0000000 --- a/Raspi_nodes/um7_node/package.xml +++ /dev/null @@ -1,69 +0,0 @@ - - - um7_node - 0.0.0 - The um7_node package - - - - - sebas - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - rospy - std_msgs - roscpp - rospy - std_msgs - roscpp - rospy - std_msgs - roslaunch - - - - - - - - diff --git a/Raspi_nodes/um7_node/src/um7_node.py b/Raspi_nodes/um7_node/src/um7_node.py deleted file mode 100644 index 2059393..0000000 --- a/Raspi_nodes/um7_node/src/um7_node.py +++ /dev/null @@ -1,66 +0,0 @@ -#!/usr/bin/env python3 - -""" -Created on Wed Oct 14 16:26:49 2020 -Webpage IMU: https://pypi.org/project/um7py/ -@author: Sebastian Tilaguy -""" - -import rospy -from sensor_msgs.msg import Imu -from geometry_msgs.msg import Quaternion, Vector3 -import transformations as tf -import numpy as np - -from um7py import UM7Serial - -def deg2rad(angle): - out = angle*np.pi/180.0 - return out - -class IMU_node(): - def __init__(self): - # Quaternion data - self.q = 0.0 - # angular velocities data - self.velocities = 0.0 - #initial param - port = rospy.get_param('/um7_node/device_port') - - rospy.init_node('UM7_node') - - self.um7_serial = UM7Serial(port_name=port) - self.um7_serial.zero_gyros = 1 - - self.run() - - def run(self): - pub = rospy.Publisher('um7', Imu, queue_size=10) - rate = rospy.Rate(100) # 100hz - while not rospy.is_shutdown(): - self.UM7(self.um7_serial) - - mesg = Imu() - mesg.header.stamp = rospy.Time.now() - mesg.header.frame_id = 'UM7' - mesg.orientation = Quaternion(*self.q) - mesg.angular_velocity = Vector3(*self.velocities) - - pub.publish(mesg) - rate.sleep() - - - def UM7(self,IMU): - for packet in IMU.recv_euler_broadcast(5): - # print(f"packet: {packet}") - roll = packet.roll - pitch = packet.pitch - yaw = packet.yaw - self.velocities = [packet.roll_rate, packet.pitch_rate, packet.yaw_rate] - self.q = tf.quaternion_from_euler(deg2rad(roll), deg2rad(pitch), deg2rad(yaw)) - -if __name__ == '__main__': - try: - IMU_node() - except rospy.ROSInterruptException: - pass diff --git a/src/GPS/package.xml b/src/GPS/package.xml deleted file mode 100644 index 93f3dc6..0000000 --- a/src/GPS/package.xml +++ /dev/null @@ -1,69 +0,0 @@ - - - lea_6h_gps - 0.0.0 - The lea_6h_gps package - - - - - sebas - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - rospy - std_msgs - roscpp - rospy - std_msgs - roscpp - rospy - std_msgs - roslaunch - - - - - - - - diff --git a/src/GPS/CMakeLists.txt b/src/lea_6h_gps/CMakeLists.txt similarity index 100% rename from src/GPS/CMakeLists.txt rename to src/lea_6h_gps/CMakeLists.txt diff --git a/src/GPS/launch/lea_6h_gps.launch b/src/lea_6h_gps/launch/lea_6h_gps.launch similarity index 100% rename from src/GPS/launch/lea_6h_gps.launch rename to src/lea_6h_gps/launch/lea_6h_gps.launch diff --git a/Raspi_nodes/lea_6h_gps/package.xml b/src/lea_6h_gps/package.xml similarity index 100% rename from Raspi_nodes/lea_6h_gps/package.xml rename to src/lea_6h_gps/package.xml diff --git a/src/GPS/src/lea_6h_gps.py b/src/lea_6h_gps/src/lea_6h_gps.py old mode 100644 new mode 100755 similarity index 99% rename from src/GPS/src/lea_6h_gps.py rename to src/lea_6h_gps/src/lea_6h_gps.py index 87418ad..05c1c30 --- a/src/GPS/src/lea_6h_gps.py +++ b/src/lea_6h_gps/src/lea_6h_gps.py @@ -72,7 +72,7 @@ def GPS_read(self,serial): self.Longitude = int(float(data[4])/100.0) self.Longitude = self.Longitude + (float(data[4])%100.0)/60.0 if data[5]=='E': - self.Latitude = self.Longitude*1.0 + self.Longitude = self.Longitude*1.0 elif data[5]=='W': self.Longitude = self.Longitude*-1.0 self.quality = int(data[6]) From 574cbf3e8e6e2e769ef7f589179f98daaaa9aec3 Mon Sep 17 00:00:00 2001 From: Sebas Date: Fri, 23 Oct 2020 16:12:48 -0500 Subject: [PATCH 37/89] Alpha_repo_changed --- src/Config/99-alphaBot.rules | 6 ++++-- src/Config/alphaROVER.sh | 4 ++++ 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/src/Config/99-alphaBot.rules b/src/Config/99-alphaBot.rules index 0f19cdb..d88b8ed 100644 --- a/src/Config/99-alphaBot.rules +++ b/src/Config/99-alphaBot.rules @@ -1,6 +1,8 @@ SUBSYSTEM=="tty", ATTRS{idVendor}=="03eb", ATTRS{idProduct}=="2404", SYMLINK+="tty_roboclaw" SUBSYSTEM=="tty", ATTRS{idVendor}=="2639", ATTRS{idProduct}=="0003", SYMLINK+="tty_imu" -SUBSYSTEM=="tty", ATTRS{idVendor}=="0424", ATTRS{idProduct}=="9514", SYMLINK+="tty_pololu" -SUBSYSTEM=="tty", ATTRS{idVendor}=="0bda", ATTRS{idProduct}=="5411", SYMLINK+="tty_Arduino" +# SUBSYSTEM=="tty", ATTRS{idVendor}=="0424", ATTRS{idProduct}=="9514", SYMLINK+="tty_pololu" +# SUBSYSTEM=="tty", ATTRS{idVendor}=="0bda", ATTRS{idProduct}=="5411", SYMLINK+="tty_Arduino" SUBSYSTEM=="tty", ATTRS{idVendor}=="fff1", ATTRS{idProduct}=="ff48", SYMLINK+="tty_Dynamixel" +SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", SYMLINK+="tty_GPS" +SUBSYSTEM=="tty", ATTRS{idVendor}=="1ffb", ATTRS{idProduct}=="0081", SYMLINK+="tty_um7" SUBSYSTEM=="tty", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c21f", SYMLINK+="F710" diff --git a/src/Config/alphaROVER.sh b/src/Config/alphaROVER.sh index a863865..f19eee5 100755 --- a/src/Config/alphaROVER.sh +++ b/src/Config/alphaROVER.sh @@ -25,9 +25,11 @@ printf " |_| " # Paths +cd ~/catkin_ws/src/AlphaROVER/src/Config path_alpha_config=$(pwd) cd ../.. path_alphaROVER=$(pwd) +cd echo "PATH:"$path_alphaROVER # Variables @@ -41,6 +43,8 @@ sudo chmod -R 777 /dev/tty_Arduino sudo chmod -R 777 /dev/tty_Dynamixel sudo chmod -R 777 /dev/tty_pololu +sleep 1.5 + # GPIOS Jetson NANO # 1: 1.6 volts 0:Zero volts LEDS="76" #GPIO 76 is pin 35 --> LEDS From 40a803098bb6fb5312e9031dbc1763b76bbe77ca Mon Sep 17 00:00:00 2001 From: Sebas Date: Sat, 24 Oct 2020 08:17:43 -0500 Subject: [PATCH 38/89] Alpha_repo_changed --- Readme.md | 5 +++++ src/Config/alphaROVER.sh | 39 +++++++++++++++++++++++++++++++-------- src/Config/xsens_mt | 1 + 3 files changed, 37 insertions(+), 8 deletions(-) create mode 160000 src/Config/xsens_mt diff --git a/Readme.md b/Readme.md index 6898435..f846949 100644 --- a/Readme.md +++ b/Readme.md @@ -119,6 +119,9 @@ $ source ~/.bashrc - Install gps_common or gps_umd as available based on the ROS distributable `sudo apt-get install ros-melodic-gps-umd` or `sudo apt-get install ros-melodic-gps-common` - Isntall MTi rosnode +# write the next lines every time before call node. +# sudo modprobe usbserial +# sudo insmod $path_alpha_config$"/xsens_mt/xsens_mt.ko" ``` $ cd ~/catkin_ws/src $ git clone https://github.com/HaroldMurcia/xsens_mti_ros_node.git @@ -126,6 +129,8 @@ $ source ~/.bashrc $ catkin_make ``` - Install Dynamixel rosnode +# modify file catkin_ws/src/dynamixel_motor/dynamixel_controllers/launch/controller_manager.launch +# chaging port_name with "/dev/tty_Dynamixel" ``` $ cd ~/catkin_ws/src $ git clone https://github.com/HaroldMurcia/dynamixel_motor.git diff --git a/src/Config/alphaROVER.sh b/src/Config/alphaROVER.sh index f19eee5..d8e8547 100755 --- a/src/Config/alphaROVER.sh +++ b/src/Config/alphaROVER.sh @@ -36,23 +36,24 @@ echo "PATH:"$path_alphaROVER hokuyo_ip="192.168.0.10" # Ports -# sudo chmod -R 777 /dev/tty_roboclaw sudo chmod -R 777 /dev/tty_roboclaw -sudo chmod -R 777 /dev/tty_imu -sudo chmod -R 777 /dev/tty_Arduino +#sudo chmod -R 777 /dev/tty_Arduino sudo chmod -R 777 /dev/tty_Dynamixel -sudo chmod -R 777 /dev/tty_pololu - -sleep 1.5 +#sudo chmod -R 777 /dev/tty_pololu +sudo chmod -R 777 /dev/tty_GPS +sudo chmod -R 777 /dev/tty_um7 # GPIOS Jetson NANO # 1: 1.6 volts 0:Zero volts -LEDS="76" #GPIO 76 is pin 35 --> LEDS +LEDS="76" #GPIO 76 is pin 35 --> LEDS LASER_A="12" #GPIO 12 is pin 37 --> LASER LASER_B="38" #GPIO 38 is pin 33 --> LASER echo $LEDS > /sys/class/gpio/export echo $LASER_A > /sys/class/gpio/export echo $LASER_B > /sys/class/gpio/export + +sleep 3 + echo out > /sys/class/gpio/gpio$LEDS$"/direction" echo out > /sys/class/gpio/gpio$LASER_A$"/direction" echo out > /sys/class/gpio/gpio$LASER_B$"/direction" @@ -89,7 +90,8 @@ function urg_node { function dynamixel_node { echo "=======================================" - roslaunch dynamixel_controllers controller_manager.launch & + ls -l /dev/tty_dynamixel + roslaunch dynamixel_controllers controller_manager.launch & sleep 1 roslaunch dynamixel_controllers start_tilt_controller.launch sleep 1 @@ -98,6 +100,11 @@ function dynamixel_node { function xsens_node { echo "=======================================" + sudo modprobe usbserial + sudo insmod $path_alpha_config$"/xsens_mt/xsens_mt.ko" + sleep 1 + sudo chmod -R 777 /dev/tty_imu + ls -l /dev/tty_imu roslaunch xsens_driver xsens.launch & printf $"Xsens MTi-10 ready...\n" } @@ -125,6 +132,7 @@ function GPS_node { function roboclaw_node { echo "=======================================" + ls -l /dev/tty_roboclaw roslaunch roboclaw_node roboclaw.launch & sleep 3 printf "Roboclaw ready...\n" @@ -161,6 +169,7 @@ function pilot { function USB { echo "=======================================" + ls -l /dev/sda1 sudo mount -t vfat /dev/sda1 /media/usb/ -o uid=1000,gid=1000 cd /media/usb printf "USB is ready...\n" @@ -176,6 +185,20 @@ function exportar_ws { export ROS_MASTER_URI=http://UILABAUT5820.local:11311 } +function gps_node { + echo "=======================================" + ls -l /dev/tty_GPS + rosrun lea_6h_gps lea_6h_gps.launch device_name:=/dev/tty_GPS & + printf "UM7 imu is ready...\n" +} + +function um7_node { + echo "=======================================" + ls -l /dev/tty_um7 + rosrun um7_node um7_node.launch device_name:=/dev/tty_um7 & + printf "UM7 imu is ready...\n" +} + function exportar_hamachi { export ROS_IP=25.101.143.22 export ROS_MASTER_URI=http://25.103.174.150:11311 diff --git a/src/Config/xsens_mt b/src/Config/xsens_mt new file mode 160000 index 0000000..b522a8b --- /dev/null +++ b/src/Config/xsens_mt @@ -0,0 +1 @@ +Subproject commit b522a8bf93e5581038102e848b69290acd2b5611 From c27b0385828eb8736c73097d487e83c9cedcdd77 Mon Sep 17 00:00:00 2001 From: Sebas Date: Sat, 24 Oct 2020 08:36:19 -0500 Subject: [PATCH 39/89] Alpha_repo_changed --- src/Config/{xsens_mt => xsens_config} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename src/Config/{xsens_mt => xsens_config} (100%) diff --git a/src/Config/xsens_mt b/src/Config/xsens_config similarity index 100% rename from src/Config/xsens_mt rename to src/Config/xsens_config From 32bf981819fc0fbf5e56c79c4c1ac40552fab4eb Mon Sep 17 00:00:00 2001 From: Sebas Date: Sat, 24 Oct 2020 08:42:39 -0500 Subject: [PATCH 40/89] Alpha_repo_changed --- Readme.md | 11 ++++++----- src/Config/alphaROVER.sh | 3 +++ src/Config/xsens_config | 1 - 3 files changed, 9 insertions(+), 6 deletions(-) delete mode 160000 src/Config/xsens_config diff --git a/Readme.md b/Readme.md index f846949..901986a 100644 --- a/Readme.md +++ b/Readme.md @@ -110,6 +110,7 @@ $ source ~/.bashrc `sudo apt-get install ros-melodic-freenect-launch` - Install the MTi USB Serial Driver ``` + $ cd $path_alpha_config $ git clone https://github.com/xsens/xsens_mt.git $ cd ~/xsens_mt $ make @@ -119,9 +120,9 @@ $ source ~/.bashrc - Install gps_common or gps_umd as available based on the ROS distributable `sudo apt-get install ros-melodic-gps-umd` or `sudo apt-get install ros-melodic-gps-common` - Isntall MTi rosnode -# write the next lines every time before call node. -# sudo modprobe usbserial -# sudo insmod $path_alpha_config$"/xsens_mt/xsens_mt.ko" + # write the next lines every time before call node. + # sudo modprobe usbserial + # sudo insmod $path_alpha_config$"/xsens_mt/xsens_mt.ko" ``` $ cd ~/catkin_ws/src $ git clone https://github.com/HaroldMurcia/xsens_mti_ros_node.git @@ -129,8 +130,8 @@ $ source ~/.bashrc $ catkin_make ``` - Install Dynamixel rosnode -# modify file catkin_ws/src/dynamixel_motor/dynamixel_controllers/launch/controller_manager.launch -# chaging port_name with "/dev/tty_Dynamixel" + # modify file catkin_ws/src/dynamixel_motor/dynamixel_controllers/launch/controller_manager.launch + # chaging port_name with "/dev/tty_Dynamixel" ``` $ cd ~/catkin_ws/src $ git clone https://github.com/HaroldMurcia/dynamixel_motor.git diff --git a/src/Config/alphaROVER.sh b/src/Config/alphaROVER.sh index d8e8547..d003f81 100755 --- a/src/Config/alphaROVER.sh +++ b/src/Config/alphaROVER.sh @@ -35,6 +35,9 @@ echo "PATH:"$path_alphaROVER # Variables hokuyo_ip="192.168.0.10" +# Instal mit_node + + # Ports sudo chmod -R 777 /dev/tty_roboclaw #sudo chmod -R 777 /dev/tty_Arduino diff --git a/src/Config/xsens_config b/src/Config/xsens_config deleted file mode 160000 index b522a8b..0000000 --- a/src/Config/xsens_config +++ /dev/null @@ -1 +0,0 @@ -Subproject commit b522a8bf93e5581038102e848b69290acd2b5611 From f4bec66915c554d25386d7a9810d50d5171dfcbc Mon Sep 17 00:00:00 2001 From: Sebas Date: Sat, 24 Oct 2020 09:02:27 -0500 Subject: [PATCH 41/89] Alpha_repo_changed --- src/Config/alphaROVER.sh | 14 +++++++++++++- 1 file changed, 13 insertions(+), 1 deletion(-) diff --git a/src/Config/alphaROVER.sh b/src/Config/alphaROVER.sh index d003f81..bb49b95 100755 --- a/src/Config/alphaROVER.sh +++ b/src/Config/alphaROVER.sh @@ -36,7 +36,19 @@ echo "PATH:"$path_alphaROVER hokuyo_ip="192.168.0.10" # Instal mit_node - +DIR=$path_alpha_config$'/xsens_mt' +if [ -d "$DIR" ]; then + ### Take action if $DIR exists ### + echo "mti config done!" +else + cd $path_alpha_config + git clone https://github.com/xsens/xsens_mt.git + cd ~/xsens_mt + make + sleep 10 + cd + ### echo "Error: ${DIR} not found. Can not continue." +fi # Ports sudo chmod -R 777 /dev/tty_roboclaw From d709fbd203a35edd7c943e972349858fbc480476 Mon Sep 17 00:00:00 2001 From: Sebas Date: Sat, 24 Oct 2020 09:05:29 -0500 Subject: [PATCH 42/89] Alpha_repo_changed --- src/Config/alphaROVER.sh | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/Config/alphaROVER.sh b/src/Config/alphaROVER.sh index bb49b95..bada785 100755 --- a/src/Config/alphaROVER.sh +++ b/src/Config/alphaROVER.sh @@ -219,6 +219,10 @@ function exportar_hamachi { export ROS_MASTER_URI=http://25.103.174.150:11311 } +function Alpha_update { + git clone https://github.com/Tilaguy/AlphaROVER.git +} + function rover { printf "\n=======================================" roscore & From 14c8fef8da29206f3da75ef7fafb3b2dd88d3f1d Mon Sep 17 00:00:00 2001 From: Sebas Date: Sat, 24 Oct 2020 09:15:44 -0500 Subject: [PATCH 43/89] Alpha_repo_changed --- src/Config/alphaROVER.sh | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/src/Config/alphaROVER.sh b/src/Config/alphaROVER.sh index bada785..f713d54 100755 --- a/src/Config/alphaROVER.sh +++ b/src/Config/alphaROVER.sh @@ -39,13 +39,20 @@ hokuyo_ip="192.168.0.10" DIR=$path_alpha_config$'/xsens_mt' if [ -d "$DIR" ]; then ### Take action if $DIR exists ### + cd ~/catkin_ws + catkin_make + sleep 10 + cd echo "mti config done!" else cd $path_alpha_config git clone https://github.com/xsens/xsens_mt.git - cd ~/xsens_mt + cd /xsens_mt make sleep 10 + cd ~/catkin_ws + catkin_make + sleep 10 cd ### echo "Error: ${DIR} not found. Can not continue." fi From 8ea26bb1e9ff54ece7352b1ea20580c5f74084b4 Mon Sep 17 00:00:00 2001 From: Sebas Date: Sat, 24 Oct 2020 09:47:07 -0500 Subject: [PATCH 44/89] Alpha_repo_changed --- src/Config/99-alphaBot.rules | 2 +- src/Config/alphaROVER.sh | 13 +++---------- src/Config/config_init.sh | 2 +- 3 files changed, 5 insertions(+), 12 deletions(-) diff --git a/src/Config/99-alphaBot.rules b/src/Config/99-alphaBot.rules index d88b8ed..2aec001 100644 --- a/src/Config/99-alphaBot.rules +++ b/src/Config/99-alphaBot.rules @@ -4,5 +4,5 @@ SUBSYSTEM=="tty", ATTRS{idVendor}=="2639", ATTRS{idProduct}=="0003", SYMLINK+="t # SUBSYSTEM=="tty", ATTRS{idVendor}=="0bda", ATTRS{idProduct}=="5411", SYMLINK+="tty_Arduino" SUBSYSTEM=="tty", ATTRS{idVendor}=="fff1", ATTRS{idProduct}=="ff48", SYMLINK+="tty_Dynamixel" SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", SYMLINK+="tty_GPS" -SUBSYSTEM=="tty", ATTRS{idVendor}=="1ffb", ATTRS{idProduct}=="0081", SYMLINK+="tty_um7" +#SUBSYSTEM=="tty", ATTRS{idVendor}=="1ffb", ATTRS{idProduct}=="0081", SYMLINK+="tty_um7" SUBSYSTEM=="tty", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c21f", SYMLINK+="F710" diff --git a/src/Config/alphaROVER.sh b/src/Config/alphaROVER.sh index f713d54..22f9f78 100755 --- a/src/Config/alphaROVER.sh +++ b/src/Config/alphaROVER.sh @@ -145,13 +145,6 @@ function webcam { printf $"Main camera ready...\n" } -function GPS_node { - echo "=======================================" - python $path_alphaROVER$"/src/Arduino/Arduino_serial.py" & - sleep 2 - printf "GPS ready...\n" -} - function roboclaw_node { echo "=======================================" ls -l /dev/tty_roboclaw @@ -210,14 +203,14 @@ function exportar_ws { function gps_node { echo "=======================================" ls -l /dev/tty_GPS - rosrun lea_6h_gps lea_6h_gps.launch device_name:=/dev/tty_GPS & - printf "UM7 imu is ready...\n" + roslaunch lea_6h_gps lea_6h_gps.launch device_name:=/dev/tty_GPS & + printf "GPS is ready...\n" } function um7_node { echo "=======================================" ls -l /dev/tty_um7 - rosrun um7_node um7_node.launch device_name:=/dev/tty_um7 & + roslaunch lea_6h_gps lea_6h_gps.launch device_name:=/dev/tty_um7 & printf "UM7 imu is ready...\n" } diff --git a/src/Config/config_init.sh b/src/Config/config_init.sh index 4543e8a..799d2b7 100755 --- a/src/Config/config_init.sh +++ b/src/Config/config_init.sh @@ -30,6 +30,6 @@ path_alpha_config=$(pwd) sudo chmod -R 777 $path_alpha_config$"/alphaROVER.sh" sudo cp $path_alpha_config$"/99-alphaBot.rules" "/etc/udev/rules.d/99-alphaBot.rules" sudo udevadm trigger -echo "source $path_alpha_config"/alphaROVER.sh"" >> ~/.bashrc +#echo "source $path_alpha_config"/alphaROVER.sh"" >> ~/.bashrc cd $path_alpha_config source ~/.bashrc From 5b83c3b50a2cc329d92c3b495fd8e3abc6c5bbb4 Mon Sep 17 00:00:00 2001 From: Sebas Date: Sat, 24 Oct 2020 10:49:42 -0500 Subject: [PATCH 45/89] Alpha_repo_changed --- src/Config/alphaROVER.sh | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/Config/alphaROVER.sh b/src/Config/alphaROVER.sh index 22f9f78..3f6b95d 100755 --- a/src/Config/alphaROVER.sh +++ b/src/Config/alphaROVER.sh @@ -47,7 +47,7 @@ if [ -d "$DIR" ]; then else cd $path_alpha_config git clone https://github.com/xsens/xsens_mt.git - cd /xsens_mt + cd xsens_mt make sleep 10 cd ~/catkin_ws @@ -209,8 +209,9 @@ function gps_node { function um7_node { echo "=======================================" + chmod +x $path_alphaROVER$"/src/um7_node/src/um7_node.py" ls -l /dev/tty_um7 - roslaunch lea_6h_gps lea_6h_gps.launch device_name:=/dev/tty_um7 & + roslaunch um7_node um7_node.launch device_name:=/dev/tty_um7 & printf "UM7 imu is ready...\n" } From c34fd11605dd0e1bfdfa2ce025424eac07cb0f79 Mon Sep 17 00:00:00 2001 From: Sebas Date: Sat, 24 Oct 2020 10:52:29 -0500 Subject: [PATCH 46/89] Alpha_repo_changed --- src/lea_6h_gps/src/lea_6h_gps.py | 6 ++++-- src/um7_node/src/um7_node.py | 4 ++-- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/src/lea_6h_gps/src/lea_6h_gps.py b/src/lea_6h_gps/src/lea_6h_gps.py index 05c1c30..c148fe8 100755 --- a/src/lea_6h_gps/src/lea_6h_gps.py +++ b/src/lea_6h_gps/src/lea_6h_gps.py @@ -46,7 +46,7 @@ def __init__(self): self.y = 0.0 def GpsTimeSeconds(self, Time_Gps): - print(Time_Gps) + #print(Time_Gps) aux = float(Time_Gps) H = int(aux/10000.0) aux = aux%10000.0 @@ -59,8 +59,10 @@ def GpsTimeSeconds(self, Time_Gps): def GPS_read(self,serial): line = str(serial.readline()) - print(line) + #print(line) data = line.split(",") + aux = data[0].split("','") + data[0] = aux[1] if data[0] == "$GPGGA": self.time_utc = self.GpsTimeSeconds(data[1]) self.Latitude = int(float(data[2])/100.0) diff --git a/src/um7_node/src/um7_node.py b/src/um7_node/src/um7_node.py index 9686781..1e8d08c 100644 --- a/src/um7_node/src/um7_node.py +++ b/src/um7_node/src/um7_node.py @@ -9,7 +9,7 @@ import rospy from sensor_msgs.msg import Imu from geometry_msgs.msg import Quaternion, Vector3 -import transformations as tf +from tf.transformations import quaternion_from_euler import numpy as np from um7py import UM7Serial @@ -57,7 +57,7 @@ def UM7(self,IMU): pitch = packet.pitch yaw = packet.yaw self.velocities = [packet.roll_rate, packet.pitch_rate, packet.yaw_rate] - self.q = tf.quaternion_from_euler(deg2rad(roll), deg2rad(pitch), deg2rad(yaw)) + self.q = quaternion_from_euler(deg2rad(roll), deg2rad(pitch), deg2rad(yaw)) if __name__ == '__main__': try: From e2d3c0d1b512907c6c501117f25c6a7802c3686d Mon Sep 17 00:00:00 2001 From: Sebas Date: Sat, 24 Oct 2020 13:17:12 -0500 Subject: [PATCH 47/89] Alpha_repo_changed --- Readme.md | 6 +- src/Apps/scan_mode.py | 36 +++ src/dynamixel_move/CMakeLists.txt | 206 ++++++++++++++++++ .../launch/dynamixel_move.launch | 5 + src/dynamixel_move/package.xml | 69 ++++++ src/dynamixel_move/src/dynamixel_move.py | 48 ++++ src/um7_node/src/um7_node.py | 21 +- 7 files changed, 388 insertions(+), 3 deletions(-) create mode 100755 src/Apps/scan_mode.py create mode 100644 src/dynamixel_move/CMakeLists.txt create mode 100644 src/dynamixel_move/launch/dynamixel_move.launch create mode 100644 src/dynamixel_move/package.xml create mode 100755 src/dynamixel_move/src/dynamixel_move.py diff --git a/Readme.md b/Readme.md index 901986a..6310d8f 100644 --- a/Readme.md +++ b/Readme.md @@ -173,7 +173,11 @@ $ source ~/.bashrc $ cd ~/catkin_ws/ $ catkin_make ``` - +- Install um7 rosnode + ``` + $ sudo pip3 install um7py + $ + ``` ## Installing AlphaROVER repository ``` diff --git a/src/Apps/scan_mode.py b/src/Apps/scan_mode.py new file mode 100755 index 0000000..e219eb0 --- /dev/null +++ b/src/Apps/scan_mode.py @@ -0,0 +1,36 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +""" +Created on Sat Oct 24 11:59:40 2020 + +@author: sebas +""" + +from numpy import zeros +import rospy +import trajectory_msgs.msg as tm +from std_msgs.msg import Float32 +from sensor_msgs.msg import Imu +from geometry_msgs.msg import Quaternion + + +class Scan(): + def __init__(self): + rospy.init_node('Scan_mode') + rospy.Subscriber('/dynamixel_workbench/joint_trajectory', tm.JointTrajectory, self.motor_angle) + rospy.Subscriber('/um7', Imu, self.angle_imu) + rospy.spin() + + + def motor_angle(self,data): + print(data) + + def angle_imu(self,data): + print(data) + + +if __name__ == '__main__': + try: + Scan() + except rospy.ROSInterruptException: + pass diff --git a/src/dynamixel_move/CMakeLists.txt b/src/dynamixel_move/CMakeLists.txt new file mode 100644 index 0000000..dffcfd0 --- /dev/null +++ b/src/dynamixel_move/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 3.0.2) +project(dynamixel_move) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS roslaunch + roscpp + rospy + std_msgs +) +roslaunch_add_file_check(launch) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES dynamixel_move +# CATKIN_DEPENDS roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/dynamixel_move.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/dynamixel_move_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 src/dynamixel_move.py + 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_dynamixel_move.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/dynamixel_move/launch/dynamixel_move.launch b/src/dynamixel_move/launch/dynamixel_move.launch new file mode 100644 index 0000000..c982d3d --- /dev/null +++ b/src/dynamixel_move/launch/dynamixel_move.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/dynamixel_move/package.xml b/src/dynamixel_move/package.xml new file mode 100644 index 0000000..628c42c --- /dev/null +++ b/src/dynamixel_move/package.xml @@ -0,0 +1,69 @@ + + + dynamixel_move + 0.0.0 + The dynamixel_move package + + + + + sebas + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roslaunch + + + + + + + + diff --git a/src/dynamixel_move/src/dynamixel_move.py b/src/dynamixel_move/src/dynamixel_move.py new file mode 100755 index 0000000..62b58e9 --- /dev/null +++ b/src/dynamixel_move/src/dynamixel_move.py @@ -0,0 +1,48 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +# license removed for brevity +from numpy import zeros +import rospy +import trajectory_msgs.msg as tm +from std_msgs.msg import Float32 + + +class motor(): + def __init__(self): + rospy.init_node('Dinamixel_move_control') + rospy.Subscriber('/dynamixel_angle', Float32, self.angle_change) + self. angle =0.0 + self.run() + + def run(self): + pub = rospy.Publisher('/dynamixel_workbench/joint_trajectory', tm.JointTrajectory, queue_size=10) + rate = rospy.Rate(10) # 10hz + while not rospy.is_shutdown(): + tilt = tm.JointTrajectory() + tilt.header.frame_id = "joint_trajectory" + tilt.header.stamp = rospy.Time.now() + tilt.joint_names = ["tilt"] + + jtp = tm.JointTrajectoryPoint() + jtp.positions = [self.angle] + jtp.velocities = zeros(len(jtp.positions)) + jtp.time_from_start = rospy.Duration(1) + + tilt.points = [jtp] + + pub.publish(tilt) + rate.sleep() + + + def angle_change(self,data): + self.angle = data.data + if self.angle<-2.094: + self.angle = -2.094 + elif self.angle > 0: + self.angle = 0.0 + +if __name__ == '__main__': + try: + motor() + except rospy.ROSInterruptException: + pass \ No newline at end of file diff --git a/src/um7_node/src/um7_node.py b/src/um7_node/src/um7_node.py index 1e8d08c..584d4c0 100644 --- a/src/um7_node/src/um7_node.py +++ b/src/um7_node/src/um7_node.py @@ -9,7 +9,7 @@ import rospy from sensor_msgs.msg import Imu from geometry_msgs.msg import Quaternion, Vector3 -from tf.transformations import quaternion_from_euler +#from tf.transformations import quaternion_from_euler import numpy as np from um7py import UM7Serial @@ -17,6 +17,23 @@ def deg2rad(angle): out = angle*np.pi/180.0 return out + +def quaternion_from_euler(roll, pitch, yaw): + cy = np.cos(yaw * 0.5) + sy = np.sin(yaw * 0.5) + cp = np.cos(pitch * 0.5) + sp = np.sin(pitch * 0.5) + cr = np.cos(roll * 0.5) + sr = np.sin(roll * 0.5) + + q = Quaternion() + print(q) + q.w = cr * cp * cy + sr * sp * sy + q.x = sr * cp * cy - cr * sp * sy + q.y = cr * sp * cy + sr * cp * sy + q.z = cr * cp * sy - sr * sp * cy + + return q class IMU_node(): def __init__(self): @@ -35,7 +52,7 @@ def __init__(self): self.run() def run(self): - pub = rospy.Publisher('um7', Imu, queue_size=10) + pub = rospy.Publisher('/um7', Imu, queue_size=10) rate = rospy.Rate(100) # 100hz while not rospy.is_shutdown(): self.UM7(self.um7_serial) From 04e91c8dbdf7012b798cab0d9a79ff0e7e5269f9 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Sat, 24 Oct 2020 13:19:50 -0500 Subject: [PATCH 48/89] Update alphaROVER.sh --- src/Config/alphaROVER.sh | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/Config/alphaROVER.sh b/src/Config/alphaROVER.sh index 3f6b95d..ccc52a7 100755 --- a/src/Config/alphaROVER.sh +++ b/src/Config/alphaROVER.sh @@ -117,6 +117,8 @@ function dynamixel_node { sleep 1 roslaunch dynamixel_controllers start_tilt_controller.launch sleep 1 + roslaunch dynamixel_move dynamixel_move.launch & + sleep 1 printf "Dynamixel ready...\n" } From 7a4badb74211417bc42158bc5d6504b79116c0a2 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Sat, 24 Oct 2020 14:35:02 -0500 Subject: [PATCH 49/89] Update alphaROVER.sh --- src/Config/alphaROVER.sh | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/Config/alphaROVER.sh b/src/Config/alphaROVER.sh index ccc52a7..8c3ddc0 100755 --- a/src/Config/alphaROVER.sh +++ b/src/Config/alphaROVER.sh @@ -112,10 +112,10 @@ function urg_node { function dynamixel_node { echo "=======================================" - ls -l /dev/tty_dynamixel - roslaunch dynamixel_controllers controller_manager.launch & + ls -l /dev/tty_Dynamixel + roslaunch dynamixel_workbench_controllers dynamixel_controllers.launch usb_port:=/dev/tty_Dynamixel & sleep 1 - roslaunch dynamixel_controllers start_tilt_controller.launch + roslaunch dynamixel_workbench_operators joint_operator.launch & sleep 1 roslaunch dynamixel_move dynamixel_move.launch & sleep 1 From b90022e95c16efd5329b8103648121ceaeec6ec2 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Sat, 24 Oct 2020 14:52:16 -0500 Subject: [PATCH 50/89] Add files via upload --- src/um7_node/um7_node.py | 83 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 83 insertions(+) create mode 100644 src/um7_node/um7_node.py diff --git a/src/um7_node/um7_node.py b/src/um7_node/um7_node.py new file mode 100644 index 0000000..584d4c0 --- /dev/null +++ b/src/um7_node/um7_node.py @@ -0,0 +1,83 @@ +#!/usr/bin/env python3 + +""" +Created on Wed Oct 14 16:26:49 2020 +Webpage IMU: https://pypi.org/project/um7py/ +@author: Sebastian Tilaguy +""" + +import rospy +from sensor_msgs.msg import Imu +from geometry_msgs.msg import Quaternion, Vector3 +#from tf.transformations import quaternion_from_euler +import numpy as np + +from um7py import UM7Serial + +def deg2rad(angle): + out = angle*np.pi/180.0 + return out + +def quaternion_from_euler(roll, pitch, yaw): + cy = np.cos(yaw * 0.5) + sy = np.sin(yaw * 0.5) + cp = np.cos(pitch * 0.5) + sp = np.sin(pitch * 0.5) + cr = np.cos(roll * 0.5) + sr = np.sin(roll * 0.5) + + q = Quaternion() + print(q) + q.w = cr * cp * cy + sr * sp * sy + q.x = sr * cp * cy - cr * sp * sy + q.y = cr * sp * cy + sr * cp * sy + q.z = cr * cp * sy - sr * sp * cy + + return q + +class IMU_node(): + def __init__(self): + # Quaternion data + self.q = 0.0 + # angular velocities data + self.velocities = 0.0 + #initial param + port = rospy.get_param('/um7_node/device_port') + + rospy.init_node('UM7_node') + + self.um7_serial = UM7Serial(port_name=port) + self.um7_serial.zero_gyros = 1 + + self.run() + + def run(self): + pub = rospy.Publisher('/um7', Imu, queue_size=10) + rate = rospy.Rate(100) # 100hz + while not rospy.is_shutdown(): + self.UM7(self.um7_serial) + + mesg = Imu() + mesg.header.stamp = rospy.Time.now() + mesg.header.frame_id = 'UM7' + mesg.orientation = Quaternion(*self.q) + mesg.angular_velocity = Vector3(*self.velocities) + + pub.publish(mesg) + rate.sleep() + + + def UM7(self,IMU): + for packet in IMU.recv_euler_broadcast(5): + # print(f"packet: {packet}") + roll = packet.roll + pitch = packet.pitch + yaw = packet.yaw + self.velocities = [packet.roll_rate, packet.pitch_rate, packet.yaw_rate] + self.q = quaternion_from_euler(deg2rad(roll), deg2rad(pitch), deg2rad(yaw)) + +if __name__ == '__main__': + try: + IMU_node() + except rospy.ROSInterruptException: + pass \ No newline at end of file From 42fbe2f4e90925a5751e4071a7d379c01afc9f1b Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Sat, 24 Oct 2020 14:54:16 -0500 Subject: [PATCH 51/89] Add files via upload --- src/um7_node/src/um7_node.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/um7_node/src/um7_node.py b/src/um7_node/src/um7_node.py index 584d4c0..3785f9d 100644 --- a/src/um7_node/src/um7_node.py +++ b/src/um7_node/src/um7_node.py @@ -27,7 +27,7 @@ def quaternion_from_euler(roll, pitch, yaw): sr = np.sin(roll * 0.5) q = Quaternion() - print(q) + # print(q) q.w = cr * cp * cy + sr * sp * sy q.x = sr * cp * cy - cr * sp * sy q.y = cr * sp * cy + sr * cp * sy @@ -60,7 +60,7 @@ def run(self): mesg = Imu() mesg.header.stamp = rospy.Time.now() mesg.header.frame_id = 'UM7' - mesg.orientation = Quaternion(*self.q) + mesg.orientation = self.q mesg.angular_velocity = Vector3(*self.velocities) pub.publish(mesg) From 014aa19a49c213c0d9dbdd7a51911de544254f1d Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Sat, 24 Oct 2020 14:59:20 -0500 Subject: [PATCH 52/89] Add files via upload --- src/Config/alphaROVER.sh | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/Config/alphaROVER.sh b/src/Config/alphaROVER.sh index 8c3ddc0..5d95c58 100755 --- a/src/Config/alphaROVER.sh +++ b/src/Config/alphaROVER.sh @@ -114,11 +114,11 @@ function dynamixel_node { echo "=======================================" ls -l /dev/tty_Dynamixel roslaunch dynamixel_workbench_controllers dynamixel_controllers.launch usb_port:=/dev/tty_Dynamixel & - sleep 1 + sleep 3 roslaunch dynamixel_workbench_operators joint_operator.launch & - sleep 1 + sleep 3 roslaunch dynamixel_move dynamixel_move.launch & - sleep 1 + sleep 3 printf "Dynamixel ready...\n" } @@ -213,7 +213,7 @@ function um7_node { echo "=======================================" chmod +x $path_alphaROVER$"/src/um7_node/src/um7_node.py" ls -l /dev/tty_um7 - roslaunch um7_node um7_node.launch device_name:=/dev/tty_um7 & + roslaunch um7_node um7_node.launch device_name:=/dev/tty_GPS & printf "UM7 imu is ready...\n" } From b53dff8c2b372768bd1d4d51abee61d8e5a3eaa2 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Sat, 24 Oct 2020 15:03:40 -0500 Subject: [PATCH 53/89] Add files via upload --- src/dynamixel_move/src/dynamixel_move.py | 28 ++++++++++++------------ 1 file changed, 14 insertions(+), 14 deletions(-) diff --git a/src/dynamixel_move/src/dynamixel_move.py b/src/dynamixel_move/src/dynamixel_move.py index 62b58e9..a52b395 100755 --- a/src/dynamixel_move/src/dynamixel_move.py +++ b/src/dynamixel_move/src/dynamixel_move.py @@ -12,25 +12,12 @@ def __init__(self): rospy.init_node('Dinamixel_move_control') rospy.Subscriber('/dynamixel_angle', Float32, self.angle_change) self. angle =0.0 + self.pub = rospy.Publisher('/dynamixel_workbench/joint_trajectory', tm.JointTrajectory, queue_size=10) self.run() def run(self): - pub = rospy.Publisher('/dynamixel_workbench/joint_trajectory', tm.JointTrajectory, queue_size=10) rate = rospy.Rate(10) # 10hz while not rospy.is_shutdown(): - tilt = tm.JointTrajectory() - tilt.header.frame_id = "joint_trajectory" - tilt.header.stamp = rospy.Time.now() - tilt.joint_names = ["tilt"] - - jtp = tm.JointTrajectoryPoint() - jtp.positions = [self.angle] - jtp.velocities = zeros(len(jtp.positions)) - jtp.time_from_start = rospy.Duration(1) - - tilt.points = [jtp] - - pub.publish(tilt) rate.sleep() @@ -40,6 +27,19 @@ def angle_change(self,data): self.angle = -2.094 elif self.angle > 0: self.angle = 0.0 + tilt = tm.JointTrajectory() + tilt.header.frame_id = "joint_trajectory" + tilt.header.stamp = rospy.Time.now() + tilt.joint_names = ["tilt"] + + jtp = tm.JointTrajectoryPoint() + jtp.positions = [self.angle] + jtp.velocities = zeros(len(jtp.positions)) + jtp.time_from_start = rospy.Duration(1) + + tilt.points = [jtp] + + self.pub.publish(tilt) if __name__ == '__main__': try: From 4252295c70a9b4a4d7a12dc00b448c241e931fed Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Sat, 24 Oct 2020 15:17:36 -0500 Subject: [PATCH 54/89] Add files via upload --- src/Apps/scan_mode.py | 32 +++++++++++++++++++++++++++----- 1 file changed, 27 insertions(+), 5 deletions(-) diff --git a/src/Apps/scan_mode.py b/src/Apps/scan_mode.py index e219eb0..d926dc3 100755 --- a/src/Apps/scan_mode.py +++ b/src/Apps/scan_mode.py @@ -8,26 +8,48 @@ from numpy import zeros import rospy -import trajectory_msgs.msg as tm from std_msgs.msg import Float32 from sensor_msgs.msg import Imu from geometry_msgs.msg import Quaternion - +from sensor_msgs import JointState +import numpy as np +from math import copysign, atan2 class Scan(): def __init__(self): rospy.init_node('Scan_mode') - rospy.Subscriber('/dynamixel_workbench/joint_trajectory', tm.JointTrajectory, self.motor_angle) + rospy.Subscriber('/dynamixel_workbench/joint_states', JointState, self.motor_angle) rospy.Subscriber('/um7', Imu, self.angle_imu) rospy.spin() def motor_angle(self,data): - print(data) + print(data.position) def angle_imu(self,data): - print(data) + print(data.orientation) + print(euler_from_quaternion(data.orientation)) + def euler_from_quaternion(self.q): + # roll (x-axis rotation) + sinr_cosp = 2 * (q.w * q.x + q.y * q.z) + cosr_cosp = 1 - 2 * (q.x * q.x + q.y * q.y) + np.a + roll = atan2(sinr_cosp, cosr_cosp) + + # pitch (y-axis rotation) + sinp = 2 * (q.w * q.y - q.z * q.x) + if (np.abs(sinp) >= 1): + pitch = copysign(np.pi/2.0, sinp) # use 90 degrees if out of range + else: + pitch = np.asin(sinp) + + # yaw (z-axis rotation) + siny_cosp = 2 * (q.w * q.z + q.x * q.y) + cosy_cosp = 1 - 2.0*(q.y * q.y + q.z * q.z) + yaw = atan2(siny_cosp, cosy_cosp) + + return np.array([roll, pitch, yaw]) if __name__ == '__main__': try: From 3be7f9a6fea841464fca7c83d6600f530b877906 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Tue, 27 Oct 2020 18:18:08 -0500 Subject: [PATCH 55/89] Update um7_node.py --- src/um7_node/src/um7_node.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/um7_node/src/um7_node.py b/src/um7_node/src/um7_node.py index 3785f9d..983bdf6 100644 --- a/src/um7_node/src/um7_node.py +++ b/src/um7_node/src/um7_node.py @@ -68,7 +68,7 @@ def run(self): def UM7(self,IMU): - for packet in IMU.recv_euler_broadcast(5): + for packet in IMU.recv_euler_broadcast(1): # print(f"packet: {packet}") roll = packet.roll pitch = packet.pitch @@ -80,4 +80,4 @@ def UM7(self,IMU): try: IMU_node() except rospy.ROSInterruptException: - pass \ No newline at end of file + pass From 2eaad9e1ff45729cda41309c6599dfa78f94c59c Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Mon, 2 Nov 2020 14:20:56 -0500 Subject: [PATCH 56/89] Delete controller_manager.launch --- src/Apps/Dynamixel/controller_manager.launch | 14 -------------- 1 file changed, 14 deletions(-) delete mode 100644 src/Apps/Dynamixel/controller_manager.launch diff --git a/src/Apps/Dynamixel/controller_manager.launch b/src/Apps/Dynamixel/controller_manager.launch deleted file mode 100644 index 2b20e9c..0000000 --- a/src/Apps/Dynamixel/controller_manager.launch +++ /dev/null @@ -1,14 +0,0 @@ - - - - namespace: dxl_manager - serial_ports: - pan_tilt_port: - port_name: "/dev/ttyACM0" - baud_rate: 1000000 - min_motor_id: 1 - max_motor_id: 25 - update_rate: 20 - - - From 961da95fdb74d6c1fea6c5efd50d620cc6f57738 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Mon, 2 Nov 2020 14:21:03 -0500 Subject: [PATCH 57/89] Delete move.py --- src/Apps/Dynamixel/move.py | 73 -------------------------------------- 1 file changed, 73 deletions(-) delete mode 100644 src/Apps/Dynamixel/move.py diff --git a/src/Apps/Dynamixel/move.py b/src/Apps/Dynamixel/move.py deleted file mode 100644 index 4e4c285..0000000 --- a/src/Apps/Dynamixel/move.py +++ /dev/null @@ -1,73 +0,0 @@ -#!/usr/bin/env python -# https://github.com/arebgun/dynamixel_motor libreria dynamixel-ROS -# http://docs.ros.org/kinetic/api/dynamixel_msgs/html/msg/JointState.html comandos - -import rospy -from dynamixel_msgs.msg import JointState -from std_msgs.msg import Float64 -from std_msgs.msg import String -import time - -#class NodoDyna(object): # Crea clase - -# def __init__(self): -# self.pub = rospy.Publisher('/motor_controller/command', Float64, queue_size=10) -# self.pos_inicial = 3.05 -# self.pos_final = 2.28 -# self.pos_centro = 2.62 -# self.mover_final() -# print "1" -# rospy.spin() - -def mover_inicio(): - pub.publish(pos_inicial) - print pos_inicial - -def mover_final(): - pub.publish(2.28) - print pos_final - -def mover_centro(): - pub.publish(pos_centro) - print pos_centro - -def dyn(): - global pub - global pos_inicial - global pos_final - global pos_centro - pub = rospy.Publisher('/motor_controller/command', Float64, queue_size=10) - rospy.init_node("move_dynamixel") - pos_inicial = 3.05 - pos_final = 2.28 - pos_centro = 2.62 - mover_inicio() - time.sleep(2) - mover_centro() - time.sleep(2) - mover_final() - time.sleep(2) - - pos = Float64() - - #arm_pub = rospy.Publisher('arm_string', String, queue_size=10) - #rospy.init_node('rover_arm', anonymous=True) - #arm_state = str([servo.getPosition(0),servo.getPosition(1)]) - #pub.publish("arm state"+arm_state) - #rospy.Subscriber("/joy", Joy, callback) - rospy.spin() - -if __name__ == '__main__': - try: - dyn() - except rospy.ROSInterruptException: - pass - -#if __name__ == '__main__': -# try: -# rospy.init_node("move_dynamixel") -# NodoDyna() -# except rospy.ROSInterruptException: -# pass -# print "Exiting Dynamixel" - From 8a95e8364b0edae69ef0dbd7ae766ac24d55ee54 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Mon, 2 Nov 2020 14:21:10 -0500 Subject: [PATCH 58/89] Delete start_motor_controller.launch --- src/Apps/Dynamixel/start_motor_controller.launch | 9 --------- 1 file changed, 9 deletions(-) delete mode 100644 src/Apps/Dynamixel/start_motor_controller.launch diff --git a/src/Apps/Dynamixel/start_motor_controller.launch b/src/Apps/Dynamixel/start_motor_controller.launch deleted file mode 100644 index c0ced93..0000000 --- a/src/Apps/Dynamixel/start_motor_controller.launch +++ /dev/null @@ -1,9 +0,0 @@ - - - rosparam file="$(find controlador_motor_ax12)/robot_joint_description.yaml" command="load"/> - - From 94bd1cd6c65c0ba94a6b69ef56e456e17d55cdff Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Mon, 2 Nov 2020 14:21:26 -0500 Subject: [PATCH 59/89] Delete scan_mode.py --- src/Apps/scan_mode.py | 58 ------------------------------------------- 1 file changed, 58 deletions(-) delete mode 100755 src/Apps/scan_mode.py diff --git a/src/Apps/scan_mode.py b/src/Apps/scan_mode.py deleted file mode 100755 index d926dc3..0000000 --- a/src/Apps/scan_mode.py +++ /dev/null @@ -1,58 +0,0 @@ -#!/usr/bin/env python3 -# -*- coding: utf-8 -*- -""" -Created on Sat Oct 24 11:59:40 2020 - -@author: sebas -""" - -from numpy import zeros -import rospy -from std_msgs.msg import Float32 -from sensor_msgs.msg import Imu -from geometry_msgs.msg import Quaternion -from sensor_msgs import JointState -import numpy as np -from math import copysign, atan2 - -class Scan(): - def __init__(self): - rospy.init_node('Scan_mode') - rospy.Subscriber('/dynamixel_workbench/joint_states', JointState, self.motor_angle) - rospy.Subscriber('/um7', Imu, self.angle_imu) - rospy.spin() - - - def motor_angle(self,data): - print(data.position) - - def angle_imu(self,data): - print(data.orientation) - print(euler_from_quaternion(data.orientation)) - - def euler_from_quaternion(self.q): - # roll (x-axis rotation) - sinr_cosp = 2 * (q.w * q.x + q.y * q.z) - cosr_cosp = 1 - 2 * (q.x * q.x + q.y * q.y) - np.a - roll = atan2(sinr_cosp, cosr_cosp) - - # pitch (y-axis rotation) - sinp = 2 * (q.w * q.y - q.z * q.x) - if (np.abs(sinp) >= 1): - pitch = copysign(np.pi/2.0, sinp) # use 90 degrees if out of range - else: - pitch = np.asin(sinp) - - # yaw (z-axis rotation) - siny_cosp = 2 * (q.w * q.z + q.x * q.y) - cosy_cosp = 1 - 2.0*(q.y * q.y + q.z * q.z) - yaw = atan2(siny_cosp, cosy_cosp) - - return np.array([roll, pitch, yaw]) - -if __name__ == '__main__': - try: - Scan() - except rospy.ROSInterruptException: - pass From 9b1d40d2dab000f855129fb8d7f7cc5d115792c0 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Mon, 2 Nov 2020 14:21:34 -0500 Subject: [PATCH 60/89] Delete scan_mode2.py --- src/Apps/scan_mode2.py | 284 ----------------------------------------- 1 file changed, 284 deletions(-) delete mode 100644 src/Apps/scan_mode2.py diff --git a/src/Apps/scan_mode2.py b/src/Apps/scan_mode2.py deleted file mode 100644 index 88175ae..0000000 --- a/src/Apps/scan_mode2.py +++ /dev/null @@ -1,284 +0,0 @@ -#!/usr/bin/env python -# https://github.com/arebgun/dynamixel_motor libreria dynamixel-ROS -# http://docs.ros.org/kinetic/api/dynamixel_msgs/html/msg/JointState.html comandos -# rosrun urg_node urg_node _ip_address:="192.168.0.10" _publish_multiecho:="true" - -import rospy -from sensor_msgs.msg import Joy -from dynamixel_msgs.msg import JointState -from sensor_msgs.msg import LaserScan -from sensor_msgs.msg import MultiEchoLaserScan -from std_msgs.msg import Float64 -from sensor_msgs.msg import Imu -from nav_msgs.msg import Odometry -from geometry_msgs.msg import Quaternion, Twist -import tf -import matplotlib.pyplot as plt -import numpy as np -import sys,math,time,os,datetime - -import pandas as pd -import csv -import os - -# >0 down -# <0 up - -# python move_dynamixel [angle] -# python scan_data 45 - -ang_scan = float(sys.argv[1]) -dyn_offset = 1.28 -count = 0 - -class First(): # Crea clase - def __init__(self): - rospy.init_node("scan_node_mode2") - rospy.Subscriber("/joy", Joy, self.readJoy) - self.pub = rospy.Publisher('/tilt_controller/command', Float64, queue_size=10) - rospy.Subscriber('/tilt_controller/state', JointState, self.read_Dynamixel) # 20Hz - rospy.Subscriber('/echoes', MultiEchoLaserScan, self.read_LiDAR) #30Hz - rospy.Subscriber('/ekf', Odometry, self.read_odom) - rospy.Subscriber('/imu_data', Imu, self.read_imu) - self.stop_flag = 0 - self.read_pose = 0 - # By Tila - self.x = 0 - self.y = 0 - self.z = 0 - ## - self.moving= 0 - self.fileText='' - self.move_ini(ang_scan) - rospy.spin() - - def createFile(self): - Ruta=os.getcwd() - self.fileText=Ruta+"/data/"+time.strftime("%d-%m-%y")+'-'+time.strftime("%I-%M-%S")+".txt" - print("Fichero: "+self.fileText+"\n") - f = open(self.fileText,'w') - f.close() - - def readJoy(self, data): - buttons = data.buttons - axes = data.axes - if (axes[2]<=-0.9 and buttons[4]==1 and buttons[1]==1): # LT + LB + B - self.stop_flag=1 - else: - self.stop_flag=0 - - def read_Dynamixel(self,data): - #print dir(data) - self.read_pose = data.current_pos - self.moving = data.is_moving - - def read_imu(self,data): - qx = data.orientation.x - qy = data.orientation.y - qz = data.orientation.z - qw = data.orientation.w - q = np.array([qx,qy,qz,qw]) - euler = tf.transformations.euler_from_quaternion(q) - self.imu_roll = euler[0] - self.imu_pitch = euler[1] - self.imu_yaw = euler[2] - - def read_odom(self,data): - self.x = data.pose.pose.position.x - self.y = data.pose.pose.position.y - self.z = data.pose.pose.position.z - - def read_LiDAR(self,data): - #print dir(data) - ranges = data.ranges - N=len(ranges) - intensities = data.intensities - delta_angle = data.angle_increment - max_angle = data.angle_max - min_angle = data.angle_min - theta = np.linspace(min_angle,max_angle,N) - self.ranges_0 = np.zeros([1,N]) - self.ranges_1 = np.zeros([1,N]) - self.ranges_2 = np.zeros([1,N]) - self.intensities_0 = np.zeros([1,N]) - self.intensities_1 = np.zeros([1,N]) - self.intensities_2 = np.zeros([1,N]) - for k in range(0,N-1): - aux = str(ranges[k]).split("[") - aux = str(aux[1]).strip("]") - aux = aux.split(",") - aux2 = str(intensities[k]).split("[") - aux2 = str(aux2[1]).strip("]") - aux2 = aux2.split(",") - - if len(aux)==1: - self.ranges_0[0,k] = float(aux[0]) - self.intensities_0[0,k] = (aux2[0]) - - elif len(aux)==2: - self.ranges_0[0,k] = (aux[0]) - self.ranges_1[0,k] = (aux[1]) - self.intensities_0[0,k] = (aux2[0]) - self.intensities_1[0,k] = (aux2[1]) - - elif len(aux)==3: - self.ranges_0[0,k] = (aux[0]) - self.ranges_1[0,k] = (aux[1]) - self.ranges_2[0,k] = (aux[2]) - self.intensities_0[0,k] = (aux2[0]) - self.intensities_1[0,k] = (aux2[1]) - self.intensities_2[0,k] = (aux2[2]) - - - def move_ini(self,ang): - if (ang > 60 or ang < -45): - print "Scan range must be between [-45 60]" - exit() - else: - ang_Rad = ang*math.pi/180.0 - ang_Rad = ang_Rad-dyn_offset - self.pub.publish(ang_Rad) - print "Angle: "+ str(ang_Rad)+" , angle_offset: "+str(dyn_offset) - while (self.moving == False): - self.pub.publish(ang_Rad) - # print "Waiting for Dynamixel..." - # f=1 - #time.sleep(0.2) - self.ScanTilt(ang_Rad) - - def ScanTilt(self,ang): - N = 1081 - n = (N*6)+7 - #M = np.zeros((num , n)) - print "SCANNING..." - time.sleep(1) - self.createFile() - time.sleep(1) - while (True): - f = open(self.fileText,"a") #opens file with name of "test.txt" - time.sleep(0.05) - dataLine='' - dataLine=dataLine+str(self.read_pose+dyn_offset)+"\t" - dataLine=dataLine+str(self.x)+"\t" - dataLine=dataLine+str(self.y)+"\t" - dataLine=dataLine+str(self.z)+"\t" - dataLine=dataLine+str(self.imu_pitch)+"\t" - dataLine=dataLine+str(self.imu_roll)+"\t" - dataLine=dataLine+str(self.imu_yaw)+"\t" - N = self.ranges_0.shape[1] - for i in range(0,N-1): - dataLine=dataLine+str(self.ranges_0[0,i])+"\t" - N = self.ranges_1.shape[1] - for i in range(0,N-1): - dataLine=dataLine+str(self.ranges_1[0,i])+"\t" - N = self.ranges_2.shape[1] - for i in range(0,N-1): - dataLine=dataLine+str(self.ranges_2[0,i])+"\t" - N = self.intensities_0.shape[1] - for i in range(0,N-1): - dataLine=dataLine+str(self.intensities_0[0,i])+"\t" - N = self.intensities_1.shape[1] - for i in range(0,N-1): - dataLine=dataLine+str(self.intensities_1[0,i])+"\t" - N = self.intensities_2.shape[1] - for i in range(0,N-1): - dataLine=dataLine+str(self.intensities_2[0,i])+"\t" - #M[count,0] = self.read_pose+dyn_offset - #M[count,1] = self.x - #M[count,2] = self.y - #M[count,3] = self.z1 - #M[count,4] = self.imu_pitch - #M[count,5] = self.imu_roll - #M[count,6] = self.imu_yaw - #M[count,7:1087] = self.ranges_0 - #M[count,1088:2168] = self.ranges_1 - #M[count,2169:3249] = self.ranges_2 - #M[count,3250:4330] = self.intensities_0 - #M[count,4331:5411] = self.intensities_1 - #M[count,5412:6492] = self.intensities_2 - dataLine=dataLine+"\n" - f.write(dataLine) - if (self.stop_flag==1): - f.close() - print "Scan finished" - exit() - - #self.pub.publish(0.8) - print "Saving dataFile..." - exit() - #self.saveData(M,n) - - def saveData(self,M,n): - - ang = M[:,0] - - df_header=[None]*n - - df_header[0]="Angle" - dataset = pd.DataFrame({df_header[0]: M[:,0]}) - - df_header[1]="X" - dataset.insert(1, df_header[1], M[:,1], True) - - df_header[2]="Y" - dataset.insert(2, df_header[2], M[:,2], True) - - df_header[3]="Z" - dataset.insert(3, df_header[3], M[:,3], True) - - df_header[4]="Pitch" - dataset.insert(4, df_header[4], M[:,4], True) - - df_header[5]="Roll" - dataset.insert(5, df_header[5], M[:,5], True) - - df_header[6]="Yaw" - dataset.insert(6, df_header[6], M[:,6], True) - - N=1080 - - for i in range(7,N+7): - df_header[i]="Range1_"+str(i-7) - dataset.insert(i, df_header[i], M[:,i], True) - - for i in range(N+7,2*N+7): - df_header[i]="Range2_"+str(i-N-7) - dataset.insert(i, df_header[i], M[:,i], True) - - for i in range(2*N+7,3*N+7): - df_header[i]="Range3_"+str(i-2*N-7) - dataset.insert(i, df_header[i], M[:,i], True) - - for i in range(3*N+7,4*N+7): - df_header[i]="Intensities1_"+str(i-3*N-7) - dataset.insert(i, df_header[i], M[:,i], True) - - for i in range(4*N+7,5*N+7): - df_header[i]="Intensities2_"+str(i-4*N-7) - dataset.insert(i, df_header[i], M[:,i], True) - - for i in range(5*N+7,6*N+7): - df_header[i]="Intensities3_"+str(i-5*N-7) - dataset.insert(i, df_header[i], M[:,i], True) - - datetime_object = datetime.datetime.now() - name = "scan_"+str(datetime_object)+".csv" - print M.shape - print dataset.shape - dataset.to_csv(name, sep='\t', encoding='utf-8', index=False) - - print "Scan finished" - os.system("sudo python /home/ubuntu/Desktop/Mercury/leds_on.py") #Lights ON - time.sleep(0.2) - os.system("sudo python /home/ubuntu/Desktop/Mercury/lights_off.py") #Lights OFF - time.sleep(0.2) - os.system("sudo python /home/ubuntu/Desktop/Mercury/leds_on.py") #Lights ON - time.sleep(0.2) - os.system("sudo python /home/ubuntu/Desktop/Mercury/lights_off.py") #Lights OFF - exit() - -if __name__ == '__main__': - try: - cv = First() - except rospy.ROSInterruptException: - print "Interrupted before completion" From 26a47e249f1846feaccbe6641244b6bfd1838807 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Mon, 2 Nov 2020 14:21:41 -0500 Subject: [PATCH 61/89] Delete scan_data.py --- src/Apps/scan_data.py | 270 ------------------------------------------ 1 file changed, 270 deletions(-) delete mode 100644 src/Apps/scan_data.py diff --git a/src/Apps/scan_data.py b/src/Apps/scan_data.py deleted file mode 100644 index 9d015a1..0000000 --- a/src/Apps/scan_data.py +++ /dev/null @@ -1,270 +0,0 @@ -#!/usr/bin/env python -# https://github.com/arebgun/dynamixel_motor libreria dynamixel-ROS -# http://docs.ros.org/kinetic/api/dynamixel_msgs/html/msg/JointState.html comandos -# rosrun urg_node urg_node _ip_address:="192.168.0.10" _publish_multiecho:="true" - -import rospy -from dynamixel_msgs.msg import JointState -from sensor_msgs.msg import LaserScan -from sensor_msgs.msg import MultiEchoLaserScan -from std_msgs.msg import Float64 -from sensor_msgs.msg import Imu -from nav_msgs.msg import Odometry -from geometry_msgs.msg import Quaternion, Twist -import tf -import matplotlib.pyplot as plt -import numpy as np -import sys,math,time,os,datetime - -import pandas as pd -import csv - -# >0 down -# <0 up - -# python move_dynamixel [from] [to] [step] -# python scan_data 45 -45 1 - -min_tilt = float(sys.argv[1]) -max_tilt = float(sys.argv[2]) -res_tilt = float(sys.argv[3]) -dyn_offset = 1.28 -count = 0 - -class First(): # Crea clase - def __init__(self): - rospy.init_node("scan_node") - self.pub = rospy.Publisher('/tilt_controller/command', Float64, queue_size=10) - rospy.Subscriber('/tilt_controller/state', JointState, self.read_Dynamixel) # 20Hz - rospy.Subscriber('/echoes', MultiEchoLaserScan, self.read_LiDAR) #30Hz - rospy.Subscriber('/ekf', Odometry, self.read_odom) - rospy.Subscriber('/imu_data', Imu, self.read_imu) - self.move_ini(min_tilt,max_tilt,res_tilt) - rospy.spin() - - def read_Dynamixel(self,data): - #print dir(data) - self.read_pose = data.current_pos - self.moving = data.is_moving - - def read_imu(self,data): - qx = data.orientation.x - qy = data.orientation.y - qz = data.orientation.z - qw = data.orientation.w - q = np.array([qx,qy,qz,qw]) - euler = tf.transformations.euler_from_quaternion(q) - self.imu_roll = euler[0] - self.imu_pitch = euler[1] - self.imu_yaw = euler[2] - - def read_odom(self,data): - self.x = data.pose.pose.position.x - self.y = data.pose.pose.position.y - self.z = data.pose.pose.position.z - - def read_LiDAR(self,data): - #print dir(data) - ranges = data.ranges - intensities = data.intensities - delta_angle = data.angle_increment - max_angle = data.angle_max - min_angle = data.angle_min - N = len(ranges)-1 - theta = np.linspace(min_angle,max_angle,N) - self.ranges_0 = np.zeros([1,N]) - self.ranges_1 = np.zeros([1,N]) - self.ranges_2 = np.zeros([1,N]) - self.intensities_0 = np.zeros([1,N]) - self.intensities_1 = np.zeros([1,N]) - self.intensities_2 = np.zeros([1,N]) - - for k in range(0,N): - aux = str(ranges[k]).split("[") - aux = str(aux[1]).strip("]") - aux = aux.split(",") - aux2 = str(intensities[k]).split("[") - aux2 = str(aux2[1]).strip("]") - aux2 = aux2.split(",") - - if len(aux)==1: - self.ranges_0[0,k] = float(aux[0]) - self.intensities_0[0,k] = float(aux2[0]) - - elif len(aux)==2: - self.ranges_0[0,k] = float(aux[0]) - self.ranges_1[0,k] = float(aux[1]) - self.intensities_0[0,k] = float(aux2[0]) - self.intensities_1[0,k] = float(aux2[1]) - - elif len(aux)==3: - self.ranges_0[0,k] = float(aux[0]) - self.ranges_1[0,k] = float(aux[1]) - self.ranges_2[0,k] = float(aux[2]) - self.intensities_0[0,k] = float(aux2[0]) - self.intensities_1[0,k] = float(aux2[1]) - self.intensities_2[0,k] = float(aux2[2]) - - - def move_ini(self,minAng,maxAng,step): - - if (minAng>45 or maxAng<-45 or step<0.3): - print "Scan range must be between [-45 45], with resolution >=0.3" - exit() - else: - minRad = minAng*math.pi/180 - maxRad = maxAng*math.pi/180 - stepRad = step*math.pi/180 - - minRad = minRad-dyn_offset - maxRad = maxRad-dyn_offset - - print "From: "+ str(minAng) - time.sleep(0.5) - print "To: "+ str(maxAng) - time.sleep(0.5) - print "Step: "+ str(step) - time.sleep(0.5) - - tAng = minAng-maxAng - print "Scanned angle: "+ str(tAng) - - numScans = int((abs(minAng)+abs(maxAng))/step+1) - print "Num.Scans: "+ str(numScans) - - self.ScanTilt(minRad,maxRad,stepRad,numScans) - - def ScanTilt(self,Min,Max,res,num): - k = 0 - count = 0 - res = abs(res) - current_pose = Min - - self.pub.publish(current_pose) - - fMin = 0 - fMin = int(fMin) - - fMax = 2*abs(max_tilt) - fMax = int(fMax) - - fres = res_tilt - fres = int(fres) - - N = 1081 - n = (N*6)+7 - M = np.zeros((num, n)) - - time.sleep(0.5) - - while (self.moving == True): - #print "Waiting for Dynamixel..." - f=1 - time.sleep(0.2) - print "SCANNING..." - - for i in range(0,num): - - #print self.read_pose+dyn_offset - #print current_pose - self.pub.publish(current_pose) - M[count,0] = self.read_pose+dyn_offset - current_pose = current_pose-res - while (self.moving == True): - #print "Waiting for Dynamixel..." - f=1 - time.sleep (0.2) -# M[count,1] = self.x -# M[count,2] = self.y -# M[count,3] = self.z - M[count,4] = self.imu_pitch - M[count,5] = self.imu_roll - M[count,6] = self.imu_yaw - M[count,7:1087] = self.ranges_0 - M[count,1088:2168] = self.ranges_1 - M[count,2169:3249] = self.ranges_2 - M[count,3250:4330] = self.intensities_0 - M[count,4331:5411] = self.intensities_1 - M[count,5412:6492] = self.intensities_2 - count = count+1 - self.pub.publish(0.8) - print "Saving dataFile..." - #exit() - self.saveData(M,n) - - def saveData(self,M,n): - - ang = M[:,0] - - df_header=[None]*n - - df_header[0]="Angle" - dataset = pd.DataFrame({df_header[0]: M[:,0]}) - - df_header[1]="X" - dataset.insert(1, df_header[1], M[:,1], True) - - df_header[2]="Y" - dataset.insert(2, df_header[2], M[:,2], True) - - df_header[3]="Z" - dataset.insert(3, df_header[3], M[:,3], True) - - df_header[4]="Pitch" - dataset.insert(4, df_header[4], M[:,4], True) - - df_header[5]="Roll" - dataset.insert(5, df_header[5], M[:,5], True) - - df_header[6]="Yaw" - dataset.insert(6, df_header[6], M[:,6], True) - - N=1080 - - for i in range(7,N+7): - df_header[i]="Range1_"+str(i-7) - dataset.insert(i, df_header[i], M[:,i], True) - - for i in range(N+7,2*N+7): - df_header[i]="Range2_"+str(i-N-7) - dataset.insert(i, df_header[i], M[:,i], True) - - for i in range(2*N+7,3*N+7): - df_header[i]="Range3_"+str(i-2*N-7) - dataset.insert(i, df_header[i], M[:,i], True) - - for i in range(3*N+7,4*N+7): - df_header[i]="Intensities1_"+str(i-3*N-7) - dataset.insert(i, df_header[i], M[:,i], True) - - for i in range(4*N+7,5*N+7): - df_header[i]="Intensities2_"+str(i-4*N-7) - dataset.insert(i, df_header[i], M[:,i], True) - - for i in range(5*N+7,6*N+7): - df_header[i]="Intensities3_"+str(i-5*N-7) - dataset.insert(i, df_header[i], M[:,i], True) - - datetime_object = datetime.datetime.now() - name = "scan_"+str(datetime_object)+".csv" - print M.shape - print dataset.shape - dataset.to_csv(name, sep='\t', encoding='utf-8', index=False) - - print "Scan finished" - os.system("sudo python /home/ubuntu/Desktop/Mercury/leds_on.py") #Lights ON - time.sleep(0.2) - os.system("sudo python /home/ubuntu/Desktop/Mercury/lights_off.py") #Lights OFF - time.sleep(0.2) - os.system("sudo python /home/ubuntu/Desktop/Mercury/leds_on.py") #Lights ON - time.sleep(0.2) - os.system("sudo python /home/ubuntu/Desktop/Mercury/lights_off.py") #Lights OFF - exit() - -if __name__ == '__main__': - - try: - cv = First() - - except rospy.ROSInterruptException: - print "Interrupted before completion" From 682bf5a22cb537ad72be162dc3b9b4f3279d9ad2 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Mon, 2 Nov 2020 14:38:48 -0500 Subject: [PATCH 62/89] Add files via upload --- src/Apps/scan3d.py | 102 +++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 102 insertions(+) create mode 100644 src/Apps/scan3d.py diff --git a/src/Apps/scan3d.py b/src/Apps/scan3d.py new file mode 100644 index 0000000..b4e59cc --- /dev/null +++ b/src/Apps/scan3d.py @@ -0,0 +1,102 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +""" +Created on Mon Nov 2 10:40:42 2020 + +@author: sebas +""" + +# from numpy import zeros +import rospy +# import rosbag +# import os, sys, getopt +from optparse import OptionParser +# import time as T +# from std_msgs.msg import Float32 +# from sensor_msgs.msg import MultiEchoLaserScan, Imu, JointState +# import trajectory_msgs.msg as tm +import numpy as np +# from math import asin, copysign + +# %% Default variables +def_sweep_angles = [-13.0*np.pi/18.0, 0.0, np.pi/600.0] # [from to step] = [130°, 0°, 0.3°] +def_angle_fix = [np.pi/4.0,] # 45° + +# %% Functions +def deco_arg(options, args): + # input angles + in_angles = [float(i) for i in args] + + # output file name + bagname = 'bags/'+options.filename + L = len(bagname) + if not bagname[L-4:L] == '.bag': + bagname = bagname+'.bag' + + # Run scan mode + if options.scan_mode == True: + # Check input arguments + try: + angle_max, angle_min, max_step = in_angles + def_sweep_angles[len(in_angles):] + except: + raise Exception("Too many input arguments for sweep mode, expected arguments must be [from] [to] [step].") + # sweep mode message + if options.verbose: + print("=====================================================") + print("3D scan mode: sweep") + print("ROS bag path: %s" % bagname) + print("Selected sweep angles:") + print("- from: %.2f rad" % angle_max) + print("- to: %.2f rad" % angle_min) + print("- step: %.2f rad" % max_step) + print("=====================================================") + elif options.scan_mode == False: + # Check input arguments + try: + angle_fix, = in_angles + def_angle_fix[len(in_angles):] + except: + raise Exception("Too many input arguments for fix mode, expected arguments must be [angle].") + # fix mode message + if options.verbose: + print("=====================================================") + print("3D scan mode: fix") + print("ROS bag path: %s" % bagname) + print("Selected fix angle: %.2f" % angle_fix) + print("=====================================================") + else: + raise Exception("Scan mode not selected, use -h to get help.") + +def check_topics(topics): + for topic_name,topic_type in topics: + print(topic_name) + print(topic_type) + +def main(): + topics = rospy.get_published_topics() + check_topics(topics) + deco_arg(options, args) + +# %% Input arguments +parser = OptionParser() + +parser.add_option("-s", action="store_true", dest="scan_mode", + help="Select the scan mode as 'sweep' for 3D reconstruction.") +parser.add_option("-f", action="store_false", dest="scan_mode", + help="Select the scan mode as 'fix' for 3D reconstruction.") + +parser.add_option("-o", "--outputfile", dest="filename", + help="Name of ROSbag output file", metavar="FILE") + +parser.add_option("-q", "--quiet", + action="store_false", dest="verbose", default=True, + help="Don't print status messages to stdout") + +(options, args) = parser.parse_args() + + +# %% Main program +print(options) +print(args) +print(options.filename) + +main() \ No newline at end of file From b92de701253f8868258578f1be39cb819c5e52fa Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Mon, 2 Nov 2020 15:03:07 -0500 Subject: [PATCH 63/89] Add files via upload --- src/Config/alphaROVER.sh | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/Config/alphaROVER.sh b/src/Config/alphaROVER.sh index 5d95c58..bbef249 100755 --- a/src/Config/alphaROVER.sh +++ b/src/Config/alphaROVER.sh @@ -115,10 +115,10 @@ function dynamixel_node { ls -l /dev/tty_Dynamixel roslaunch dynamixel_workbench_controllers dynamixel_controllers.launch usb_port:=/dev/tty_Dynamixel & sleep 3 - roslaunch dynamixel_workbench_operators joint_operator.launch & - sleep 3 - roslaunch dynamixel_move dynamixel_move.launch & - sleep 3 +# roslaunch dynamixel_workbench_operators joint_operator.launch & +# sleep 3 +# roslaunch dynamixel_move dynamixel_move.launch & +# sleep 3 printf "Dynamixel ready...\n" } @@ -177,10 +177,10 @@ function gscamInit_node { function pilot { echo "=======================================" - ls -l /dev/input/js0 # check joystick connection + ls -l /dev/input/js0 # check joystick connection sudo chmod a+rw /dev/input/js0 # permission options (all) + (read)(write) rosparam set joy_node/dev "/dev/input/js0" # ROS parameter assignment - rosrun joy joy_node & # Run Joy_node + rosrun joy joy_node & # Run Joy_node printf "Joy is ready...\n" } From 2ecebcba7d4a592a4407a3cd46c84685cfd7bdaf Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Tue, 3 Nov 2020 12:26:54 -0500 Subject: [PATCH 64/89] Add files via upload --- Readme.md | 41 ++++++++++++++++++++++++++++++----------- 1 file changed, 30 insertions(+), 11 deletions(-) diff --git a/Readme.md b/Readme.md index 6310d8f..f24307f 100644 --- a/Readme.md +++ b/Readme.md @@ -120,9 +120,9 @@ $ source ~/.bashrc - Install gps_common or gps_umd as available based on the ROS distributable `sudo apt-get install ros-melodic-gps-umd` or `sudo apt-get install ros-melodic-gps-common` - Isntall MTi rosnode - # write the next lines every time before call node. - # sudo modprobe usbserial - # sudo insmod $path_alpha_config$"/xsens_mt/xsens_mt.ko" +#write the next lines every time before call node. +#sudo modprobe usbserial +#sudo insmod $path_alpha_config$"/xsens_mt/xsens_mt.ko" ``` $ cd ~/catkin_ws/src $ git clone https://github.com/HaroldMurcia/xsens_mti_ros_node.git @@ -130,11 +130,12 @@ $ source ~/.bashrc $ catkin_make ``` - Install Dynamixel rosnode - # modify file catkin_ws/src/dynamixel_motor/dynamixel_controllers/launch/controller_manager.launch - # chaging port_name with "/dev/tty_Dynamixel" ``` $ cd ~/catkin_ws/src - $ git clone https://github.com/HaroldMurcia/dynamixel_motor.git + $ mkdir dynamixel_node + $ git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench.git + $ git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs.git + $ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git $ cd ~/catkin_ws/ $ catkin_make ``` @@ -173,11 +174,6 @@ $ source ~/.bashrc $ cd ~/catkin_ws/ $ catkin_make ``` -- Install um7 rosnode - ``` - $ sudo pip3 install um7py - $ - ``` ## Installing AlphaROVER repository ``` @@ -243,8 +239,30 @@ function webcam python ~/cam_bridge.py } ``` +## Launch of applications +# 3D scan routine +To launch correctly the scan algorithm, there are some minimum nodes required before to launch. +``` +$ um7_node +$ urg_node +$ pilot +$ dynamixel_node +``` +Once all nodes are correctly work the '3D scan routine' can be executed with: +``` +$ python $path_alphaROVER$"/src/Apps/scan3d.py" -o [output_file] - [arguments] +``` +Where must be remplace by the name of the desired rosbag. The options and its respectively arguments are presented y the table below. +| Options | Arguments | Description | +| --- | --- | --- | +| h | | Give information of all options and arguments. | +| o | [filename] | Name of orsbag where the topics will be save. | +| q | | Do not show message information while execution. | +| a | | Save all currents topics, if is not selected save the topics of the minimum nodes. | +| s | [from] [to] [step] | Select the sweep scan mode. | +| f | [angle] | Select the fixed scan mode. | ## Authors: **[Universidad de Ibagué - Ingeniería Electrónica.](https://electronica.unibague.edu.co)** @@ -261,3 +279,4 @@ function webcam [ind]: [ind-j]: [ham]: +[um7]: From a6dc3bf58f9bd4812af24c498fd31a4162cdb4a1 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Tue, 3 Nov 2020 12:27:21 -0500 Subject: [PATCH 65/89] Add files via upload --- src/Config/alphaROVER.sh | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/src/Config/alphaROVER.sh b/src/Config/alphaROVER.sh index bbef249..219c324 100755 --- a/src/Config/alphaROVER.sh +++ b/src/Config/alphaROVER.sh @@ -106,7 +106,7 @@ click function urg_node { echo "=======================================" rosrun urg_node urg_node _ip_address:=$hokuyo_ip _publish_multiecho:="true" & - sleep 1 + sleep 2 printf "Hokuyo ready...\n" } @@ -115,10 +115,6 @@ function dynamixel_node { ls -l /dev/tty_Dynamixel roslaunch dynamixel_workbench_controllers dynamixel_controllers.launch usb_port:=/dev/tty_Dynamixel & sleep 3 -# roslaunch dynamixel_workbench_operators joint_operator.launch & -# sleep 3 -# roslaunch dynamixel_move dynamixel_move.launch & -# sleep 3 printf "Dynamixel ready...\n" } @@ -206,6 +202,7 @@ function gps_node { echo "=======================================" ls -l /dev/tty_GPS roslaunch lea_6h_gps lea_6h_gps.launch device_name:=/dev/tty_GPS & + sleep 3 printf "GPS is ready...\n" } @@ -214,6 +211,7 @@ function um7_node { chmod +x $path_alphaROVER$"/src/um7_node/src/um7_node.py" ls -l /dev/tty_um7 roslaunch um7_node um7_node.launch device_name:=/dev/tty_GPS & + sleep 3 printf "UM7 imu is ready...\n" } From f2969066a7d0913f883f9122a216863dbb70d643 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Tue, 3 Nov 2020 12:35:06 -0500 Subject: [PATCH 66/89] Add files via upload --- src/Apps/scan3d.py | 283 +++++++++++++++++++++++++++++++++++++++++---- 1 file changed, 260 insertions(+), 23 deletions(-) diff --git a/src/Apps/scan3d.py b/src/Apps/scan3d.py index b4e59cc..17673b4 100644 --- a/src/Apps/scan3d.py +++ b/src/Apps/scan3d.py @@ -8,73 +8,311 @@ # from numpy import zeros import rospy -# import rosbag -# import os, sys, getopt +import rosnode +import os from optparse import OptionParser -# import time as T -# from std_msgs.msg import Float32 -# from sensor_msgs.msg import MultiEchoLaserScan, Imu, JointState -# import trajectory_msgs.msg as tm +import time as T +from sensor_msgs.msg import Imu, JointState, Joy +import trajectory_msgs.msg as tm import numpy as np -# from math import asin, copysign +from math import asin, copysign +from datetime import datetime # %% Default variables def_sweep_angles = [-13.0*np.pi/18.0, 0.0, np.pi/600.0] # [from to step] = [130°, 0°, 0.3°] -def_angle_fix = [np.pi/4.0,] # 45° +def_angle_fix = [-np.pi/4.0,] # 45° +min_fix_angle = -np.pi/4.0 + +flag_all = False + +motor_offset = -np.pi/2.0 #-90° +w_max = np.pi/90.0 + +flag_print = False +bagname = "" +bag_node = "" + +pub = rospy.Publisher('/dynamixel_workbench/joint_trajectory', tm.JointTrajectory, queue_size=10) +tilt = tm.JointTrajectory() +tilt.header.frame_id = "joint_trajectory" +tilt.joint_names = ["tilt"] # %% Functions +def q2pitch(q): + sinp = 2* (q.w*q.y - q.z*q.x) + if np.abs(sinp) >= 1: + pitch = copysign(np.pi/2,sinp) + else: + pitch = asin(sinp) + return (pitch + motor_offset) + def deco_arg(options, args): + global flag_print, flag_all, bagname + flag_print = options.verbose + flag_all = options.save_all + # input angles - in_angles = [float(i) for i in args] + in_angles = [float(i)*np.pi/(-180.0) for i in args] # output file name - bagname = 'bags/'+options.filename + if options.filename == None: + now = datetime.now() + now = now.strftime("%d%m%Y%H%M%S") + bagname = 'bags/' + now + else: + bagname = 'bags/' + options.filename L = len(bagname) if not bagname[L-4:L] == '.bag': bagname = bagname+'.bag' - + + go2top() # Run scan mode if options.scan_mode == True: # Check input arguments try: angle_max, angle_min, max_step = in_angles + def_sweep_angles[len(in_angles):] + max_step = np.abs(max_step) + if (angle_max < def_sweep_angles[0]) or (angle_max > def_sweep_angles[2]): + angle_max = def_sweep_angles[0] + if (angle_min < def_sweep_angles[0]) or (angle_min > def_sweep_angles[2]): + angle_min = def_sweep_angles[1] + if max_step > def_sweep_angles[2]: + max_step = def_sweep_angles[2] except: raise Exception("Too many input arguments for sweep mode, expected arguments must be [from] [to] [step].") + # sweep mode message - if options.verbose: + if flag_print: print("=====================================================") print("3D scan mode: sweep") print("ROS bag path: %s" % bagname) print("Selected sweep angles:") - print("- from: %.2f rad" % angle_max) - print("- to: %.2f rad" % angle_min) - print("- step: %.2f rad" % max_step) + print("- from: %.6f rad" % angle_max) + print("- to: %.6f rad" % angle_min) + print("- step: %.6f rad" % max_step) print("=====================================================") + T.sleep(3) + sweep_scan_mode(angle_max, angle_min, max_step) + elif options.scan_mode == False: # Check input arguments try: angle_fix, = in_angles + def_angle_fix[len(in_angles):] + if (angle_fix < def_sweep_angles[0]) or (angle_fix > min_fix_angle): + angle_fix = def_angle_fix[0] except: raise Exception("Too many input arguments for fix mode, expected arguments must be [angle].") # fix mode message - if options.verbose: + if flag_print: print("=====================================================") print("3D scan mode: fix") print("ROS bag path: %s" % bagname) - print("Selected fix angle: %.2f" % angle_fix) + print("Selected fix angle: %.6f" % angle_fix) print("=====================================================") + T.sleep(3) + fixed_scan_mode(angle_fix) + else: raise Exception("Scan mode not selected, use -h to get help.") def check_topics(topics): + flags = [False,False,False,False,False,False,False] for topic_name,topic_type in topics: - print(topic_name) - print(topic_type) + if topic_name == '/um7': + flags[0] = True + elif topic_name == '/dynamixel_workbench/joint_states': + flags[1] = True + elif topic_name == '/echoes': + flags[2] = True + elif topic_name == '/joy': + flags[3] = True + if not np.sum(flags[0:4]) == 4: + raise Exception("The minimum nodes for the scanning process have not been released.") + +def fixed_scan_mode(angle): + global flag_all + cur_angle = move_motor(angle) + if flag_print: + print("=====================================================") + print("Scan begining") + print("Angle to scan: %.6f sec" % cur_angle) + print("=====================================================") + # Comand read + rospy.Subscriber("/joy", Joy, joy_event) + rospy.spin() + + +def sweep_scan_mode(angle_max, angle_min, step): + global flag_all, bag_node + # print(angle_max, angle_min, step) + move_motor(angle_max) + d_scan = np.abs(angle_min - angle_max) + t_scan = d_scan/w_max + N = int(d_scan/step) + #rosbag line + if flag_all: + os.system("rosbag record -O %s -a &" % bagname) + else: + os.system("rosbag record -O %s /gps/odom /gps/data /um7 /RefL /RefR /WL /WR /currents /diagnostics /diagnostics_agg /diagnostics_toplevel_state /echoes /ekf /encoders /first /imu_data /joy /laser_status /last /most_intense /motor_states /dxl_tty1 /mti/filter/orientation /mti/filter/position /mti/filter/velocity /mti/sensor/gnssPvt /mti/sensor/imu_free /mti/sensor/magnetic /mti/sensor/pressure /mti/sensor/sample /mti/temperature /odom /pid /speed /dynamixel_workbench/joint_states /dynamixel_workbench/joint_trajectory /urg_node/parameter_descriptions /urg_node/parameter_updates /voltage /camera/rgb/image_color &" % bagname) + T.sleep(5) + node_names = rosnode.get_node_names() + bag_node = [i for i in node_names if 'record' in i] + scan_motor(angle_max, angle_min, N, t_scan) + T.sleep(1) + os.system("rosnode kill %s" % bag_node[0]) + +def move_motor(angle): + global pub, tilt + + imu = rospy.wait_for_message('/um7', Imu) + q = imu.orientation + pitch_m = q2pitch(q) + + motor = rospy.wait_for_message('/dynamixel_workbench/joint_states', JointState) + cur_pos = motor.position + + up = 0.0 + ui = 0.0 + + while np.abs(angle-pitch_m) > 0.02: # error of +/- 1° + + e = angle-pitch_m + up = 0.75*e + ui = 0.4*e + ui + u = up + ui + cur_pos[0] + + tilt.header.stamp = rospy.Time.now() + jtp = tm.JointTrajectoryPoint() + jtp.positions = [u] + jtp.velocities = np.zeros(len(jtp.positions)) + jtp.time_from_start = rospy.Duration(2) # sec - relative to speed + + tilt.points = [jtp] + pub.publish(tilt) + + T.sleep(2.1) + + imu = rospy.wait_for_message('/um7', Imu) + q = imu.orientation + pitch_m = q2pitch(q) + + motor = rospy.wait_for_message('/dynamixel_workbench/joint_states', JointState) + cur_pos = motor.position + + if flag_print: + print("IMU_measurement: %.4f deg" % (pitch_m*180.0/np.pi)) + print("Motor_measurement: %.4f deg" % (cur_pos[0]*180/np.pi)) + print("Error: %.4f deg" % ((pitch_m - cur_pos[0])*180/np.pi)) + print("---------------------------") + return pitch_m + +def scan_motor(angle1, angle2, N, t): + global pub, tilt + + t_step = t/N + angles = np.linspace(angle1, angle2, int(N)) + + imu = rospy.wait_for_message('/um7', Imu) + q = imu.orientation + pitch_m = q2pitch(q) + + motor = rospy.wait_for_message('/dynamixel_workbench/joint_states', JointState) + cur_pos = motor.position + if flag_print: + print("imu: %.4f" % (pitch_m*180.0/np.pi)) + print("motor: %.4f" % (cur_pos[0]*180/np.pi)) + print("---------------------------") + for i in angles: + tilt.header.stamp = rospy.Time.now() + jtp = tm.JointTrajectoryPoint() + jtp.positions = [i] + jtp.velocities = np.zeros(1) + jtp.time_from_start = rospy.Duration(t_step) # sec - relative to speed + + tilt.points = [jtp] + pub.publish(tilt) + + T.sleep(t_step) + + imu = rospy.wait_for_message('/um7', Imu) + q = imu.orientation + pitch_m = q2pitch(q) + + motor = rospy.wait_for_message('/dynamixel_workbench/joint_states', JointState) + cur_pos = motor.position + if flag_print: + print("imu: %.4f" % (pitch_m*180.0/np.pi)) + print("motor: %.4f" % (cur_pos[0]*180/np.pi)) + print("---------------------------") + +def go2top(): + global pub, tilt + print("=====================================================") + print("Scan node is beginning") + print("=====================================================") + angle = np.pi/(-2.0) + time_to_move = 3 + for i in [0, 0, angle]: + + tilt.header.stamp = rospy.Time.now() + + jtp = tm.JointTrajectoryPoint() + jtp.positions = [i] + jtp.velocities = np.zeros(1) + jtp.time_from_start = rospy.Duration(time_to_move) # sec - relative to speed + + tilt.points = [jtp] + pub.publish(tilt) + + T.sleep(time_to_move + 0.1) + +def joy_event(data): + global flag_all, bag_node + # Charectization GamePad Logitech F710 + # READ BUTTONS + A = data.buttons[0] + B = data.buttons[1] + X = data.buttons[2] + Y = data.buttons[3] + LB = data.buttons[4] + RB = data.buttons[5] + BACK = data.buttons[6] + START = data.buttons[7] + LOGITECH = data.buttons[8] + ANALOG_L = data.buttons[9] + ANALOG_R = data.buttons[10] + # READ Axes + LEFT_ANALOG_HOR = data.axes[0] # <<(+) + LEFT_ANALOG_VER = data.axes[1] # ^^(+) + LT = data.axes[2] #[1 -1] + RIGHT_ANALOG_HOR = data.axes[3] # <<(+) + RIGHT_ANALOG_VER = data.axes[4] # ^^(+) + RT = data.axes[5] #[1 -1] + LEFT_RIGHT = data.axes[6] # left=1, right=-1 + FRONT_BACK = data.axes[7] # front=1, back=-1 + + + # Rosbag line + if Y==1 and A==1: # Rosbag beginning + if flag_all: + os.system("rosbag record -O %s -a &" % bagname) + else: + os.system("rosbag record -O %s /gps/odom /gps/data /um7 /RefL /RefR /WL /WR /currents /diagnostics /diagnostics_agg /diagnostics_toplevel_state /echoes /ekf /encoders /first /imu_data /joy /laser_status /last /most_intense /motor_states /dxl_tty1 /mti/filter/orientation /mti/filter/position /mti/filter/velocity /mti/sensor/gnssPvt /mti/sensor/imu_free /mti/sensor/magnetic /mti/sensor/pressure /mti/sensor/sample /mti/temperature /odom /pid /speed /dynamixel_workbench/joint_states /dynamixel_workbench/joint_trajectory /urg_node/parameter_descriptions /urg_node/parameter_updates /voltage /camera/rgb/image_color &" % bagname) + T.sleep(5) + node_names = rosnode.get_node_names() + bag_node = [i for i in node_names if 'record' in i] + print("ROS bag node name: %s" % bag_node) + if Y==1 and B==1: # Rosbag end + os.system("rosnode kill %s" % bag_node[0]) + exit() + def main(): + rospy.init_node('scan_node') topics = rospy.get_published_topics() check_topics(topics) deco_arg(options, args) + exit() # %% Input arguments parser = OptionParser() @@ -84,6 +322,9 @@ def main(): parser.add_option("-f", action="store_false", dest="scan_mode", help="Select the scan mode as 'fix' for 3D reconstruction.") +parser.add_option("-a", action="store_true", dest="save_all", default=False, + help="Save all current topics in ROS-master.") + parser.add_option("-o", "--outputfile", dest="filename", help="Name of ROSbag output file", metavar="FILE") @@ -95,8 +336,4 @@ def main(): # %% Main program -print(options) -print(args) -print(options.filename) - main() \ No newline at end of file From 21bd1d7932ccbd9c375689a0796ead6c4467b970 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Thu, 14 Jan 2021 09:50:49 -0500 Subject: [PATCH 67/89] Add files via upload --- src/Apps/Vehicle_params.yaml | 7 ++ src/Apps/identi_model.py | 196 +++++++++++++++++++++++++++++++++++ src/Apps/scan3d.py | 100 ++++++++++++++---- 3 files changed, 282 insertions(+), 21 deletions(-) create mode 100644 src/Apps/Vehicle_params.yaml create mode 100644 src/Apps/identi_model.py diff --git a/src/Apps/Vehicle_params.yaml b/src/Apps/Vehicle_params.yaml new file mode 100644 index 0000000..12c76b7 --- /dev/null +++ b/src/Apps/Vehicle_params.yaml @@ -0,0 +1,7 @@ +### Camera spesifications +## Camera miltispectral ADC micro +Lidar2bar_x: 0.00205 +Lidar2bar_y: 0.49 +Lidar2bar_z: 0.1056 +bar2imu: 0.477 +imu2floor: 0.37 diff --git a/src/Apps/identi_model.py b/src/Apps/identi_model.py new file mode 100644 index 0000000..f8f2643 --- /dev/null +++ b/src/Apps/identi_model.py @@ -0,0 +1,196 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +""" +Created on Mon Sep 14 20:24:00 2020 + +@author: sebas +""" + +import rospy +from std_msgs.msg import Float32, Int64 +from diagnostic_msgs.msg import KeyValue +from optparse import OptionParser +import numpy as np +import os +import rosnode +import time as T +import pandas as pd + +parser = OptionParser() +parser.add_option("-o", "--outputfile", dest="filename", + help="Name of ROSbag output file", metavar="FILE") +parser.add_option("-i", action="store_true", dest="ident", default=False, + help="Run the ident routine.") +parser.add_option("-s", action="store_true", dest="small", default=False, + help="Run ident-routine for small signal.") +parser.add_option("--step", action="store_true", dest="steps", default=False, + help="Run ident-routine for a step signal.") + +U_ident1 = np.array([[-60, -60, -60, -60, -60, -60, -60, 60, -60, 60, -60, 60, + -60, 60, 60, -60, -60, 60, 60, -60, -60, -60, 60, -60, -60, + -60, 60, -60, 60, 60, -60, 60, -60, -60, 60, 60, 60, -60, + -60, 60, -60, -60, -60, -60, 60, -60, -60, 60, -60, 60, + -60, -60, 60, -60, -60, 60, 60, -60, 60, 60, -60, 60, 60, + 60, -60, -60, -60, 60, 60, 60, 60, -60, 60, -60, -60, -60, + -60, -60, 60, 60]]) +U_ident2 = np.array([[-10, -10, -10, -10, -10, -10, -10, 10, -10, 10, -10, 10, + -10, 10, 10, -10, -10, 10, 10, -10, -10, -10, 10, -10, -10, + -10, 10, -10, 10, 10, -10, 10, -10, -10, 10, 10, 10, -10, + -10, 10, -10, -10, -10, -10, 10, -10, -10, 10, -10, 10, + -10, -10, 10, -10, -10, 10, 10, -10, 10, 10, -10, 10, 10, + 10, -10, -10, -10, 10, 10, 10, 10, -10, 10, -10, -10, -10, + -10, -10, 10, 10]]) +U_ident3 = np.concatenate((-20*np.ones([1,10]), + -10*np.ones([1,10]), + 0*np.ones([1,10]), + 10*np.ones([1,10]), + 20*np.ones([1,10]), + 30*np.ones([1,10]), + 40*np.ones([1,10]), + 50*np.ones([1,10])),axis=1) + +class PID_speed: + def __init__(self): + self.Kp = 6.0 #7.0 + self.Ki = 0.5 #2.0 + self.Kd = 3.0 #3.0 + self.mode = 0 + self.errorL_1 = 0.0 + self.UiL_1 = 0.0 + self.errorR_1 = 0.0 + self.UiR_1 = 0.0 + self.ref_WL = 0.0 + self.ref_WR = 0.0 + self.wr = 0.0 + self.wl = 0. + self.il = 0.0 + self.ir = 0.0 + self.encl = 0.0 + self.encr = 0.0 + + topics_list = ['/UL','/UR','/WL','/WL_ref','/WR','/WR_ref','/ctrl_flag','/enc_L','/enc_R', + '/iL','/iR','/voltage'] + self.topic2save = ' '.join(topics_list) + + (self.options, self.args) = parser.parse_args() + + rospy.init_node("Ident_model") + + rospy.Subscriber("/ctrl_flag", KeyValue, self.mode_callbaback) + rospy.Subscriber('/WL', Float32, self.Wl_callbaback) + rospy.Subscriber('/WR', Float32, self.Wr_callbaback) + rospy.Subscriber('/WL_ref', Float32, self.Wl_ref) + rospy.Subscriber('/WR_ref', Float32, self.Wr_ref) + rospy.Subscriber('/iL', Float32, self.il_callback) + rospy.Subscriber('/iR', Float32, self.ir_callback) + rospy.Subscriber('/enc_L', Int64, self.encl_callback) + rospy.Subscriber('/enc_R', Int64, self.encr_callback) + + def mode_callbaback(self,data): + self.mode = int(data.value) + + def Wl_ref(self,data): + self.ref_WL = data.data + + def Wr_ref(self,data): + self.ref_WR = data.data + + def Wl_callbaback(self,data): + self.wl = data.data + + def Wr_callbaback(self,data): + self.wr = data.data + + def il_callback(self,data): + self.il = data.data + + def ir_callback(self,data): + self.ir = data.data + + def encl_callback(self,data): + self.encl = data.data + + def encr_callback(self,data): + self.encr = data.data + + def pub_control(self): + Ts = 0.1 + r_time = rospy.Rate(1/Ts) + WL_pub = rospy.Publisher('/UL', Float32, queue_size=10) # + WR_pub = rospy.Publisher('/UR', Float32, queue_size=10) + cont_times = -1 + cont_u = 0 + K = 2 + if self.options.small: + U_ident = U_ident2 + else: + U_ident = U_ident1 + if self.options.steps: + U_ident = U_ident3 + k = 1 + print(U_ident) + while not rospy.is_shutdown(): + # print(self.mode) + if self.mode == 0: + UR = self.ref_WR + UL = self.ref_WL + else: # constant speed + if self.options.ident: + if cont_times==-1: + data = pd.DataFrame([],columns=(['u', 'wl', 'wr', 'il', 'ir', 'encL', 'encR'])) + os.system("rosbag record -O %s %s &" % (self.options.filename, self.topic2save)) + print('Begining identification test...') + cont_times += 1 + T.sleep(2) + + u = U_ident[0,int(cont_u)] + print(u) + UL = float(u) + UR = float(u) + S = pd.DataFrame([[u, self.wl, self.wr, self.il, self.ir, self.encl, self.encr]], + columns=(['u', 'wl', 'wr', 'il', 'ir', 'encL', 'encR'])) + data = data.append(S, ignore_index=True) + print(cont_times,cont_u,int(cont_u)) + if cont_times < K: + cont_u += 0.5 + if cont_u == 79.5: + cont_u = 0.0 + cont_times += 1 + else: + print('Finishing identification test...') + node_names = rosnode.get_node_names() + bag_node = [i for i in node_names if 'record' in i] + WL_pub.publish(0.0) # + WR_pub.publish(0.0) + os.system("rosnode kill %s" % bag_node[0]) + data.to_csv('ident_data.csv',sep='\t') + rospy.signal_shutdown('finish') + exit() + + else: + UR = float(self.args[0]) + UL = float(self.args[0]) + + if UR > 63.: + UR = 63.0 + elif UR < -63.0: + UR = -63.0 + if UL > 63.0: + UL = 63.0 + elif UL < -63.0: + UL = -63.0 + print(UL,UR) + WL_pub.publish(UL) # + WR_pub.publish(UR) + + + r_time.sleep() + + +if __name__ == "__main__": + try: + node = PID_speed() + node.pub_control() + except rospy.ROSInterruptException: + pass + rospy.loginfo("Exiting") \ No newline at end of file diff --git a/src/Apps/scan3d.py b/src/Apps/scan3d.py index 17673b4..1c914bb 100644 --- a/src/Apps/scan3d.py +++ b/src/Apps/scan3d.py @@ -13,6 +13,7 @@ from optparse import OptionParser import time as T from sensor_msgs.msg import Imu, JointState, Joy +from std_msgs.msg import Bool import trajectory_msgs.msg as tm import numpy as np from math import asin, copysign @@ -24,6 +25,7 @@ min_fix_angle = -np.pi/4.0 flag_all = False +flag_is_saving = False motor_offset = -np.pi/2.0 #-90° w_max = np.pi/90.0 @@ -31,11 +33,28 @@ flag_print = False bagname = "" bag_node = "" +topics_list = ['/gps/odom','/gps/data','/gps/str' + '/um7', + '/cam_time', + '/ekf','/odom_alpha','/ekf2','/velocity', + '/UL','/UR','/WL','/WL_ref','/WR','/WR_ref','/ctrl_flag', + '/enc_L','/enc_R', + '/iL','/iR','/voltage', + '/diagnostics','/diagnostics_agg','/diagnostics_toplevel_state', + '/echoes', + '/imu/data','/imu/mag', + '/joy', '/SaveData_flag', + '/dynamixel_workbench/joint_states', + '/camera/rgb/image_color'] +topic2save = ' '.join(topics_list) +# print(topic2save) -pub = rospy.Publisher('/dynamixel_workbench/joint_trajectory', tm.JointTrajectory, queue_size=10) +pub = rospy.Publisher('/dynamixel_workbench/joint_trajectory', tm.JointTrajectory, queue_size=10) +pub_flag = rospy.Publisher('/SaveData_flag', Bool, queue_size=10) tilt = tm.JointTrajectory() tilt.header.frame_id = "joint_trajectory" tilt.joint_names = ["tilt"] +Flag_data = Bool() # %% Functions def q2pitch(q): @@ -55,12 +74,28 @@ def deco_arg(options, args): in_angles = [float(i)*np.pi/(-180.0) for i in args] # output file name + path = 'bags/' + if os.path.isdir(path): + os.system('ls %s -l' % path) + else: + os.system('mkdir bags') + T.sleep(1) + os.system('ls %s -l' % path) + # path = '/media/bags/' + # ## USB_mount? + # if os.path.ismount(path): + # os.system('ls %s -l' % path) + # else: + # os.system('sudo mount -t vfat /dev/sda1 /media/bags/ -o uid=1000,gid=1000') + # T.sleep(1) + # os.system('ls %s -l' % path) + if options.filename == None: now = datetime.now() now = now.strftime("%d%m%Y%H%M%S") - bagname = 'bags/' + now + bagname = path + now else: - bagname = 'bags/' + options.filename + bagname = path + options.filename L = len(bagname) if not bagname[L-4:L] == '.bag': bagname = bagname+'.bag' @@ -115,8 +150,9 @@ def deco_arg(options, args): else: raise Exception("Scan mode not selected, use -h to get help.") -def check_topics(topics): - flags = [False,False,False,False,False,False,False] +def check_topics(): + topics = rospy.get_published_topics() + flags = [False,False,False,False] for topic_name,topic_type in topics: if topic_name == '/um7': flags[0] = True @@ -128,6 +164,7 @@ def check_topics(topics): flags[3] = True if not np.sum(flags[0:4]) == 4: raise Exception("The minimum nodes for the scanning process have not been released.") + return topics def fixed_scan_mode(angle): global flag_all @@ -139,7 +176,10 @@ def fixed_scan_mode(angle): print("=====================================================") # Comand read rospy.Subscriber("/joy", Joy, joy_event) - rospy.spin() + r_time = rospy.Rate(100) + while not rospy.is_shutdown(): + pub_flag.publish(Flag_data) + r_time.sleep() def sweep_scan_mode(angle_max, angle_min, step): @@ -153,7 +193,7 @@ def sweep_scan_mode(angle_max, angle_min, step): if flag_all: os.system("rosbag record -O %s -a &" % bagname) else: - os.system("rosbag record -O %s /gps/odom /gps/data /um7 /RefL /RefR /WL /WR /currents /diagnostics /diagnostics_agg /diagnostics_toplevel_state /echoes /ekf /encoders /first /imu_data /joy /laser_status /last /most_intense /motor_states /dxl_tty1 /mti/filter/orientation /mti/filter/position /mti/filter/velocity /mti/sensor/gnssPvt /mti/sensor/imu_free /mti/sensor/magnetic /mti/sensor/pressure /mti/sensor/sample /mti/temperature /odom /pid /speed /dynamixel_workbench/joint_states /dynamixel_workbench/joint_trajectory /urg_node/parameter_descriptions /urg_node/parameter_updates /voltage /camera/rgb/image_color &" % bagname) + os.system("rosbag record -O %s %s &" % (bagname, topic2save)) T.sleep(5) node_names = rosnode.get_node_names() bag_node = [i for i in node_names if 'record' in i] @@ -170,11 +210,12 @@ def move_motor(angle): motor = rospy.wait_for_message('/dynamixel_workbench/joint_states', JointState) cur_pos = motor.position + up = 0.0 ui = 0.0 - while np.abs(angle-pitch_m) > 0.02: # error of +/- 1° + while np.abs(angle-pitch_m) > 0.02: # error of +/- 2° e = angle-pitch_m up = 0.75*e @@ -208,34 +249,44 @@ def move_motor(angle): return pitch_m def scan_motor(angle1, angle2, N, t): - global pub, tilt + global pub, tilt, pub_flag, Flag_data + + motor = rospy.wait_for_message('/dynamixel_workbench/joint_states', JointState) + cur_pos = motor.position + e = angle1-cur_pos[0] t_step = t/N - angles = np.linspace(angle1, angle2, int(N)) + angles = np.linspace(cur_pos, angle2+np.abs(e), int(N)) imu = rospy.wait_for_message('/um7', Imu) q = imu.orientation pitch_m = q2pitch(q) - motor = rospy.wait_for_message('/dynamixel_workbench/joint_states', JointState) - cur_pos = motor.position if flag_print: + print("Scanning") print("imu: %.4f" % (pitch_m*180.0/np.pi)) print("motor: %.4f" % (cur_pos[0]*180/np.pi)) print("---------------------------") + + t_i = T.time() for i in angles: tilt.header.stamp = rospy.Time.now() jtp = tm.JointTrajectoryPoint() jtp.positions = [i] - jtp.velocities = np.zeros(1) + jtp.velocities = [0] jtp.time_from_start = rospy.Duration(t_step) # sec - relative to speed tilt.points = [jtp] pub.publish(tilt) - T.sleep(t_step) + T.sleep(5-t_step) + Flag_data = True + pub_flag.publish(Flag_data) + T.sleep(0.5) + Flag_data = False + pub_flag.publish(Flag_data) - imu = rospy.wait_for_message('/um7', Imu) + imu = rospy.wait_for_message('/um7', Imu) q = imu.orientation pitch_m = q2pitch(q) @@ -244,6 +295,7 @@ def scan_motor(angle1, angle2, N, t): if flag_print: print("imu: %.4f" % (pitch_m*180.0/np.pi)) print("motor: %.4f" % (cur_pos[0]*180/np.pi)) + print("Scan time: %.2f seg" % (T.time()-t_i)) print("---------------------------") def go2top(): @@ -268,7 +320,7 @@ def go2top(): T.sleep(time_to_move + 0.1) def joy_event(data): - global flag_all, bag_node + global flag_all, bag_node, pub_flag, Flag_data, flag_is_saving # Charectization GamePad Logitech F710 # READ BUTTONS A = data.buttons[0] @@ -294,23 +346,29 @@ def joy_event(data): # Rosbag line - if Y==1 and A==1: # Rosbag beginning + if Y==1 and A==1 and not flag_is_saving: # Rosbag beginning + Flag_data = True if flag_all: os.system("rosbag record -O %s -a &" % bagname) else: - os.system("rosbag record -O %s /gps/odom /gps/data /um7 /RefL /RefR /WL /WR /currents /diagnostics /diagnostics_agg /diagnostics_toplevel_state /echoes /ekf /encoders /first /imu_data /joy /laser_status /last /most_intense /motor_states /dxl_tty1 /mti/filter/orientation /mti/filter/position /mti/filter/velocity /mti/sensor/gnssPvt /mti/sensor/imu_free /mti/sensor/magnetic /mti/sensor/pressure /mti/sensor/sample /mti/temperature /odom /pid /speed /dynamixel_workbench/joint_states /dynamixel_workbench/joint_trajectory /urg_node/parameter_descriptions /urg_node/parameter_updates /voltage /camera/rgb/image_color &" % bagname) + os.system("rosbag record -O %s %s &" % (bagname, topic2save)) T.sleep(5) node_names = rosnode.get_node_names() bag_node = [i for i in node_names if 'record' in i] print("ROS bag node name: %s" % bag_node) - if Y==1 and B==1: # Rosbag end + flag_is_saving = True + if Y==1 and B==1 and flag_is_saving : # Rosbag end + Flag_data = False os.system("rosnode kill %s" % bag_node[0]) + rospy.signal_shutdown('finish') exit() def main(): + global topics, Flag_data, pub_flag rospy.init_node('scan_node') - topics = rospy.get_published_topics() - check_topics(topics) + Flag_data = False + pub_flag.publish(Flag_data) + topics = check_topics() deco_arg(options, args) exit() From 5c7fd1bcf0f62cc1e03b7cdf8db77225721d9437 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Thu, 14 Jan 2021 09:53:01 -0500 Subject: [PATCH 68/89] Create sdf.txt --- src/cam_shutter/src/sdf.txt | 1 + 1 file changed, 1 insertion(+) create mode 100644 src/cam_shutter/src/sdf.txt diff --git a/src/cam_shutter/src/sdf.txt b/src/cam_shutter/src/sdf.txt new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/src/cam_shutter/src/sdf.txt @@ -0,0 +1 @@ + From 2d086b8828c2a1776897f656ad30659bb1b2f7c7 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Thu, 14 Jan 2021 09:53:24 -0500 Subject: [PATCH 69/89] Add files via upload --- src/cam_shutter/src/cam_shutter.py | 153 +++++++++++++++++++++++++++++ 1 file changed, 153 insertions(+) create mode 100644 src/cam_shutter/src/cam_shutter.py diff --git a/src/cam_shutter/src/cam_shutter.py b/src/cam_shutter/src/cam_shutter.py new file mode 100644 index 0000000..dcbc2c8 --- /dev/null +++ b/src/cam_shutter/src/cam_shutter.py @@ -0,0 +1,153 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +""" +Created on Fri Nov 6 17:14:14 2020 + +__author__ = sebastian.tilaguy@gmail.com +__version__ = "1.0" +__maintainer__ = "Sebastian Tilaguy" +__email__ = "sebastian.tilaguy@gmail.com" +__status__ = "Development" +""" + +import rospy +from nav_msgs.msg import Odometry +from sensor_msgs.msg import MultiEchoLaserScan, TimeReference +from diagnostic_msgs.msg import KeyValue +from std_msgs.msg import Float32, Bool +from math import atan, sqrt +import time as T +import os + +class NodoPos(object): + def __init__(self): + # Movement spesifications + self.overlap = rospy.get_param('/cam_shutter/overlap') + rospy.logwarn('The Overlap parm selected was %.2f' % self.overlap) + + # Camera spesifications + self.cam_ref = rospy.get_param('/cam_shutter/Cam_ref') + self.Focal_len = float(rospy.get_param('/cam_shutter/Focal_len')) + self.Sensor_dim_h = float(rospy.get_param('/cam_shutter/Sensor_dim_h')) + self.Sensor_dim_w = float(rospy.get_param('/cam_shutter/Sensor_dim_w')) + self.Pixel_size = float(rospy.get_param('/cam_shutter/Pixel_size')) + self.Depth_filed = float(rospy.get_param('/cam_shutter/Depth_filed')) + + rospy.Subscriber('/ekf', Odometry, self.EKF_calback) + rospy.Subscriber('/echoes', MultiEchoLaserScan, self.Lidar_calback) + rospy.Subscriber("/ctrl_flag", KeyValue, self.mode_callbaback) + rospy.Subscriber('/WL', Float32, self.Wl_callbaback) + rospy.Subscriber('/WR', Float32, self.Wr_callbaback) + + self.photo_cont = 0 + self.t_photo = 0.0 + self.t_source = "" + self.dk = 0.0 + self.r = 3.0 + self.mode = 0 + self.flag_k = True + + self.x1 = 0.0 + self.y1 = 0.0 + + self.wl = 0.0 + self.wr = 0.0 + + + rate = rospy.Rate(100) # 100hz + pub = rospy.Publisher('/cam_time', TimeReference, queue_size=10) + pub_flag = rospy.Publisher('/cam_shut', Bool, queue_size=10) + d = self.Cam_calculation(self.r) + d_ = d*(1-self.overlap) + flag = False + while not rospy.is_shutdown(): + print(flag) + if (self.dk >= d_) and (self.mode == 2): + flag = True + if (self.wl==0.0) and (self.wr==0.0): + print('photo') + os.system('echo 1 > /sys/class/gpio/gpio38/value') + # take picture + t_photo = TimeReference() + t_photo.header.seq = self.photo_cont + t_photo.header.stamp = rospy.Time.now() + t_photo.header.frame_id = self.cam_ref + t_photo.time_ref = self.t_photo + t_photo.source = self.t_source + + pub.publish(t_photo) + + self.photo_cont = self.photo_cont + 1 + self.flag_k = True + self.dk = 0 + d = self.Cam_calculation(self.r) + d_ = d*(1-self.overlap) + flag = False + os.system('echo 0 > /sys/class/gpio/gpio38/value') + print(self.dk, d_) + pub_flag.publish(flag) + rate.sleep() + + def EKF_calback(self,data): + self.t_photo = data.header.stamp + # print(self.t_photo) + self.t_source = data.header.frame_id + # print(self.t_source) + + dx = data.pose.pose.position.x + dy = data.pose.pose.position.y + if (self.flag_k): + self.x1 = dx + self.y1 = dy + self.flag_k = False + + x = dx - self.x1 + y = dy - self.y1 + # print(x,y) + + self.dk = sqrt(x*x + y*y) + # print(self.dk) + + def Wl_callbaback(self,data): + data = data.data*10 + self.wl = (int(data))/10.0 + + def Wr_callbaback(self,data): + data = data.data*10 + self.wr = (int(data))/10.0 + + def Lidar_calback(self,data): + ranges = data.ranges + N = len(ranges) + # print(N) + # print(N, int(N/2.0), str(ranges[int(N/2.0)])) + aux = str(ranges[int(N/4.0)]).split("[") + # print(aux) + aux = str(aux[1]).strip("]") + # print(aux) + aux = aux.split(",") + # print(aux) + self.r = float(aux[0]) + 0.43 + # print(self.r) + + if self.r <= self.Depth_filed: + rospy.logwarn('The object is too close to the sensor') + + + def Cam_calculation(self,r): + imag_w = self.Sensor_dim_w*r/self.Focal_len + imag_h = self.Sensor_dim_h*r/self.Focal_len + # print(imag_w,imag_h) + + angle_w = 2*atan(self.Sensor_dim_w/(2.0*self.Focal_len)) + angle_h = 2*atan(self.Sensor_dim_h/(2.0*self.Focal_len)) + # print(angle_w,angle_h) + + return imag_h + + def mode_callbaback(self,data): + self.mode = int(data.value) + +if __name__ == '__main__': + rospy.init_node("cam_shuetter") + cv = NodoPos() \ No newline at end of file From 0c21ce22d8375c85b52ad8228f8c0f6727d6c2ab Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Thu, 14 Jan 2021 09:56:11 -0500 Subject: [PATCH 70/89] Create asd.txt --- src/cam_shutter/launch/asd.txt | 1 + 1 file changed, 1 insertion(+) create mode 100644 src/cam_shutter/launch/asd.txt diff --git a/src/cam_shutter/launch/asd.txt b/src/cam_shutter/launch/asd.txt new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/src/cam_shutter/launch/asd.txt @@ -0,0 +1 @@ + From 0a3060de84a4ea50e4e2b90404b214944fa2f3ea Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Thu, 14 Jan 2021 09:56:35 -0500 Subject: [PATCH 71/89] Add files via upload --- src/cam_shutter/launch/cam_shutter.launch | 15 +++++++++++++++ 1 file changed, 15 insertions(+) create mode 100644 src/cam_shutter/launch/cam_shutter.launch diff --git a/src/cam_shutter/launch/cam_shutter.launch b/src/cam_shutter/launch/cam_shutter.launch new file mode 100644 index 0000000..6dfbda1 --- /dev/null +++ b/src/cam_shutter/launch/cam_shutter.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + From 6c2bf9dced91868d92fd34fe41c0206aa82451d0 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Thu, 14 Jan 2021 09:57:21 -0500 Subject: [PATCH 72/89] Create asd.txt --- src/cam_shutter/params/asd.txt | 1 + 1 file changed, 1 insertion(+) create mode 100644 src/cam_shutter/params/asd.txt diff --git a/src/cam_shutter/params/asd.txt b/src/cam_shutter/params/asd.txt new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/src/cam_shutter/params/asd.txt @@ -0,0 +1 @@ + From 6e16155e8f58f8ef3c884ee0319f511999154c08 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Thu, 14 Jan 2021 09:57:43 -0500 Subject: [PATCH 73/89] Add files via upload --- src/cam_shutter/params/camera.yaml | 13 +++++++++++++ 1 file changed, 13 insertions(+) create mode 100644 src/cam_shutter/params/camera.yaml diff --git a/src/cam_shutter/params/camera.yaml b/src/cam_shutter/params/camera.yaml new file mode 100644 index 0000000..dc59e7b --- /dev/null +++ b/src/cam_shutter/params/camera.yaml @@ -0,0 +1,13 @@ +### Camera spesifications +## Camera miltispectral ADC micro +Cam_ref: MS-ADCu + +# The focal length of an optical system is a measure of how strongly the system converges or diverges light; it is the inverse of the system's optical power. +Focal_len: 0.00843 # 8.43/1000.0 + +# The image sensor format of a digital camera determines the angle of view of a particular lens when used with a particular sensor. +Sensor_dim_h: 0.00654 # 6.55/1000.0 +Sensor_dim_w: 0.00492 # 4.92/1000.0 + +# Pixel size in meteres +Pixel_size: 0.0000032 # 3.2/1000000.0 From 700d5165fc2ef6448361152c5d550c6c3a38060f Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Thu, 14 Jan 2021 09:58:22 -0500 Subject: [PATCH 74/89] Delete src/Control directory --- src/Control/speed_control.py | 85 ------------------------------------ 1 file changed, 85 deletions(-) delete mode 100644 src/Control/speed_control.py diff --git a/src/Control/speed_control.py b/src/Control/speed_control.py deleted file mode 100644 index b904b29..0000000 --- a/src/Control/speed_control.py +++ /dev/null @@ -1,85 +0,0 @@ -# -*- coding: utf-8 -*- -""" -Created on Mon Sep 14 20:24:00 2020 - -@author: sebas -""" - -from math import pi -#from math import cos, sin -import os -import rospy -#import tf -#from geometry_msgs.msg import Quaternion, Twist -#from nav_msgs.msg import Odometry -from sensor_msgs.msg import Joy -from std_msgs.msg import String - -class PID_speed: - def __init__(self): - self.Kp = 7.0 #7.0 - self.Ki = 0.5 #2.0 - self.Kd = 3.0 #3.0 - rospy.init_node("Speed Control") - - def WL_Control(self): - error = self.ref_WL - self.WL - Up = self.Kp*error - Ui = self.Ki*self.errorL_1+self.UiL_1 - Ud = self.Kd*(error-self.errorL_1) - UL = Up+Ui+Ud - - if UL > 63: - UL=63 - elif UL < -63: - UL=-63 - - Ui=UL-Up-Ud - self.errorL_1 = error - self.UiL_1 = Ui - return UL - - def joy_event(self,data): - # Charectization GamePad Logitech F710 - # READ BUTTONS - A = data.buttons[0] - B = data.buttons[1] - X = data.buttons[2] - Y = data.buttons[3] - LB = data.buttons[4] - RB = data.buttons[5] - BACK = data.buttons[6] - START = data.buttons[7] - LOGITECH = data.buttons[8] - ANALOG_L = data.buttons[9] - ANALOG_R = data.buttons[10] - # READ Axes - LEFT_ANALOG_HOR = data.axes[0] # <<(+) - LEFT_ANALOG_VER = data.axes[1] # ^^(+) - LT = data.axes[2] #[1 -1] - RIGHT_ANALOG_HOR = data.axes[3] # <<(+) - RIGHT_ANALOG_VER = data.axes[4] # ^^(+) - RT = data.axes[5] #[1 -1] - LEFT_RIGHT = data.axes[6] # left=1, right=-1 - FRONT_BACK = data.axes[7] # front=1, back=-1 - if(LB==1): - G=9.5 # max=9.5 - else: - G=0.0 - self.ref_WR = G*(RIGHT_ANALOG_VER + LEFT_ANALOG_HOR) - self.ref_WL = G*(RIGHT_ANALOG_VER - LEFT_ANALOG_HOR) - print(self.ref_WR,self.ref_WL) - if LEFT_RIGHT==-1 and START==1 and not self.EN_ctr: #Control Mode - os.system("sudo python /home/ubuntu/Desktop/Mercury/control_mode.py") - self.EN_ctr = True - elif LEFT_RIGHT==1 and START==1 and self.EN_ctr: #Manual Mode - os.system("sudo python /home/ubuntu/Desktop/Mercury/manual_mode.py") - self.EN_ctr = False - self.move(LB,RIGHT_ANALOG_VER,LEFT_ANALOG_HOR) - -if __name__ == "__main__": - try: - PID_speed.run() - except rospy.ROSInterruptException: - pass - rospy.loginfo("Exiting") \ No newline at end of file From f47d81e3ef4eb5b43f4327eb4730652d61a40993 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy L Date: Thu, 14 Jan 2021 09:58:53 -0500 Subject: [PATCH 75/89] Add files via upload --- src/cam_shutter/CMakeLists.txt | 22 ++++++++++++++++++++++ src/cam_shutter/package.xml | 29 +++++++++++++++++++++++++++++ 2 files changed, 51 insertions(+) create mode 100644 src/cam_shutter/CMakeLists.txt create mode 100644 src/cam_shutter/package.xml diff --git a/src/cam_shutter/CMakeLists.txt b/src/cam_shutter/CMakeLists.txt new file mode 100644 index 0000000..813bd01 --- /dev/null +++ b/src/cam_shutter/CMakeLists.txt @@ -0,0 +1,22 @@ +cmake_minimum_required(VERSION 3.0.2) +project(cam_shutter) + + +find_package(catkin REQUIRED COMPONENTS roslaunch + roscpp + rospy + std_msgs + std_srvs +) +roslaunch_add_file_check(launch) + + +catkin_package( ) + +include_directories( + ${catkin_INCLUDE_DIRS} +) + +catkin_install_python(PROGRAMS src/cam_shutter.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) diff --git a/src/cam_shutter/package.xml b/src/cam_shutter/package.xml new file mode 100644 index 0000000..c6faad1 --- /dev/null +++ b/src/cam_shutter/package.xml @@ -0,0 +1,29 @@ + + + cam_shutter + 1.0.0 + ROS interface to shutter a camera while the mobile robot is in motion + + Sebastian Tilaguy + + Unibague + + + + Sebastian Tilaguy + + catkin + + rospy + sensor_msgs + nav_msgs + std_msgs + + rospy + sensor_msgs + nav_msgs + std_msgs + + roslaunch + + From d58efe70d811f5d17ab9311c3d3461a3c3a142bb Mon Sep 17 00:00:00 2001 From: Sebas Date: Thu, 14 Jan 2021 10:19:30 -0500 Subject: [PATCH 76/89] Add existing file --- src/Apps/Vehicle_params.yaml | 0 src/Apps/identi_model.py | 0 src/Apps/scan3d.py | 0 src/EKF/ekf.py | 0 src/EKF/ekf3.py | 361 ++ src/EKF/ekf4.py | 788 ++++ src/EKF/ekf_modified.txt | 4144 +++++++++++++++++ src/EKF/read_ekf_file.py | 71 + src/cam_shutter/CMakeLists.txt | 0 src/cam_shutter/launch/cam_shutter.launch | 0 src/cam_shutter/package.xml | 0 src/cam_shutter/params/camera.yaml | 0 src/cam_shutter/src/cam_shutter.py | 0 src/command_center/CMakeLists.txt | 207 + .../launch/command_center.launch | 6 + src/command_center/package.xml | 72 + src/command_center/src/command_center.py | 175 + src/dynamixel_move/CMakeLists.txt | 0 .../launch/dynamixel_move.launch | 0 src/dynamixel_move/package.xml | 0 src/dynamixel_move/src/dynamixel_move.py | 7 +- src/lea_6h_gps/CMakeLists.txt | 0 src/lea_6h_gps/ardu_ser/ardu_ser.ino | 23 + src/lea_6h_gps/launch/lea_6h_gps.launch | 0 src/lea_6h_gps/package.xml | 0 src/lea_6h_gps/src/lea_6h_gps.py | 50 +- src/speed_control/CMakeLists.txt | 206 + src/speed_control/launch/speed_control.launch | 6 + src/speed_control/package.xml | 68 + src/speed_control/src/speed_control.py | 162 + src/um7_node/CMakeLists.txt | 0 src/um7_node/launch/um7_node.launch | 0 src/um7_node/package.xml | 0 src/um7_node/src/um7_node.py | 0 34 files changed, 6328 insertions(+), 18 deletions(-) mode change 100644 => 100755 src/Apps/Vehicle_params.yaml mode change 100644 => 100755 src/Apps/identi_model.py mode change 100644 => 100755 src/Apps/scan3d.py mode change 100644 => 100755 src/EKF/ekf.py create mode 100755 src/EKF/ekf3.py create mode 100755 src/EKF/ekf4.py create mode 100755 src/EKF/ekf_modified.txt create mode 100755 src/EKF/read_ekf_file.py mode change 100644 => 100755 src/cam_shutter/CMakeLists.txt mode change 100644 => 100755 src/cam_shutter/launch/cam_shutter.launch mode change 100644 => 100755 src/cam_shutter/package.xml mode change 100644 => 100755 src/cam_shutter/params/camera.yaml mode change 100644 => 100755 src/cam_shutter/src/cam_shutter.py create mode 100755 src/command_center/CMakeLists.txt create mode 100755 src/command_center/launch/command_center.launch create mode 100755 src/command_center/package.xml create mode 100755 src/command_center/src/command_center.py mode change 100644 => 100755 src/dynamixel_move/CMakeLists.txt mode change 100644 => 100755 src/dynamixel_move/launch/dynamixel_move.launch mode change 100644 => 100755 src/dynamixel_move/package.xml mode change 100644 => 100755 src/lea_6h_gps/CMakeLists.txt create mode 100755 src/lea_6h_gps/ardu_ser/ardu_ser.ino mode change 100644 => 100755 src/lea_6h_gps/launch/lea_6h_gps.launch mode change 100644 => 100755 src/lea_6h_gps/package.xml create mode 100755 src/speed_control/CMakeLists.txt create mode 100755 src/speed_control/launch/speed_control.launch create mode 100755 src/speed_control/package.xml create mode 100755 src/speed_control/src/speed_control.py mode change 100644 => 100755 src/um7_node/CMakeLists.txt mode change 100644 => 100755 src/um7_node/launch/um7_node.launch mode change 100644 => 100755 src/um7_node/package.xml mode change 100644 => 100755 src/um7_node/src/um7_node.py diff --git a/src/Apps/Vehicle_params.yaml b/src/Apps/Vehicle_params.yaml old mode 100644 new mode 100755 diff --git a/src/Apps/identi_model.py b/src/Apps/identi_model.py old mode 100644 new mode 100755 diff --git a/src/Apps/scan3d.py b/src/Apps/scan3d.py old mode 100644 new mode 100755 diff --git a/src/EKF/ekf.py b/src/EKF/ekf.py old mode 100644 new mode 100755 diff --git a/src/EKF/ekf3.py b/src/EKF/ekf3.py new file mode 100755 index 0000000..50e15db --- /dev/null +++ b/src/EKF/ekf3.py @@ -0,0 +1,361 @@ +import rospy +import rosnode +import math +import numpy as np +from std_msgs.msg import Float32 +from sensor_msgs.msg import Imu, MagneticField +# import tf +from geometry_msgs.msg import Quaternion +from nav_msgs.msg import Odometry +from datetime import date + +def quaternion2euler(q): + ### q = {q.x, q.y, q.z, q.w} + # roll + sq = 2.0 * (q.z * q.x + q.y * q.w) + cq = 1.0 - 2.0 * (q.x * q.x + q.y * q.y) + roll = math.atan2(sq, cq) + # pitch + sq = 2.0 * (q.w * q.y - q.z * q.x) + if np.abs(sq) >=1: + pitch = math.copysign(np.pi/2.0, sq) # use 90 degrees if out of range + else: + pitch = math.asin(sq) + # yaw + sq = 2.0 * (q.w * q.z + q.x * q.y) + cq = 1.0 - 2.0 * (q.y * q.y + q.z * q.z) + yaw = math.atan2(sq, cq) + return (roll,pitch,yaw) + +def euler2quaternion(roll, pitch, yaw): + cy = np.cos(yaw * 0.5) + sy = np.sin(yaw * 0.5) + cp = np.cos(pitch * 0.5) + sp = np.sin(pitch * 0.5) + cr = np.cos(roll * 0.5) + sr = np.sin(roll * 0.5) + + w = cr * cp * cy + sr * sp * sy + x = sr * cp * cy - cr * sp * sy + y = cr * sp * cy + sr * cp * sy + z = cr * cp * sy - sr * sp * cy + return (x,y,z,w) + +class NodoPos(object): + #%% Inizialization + def __init__(self): + self.ekf_pub = rospy.Publisher('/ekf', Odometry, queue_size=10) + #%% Encoder variables + self.flag_encR = True + self.flag_encL = True + self.wl_ini = 0.0 + self.wr_ini = 0.0 + self.radio = 0.0725 + self.enc_Ts = 0.0 + self.enc_tic = 0.0 + self.wr = 0.0 + self.wl = 0.0 + self.wr_1 = 0.0 + self.wl_1 = 0.0 + self.wr_2 = 0.0 + self.wl_2 = 0.0 + #%% Filter_encoders variables + self.acce = 20.0 + self.wr_f_2 = 0.0 + self.wr_f_1 = 0.0 + self.wl_f_2 = 0.0 + self.wl_f_1= 0.0 + #%% ICR estimation + self.ICR = 0.0 + self.ICR_1 = 0.0 + self.ICR_2 = 0.0 + self.ICR_f1 = 0.0 + self.ICR_f2 = 0.0 + #%% IMU variables + self.flag_imu = True + self.euler1 = [0,0,0] + self.imu_toc = 0.0 + self.imu_Ts = 0.0 + self.imu_tic = 0.0 + self.imu_pitch = 0.0 + self.imu_roll = 0.0 + self.imu_yaw = 0.0 + #%% Mag variables + self.flag_mag = True + self.yaw_mag1 = 0.0 + self.mag_toc = 0.0 + self.mag_Ts = 0.0 + self.mag_tic = 0.0 + self.mag_yaw = 0.0 + self.mag_yaw_1 = 0.0 + self.Wz = 0.0 + self.x_mag = 0.0 + self.y_mag = 0.0 + self.z_mag = 0.0 + self.Wz_2 = 0.0 + self.Wz_1 = 0.0 + self.Wz_f2 = 0.0 + self.Wz_f1 = 0.0 + + #%% Kalman variables + # Matrix error of covariance + self.kalman_P = np.matrix([[100.0, 0.0, 0.0],[0.0, 100.0, 0.0],[0.0, 0.0, 100.0]]) + # Covariance matrix of process noise + # self.kalman_Q = np.matrix([[1, 0.0, 0.0],[0.0, 1, 0.0],[0.0, 0.0, 0.001]]) + self.kalman_Q = np.matrix([[5.627197978234252e-07, -8.660344555066894e-08, 1.905427279718744e-06], + [-8.660344555066894e-08, 1.4065639626880477e-08, -2.933464617904681e-07], + [1.905427279718744e-06, -2.933464617904681e-07, 6.460098912945566e-06]]) + # Covariance matrix of measurement noise + self.kalman_R = 0.0001817647107593486 + + + + self.Yg = 1.2 + self.X_hat = np.matrix([[0.0],[0.0],[0.0]]) + #%% INIT + self.today = date.today() + self.time = rospy.Time.now() + print("Starting Kalman node - V2.5.T") + rospy.Subscriber('/WR', Float32, self.Wr_callbaback) + rospy.Subscriber('/WL', Float32, self.Wl_callbaback) + rospy.Subscriber('/imu/data', Imu, self.calIMU) #100 Hz + rospy.Subscriber('/imu/mag', MagneticField, self.calMag) #100 Hz + + Flag_out = False + self.Flag_start = False + while not Flag_out: + node_names = rosnode.get_node_names() + # bag_node = [i for i in node_names if 'play' in i] + bag_node = [i for i in node_names if 'xsens' in i] + if (len(bag_node) == 0) and self.Flag_start: + rospy.signal_shutdown('finish') + Flag_out = True + else: + self.Kalman() + exit() + + #%% Callback Encoders + def Wl_callbaback(self,data): + try: + if self.flag_encL: + self.wl_2 = data.data + self.wl_1 = data.data + #% Displacement of a sample _angular speed_f + self.wl_f_2 = data.data + self.wl_f_1 = data.data + self.wl_ini = data.data + self.flag_encL = False + + self.wl = data.data - self.wl_ini + # filter Left encoder + #% Interpolation + Dwl = 0.08*(self.wl - self.wl_1)/self.enc_Ts + if (abs(Dwl) > self.acce): + Delta_wl_1 = self.wl_1 - self.wl_2 + wl = self.wl_1 + Delta_wl_1 + else: + wl = self.wl + #% Low-pass filter + wl_f = 0.02*wl + 0.04*self.wl_1 + 0.02*self.wl_2 - (-1.56)*self.wl_f_1 - 0.64*self.wl_f_2 + #% Displacement of a sample _angular speed + self.wl_2 = self.wl_1 + self.wl_1 = self.wl + #% Displacement of a sample _angular speed_f + self.wl_f_2 = self.wl_f_1 + self.wl_f_1 = wl_f + #% Output filtered variables + self.wl = wl_f + except: + pass + + def Wr_callbaback(self,data): + # Measurement of sample time of encoders + self.enc_Ts = rospy.get_time() - self.enc_tic + self.enc_tic = rospy.get_time() + + if self.flag_encR: + self.wr_2 = data.data + self.wr_1 = data.data + #% Displacement of a sample _angular speed_f + self.wr_f_2 = data.data + self.wr_f_1 = data.data + self.wr_ini = data.data + self.flag_encR = False + + self.wr = data.data - self.wr_ini + # filter Rigth encoder + #% Interpolation + Dwr = 0.08*(self.wr - self.wr_1)/self.enc_Ts + if (abs(Dwr) > self.acce): + Delta_wr_1 = self.wr_1 - self.wr_2 + wr = self.wr_1 + Delta_wr_1 + else: + wr = self.wr + #% Low-pass filter + wr_f = 0.02*wr + 0.04*self.wr_1 + 0.02*self.wr_2 - (-1.56)*self.wr_f_1 - 0.64*self.wr_f_2 + #% Displacement of a sample _angular speed + self.wr_2 = self.wr_1 + self.wr_1 = self.wr + #% Displacement of a sample _angular speed_f + self.wr_f_2 = self.wr_f_1 + self.wr_f_1 = wr_f + #% Output filtered variables + self.wr = wr_f + + + #%% ICR_estimation + def ICR_estimation(self): + L = 0.38 + #% ICR calculation + try: + ICR = (self.radio/2.0)*(self.wr-self.wl)/self.Wz + #% Low-pass filter + self.ICR = 0.00048799*ICR + 0.00097597*self.ICR_1 + 0.00048799*self.ICR_2 - (-1.93655057)*self.ICR_f1 - 0.93850251*self.ICR_f2 + #% Displacement of a sample ICR & _filter + self.ICR_2 = self.ICR_1 + self.ICR_1 = ICR + self.ICR_f2 = self.ICR_f1 + self.ICR_f1 = self.ICR + if self.ICR < L: + self.ICR = L + except: + self.ICR = np.Inf + + + #%% Callback IMU + def calIMU(self,data): + self.Flag_start = True + #% Measurement of sample time of IMU + self.imu_toc= rospy.get_time() + self.imu_Ts = (self.imu_toc - self.imu_tic) + self.imu_tic = rospy.get_time() + #% Data descomposition + # qx = data.orientation.x + # qy = data.orientation.y + # qz = data.orientation.z + # qw = data.orientation.w + # q = np.array([qx,qy,qz,qw]) + # euler = tf.transformations.euler_from_quaternion(q) + q = data.orientation + euler = quaternion2euler(q) + self.imu_pitch = euler[1] + self.imu_roll = euler[0] + #% Quit the initial value of yaw + if (self.flag_imu): + self.euler1 = euler + print('Initial imu data') + print(' Roll: %0.6f' % self.euler1[0]) + print(' Pitch: %0.6f' % self.euler1[1]) + print(' yaw: %0.6f' % self.euler1[2]) + self.flag_imu = False + self.imu_yaw = euler[2] - self.euler1[2] + if (self.imu_yaw < -np.pi): + self.imu_yaw = self.imu_yaw + 2.0*np.pi + elif (self.imu_yaw > np.pi): + self.imu_yaw = self.imu_yaw - 2.0*np.pi + + + #%% Callback Mag + def calMag(self,data): + self.mag_yaw_1 = self.mag_yaw + #% Measurement of sample time of Mag + self.mag_toc= rospy.get_time() + self.mag_Ts = (self.mag_toc - self.mag_tic) + self.mag_tic = rospy.get_time() + #% Data descomposition + self.x_mag = data.magnetic_field.x + self.y_mag = data.magnetic_field.y + self.z_mag = data.magnetic_field.z + self.mag_yaw = math.atan2(int(-self.y_mag*1000.0),int(self.x_mag*1000.0)) + #% Quit the initial value of yaw + if (self.flag_mag): + self.yaw_mag1 = self.mag_yaw + print('Initial magnetic yaw: %0.6f' % self.yaw_mag1) + self.flag_mag = False + self.mag_yaw = self.mag_yaw - self.yaw_mag1 + if (self.mag_yaw < -np.pi): + self.mag_yaw = self.mag_yaw + 2.0*np.pi + elif (self.mag_yaw > np.pi): + self.mag_yaw = self.mag_yaw - 2.0*np.pi + Wz = (self.mag_yaw-self.mag_yaw_1)/self.mag_Ts + + #% Low-pass filter + self.Wz = 0.00048799*Wz + 0.00097597*self.Wz_1 + 0.00048799*self.Wz_2 - (-1.93655057)*self.Wz_f1 - 0.93850251*self.Wz_f2 + #% Displacement of a sample Wz & _filter + self.Wz_2 = self.Wz_1 + self.Wz_1 = Wz + self.Wz_f2 = self.Wz_f1 + self.Wz_f1 = self.Wz + + + #%% Callback Kalman + def Kalman(self): + if not (self.yaw_mag1==0) and (self.enc_Ts<100): + self.ICR_estimation() + U = np.matrix([[self.wr_f_1],[self.wl_f_1]]) + #--------------------------------------------------------------------------# + #% Modelo diferencial + A = self.radio * np.array( [[1.0, 1.0] , [1.0/self.ICR, -1.0/self.ICR]] ) + X = 0.5*np.dot(A,U) + Delta_s = X[0,0]*self.enc_Ts + Delta_theta = X[1,0]*self.enc_Ts + # State space + B = np.array([[Delta_s*np.cos(self.X_hat[2,0]+Delta_theta/2.0)], + [Delta_s*np.sin(self.X_hat[2,0]+Delta_theta/2.0)], + [Delta_theta]]) + self.X_hat = self.X_hat + B + if (self.X_hat[2,0] < -3.0*np.pi/2.0): + self.X_hat[2,0] = self.X_hat[2,0]+2.0*np.pi + elif (self.X_hat[2,0] > 3.0*np.pi/2.0): + self.X_hat[2,0] = self.X_hat[2,0]-2.0*np.pi + # Jacobian computation + a = -Delta_s*np.sin(self.X_hat[2,0]+Delta_theta/2.0) + b = Delta_s*np.cos(self.X_hat[2,0]+Delta_theta/2.0) + Ak = np.array([[1.0, 0.0, a],[0.0, 1.0, b],[0.0, 0.0, 1.0]]) + # Matrix C + Ck = np.array([[0.0,0.0,1.0]]) + #% Error covariance matrix + self.kalman_P = np.dot(Ak.dot(self.kalman_P), Ak.T) + self.kalman_Q + #% Kalman filter Gain + R = np.array(self.kalman_R + np.dot( np.dot(Ck,self.kalman_P) ,Ck.T), dtype='float') + inv_R = np.linalg.inv( R ) + kalman_K = np.dot(self.kalman_P.dot(Ck.T),inv_R) + #% update variables + # State space + self.X_hat = self.X_hat + kalman_K.dot((self.imu_yaw - self.X_hat[2,0])) + # Error covariance matrix + self.kalman_P = np.dot((np.identity(3) - np.dot(kalman_K,Ck)),self.kalman_P) + #% Publication + x = self.X_hat[0,0] + y = self.X_hat[1,0] + theta = self.X_hat[2,0] + self.publish_odom(x, y, theta, Delta_s, Delta_theta) + + #%% Callback Publish + def publish_odom(self, cur_x, cur_y, cur_theta, vx, vth): + # quat = tf.transformations.quaternion_from_euler(0, 0, cur_theta) + quat = euler2quaternion(0, 0, cur_theta) + current_time = rospy.Time.now() + odom = Odometry() + odom.header.stamp = current_time + odom.header.frame_id = 'odom' + odom.pose.pose.position.x = cur_x + odom.pose.pose.position.y = cur_y + odom.pose.pose.position.z = 0.0 + odom.pose.pose.orientation = Quaternion(*quat) + odom.pose.covariance[0] = 0.01 + odom.pose.covariance[7] = 0.01 + odom.pose.covariance[14] = 99999 + odom.pose.covariance[21] = 99999 + odom.pose.covariance[28] = 99999 + odom.pose.covariance[35] = 0.01 + odom.child_frame_id = 'base_link' + odom.twist.twist.linear.x = vx + odom.twist.twist.linear.y = 0 + odom.twist.twist.angular.z = vth + odom.twist.covariance = odom.pose.covariance + self.ekf_pub.publish(odom) +#%% Main +if __name__ == '__main__': + rospy.init_node("ekf_node") + cv = NodoPos() diff --git a/src/EKF/ekf4.py b/src/EKF/ekf4.py new file mode 100755 index 0000000..09c6c90 --- /dev/null +++ b/src/EKF/ekf4.py @@ -0,0 +1,788 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +""" +Created on Tue Dec 1 22:27:15 2020 + +__author__ = sebastian.tilaguy@gmail.com +__version__ = "1.0" +__maintainer__ = "Sebastian Tilaguy" +__email__ = "sebastian.tilaguy@gmail.com" +__status__ = "Development" +""" + +import rospy +import rosnode +import math +import numpy as np +import os +from std_msgs.msg import Float32, Int64 +from sensor_msgs.msg import Imu, MagneticField +from geometry_msgs.msg import Quaternion +from nav_msgs.msg import Odometry + +def quaternion2euler(q): + ### q = {q.x, q.y, q.z, q.w} + # roll + sq = 2.0 * (q.z * q.x + q.y * q.w) + cq = 1.0 - 2.0 * (q.x * q.x + q.y * q.y) + roll = math.atan2(sq, cq) + # pitch + sq = 2.0 * (q.w * q.y - q.z * q.x) + if np.abs(sq) >=1: + pitch = math.copysign(np.pi/2.0, sq) # use 90 degrees if out of range + else: + pitch = math.asin(sq) + # yaw + sq = 2.0 * (q.w * q.z + q.x * q.y) + cq = 1.0 - 2.0 * (q.y * q.y + q.z * q.z) + yaw = math.atan2(sq, cq) + return (roll,pitch,yaw) + +def euler2quaternion(roll, pitch, yaw): + cy = np.cos(yaw * 0.5) + sy = np.sin(yaw * 0.5) + cp = np.cos(pitch * 0.5) + sp = np.sin(pitch * 0.5) + cr = np.cos(roll * 0.5) + sr = np.sin(roll * 0.5) + + w = cr * cp * cy + sr * sp * sy + x = sr * cp * cy - cr * sp * sy + y = cr * sp * cy + sr * cp * sy + z = cr * cp * sy - sr * sp * cy + return (x,y,z,w) + +class NodoPos(object): + #%% Inizialization + def __init__(self): + self.ekf_pub = rospy.Publisher('/ekf2_5', Odometry, queue_size=10) + self.Wl_filt = rospy.Publisher('/ekf/Wl', Float32, queue_size=10) + self.Wl_filt = rospy.Publisher('/ekf/Wr', Float32, queue_size=10) + #%% Encoder variables + self.enc_Ts = 0.0 + self.enc_tic = 0.0 + self.wr = 0.0 + self.wl = 0.0 + self.wr_1 = 0.0 + self.wl_1 = 0.0 + self.wr_2 = 0.0 + self.wl_2 = 0.0 + #%% Filter_encoders variables + self.acce = 20.0 + self.wr_f = 0.0 + self.wl_f = 0.0 + self.wr_f_2 = 0.0 + self.wr_f_1 = 0.0 + self.wl_f_2 = 0.0 + self.wl_f_1= 0.0 + #%% IMU variables + self.flag_imu = True + self.euler1 = [0,0,0] + self.imu_toc = 0.0 + self.imu_Ts = 0.0 + self.imu_tic = 0.0 + self.imu_pitch = 0.0 + self.imu_roll = 0.0 + self.imu_yaw = 0.0 + self.Acc_x = 0 + self.Acc_y = 0 + self.Acc_z = 0 + self.Acc_x0 = 0 + self.Acc_y0 = 0 + self.Acc_z0 = 0 + #%% GPS variables + self.flag_gps = True + self.gps_0x = 0 + self.gps_0y = 0 + self.gps_x = 0 + self.gps_y = 0 + self.gps_x1 = 0 + self.gps_y1 = 0 + self.gps_x2 = 0 + self.gps_y2 = 0 + self.gps_fx = 0 + self.gps_fy = 0 + self.gps_fx1 = 0 + self.gps_fy1 = 0 + self.gps_fx2 = 0 + self.gps_fy2 = 0 + self.d_1 = 0.0 + self.d = 0.0 + + #%% Mag variables + self.flag_mag = True + self.yaw_mag1 = 0.0 + self.mag_toc = 0.0 + self.mag_Ts = 0.0 + self.mag_tic = 0.0 + self.mag_yaw = 0.0 + self.mag_yaw_1 = 0.0 + self.Wz = 0.0 + self.x_mag = 0.0 + self.y_mag = 0.0 + self.z_mag = 0.0 + self.Wz_2 = 0.0 + self.Wz_1 = 0.0 + self.Wz_f2 = 0.0 + self.Wz_f1 = 0.0 + + #%% Skid Steer model + self.x_model = np.array([[0], # x_N + [0], # y_E + [0], # yaw + [5.0], # y_ICR_r + [-5.0], # y_ICR_l + [5.0], # x_ICR_v + [0], # vr + [0]]) # vl + self.P_ICR = 100*np.identity(8) + # Covariance matrix of measurement noise + a = np.power(0.001*np.pi/180,2) + # self.R_model = np.array([[2.5**2, 0, 0, 0, 0], # [m] - GPS + # [0, 2.5**2, 0, 0, 0], # [m] - GPS + # [0, 0, a, 0, 0], # [rad] - Mag + # [0, 0, 0, 0.02**2, 0], # [m/s] - Enc R + # [0, 0, 0, 0, 0.02**2]])# [m/s] - Enc L + self.R_model = np.array([[2.5**2, 0, 0, 0], # [m] - GPS + [0, 2.5**2, 0, 0], # [m] - GPS + [0, 0, 0.02**2, 0], # [m/s] - Enc R + [0, 0, 0, 0.02**2]])# [m/s] - Enc L + # Covariance matrix of process noise + self.Q_model = np.zeros([8,8]) + self.Q_model[0,0] = 0.0005**2 # [m] + self.Q_model[1,1] = 0.0005**2 # [m] + self.Q_model[2,2] = np.power(12*np.pi/180,2) # [rad] + self.Q_model[3,3] = 0.2**2 # [m] + self.Q_model[4,4] = 0.2**2 # [m] + self.Q_model[5,5] = 0.2**2 # [m] + self.Q_model[6,6] = 0.2**2 # [m/s] + self.Q_model[7,7] = 0.2**2 # [m/s] + + #%% Kalman variables + # Imu model + self.A_imu = np.identity(7) + self.B_imu = np.zeros([7,3]) + self.x_imu = np.zeros([7,1]) # [x y yaw vx vy Bx By]' + # self.C_imu = np.array([[1,0,0,0,0,0,0], + # [0,1,0,0,0,0,0], + # [0,0,1,0,0,0,0], + # [1,0,0,0,0,0,0], + # [0,1,0,0,0,0,0], + # [0,0,1,0,0,0,0]]) + self.C_imu = np.array([[1,0,0,0,0,0,0], + [0,1,0,0,0,0,0], + [0,0,1,0,0,0,0], + [0,0,1,0,0,0,0]]) + # Matrix error of covariance + self.kalman_P = 100*np.identity(7) + # Covariance matrix of process noise + self.kalman_Q = np.zeros([7,7]) + self.kalman_Q[0,0] = 0.01**2 + self.kalman_Q[1,1] = 0.01**2 + self.kalman_Q[2,2] = np.power(0.5*np.pi/180,2) + self.kalman_Q[3,3] = 4**2 + self.kalman_Q[4,4] = 8**2 + self.kalman_Q[5,5] = 0.001 + self.kalman_Q[5,5] = 0.001 + # Covariance matrix of measurement noise + self.kalman_R = np.zeros([4,4]) + self.kalman_R[0,0] = 0.2**2 + self.kalman_R[1,1] = 0.2**2 + self.kalman_R[2,2] = np.power(0.05*np.pi/180,2) + self.kalman_R[3,3] = np.power(0.09*np.pi/180,2) + # self.kalman_R[3,3] = 0.00049 + # self.kalman_R[4,4] = 0.00036 + # self.kalman_R[5,5] = np.power(2*np.pi/180,2) + + self.Ts = 0.1 + self.tic_proccess = 0.0 + # print('R_kalman') + # print(self.kalman_R) + # print('Q_kalman') + # print(self.kalman_Q) + + #%% Aux variables + self.radio = 0.064 + self.O3 = np.zeros([3,3]) + self.I3 = np.identity(3) + self.I6 = np.identity(6) + self.I8 = np.identity(8) + self.cont = 0 + self.ekf_x = 0.0 + self.ekf_y = 0.0 + self.Ts_encL = 0.0 + self.Ts_encL0 = 0.0 + self.encL0 = 0.0 + self.Ts_encR = 0.0 + self.Ts_encR0 = 0.0 + self.encR0 = 0.0 + self.ref_L = 0.0 + self.ref_R = 0.0 + self.tick = 0.0 + + self.Acc_x2 = 0.0 + self.Acc_x1 = 0.0 + self.Acc_xf_2 = 0.0 + self.Acc_xf_1 = 0.0 + self.Acc_xf = 0.0 + + self.Acc_y2 = 0.0 + self.Acc_y1 = 0.0 + self.Acc_yf_2 = 0.0 + self.Acc_yf_1 = 0.0 + self.Acc_yf = 0.0 + + self.Wz2 = 0.0 + self.Wz1 = 0.0 + self.Wzf_2 = 0.0 + self.Wzf_1 = 0.0 + self.Wzf = 0.0 + + self.times = True + + #%% INIT + print("Starting Kalman node - V3.0.T") + rospy.Subscriber('/WR', Float32, self.Wr_callbaback) + rospy.Subscriber('/WL', Float32, self.Wl_callbaback) + rospy.Subscriber('/WR_ref', Float32, self.Wr_ref_callbaback) + rospy.Subscriber('/WL_ref', Float32, self.Wl_ref_callbaback) + # rospy.Subscriber('/enc_L', Int64, self.Wl_callbaback) + # rospy.Subscriber('/enc_R', Int64, self.Wr_callbaback) + rospy.Subscriber('/ekf', Odometry, self.ekf_old) + rospy.Subscriber('/imu/data', Imu, self.calIMU) #100 Hz + rospy.Subscriber('/imu/mag', MagneticField, self.calMag) #100 Hz + rospy.Subscriber('/gps/odom', Odometry, self.gps_callback) #500 Hz + # rospy.Subscriber('/odom_alpha', Odometry, self.odom_callback) #500 Hz + + FILE = open('ekf_modified.txt','w') + line = 'x_e' + '\t' +'y_e' + '\t' +'yaw_e' + '\t' +'vx_e' + '\t' +'vy_e' + '\t' +'Bx' + '\t' + 'By' + line += '\t' +'x_N' + '\t' +'y_E' + '\t' +'yaw' + '\t' + line += 'y_ICR_r' + '\t' +'y_ICR_l' + '\t' +'x_ICR_v' + line += '\t' + 'vr' + '\t' + 'vl' + line += '\t' +'x' + '\t' +'y' + '\t' +'yaw_imu' + '\t' + line += 'wr' + '\t' + 'wl' + line += '\t' + 'wr_f' + '\t' + 'wl_f' + line += '\t' + 'old_x' + '\t' + 'old_y' + line += '\t' + 'ref_r' + '\t' + 'ref_l' + FILE.write(line + '\n') + FILE.close() + + Flag_out = False + self.Flag_start = False + rate = rospy.Rate(1/self.Ts) # 100hz + while not Flag_out: + node_names = rosnode.get_node_names() + # bag_node = [i for i in node_names if 'xsens' in i] + bag_node = [i for i in node_names if 'play' in i] + if (len(bag_node) == 0) and self.Flag_start: + rospy.signal_shutdown('finish') + Flag_out = True + else: + self.Kalman() + rate.sleep() + os.system('python read_ekf_file.py') + exit() + + #%% old EKF + def ekf_old(self,data): + self.ekf_x = data.pose.pose.position.x + self.ekf_y = data.pose.pose.position.y + + #%% Callback GPS + def gps_callback(self,data): + if self.flag_gps: + self.gps_0x = data.pose.pose.position.x + self.gps_0y = data.pose.pose.position.y + self.flag_gps = False + self.gps_x = data.pose.pose.position.x - self.gps_0x + self.gps_y = data.pose.pose.position.y - self.gps_0y + # v = data.twist.twist.linear.x + # angle = data.pose.pose.orientation.z + # self.d += v + # self.gps_x = self.d*np.cos(angle*np.pi/180) + # self.gps_y = self.d*np.sin(angle*np.pi/180) + + #%% Callback Encoders + def Wr_ref_callbaback(self,data): + self.ref_R = data.data + + def Wl_ref_callbaback(self,data): + self.ref_L = data.data + + def Wl_callbaback(self,data): + #% Displacement old variables + self.wl_2 = self.wl_1 + self.wl_1 = self.wl + self.wl_f_2 = self.wl_f_1 + self.wl_f_1 = self.wl_f + + # Measurement of sample time of encoders + self.Ts_encL = rospy.get_time() - self.Ts_encL0 + self.Ts_encL0 = rospy.get_time() + + # self.wl = (data.data - self.encL0)/self.Ts_encL + # self.wl *= self.rpm2rad + self.wl = data.data + + #----------------------------------------- + # filter Left encoder + #% Interpolation + Dw = 0.08*(self.wl - self.wl_1)/self.Ts_encL + if (abs(Dw) > self.acce): + Delta_wl_1 = self.wl_1 - self.wl_2 + wl = self.wl_1 + Delta_wl_1 + else: + wl = self.wl + #% Low-pass filter + self.wl_f = 0.06327976*wl + self.wl_f += 0.12655953*self.wl_1 + self.wl_f += 0.06327976*self.wl_2 + self.wl_f -= -1.07222953*self.wl_f_1 + self.wl_f -= 0.32534858*self.wl_f_2 + + #% Displacement old variables + self.encL0 = data.data + + def Wr_callbaback(self,data): + #% Displacement old variables + self.wr_2 = self.wr_1 + self.wr_1 = self.wr + self.wr_f_2 = self.wr_f_1 + self.wr_f_1 = self.wr_f + + # Measurement of sample time of encoders + self.Ts_encR = rospy.get_time() - self.Ts_encR0 + self.Ts_encR0 = rospy.get_time() + + # self.wr = (data.data - self.encR0)/self.Ts_encR + # self.wr *= self.rpm2rad + self.wr = data.data + + #------------------------------------------- + # filter Rigth encoder + #% Interpolation + Dw = 0.08*(self.wr - self.wr_1)/self.Ts_encR + if (abs(Dw) > self.acce): + Delta_wr_1 = self.wr_1 - self.wr_2 + wr = self.wr_1 + Delta_wr_1 + else: + wr = self.wr + #% Low-pass filter + self.wr_f = 0.06327976*wr + self.wr_f += 0.12655953*self.wr_1 + self.wr_f += 0.06327976*self.wr_2 + self.wr_f -= -1.07222953*self.wr_f_1 + self.wr_f -= 0.32534858*self.wr_f_2 + + #% Displacement old variables + self.encR0 = data.data + + + #%% Callback IMU + def calIMU(self,data): + #% Displacement old variables + self.Acc_x2 = self.Acc_x1 + self.Acc_x1 = self.Acc_x + self.Acc_xf_2 = self.Acc_xf_1 + self.Acc_xf_1 = self.Acc_xf + + self.Acc_y2 = self.Acc_y1 + self.Acc_y1 = self.Acc_y + self.Acc_yf_2 = self.Acc_yf_1 + self.Acc_yf_1 = self.Acc_yf + + self.Wz2 = self.Wz1 + self.Wz1 = self.Wz + self.Wzf_2 = self.Wzf_1 + self.Wzf_1 = self.Wzf + + self.Flag_start = True + #% Measurement of sample time of IMU + self.imu_toc= rospy.get_time() + self.imu_Ts = (self.imu_toc - self.imu_tic) + self.imu_tic = rospy.get_time() + #% Data descomposition + q = data.orientation + euler = quaternion2euler(q) + self.imu_pitch = euler[1] + self.imu_roll = euler[0] + #% Quit the initial value of yaw + if self.flag_imu: + self.euler1 = euler + print('Initial imu data') + print(' Roll: %0.6f' % self.euler1[0]) + print(' Pitch: %0.6f' % self.euler1[1]) + print(' yaw: %0.6f' % self.euler1[2]) + self.flag_imu = False + self.imu_yaw = euler[2] - self.euler1[2] + if self.imu_yaw < -np.pi: + self.imu_yaw += 2.0*np.pi + elif self.imu_yaw > np.pi: + self.imu_yaw -= 2.0*np.pi + self.Acc_x = data.linear_acceleration.x + self.Acc_y = data.linear_acceleration.y + self.Wz = data.angular_velocity.z + + #% Low-pass filter + self.Acc_xf = 0.06327976*self.Acc_x + self.Acc_xf += 0.12655953*self.Acc_x1 + self.Acc_xf += 0.06327976*self.Acc_x2 + self.Acc_xf -= -1.07222953*self.Acc_xf_1 + self.Acc_xf -= 0.32534858*self.Acc_xf_2 + #% Low-pass filter + self.Acc_yf = 0.06327976*self.Acc_y + self.Acc_yf += 0.12655953*self.Acc_y1 + self.Acc_yf += 0.06327976*self.Acc_y2 + self.Acc_yf -= -1.07222953*self.Acc_yf_1 + self.Acc_yf -= 0.32534858*self.Acc_yf_2 + #% Low-pass filter + self.Wzf = 0.06327976*self.Wz + self.Wzf += 0.12655953*self.Wz1 + self.Wzf += 0.06327976*self.Wz2 + self.Wzf -= -1.07222953*self.Wzf_1 + self.Wzf -= 0.32534858*self.Wzf_2 + + + #%% Callback Mag + def calMag(self,data): + #% Displacement old variables + self.mag_yaw_1 = self.mag_yaw + #% Measurement of sample time of Mag + self.mag_Ts = (rospy.get_time() - self.mag_tic) + self.mag_tic = rospy.get_time() + #% Data descomposition + self.x_mag = data.magnetic_field.x + self.y_mag = data.magnetic_field.y + self.z_mag = data.magnetic_field.z + self.mag_yaw = math.atan2(self.y_mag,self.x_mag) + # self.mag_yaw = math.atan(self.y_mag/self.x_mag) + #% Quit the initial value of yaw + if (self.flag_mag): + self.yaw_mag1 = self.mag_yaw + print('Initial magnetic yaw: %0.6f' % self.yaw_mag1) + self.flag_mag = False + self.mag_yaw = self.mag_yaw - self.yaw_mag1 + if self.mag_yaw < -np.pi: + self.mag_yaw += 2.0*np.pi + if self.mag_yaw > np.pi: + self.mag_yaw -= 2.0*np.pi + + #%% Skid-steer model + # doi = https://doi.org/10.1002/rob.21509 + # sci-hub.se/10.1002/rob.21509 + # The reference frame is rotated, then the ecuations (11) ans (12) changes as: + # dot_N = Vx*Sin(psi) + Vy*Cos(psi) + # dot_E = Vx*Cos(phi) - Vy*Sin(psi) + def SkidSteer(self): + # Measurement of sample time of encoders + if self.times: + self.times = False + else: + self.Ts = round(rospy.get_time() - self.tick, 2) + self.tick = rospy.get_time() + # print(rospy.get_time() - self.tic_proccess) + # self.tic_proccess = rospy.get_time() + + # print(self.wl,self.wr) + # [ 0 1 2 3 4 5] + # [x_N y_E yaw y_ICR_r y_ICR_l x_ICR_v]] + vl = self.radio*self.wl_f_2 + vr = self.radio*self.wr_f_2 + # print('vr,vl') + # print(vr,vl) + + xN = self.x_model[0,0] + yE = self.x_model[1,0] + psi = self.x_model[2,0] + Yr = self.x_model[3,0] + Yl = self.x_model[4,0] + Xv = self.x_model[5,0] + vr = self.x_model[6,0] + vl = self.x_model[7,0] + # print(xN,yE,psi,Yr,Yl,Xv,vr,vl) + + den = np.abs(Yl-Yr) + + vx = (vr*Yl - vl*Yr)/den + vy = (vl - vr)*Xv/den + w = - (vl - vr)/den + + s = np.sin(psi) + c = np.cos(psi) + # Jacobian computation + Fk13 = self.Ts*(vx*c - vy*s) + Fk23 = - self.Ts*(vx*s + vy*c) + Fk = np.array([[1,0,Fk13], + [0,1,Fk23], + [0,0,1]]) + # print(Fk) + + Fi11 = - vl*s/den + vx*s/den + vy*c/den + Fi12 = vr*s/den - vx*s/den - vy*c/den + Fi13 = - w*c + Fi21 = - vl*c/den + vx*c/den - vy*s/den + Fi22 = vr*c/den - vx*c/den + vy*s/den + Fi23 = w*s + Fi31 = w/den + Fi32 = - w/den + Fi = np.array([[Fi11,Fi12,Fi13], + [Fi21,Fi22,Fi23], + [Fi31,Fi32,0]]) + Fi *= self.Ts + # print(Fi) + + Fv11 = (Yl*s - Xv*c)/den + Fv12 = (- Yl*s + Xv*c)/den + Fv21 = (Yl*c + Xv*s)/den + Fv22 = (- Yl*s - Xv*c)/den + Fv31 = 1/den + Fv32 = - 1/den + Fv = np.array([[Fv11,Fv12], + [Fv21,Fv22], + [Fv31,Fv32]]) + Fv *= self.Ts + # print(Fv) + + # a -> Fk|Fi|Fv + a = np.concatenate((Fk,Fi),axis=1) + a = np.concatenate((a,Fv),axis=1) + # print(a) + # b -> 033|I33|032 + b = np.concatenate((self.O3,self.I3),axis=1) + b = np.concatenate((b,np.zeros([3,2])),axis=1) + # print(b) + # b -> 023|023|I22 + c = np.concatenate((np.zeros([2,6]),np.identity(2)),axis=1) + # print(c) + + F = np.concatenate((a,b)) + # print(F) + F = np.concatenate((F,c)) + # print('F') + # print(F) + # print('P') + # print(self.P_ICR) + + L = self.Ts*self.I8 + + # self.x_model = F.dot(self.x_model) + + aux = F.dot(self.P_ICR) # FP + # print(aux) + aux = aux.dot(F.T) # FPF' + # print(aux) + aux2 = L.dot(self.Q_model) # LQ + # print(aux2) + aux2 = aux2.dot(L.T) # LQL' + # print(aux2) + self.P_ICR = aux + aux2 + # print('P') + # print(self.kalman_P) + + # H = np.array([[1, 0, 0, 0, 0, 0, 0, 0], + # [0, 1, 0, 0, 0, 0, 0, 0], + # [0, 0, 1, 0, 0, 0, 0, 0], + # [0, 0, 0, 0, 0, 0, 1, 0], + # [0, 0, 0, 0, 0, 0, 0, 1]]) + H = np.array([[1, 0, 0, 0, 0, 0, 0, 0], + [0, 1, 0, 0, 0, 0, 0, 0], + [0, 0, 0, 0, 0, 0, 1, 0], + [0, 0, 0, 0, 0, 0, 0, 1]]) + h = H.dot(self.x_model) + + # y = np.array([[self.gps_x], + # [self.gps_y], + # [self.mag_yaw], + # [self.radio*self.wr], + # [self.radio*self.wl]]) + y = np.array([[self.gps_x], + [self.gps_y], + [self.radio*self.wr], + [self.radio*self.wl]]) + # print('h') + # print(h) + # print('y') + # print(y) + + aux = H.dot(self.P_ICR) # HP + # print(aux) + aux = aux.dot(H.T) # HPH' + # print(aux) + aux += self.R_model # CPC' + R + # print(aux) + aux = np.linalg.inv(aux) # (CPC' + R)^-1 + # print(aux) + K = self.P_ICR.dot(H.T) # PC' + # print(K) + K = K.dot(aux) # PC'(CPC' + R)^-1 + # print('k') + # print(K) + + ye = y - h + # ye = h - y + # print('ye') + # print(ye) + self.x_model = self.x_model + K.dot(ye) + + aux = self.I8 - K.dot(H) + self.P_ICR = aux.dot(self.P_ICR) + # print('P') + # print(self.P_ICR) + + if self.x_model[2,0] < -np.pi: + self.x_model[2,0] += 2.0*np.pi + elif self.x_model[2,0] > np.pi: + self.x_model[2,0] -= 2.0*np.pi + # print('states') + # print(self.x_model) + # print('-------------------------------------------------') + # print('') + # print('') + + #%% Callback Kalman + def Kalman(self): + if self.Flag_start: + while True: + self.SkidSteer() + # print(np.linalg.det(self.P_ICR)) + if not np.linalg.det(self.P_ICR) > 0.0001: + # print('flag') + break + + U = np.array([[self.Wzf], + [self.Acc_xf], + [self.Acc_yf]]) + # print('U') + # print(U) + + self.A_imu[0,3] = self.Ts + self.A_imu[0,5] = - self.Ts**2 + self.A_imu[1,4] = self.Ts + self.A_imu[1,6] = - self.Ts**2 + self.A_imu[3,5] = - self.Ts + self.A_imu[4,6] = - self.Ts + + self.B_imu[0,1] = self.Ts**2 + self.B_imu[1,2] = self.Ts**2 + self.B_imu[2,0] = self.Ts + self.B_imu[3,1] = self.Ts + self.B_imu[4,2] = self.Ts + + # print('A') + # print(self.A_imu) + # print('B') + # print(self.B_imu) + # print('x_imu') + # print(self.x_imu) + + self.x_imu = self.A_imu.dot(self.x_imu) + self.B_imu.dot(U) + if self.x_imu[2,0] < -np.pi: + self.x_imu[2,0] += 2.0*np.pi + elif self.x_imu[2,0] > np.pi: + self.x_imu[2,0] -= 2.0*np.pi + + # print('x_imu') + # print(self.x_imu) + + yk = self.C_imu.dot(self.x_imu) + + h = np.array([[self.x_model[0,0]], + [self.x_model[1,0]], + [self.x_model[2,0]], + [self.mag_yaw]]) + + # # h = np.array([[self.x_model[0,0]], + # # [self.x_model[1,0]], + # # [self.imu_yaw], + # # [self.x_model[0,0]], + # # [self.x_model[1,0]], + # # [self.x_model[2,0]]]) + + # print('y') + # print(yk) + # print('h') + # print(h) + # print('P') + # print(self.kalman_P) + + aux = self.A_imu.dot(self.kalman_P) # AP + # print(aux) + aux = aux.dot(self.A_imu.T) # APA' + # print(aux) + self.kalman_P = aux + self.kalman_Q + # print('P') + # print(self.kalman_P) + + aux = self.C_imu.dot(self.kalman_P) # CP + # print(aux) + aux = aux.dot(self.C_imu.T) # CPC' + # print(aux) + aux += self.kalman_R # CPC' + R + # print(aux) + aux = np.linalg.inv(aux) # (CPC' + R)^-1 + # print(aux) + K = self.kalman_P.dot(self.C_imu.T) # PC' + # print(K) + K = K.dot(aux) # PC'(CPC' + R)^-1 + # print('k') + # print(K) + + ye = h - yk + # ye = yk - h + # print('ye') + # print(ye) + self.x_imu = self.x_imu + K.dot(ye) + if self.x_imu[2,0] < -np.pi: + self.x_imu[2,0] += 2.0*np.pi + elif self.x_imu[2,0] > np.pi: + self.x_imu[2,0] -= 2.0*np.pi + # print('x_imu~') + # print(self.x_imu) + + aux = np.identity(7) - K.dot(self.C_imu) + self.kalman_P = aux.dot(self.kalman_P) + # print('P') + # print(np.round(self.kalman_P, 4)) + # print('===================================================') + # print('===================================================') + # print('') + line = '\t'.join([str(elem[0]) for elem in self.x_imu]) + line += '\t' + line += '\t'.join([str(elem[0]) for elem in self.x_model]) + line += '\t' + str(self.gps_x) + '\t' + str(self.gps_y) + '\t' + str(self.mag_yaw) + line += '\t' + str(self.wr) + '\t' + str(self.wl) + line += '\t' + str(self.wr_f) + '\t' + str(self.wl_f) + line += '\t' + str(self.ekf_x) + '\t' + str(self.ekf_y) + line += '\t' + str(self.ref_R) + '\t' + str(self.ref_L) + FILE = open('ekf_modified.txt','a') + FILE.write(line + '\n') + FILE.close() + # self.cont += 1 + # if self.cont == 100: + # rospy.signal_shutdown('finish') + # exit() + + # self.publish_odom(self.x_imu[0,0],self.x_imu[1,0],self.x_imu[2,0],self.x_imu[3,0],self.x_imu[4,0], self.x_imu[5,0]) + + #%% Callback Publish + def publish_odom(self, cur_x, cur_y, cur_theta, vx, vy, vth): + # quat = tf.transformations.quaternion_from_euler(0, 0, cur_theta) + quat = euler2quaternion(0, 0, cur_theta) + current_time = rospy.Time.now() + odom = Odometry() + odom.header.stamp = current_time + odom.header.frame_id = 'odom' + odom.pose.pose.position.x = cur_x + odom.pose.pose.position.y = cur_y + odom.pose.pose.position.z = 0.0 + odom.pose.pose.orientation = Quaternion(*quat) + odom.child_frame_id = 'base_link' + odom.twist.twist.linear.x = vx + odom.twist.twist.linear.y = vy + odom.twist.twist.angular.z = vth + odom.twist.covariance = odom.pose.covariance + self.ekf_pub.publish(odom) +#%% Main +if __name__ == '__main__': + rospy.init_node("ekf2V5_node") + cv = NodoPos() diff --git a/src/EKF/ekf_modified.txt b/src/EKF/ekf_modified.txt new file mode 100755 index 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-0.09073391739867658 -0.04702690326580744 44.149466789247334 45.99267783003878 -0.0 0.0 +-2.799477552780972 -15.01552084705313 -0.2679324616238556 -0.05747391826341426 -0.26290154165970536 -0.21720627409495447 -0.20049694840542645 -2.799781504723124 -15.015544712514458 0.10652043075614272 39.972250178019706 -188.8332976959398 -13.52726110191144 -0.005777138234212367 -0.003014997593738105 -4.259294901974499 -24.077580627286807 -1.4810694909890432 -0.09073399752378464 -0.04702699929475784 -0.09073391739867658 -0.04702690326580744 44.149466789247334 45.99267783003878 -0.0 0.0 diff --git a/src/EKF/read_ekf_file.py b/src/EKF/read_ekf_file.py new file mode 100755 index 0000000..5919a69 --- /dev/null +++ b/src/EKF/read_ekf_file.py @@ -0,0 +1,71 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +""" +Created on Sat Dec 5 12:15:13 2020 + +__author__ = sebastian.tilaguy@gmail.com +__version__ = "1.0" +__maintainer__ = "Sebastian Tilaguy" +__email__ = "sebastian.tilaguy@gmail.com" +__status__ = "Development" +""" + +import pandas as pd +import numpy as np +import matplotlib.pyplot as plt + + +data = pd.read_csv('ekf_modified.txt', sep="\t", header=0,index_col=None) +# [x y yaw vx vy W x_N y_E yaw y_ICR_r y_ICR_l x_ICR_v] +m,n = data.shape +print(data) + +Fs = 10 +Ts = 1/Fs +t = np.linspace(0,m*Ts,m) + +rad2deg = 180/np.pi + +plt.figure(1) +plt.subplot(211) +plt.plot(data['y_ICR_r'].values) +plt.plot(data['y_ICR_l'].values) +plt.plot(data['x_ICR_v'].values) +plt.legend(['Y_ICRr','Y_ICRl','X_ICR']) +plt.subplot(212) +plt.plot(data['yaw_imu'].values*rad2deg,'r') +plt.plot(data['yaw'].values*rad2deg,'--b') +plt.plot(data['yaw_e'].values*rad2deg,'.k') +plt.legend(['mag','model','kalman']) + +# plt.figure(2) +# plt.plot(data['old_x'].values,data['old_y'].values) + +plt.figure(3) +plt.plot(data['x_N'].values,data['y_E'].values,'r') +plt.plot((data['x'].values),(data['y'].values),'.b') +plt.plot(data['x_e'].values,data['y_e'].values,'--k') +plt.legend(['model','GPS','kalman']) + +plt.figure(4) +plt.subplot(311) +plt.plot(data['ref_r'].values*0.064/15,'k') +plt.plot(data['wr'].values*0.064) +plt.plot(data['wr_f'].values*0.064,'--') +plt.plot(data['vr'].values,'--g') +plt.legend(['ref','vr_enc','vr_f','vr_ekf']) +plt.subplot(312) +plt.plot(data['ref_l'].values*0.064/15,'k') +plt.plot(data['wl'].values*0.064) +plt.plot(data['wl_f'].values*0.064,'--') +plt.plot(data['vl'].values,'--g') +plt.legend(['ref','vl_enc','vl_f','vl_ekf']) +plt.subplot(313) +plt.plot((data['ref_r'].values*0.064/15)-(data['ref_l'].values*0.064/15),'k') +plt.plot((data['wr'].values*0.064)-(data['wl'].values*0.064)) +plt.plot((data['wr_f'].values*0.064)-(data['wl_f'].values*0.064)) +plt.plot(data['vr'].values-data['vl'].values) +plt.legend(['ref','enc','filt','ekf']) + +plt.show() + diff --git a/src/cam_shutter/CMakeLists.txt b/src/cam_shutter/CMakeLists.txt old mode 100644 new mode 100755 diff --git a/src/cam_shutter/launch/cam_shutter.launch b/src/cam_shutter/launch/cam_shutter.launch old mode 100644 new mode 100755 diff --git a/src/cam_shutter/package.xml b/src/cam_shutter/package.xml old mode 100644 new mode 100755 diff --git a/src/cam_shutter/params/camera.yaml b/src/cam_shutter/params/camera.yaml old mode 100644 new mode 100755 diff --git a/src/cam_shutter/src/cam_shutter.py b/src/cam_shutter/src/cam_shutter.py old mode 100644 new mode 100755 diff --git a/src/command_center/CMakeLists.txt b/src/command_center/CMakeLists.txt new file mode 100755 index 0000000..d6ab014 --- /dev/null +++ b/src/command_center/CMakeLists.txt @@ -0,0 +1,207 @@ +cmake_minimum_required(VERSION 3.0.2) +project(command_center) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS roslaunch + diagnostic_msgs + rospy + sensor_msgs + std_msgs +) +roslaunch_add_file_check(launch) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# diagnostic_msgs# sensor_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES command_center +# CATKIN_DEPENDS diagnostic_msgs rospy sensor_msgs std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/command_center.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/command_center_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 src/command_center.py + 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_command_center.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/command_center/launch/command_center.launch b/src/command_center/launch/command_center.launch new file mode 100755 index 0000000..454f628 --- /dev/null +++ b/src/command_center/launch/command_center.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/src/command_center/package.xml b/src/command_center/package.xml new file mode 100755 index 0000000..eaf7b78 --- /dev/null +++ b/src/command_center/package.xml @@ -0,0 +1,72 @@ + + + command_center + 0.0.0 + The command_center package + + + + + Sebastian + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + diagnostic_msgs + rospy + sensor_msgs + std_msgs + diagnostic_msgs + rospy + sensor_msgs + std_msgs + diagnostic_msgs + rospy + sensor_msgs + std_msgs + roslaunch + + + + + + + + diff --git a/src/command_center/src/command_center.py b/src/command_center/src/command_center.py new file mode 100755 index 0000000..cdd4dca --- /dev/null +++ b/src/command_center/src/command_center.py @@ -0,0 +1,175 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +""" +Created on Fri Nov 6 10:18:16 2020 + +__author__ = sebastian.tilaguy@gmail.com +__version__ = "1.0" +__maintainer__ = "Sebastian Tilaguy" +__email__ = "sebastian.tilaguy@gmail.com" +__status__ = "Development" +""" + +import rospy +import os +from sensor_msgs.msg import Joy +from std_msgs.msg import Float32, Bool +from diagnostic_msgs.msg import KeyValue + +class command_center(object): +#%% Inizialization + def __init__(self): + self.EN_ctr = False + self.ref_WR = 0.0 + self.ref_WL = 0.0 + + self.ctr_flag = KeyValue() + self.ctr_flag.key='control model' + self.ctr_flag.value = '0' + # --- ctr_flag menu --- + # 0 -> manual mode + # 1 -> speed control + # 2 -> constant lineal speed + # 3 -> angle control + self.cam_flag = False + self.cam_cont = 0 + self.flag_inc = True + + rospy.init_node("command_center") + + rospy.Subscriber("/joy", Joy, self.joy_event) + rospy.Subscriber('/cam_shut', Bool, self.cam_shut) + r_time = rospy.Rate(100) + while not rospy.is_shutdown(): + # Publishers + RefL_pub = rospy.Publisher('/WL_ref', Float32, queue_size=10) # + RefR_pub = rospy.Publisher('/WR_ref', Float32, queue_size=10) + flag_pub = rospy.Publisher('/ctrl_flag', KeyValue, queue_size=10) + + RefL_pub.publish(self.ref_WL) # + RefR_pub.publish(self.ref_WR) + flag_pub.publish(self.ctr_flag) + + r_time.sleep() + + def cam_shut(self,data): + self.cam_flag = data.data + + def joy_event(self,data): + # Charectization GamePad Logitech F710 + # READ BUTTONS + A = data.buttons[0] + B = data.buttons[1] + X = data.buttons[2] + Y = data.buttons[3] + LB = data.buttons[4] + RB = data.buttons[5] + BACK = data.buttons[6] + START = data.buttons[7] + LOGITECH = data.buttons[8] + ANALOG_L = data.buttons[9] + ANALOG_R = data.buttons[10] + # READ Axes + LEFT_ANALOG_HOR = data.axes[0] # <<(+) + LEFT_ANALOG_VER = data.axes[1] # ^^(+) + LT = data.axes[2] #[1 -1] + RIGHT_ANALOG_HOR = data.axes[3] # <<(+) + RIGHT_ANALOG_VER = data.axes[4] # ^^(+) + RT = data.axes[5] #[1 -1] + LEFT_RIGHT = data.axes[6] # left=1, right=-1 + FRONT_BACK = data.axes[7] # front=1, back=-1 + + if(LB==1): + if not self.EN_ctr: + G = 63 # max=9.5 + else: + G = 31 + else: + G = 0.0 + + if self.ctr_flag.value =='2': + self.ref_WR = G*(0.030913978494623656 + LEFT_ANALOG_HOR) + self.ref_WL = G*(0.030913978494623656 - LEFT_ANALOG_HOR) + m = - self.ref_WR/4.0 + self.ref_WR += m*self.cam_cont + m = - self.ref_WL/4.0 + self.ref_WL += m*self.cam_cont + if self.cam_flag: + if self.flag_inc: + self.cam_cont +=1 + else: + self.cam_cont -=1 + if self.cam_cont == 4: + self.flag_inc = False + elif self.cam_cont == 0: + self.flag_inc = True + print(self.ref_WL,self.ref_WR) + print(self.cam_flag,self.cam_cont,self.flag_inc) + + else: + self.ref_WR = G*(RIGHT_ANALOG_VER + LEFT_ANALOG_HOR) + self.ref_WL = G*(RIGHT_ANALOG_VER - LEFT_ANALOG_HOR) + + # print(self.ref_WR,self.ref_WL) + + if LB==1 and A==1: #Laser ON + os.system("python ~/catkin_ws/src/AlphaROVER/src/GPIO/laser_on.py'") + + elif LB==1 and RB==1: #Leds ON + os.system("python ~/catkin_ws/src/AlphaROVER/src/GPIO/leds_on.py'") + + elif LB==1 and B==1: #Lights OFF + os.system("python ~/catkin_ws/src/AlphaROVER/src/GPIO/lights_off.py'") + + elif LEFT_ANALOG_HOR==-1 and RIGHT_ANALOG_VER==-1 and LT==-1 and RT==-1: + print("Restarting System") + rospy.sleep(3) + os.system("sudo reboot") + + elif LOGITECH==1 and B==1: + print("Shutting down system") + rospy.sleep(3) + os.system("sudo poweroff") + + elif (LEFT_RIGHT==-1 and START==1 and (not self.EN_ctr)): #Control Mode + os.system("python ~/catkin_ws/src/AlphaROVER/src/GPIO/control_mode.py'") + self.EN_ctr = True + self.ctr_flag.value = '1' + rospy.loginfo('Speed control - mode: 1') + + elif LEFT_RIGHT==1 and START==1 and self.EN_ctr: #Manual Mode + os.system("python ~/catkin_ws/src/AlphaROVER/src/GPIO/manual_mode.py'") + self.EN_ctr = False + self.ctr_flag.value = '0' + rospy.loginfo('Manual - mode: 0') + + elif LEFT_RIGHT==-1 and X==1: #crusing Mode + os.system("python ~/catkin_ws/src/AlphaROVER/src/GPIO/control_mode.py'") + self.EN_ctr = True + self.ctr_flag.value = '2' + rospy.loginfo('Cruising speed - mode: 2') + + elif FRONT_BACK==1 and Y==1: + print('==========================================') + print('| Command menu |') + print('------------------------------------------') + print('| Laser On | LB + A |') + print('------------------------------------------') + print('| Lights On | LB + RB |') + print('------------------------------------------') + print('| Lights Off | LB + B |') + print('------------------------------------------') + print('| Restar system | joystick_L_left + LT |') + print('| | + joystick_R_down + RT |') + print('------------------------------------------') + print('| Shut down | LOGITECH + B |') + print('------------------------------------------') + print('| Control mode | Arrow_L + START |') + print('------------------------------------------') + print('| Manual mode | Arrow_R + START |') + print('------------------------------------------') + print('| Cruising mode | Arrow_L + X |') + print('------------------------------------------') + +if __name__ == '__main__': + cv = command_center() diff --git a/src/dynamixel_move/CMakeLists.txt b/src/dynamixel_move/CMakeLists.txt old mode 100644 new mode 100755 diff --git a/src/dynamixel_move/launch/dynamixel_move.launch b/src/dynamixel_move/launch/dynamixel_move.launch old mode 100644 new mode 100755 diff --git a/src/dynamixel_move/package.xml b/src/dynamixel_move/package.xml old mode 100644 new mode 100755 diff --git a/src/dynamixel_move/src/dynamixel_move.py b/src/dynamixel_move/src/dynamixel_move.py index a52b395..18a6caf 100755 --- a/src/dynamixel_move/src/dynamixel_move.py +++ b/src/dynamixel_move/src/dynamixel_move.py @@ -34,8 +34,9 @@ def angle_change(self,data): jtp = tm.JointTrajectoryPoint() jtp.positions = [self.angle] - jtp.velocities = zeros(len(jtp.positions)) - jtp.time_from_start = rospy.Duration(1) + jtp.velocities = [0.5] + jtp.effort = [0.3] + jtp.time_from_start = rospy.Duration(2) tilt.points = [jtp] @@ -45,4 +46,4 @@ def angle_change(self,data): try: motor() except rospy.ROSInterruptException: - pass \ No newline at end of file + pass diff --git a/src/lea_6h_gps/CMakeLists.txt b/src/lea_6h_gps/CMakeLists.txt old mode 100644 new mode 100755 diff --git a/src/lea_6h_gps/ardu_ser/ardu_ser.ino b/src/lea_6h_gps/ardu_ser/ardu_ser.ino new file mode 100755 index 0000000..0d3ab71 --- /dev/null +++ b/src/lea_6h_gps/ardu_ser/ardu_ser.ino @@ -0,0 +1,23 @@ +#include + +SoftwareSerial mySerial(2, 3); // RX, TX + +void setup() +{ + // Open serial communications and wait for port to open: + Serial.begin(9600); + while (!Serial) { + ; // wait for serial port to connect. Needed for Native USB only + } + + // set the data rate for the SoftwareSerial port + mySerial.begin(9600); +} + +void loop() // run over and over +{ + if (mySerial.available()) + Serial.write(mySerial.read()); + if (Serial.available()) + mySerial.write(Serial.read()); +} diff --git a/src/lea_6h_gps/launch/lea_6h_gps.launch b/src/lea_6h_gps/launch/lea_6h_gps.launch old mode 100644 new mode 100755 diff --git a/src/lea_6h_gps/package.xml b/src/lea_6h_gps/package.xml old mode 100644 new mode 100755 diff --git a/src/lea_6h_gps/src/lea_6h_gps.py b/src/lea_6h_gps/src/lea_6h_gps.py index c148fe8..52f49c5 100755 --- a/src/lea_6h_gps/src/lea_6h_gps.py +++ b/src/lea_6h_gps/src/lea_6h_gps.py @@ -7,6 +7,7 @@ from nav_msgs.msg import Odometry from sensor_msgs.msg import NavSatFix +from std_msgs.msg import String class GPS(object): def __init__(self): @@ -41,9 +42,10 @@ def __init__(self): self.Mag = 0.0 self.eMag = 0.0 - self.x = 0.0 self.y = 0.0 + + self.line = '' def GpsTimeSeconds(self, Time_Gps): #print(Time_Gps) @@ -58,11 +60,20 @@ def GpsTimeSeconds(self, Time_Gps): return Time_seconds def GPS_read(self,serial): - line = str(serial.readline()) - #print(line) - data = line.split(",") - aux = data[0].split("','") - data[0] = aux[1] + # print('') + # print('') + # print('==================================================') + lin_ser = str(serial.readline()) + lin_ser = lin_ser.strip("b''") + # print(len(lin_ser)) + # print(lin_ser) + if not len(lin_ser) == 0: + self.line = lin_ser + # print(self.line) + # print('==================================================') + # print('') + data = self.line.split(',') + # print(data) if data[0] == "$GPGGA": self.time_utc = self.GpsTimeSeconds(data[1]) self.Latitude = int(float(data[2])/100.0) @@ -81,6 +92,8 @@ def GPS_read(self,serial): self.satelites = float(data[7]) self.DOP = float(data[8]) self.altitude = float(data[9]) + # print(self.time_utc,self.Latitude,self.Longitude,self.quality, + # self.satelites,self.DOP,self.altitude) if data[0] == "$GPRMC": self.speed_m_s = float(data[7])*0.514444 self.COG = float(data[8]) @@ -90,11 +103,12 @@ def GPS_read(self,serial): self.Mag = self.Mag*1.0 elif data[11]=='W': self.Mag = self.Mag*-1.0 - print(self.Mag) + # print(self.speed_m_s, self.COG, self.date, self.Mag) if data[0] == "$GPGBS": self.eLat = float(data[2]) self.eLon = float(data[3]) self.eAlt = float(data[4]) + # print(self.eLat, self.eLon, self.eAlt) def LLH2GPS(self,Lat,Long): Long_rad = Long * (np.pi/180.0) @@ -111,18 +125,18 @@ def LLH2GPS(self,Lat,Long): #Estimation of parameters A = np.cos(Lat_rad) * np.sin(delta_lambda0) - xi = 0.5 * np.log((1+A)/(1.0-A)) + xi = 0.5 * np.log((1+A)/(1-A)) eta = np.arctan(np.tan(Lat_rad)/np.cos(delta_lambda0)) - Lat_rad - nu = (self.c*0.9996)/np.sqrt((1.0 + self.e2*np.cos(Lat_rad)*np.cos(Lat_rad))) - zeta = (self.e2/2.0)*(xi*xi)*(np.cos(Lat_rad)*np.cos(Lat_rad)) - A1 = np.sin(2.0*Lat_rad) - A2 = A1 * (np.cos(Lat_rad)*np.cos(Lat_rad)) + nu = self.c * 0.9996/np.sqrt(1 + self.e2*((np.cos(Lat_rad))**2)) + zeta = (self.e2/2.0)*(xi*xi)*(np.cos(Lat_rad))**2 + A1 = np.sin(2*Lat_rad) + A2 = A1 * (np.cos(Lat_rad))**2 J2 = Lat_rad + A1/2.0 J4 = (3*J2 + A2)/4.0 - J6 = (5*J4 + A2 * (np.cos(Lat_rad)*np.cos(Lat_rad)))/3.0 + J6 = (5*J4 + A2 * (np.cos(Lat_rad))**2)/3.0 alpha2 = (3.0/4.0)*(self.e2) beta = (5.0/3.0)*(alpha2*alpha2) - gamma = (35.0/27.0)*(np.power(alpha2,2)) + gamma = (35.0/27.0)*np.power(alpha2,3) B_phi = 0.9996 * self.c * (Lat_rad - alpha2 * J2 + beta * J4 - gamma * J6) self.x = xi*nu*(1+zeta/3.0)+500000.0 @@ -132,6 +146,7 @@ def ubicacion(self): rospy.init_node("GPS_DATA") pub1 = rospy.Publisher('/gps/odom', Odometry, queue_size=10) pub2 = rospy.Publisher('/gps/data', NavSatFix, queue_size=10) + pub3 = rospy.Publisher('/gps/str', String, queue_size=10) gps = serial.Serial(self.port, baudrate = self.baud, timeout=0.1) if gps.isOpen(): rate = rospy.Rate(100) # 100hz @@ -155,7 +170,9 @@ def ubicacion(self): gps_msg.latitude = self.Latitude gps_msg.longitude = self.Longitude gps_msg.altitude = self.altitude - gps_msg.position_covariance = np.array([self.eLat,0.0,0.0, 0.0,self.eLon,0.0, 0.0,0.0,self.eLon]) + gps_msg.position_covariance = np.array([self.eLat,0.0,0.0, + 0.0,self.eLon,0.0, + 0.0,0.0,self.eAlt]) gps_odm = Odometry() gps_odm.header.stamp = rospy.get_rostime() @@ -164,9 +181,12 @@ def ubicacion(self): gps_odm.pose.pose.position.x = self.x gps_odm.pose.pose.position.y = self.y gps_odm.pose.pose.position.z = self.altitude + gps_odm.pose.pose.orientation.z = self.COG + gps_odm.twist.twist.linear.x = self.speed_m_s pub1.publish(gps_odm) pub2.publish(gps_msg) + pub3.publish(self.line) rate.sleep() if __name__ == '__main__': diff --git a/src/speed_control/CMakeLists.txt b/src/speed_control/CMakeLists.txt new file mode 100755 index 0000000..bafd3a8 --- /dev/null +++ b/src/speed_control/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 3.0.2) +project(speed_control) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS roslaunch + diagnostic_msgs + rospy + std_msgs +) +roslaunch_add_file_check(launch) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# diagnostic_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES speed_control +# CATKIN_DEPENDS diagnostic_msgs rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/speed_control.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/speed_control_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 src/speed_control.py + 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_speed_control.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/speed_control/launch/speed_control.launch b/src/speed_control/launch/speed_control.launch new file mode 100755 index 0000000..cb3a4e6 --- /dev/null +++ b/src/speed_control/launch/speed_control.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/src/speed_control/package.xml b/src/speed_control/package.xml new file mode 100755 index 0000000..4e73b22 --- /dev/null +++ b/src/speed_control/package.xml @@ -0,0 +1,68 @@ + + + speed_control + 0.0.0 + The speed_control package + + + + + alpha + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + diagnostic_msgs + rospy + std_msgs + diagnostic_msgs + rospy + std_msgs + diagnostic_msgs + rospy + std_msgs + roslaunch + + + + + + + diff --git a/src/speed_control/src/speed_control.py b/src/speed_control/src/speed_control.py new file mode 100755 index 0000000..af580b2 --- /dev/null +++ b/src/speed_control/src/speed_control.py @@ -0,0 +1,162 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +""" +Created on Mon Sep 14 20:24:00 2020 + +@author: sebas +""" + +import rospy +from std_msgs.msg import Float32, Bool, Int64 +from diagnostic_msgs.msg import KeyValue +import numpy as np + +class PID_speed: + def __init__(self): + self.Kp = 8.1410 # 8.1410 #7.0 + self.Ki = 1.7879 # 1.7879 #0.5 + self.Kd = 9.2674 # 9.2674 #3.0 + self.K = 0.8 + self.mode = 0 + self.errorL_1 = 0.0 + self.UiL_1 = 0.0 + self.errorR_1 = 0.0 + self.UiR_1 = 0.0 + self.ref_WL = 0.0 + self.ref_WR = 0.0 + self.wr = 0.0 + self.wl = 0.0 + self.cam_flag = False + self.Ts_encL = 0.0 + self.Ts_encR = 0.0 + self.Ts_encL0 = 0.0 + self.Ts_encR0 = 0.0 + self.encL0 = 0.0 + self.encR0 = 0.0 + self.rpm2rad = 2.0*np.pi/6533 + + rospy.init_node("speed_control") + + rospy.Subscriber("/ctrl_flag", KeyValue, self.mode_callbaback) + # rospy.Subscriber('/WL', Float32, self.Wl_callbaback) + # rospy.Subscriber('/WR', Float32, self.Wr_callbaback) + rospy.Subscriber('/enc_L', Int64, self.Wl_callbaback) + rospy.Subscriber('/enc_R', Int64, self.Wr_callbaback) + rospy.Subscriber('/WL_ref', Float32, self.Wl_ref) + rospy.Subscriber('/WR_ref', Float32, self.Wr_ref) + rospy.Subscriber('/cam_shut', Bool, self.cam_shut) + + def cam_shut(self,data): + self.cam_flag = data.data + + def mode_callbaback(self,data): + self.mode = int(data.value) + + def Wl_ref(self,data): + self.ref_WL = data.data + + def Wr_ref(self,data): + self.ref_WR = data.data + + def Wl_callbaback(self,data): + # Measurement of sample time of encoders + self.Ts_encL = rospy.get_time() - self.Ts_encL0 + self.Ts_encL0 = rospy.get_time() + + self.wl = (data.data - self.encL0)/self.Ts_encL + self.wl *= self.rpm2rad + self.encL0 = data.data + + def Wr_callbaback(self,data): + # Measurement of sample time of encoders + self.Ts_encR = rospy.get_time() - self.Ts_encR0 + self.Ts_encR0 = rospy.get_time() + + self.wr = (data.data - self.encR0)/self.Ts_encR + self.wr *= self.rpm2rad + self.encR0 = data.data + + def Wl_control(self,ref): + # print(ref,self.wl) + error = ref - self.wl + # print('e(k) = %f' % error) + + Up = self.Kp*error + Ui = self.Ki*self.errorL_1 + self.UiL_1 + Ud = self.Kd*(error - self.errorL_1) + U = self.K*(Up + Ui + Ud) + # print('refL(k) = %f' % ref) + # print('ul(k) = %f' % U) + + if U > 63: + U = 63 + elif U < -63: + U = -63 + + Ui = U - Up - Ud + self.errorL_1 = error + self.UiL_1 = Ui + + return U + + def Wr_control(self,ref): + error = ref - self.wr + + Up = self.Kp*error + Ui = self.Ki*self.errorR_1 + self.UiR_1 + Ud = self.Kd*(error - self.errorR_1) + U = self.K*(Up + Ui + Ud) + # print('refR(k) = %f' % ref) + # print('uR(k) = %f' % U) + + if U > 63: + U = 63 + elif U < -63: + U = -63 + + Ui = U - Up - Ud + self.errorR_1 = error + self.UiR_1 = Ui + + return U + + def pub_control(self): + r_time = rospy.Rate(100) + WL_pub = rospy.Publisher('/UL', Float32, queue_size=10) # + WR_pub = rospy.Publisher('/UR', Float32, queue_size=10) + while not rospy.is_shutdown(): + + # print(self.mode) + if self.mode == 0: + self.errorL_1 = 0.0 + self.UiL_1 = 0.0 + self.errorR_1 = 0.0 + self.UiR_1 = 0.0 + UR = self.ref_WR + UL = self.ref_WL + if UR > 63: + UR = 63 + elif UR < -63: + UR = -63 + if UL > 63: + UL = 63 + elif UL < -63: + UL = -63 + else: # constant speed + UR = self.Wr_control(self.ref_WR) + UL = self.Wl_control(self.ref_WL) + + WL_pub.publish(UL) # + WR_pub.publish(UR) + + + r_time.sleep() + + +if __name__ == "__main__": + try: + node = PID_speed() + node.pub_control() + except rospy.ROSInterruptException: + pass + rospy.loginfo("Exiting") \ No newline at end of file diff --git a/src/um7_node/CMakeLists.txt b/src/um7_node/CMakeLists.txt old mode 100644 new mode 100755 diff --git a/src/um7_node/launch/um7_node.launch b/src/um7_node/launch/um7_node.launch old mode 100644 new mode 100755 diff --git a/src/um7_node/package.xml b/src/um7_node/package.xml old mode 100644 new mode 100755 diff --git a/src/um7_node/src/um7_node.py b/src/um7_node/src/um7_node.py old mode 100644 new mode 100755 From adfe2d3aa97fde870c1985c18705f3ffd57c8b7b Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy Lezama Date: Thu, 14 Jan 2021 10:36:59 -0500 Subject: [PATCH 77/89] Update Readme.md --- Readme.md | 22 ++++++++++++---------- 1 file changed, 12 insertions(+), 10 deletions(-) diff --git a/Readme.md b/Readme.md index f24307f..f15b114 100644 --- a/Readme.md +++ b/Readme.md @@ -19,12 +19,16 @@ This repository contents: |--README.md / Instructions to configure the AlphaROVER |--src / scripts for the system |--APPS - |--Arduinio_gps+imu |--Arm / Based on: https://github.com/FRC4564/Maestro/ |--Config - |--Control |--EKF |--GPIO + |--Cam_Shutter + |--Command_Center + |--Dynamixel_Move + |--Lea_6h_GPS + |--Speed_Control + |--UM7_node |--data |--mechanics |--alpha_full.pdf @@ -241,19 +245,16 @@ function webcam ``` ## Launch of applications -# 3D scan routine -To launch correctly the scan algorithm, there are some minimum nodes required before to launch. +### 3D scan routine +To launch correctly the scan algorithm, there are some minimum nodes required before to launch, all of them are properly launched using the function bellow. ``` -$ um7_node -$ urg_node -$ pilot -$ dynamixel_node +$ scan_mode ``` Once all nodes are correctly work the '3D scan routine' can be executed with: ``` -$ python $path_alphaROVER$"/src/Apps/scan3d.py" -o [output_file] - [arguments] +$ python scan3d.py" -o [output_file] - [arguments] ``` -Where must be remplace by the name of the desired rosbag. The options and its respectively arguments are presented y the table below. +Where ** should be replaced by the name of the desired rosbag file. The options and its respectively arguments are presented y the table below. | Options | Arguments | Description | | --- | --- | --- | @@ -266,6 +267,7 @@ Where must be remplace by the name of the desired rosbag. The opti ## Authors: **[Universidad de Ibagué - Ingeniería Electrónica.](https://electronica.unibague.edu.co)** +- [Sebastian Tilaguy](mailto:sebastian.tilaguy@gmail.com) - [Nickson E. GARCIA](mailto:nicksongarcia@ieee.org) - [Cristian G. MOLINA](mailto:2420132009@estudiantesunibague.edu.co) - [Harold F. MURCIA](www.haroldmurcia.com) From e63fb3d7dfe38bffe980d1106a39d4aba154c229 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy Lezama Date: Thu, 14 Jan 2021 10:44:56 -0500 Subject: [PATCH 78/89] Update Readme.md --- Readme.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/Readme.md b/Readme.md index f15b114..8b22dd0 100644 --- a/Readme.md +++ b/Readme.md @@ -121,19 +121,19 @@ $ source ~/.bashrc $ sudo modprobe usbserial $ sudo insmod ./xsens_mt.ko ``` -- Install gps_common or gps_umd as available based on the ROS distributable - `sudo apt-get install ros-melodic-gps-umd` or `sudo apt-get install ros-melodic-gps-common` +#- Install gps_common or gps_umd as available based on the ROS distributable +# `sudo apt-get install ros-melodic-gps-umd` or `sudo apt-get install ros-melodic-gps-common` - Isntall MTi rosnode #write the next lines every time before call node. #sudo modprobe usbserial #sudo insmod $path_alpha_config$"/xsens_mt/xsens_mt.ko" ``` $ cd ~/catkin_ws/src - $ git clone https://github.com/HaroldMurcia/xsens_mti_ros_node.git + $ git clone https://github.com/ethz-asl/ethzasl_xsens_driver.git $ cd ~/catkin_ws/ $ catkin_make ``` -- Install Dynamixel rosnode +- Install [Dynamixel rosnode](https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/#ros-tutorials) ``` $ cd ~/catkin_ws/src $ mkdir dynamixel_node From 23c09b1ea2514fe9050bdab61b443843ec2d95e4 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy Lezama Date: Thu, 14 Jan 2021 10:50:18 -0500 Subject: [PATCH 79/89] Update Readme.md --- Readme.md | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/Readme.md b/Readme.md index 8b22dd0..a01d5b7 100644 --- a/Readme.md +++ b/Readme.md @@ -121,12 +121,12 @@ $ source ~/.bashrc $ sudo modprobe usbserial $ sudo insmod ./xsens_mt.ko ``` -#- Install gps_common or gps_umd as available based on the ROS distributable -# `sudo apt-get install ros-melodic-gps-umd` or `sudo apt-get install ros-melodic-gps-common` -- Isntall MTi rosnode -#write the next lines every time before call node. -#sudo modprobe usbserial -#sudo insmod $path_alpha_config$"/xsens_mt/xsens_mt.ko" +[//]: <> (- Install gps_common or gps_umd as available based on the ROS distributable) +[//]: <> ( `sudo apt-get install ros-melodic-gps-umd` or `sudo apt-get install ros-melodic-gps-common`) +- Install MTi rosnode +[//]: <> (write the next lines every time before call node.) +[//]: <> (sudo modprobe usbserial) +[//]: <> (sudo insmod $path_alpha_config$"/xsens_mt/xsens_mt.ko") ``` $ cd ~/catkin_ws/src $ git clone https://github.com/ethz-asl/ethzasl_xsens_driver.git From 1db5a51b3494de1238cba0aee8ce6f1071d1527a Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy Lezama Date: Thu, 14 Jan 2021 10:53:21 -0500 Subject: [PATCH 80/89] Update Readme.md --- Readme.md | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/Readme.md b/Readme.md index a01d5b7..0f30c50 100644 --- a/Readme.md +++ b/Readme.md @@ -121,12 +121,16 @@ $ source ~/.bashrc $ sudo modprobe usbserial $ sudo insmod ./xsens_mt.ko ``` -[//]: <> (- Install gps_common or gps_umd as available based on the ROS distributable) -[//]: <> ( `sudo apt-get install ros-melodic-gps-umd` or `sudo apt-get install ros-melodic-gps-common`) + - Install MTi rosnode -[//]: <> (write the next lines every time before call node.) -[//]: <> (sudo modprobe usbserial) -[//]: <> (sudo insmod $path_alpha_config$"/xsens_mt/xsens_mt.ko") + ``` $ cd ~/catkin_ws/src $ git clone https://github.com/ethz-asl/ethzasl_xsens_driver.git From 809bcdc7f50646ce74fa8d290a8e0a3c611ba079 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy Lezama Date: Thu, 14 Jan 2021 10:54:58 -0500 Subject: [PATCH 81/89] Update Readme.md --- Readme.md | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/Readme.md b/Readme.md index 0f30c50..8a4fd6a 100644 --- a/Readme.md +++ b/Readme.md @@ -126,17 +126,17 @@ $ source ~/.bashrc `sudo apt-get install ros-melodic-gps-umd` or `sudo apt-get install ros-melodic-gps-common` ---> - Install MTi rosnode + ``` + $ cd ~/catkin_ws/src + $ git clone https://github.com/ethz-asl/ethzasl_xsens_driver.git + $ cd ~/catkin_ws/ + $ catkin_make + ``` - ``` - $ cd ~/catkin_ws/src - $ git clone https://github.com/ethz-asl/ethzasl_xsens_driver.git - $ cd ~/catkin_ws/ - $ catkin_make - ``` - Install [Dynamixel rosnode](https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/#ros-tutorials) ``` $ cd ~/catkin_ws/src From a4d0d8613fa61372616c2e71e719968fd0352216 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy Lezama Date: Thu, 18 Feb 2021 14:33:43 -0500 Subject: [PATCH 82/89] Update alphaROVER.sh --- src/Config/alphaROVER.sh | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/Config/alphaROVER.sh b/src/Config/alphaROVER.sh index 219c324..eafdc5f 100755 --- a/src/Config/alphaROVER.sh +++ b/src/Config/alphaROVER.sh @@ -154,13 +154,14 @@ function roboclaw_node { function arm_node { echo "=======================================" python $path_alphaROVER$"/src/Arm/arm.py" & - sleep 1 + sleep 3 printf "Arm ready...\n" } function ekf_node { echo "=======================================" - python $path_alphaROVER$"/src/EKF/ekf2.py" & + python $path_alphaROVER$"/src/EKF/ekf4.py" & + sleep 3 printf "EKF ready...\n" } @@ -231,7 +232,7 @@ function rover { pilot & sleep 2 xsens_node & - sleep 2 + sleep 5 roboclaw_node & sleep 3 ekf_node & From 651a0bd6e4755a1863689b214ee7efe06f987cd3 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy Lezama Date: Thu, 18 Feb 2021 14:34:56 -0500 Subject: [PATCH 83/89] Add files via upload --- src/EKF/ekf4.py | 951 ++++++++++++++++++------------------------------ 1 file changed, 348 insertions(+), 603 deletions(-) diff --git a/src/EKF/ekf4.py b/src/EKF/ekf4.py index 09c6c90..e0e4a8c 100755 --- a/src/EKF/ekf4.py +++ b/src/EKF/ekf4.py @@ -1,22 +1,20 @@ #!/usr/bin/env python3 # -*- coding: utf-8 -*- """ -Created on Tue Dec 1 22:27:15 2020 +Created on Thu Jan 14 17:49:19 2021 __author__ = sebastian.tilaguy@gmail.com -__version__ = "1.0" +__version__ = "4.0" __maintainer__ = "Sebastian Tilaguy" __email__ = "sebastian.tilaguy@gmail.com" __status__ = "Development" """ - import rospy import rosnode import math import numpy as np -import os -from std_msgs.msg import Float32, Int64 -from sensor_msgs.msg import Imu, MagneticField +from std_msgs.msg import Float32 +from sensor_msgs.msg import Imu from geometry_msgs.msg import Quaternion from nav_msgs.msg import Odometry @@ -55,41 +53,94 @@ def euler2quaternion(roll, pitch, yaw): class NodoPos(object): #%% Inizialization def __init__(self): - self.ekf_pub = rospy.Publisher('/ekf2_5', Odometry, queue_size=10) - self.Wl_filt = rospy.Publisher('/ekf/Wl', Float32, queue_size=10) - self.Wl_filt = rospy.Publisher('/ekf/Wr', Float32, queue_size=10) + self.ekf_pub = rospy.Publisher('/ekf/Odom', Odometry, queue_size=10) + self.Wl_filt = rospy.Publisher('/ekf/Vl', Float32, queue_size=10) + self.Wr_filt = rospy.Publisher('/ekf/Vr', Float32, queue_size=10) + self.Ts = 0.1 + #%% Local model + self.x_l = np.zeros([7,1]) # [x y yaw vx vy bx by]' + self.A_l = np.identity(7) + self.B_l = np.zeros([7,3]) + self.C_l = np.array([[1, 0, 0, 0, 0, 0, 0], + [0, 1, 0, 0, 0, 0, 0], + [0, 0, 1, 0, 0, 0, 0], + [0, 0, 0, 1, 0, 0, 0], + [0, 0, 0, 0, 1, 0, 0]]) + # Covariance error matrix + self.P_l = 100*np.identity(7) + # Process noise covariance matrix + self.Q_l = np.zeros([7,7]) + self.Q_l[0,0] = 1**2 + self.Q_l[1,1] = 1**2 + self.Q_l[2,2] = np.power(0.5*np.pi/180,2) + self.Q_l[3,3] = 0.5**2 + self.Q_l[4,4] = 0.5**2 + self.Q_l[5,5] = 0.01**2 + self.Q_l[6,6] = 0.01**2 + # print('Q_Local') + # print(self.Q_l) + # Measurement noise covariance matrix + self.R_l = np.zeros([5,5]) + self.R_l[0,0] = 0.1**2 # x_model + self.R_l[1,1] = 0.1**2 # y_model + self.R_l[2,2] = np.power(0.06*np.pi/180,2) # Yaw_model + self.R_l[3,3] = 0.08**2 # vx + self.R_l[3,3] = 0.08**2 # vy + # print('R_Local') + # print(self.R_l) + #%% Global model + self.x_g = np.array([[0], # x_N + [0], # y_E + [0], # yaw + [-2.0], # y_ICR_r + [2.0], # y_ICR_l + [0.2], # x_ICR_v + [0], # vr + [0]]) # vl + self.C_g = np.array([[0, 0, 1, 0, 0, 0, 0, 0], + [0, 0, 0, 0, 0, 0, 1, 0], + [0, 0, 0, 0, 0, 0, 0, 1]]) + self.VN = 0 + self.VE = 0 + self.wz = 0 + self.vx = 0 + self.vy = 0 + self.F = np.identity(8) + # Covariance error matrix + self.P_g = 100*np.identity(8) + # Process noise covariance matrix + self.Q_g = np.zeros([8,8]) + self.Q_g[0,0] = 0.1**2 # [m] + self.Q_g[1,1] = 0.1**2 # [m] + self.Q_g[2,2] = np.power(0.8*np.pi/180,2) # [rad] + self.Q_g[3,3] = 0.01**2 # [m] + self.Q_g[4,4] = 0.01**2 # [m] + self.Q_g[5,5] = 0.01**2 # [m] + self.Q_g[6,6] = 0.07**2 # [m/s] + self.Q_g[7,7] = 0.07**2 # [m/s] + # print('Q_Global') + # print(self.Q_g) + # Measurement noise covariance matrix + self.R_g = np.zeros([3,3]) + self.R_g[0,0] = np.power(0.06*np.pi/180,2) # [rad] - IMU + self.R_g[1,1] = 0.08**2 # [m/s] - Enc R + self.R_g[2,2] = 0.08**2 # [m/s] - Enc L + # print('R_Global') + # print(self.R_g) #%% Encoder variables - self.enc_Ts = 0.0 - self.enc_tic = 0.0 - self.wr = 0.0 - self.wl = 0.0 - self.wr_1 = 0.0 - self.wl_1 = 0.0 - self.wr_2 = 0.0 - self.wl_2 = 0.0 - #%% Filter_encoders variables - self.acce = 20.0 - self.wr_f = 0.0 - self.wl_f = 0.0 - self.wr_f_2 = 0.0 - self.wr_f_1 = 0.0 - self.wl_f_2 = 0.0 - self.wl_f_1= 0.0 + self.vr_x = 0 + self.vl_x = 0 #%% IMU variables self.flag_imu = True self.euler1 = [0,0,0] - self.imu_toc = 0.0 - self.imu_Ts = 0.0 - self.imu_tic = 0.0 self.imu_pitch = 0.0 self.imu_roll = 0.0 self.imu_yaw = 0.0 self.Acc_x = 0 self.Acc_y = 0 - self.Acc_z = 0 - self.Acc_x0 = 0 - self.Acc_y0 = 0 - self.Acc_z0 = 0 + self.Wz = 0 + self.K_turn = 0 + self.imu_yaw1 = 0.0 #%% GPS variables self.flag_gps = True self.gps_0x = 0 @@ -109,438 +160,208 @@ def __init__(self): self.d_1 = 0.0 self.d = 0.0 - #%% Mag variables - self.flag_mag = True - self.yaw_mag1 = 0.0 - self.mag_toc = 0.0 - self.mag_Ts = 0.0 - self.mag_tic = 0.0 - self.mag_yaw = 0.0 - self.mag_yaw_1 = 0.0 - self.Wz = 0.0 - self.x_mag = 0.0 - self.y_mag = 0.0 - self.z_mag = 0.0 - self.Wz_2 = 0.0 - self.Wz_1 = 0.0 - self.Wz_f2 = 0.0 - self.Wz_f1 = 0.0 - - #%% Skid Steer model - self.x_model = np.array([[0], # x_N - [0], # y_E - [0], # yaw - [5.0], # y_ICR_r - [-5.0], # y_ICR_l - [5.0], # x_ICR_v - [0], # vr - [0]]) # vl - self.P_ICR = 100*np.identity(8) - # Covariance matrix of measurement noise - a = np.power(0.001*np.pi/180,2) - # self.R_model = np.array([[2.5**2, 0, 0, 0, 0], # [m] - GPS - # [0, 2.5**2, 0, 0, 0], # [m] - GPS - # [0, 0, a, 0, 0], # [rad] - Mag - # [0, 0, 0, 0.02**2, 0], # [m/s] - Enc R - # [0, 0, 0, 0, 0.02**2]])# [m/s] - Enc L - self.R_model = np.array([[2.5**2, 0, 0, 0], # [m] - GPS - [0, 2.5**2, 0, 0], # [m] - GPS - [0, 0, 0.02**2, 0], # [m/s] - Enc R - [0, 0, 0, 0.02**2]])# [m/s] - Enc L - # Covariance matrix of process noise - self.Q_model = np.zeros([8,8]) - self.Q_model[0,0] = 0.0005**2 # [m] - self.Q_model[1,1] = 0.0005**2 # [m] - self.Q_model[2,2] = np.power(12*np.pi/180,2) # [rad] - self.Q_model[3,3] = 0.2**2 # [m] - self.Q_model[4,4] = 0.2**2 # [m] - self.Q_model[5,5] = 0.2**2 # [m] - self.Q_model[6,6] = 0.2**2 # [m/s] - self.Q_model[7,7] = 0.2**2 # [m/s] - - #%% Kalman variables - # Imu model - self.A_imu = np.identity(7) - self.B_imu = np.zeros([7,3]) - self.x_imu = np.zeros([7,1]) # [x y yaw vx vy Bx By]' - # self.C_imu = np.array([[1,0,0,0,0,0,0], - # [0,1,0,0,0,0,0], - # [0,0,1,0,0,0,0], - # [1,0,0,0,0,0,0], - # [0,1,0,0,0,0,0], - # [0,0,1,0,0,0,0]]) - self.C_imu = np.array([[1,0,0,0,0,0,0], - [0,1,0,0,0,0,0], - [0,0,1,0,0,0,0], - [0,0,1,0,0,0,0]]) - # Matrix error of covariance - self.kalman_P = 100*np.identity(7) - # Covariance matrix of process noise - self.kalman_Q = np.zeros([7,7]) - self.kalman_Q[0,0] = 0.01**2 - self.kalman_Q[1,1] = 0.01**2 - self.kalman_Q[2,2] = np.power(0.5*np.pi/180,2) - self.kalman_Q[3,3] = 4**2 - self.kalman_Q[4,4] = 8**2 - self.kalman_Q[5,5] = 0.001 - self.kalman_Q[5,5] = 0.001 - # Covariance matrix of measurement noise - self.kalman_R = np.zeros([4,4]) - self.kalman_R[0,0] = 0.2**2 - self.kalman_R[1,1] = 0.2**2 - self.kalman_R[2,2] = np.power(0.05*np.pi/180,2) - self.kalman_R[3,3] = np.power(0.09*np.pi/180,2) - # self.kalman_R[3,3] = 0.00049 - # self.kalman_R[4,4] = 0.00036 - # self.kalman_R[5,5] = np.power(2*np.pi/180,2) - - self.Ts = 0.1 - self.tic_proccess = 0.0 - # print('R_kalman') - # print(self.kalman_R) - # print('Q_kalman') - # print(self.kalman_Q) #%% Aux variables - self.radio = 0.064 + self.tic_proccess = 0.0 + np.random.seed(1) + + self.radio = 0.064 self.O3 = np.zeros([3,3]) self.I3 = np.identity(3) self.I6 = np.identity(6) self.I8 = np.identity(8) self.cont = 0 - self.ekf_x = 0.0 - self.ekf_y = 0.0 - self.Ts_encL = 0.0 - self.Ts_encL0 = 0.0 - self.encL0 = 0.0 - self.Ts_encR = 0.0 + self.Ts_encR0 = 0.0 self.encR0 = 0.0 self.ref_L = 0.0 self.ref_R = 0.0 self.tick = 0.0 - self.Acc_x2 = 0.0 - self.Acc_x1 = 0.0 - self.Acc_xf_2 = 0.0 - self.Acc_xf_1 = 0.0 - self.Acc_xf = 0.0 - - self.Acc_y2 = 0.0 - self.Acc_y1 = 0.0 - self.Acc_yf_2 = 0.0 - self.Acc_yf_1 = 0.0 - self.Acc_yf = 0.0 - self.Wz2 = 0.0 - self.Wz1 = 0.0 - self.Wzf_2 = 0.0 - self.Wzf_1 = 0.0 - self.Wzf = 0.0 self.times = True #%% INIT - print("Starting Kalman node - V3.0.T") + print("Starting Kalman node - V4.2") rospy.Subscriber('/WR', Float32, self.Wr_callbaback) rospy.Subscriber('/WL', Float32, self.Wl_callbaback) rospy.Subscriber('/WR_ref', Float32, self.Wr_ref_callbaback) rospy.Subscriber('/WL_ref', Float32, self.Wl_ref_callbaback) - # rospy.Subscriber('/enc_L', Int64, self.Wl_callbaback) - # rospy.Subscriber('/enc_R', Int64, self.Wr_callbaback) - rospy.Subscriber('/ekf', Odometry, self.ekf_old) rospy.Subscriber('/imu/data', Imu, self.calIMU) #100 Hz - rospy.Subscriber('/imu/mag', MagneticField, self.calMag) #100 Hz rospy.Subscriber('/gps/odom', Odometry, self.gps_callback) #500 Hz - # rospy.Subscriber('/odom_alpha', Odometry, self.odom_callback) #500 Hz - - FILE = open('ekf_modified.txt','w') - line = 'x_e' + '\t' +'y_e' + '\t' +'yaw_e' + '\t' +'vx_e' + '\t' +'vy_e' + '\t' +'Bx' + '\t' + 'By' - line += '\t' +'x_N' + '\t' +'y_E' + '\t' +'yaw' + '\t' - line += 'y_ICR_r' + '\t' +'y_ICR_l' + '\t' +'x_ICR_v' - line += '\t' + 'vr' + '\t' + 'vl' - line += '\t' +'x' + '\t' +'y' + '\t' +'yaw_imu' + '\t' - line += 'wr' + '\t' + 'wl' - line += '\t' + 'wr_f' + '\t' + 'wl_f' - line += '\t' + 'old_x' + '\t' + 'old_y' - line += '\t' + 'ref_r' + '\t' + 'ref_l' - FILE.write(line + '\n') - FILE.close() Flag_out = False self.Flag_start = False - rate = rospy.Rate(1/self.Ts) # 100hz + rate = rospy.Rate(1/self.Ts) # 10hz while not Flag_out: node_names = rosnode.get_node_names() - # bag_node = [i for i in node_names if 'xsens' in i] - bag_node = [i for i in node_names if 'play' in i] - if (len(bag_node) == 0) and self.Flag_start: + node = [i for i in node_names if 'xsens' in i] + if (len(node) == 0) and self.Flag_start: rospy.signal_shutdown('finish') Flag_out = True else: self.Kalman() rate.sleep() - os.system('python read_ekf_file.py') exit() - - #%% old EKF - def ekf_old(self,data): - self.ekf_x = data.pose.pose.position.x - self.ekf_y = data.pose.pose.position.y - - #%% Callback GPS - def gps_callback(self,data): - if self.flag_gps: - self.gps_0x = data.pose.pose.position.x - self.gps_0y = data.pose.pose.position.y - self.flag_gps = False - self.gps_x = data.pose.pose.position.x - self.gps_0x - self.gps_y = data.pose.pose.position.y - self.gps_0y - # v = data.twist.twist.linear.x - # angle = data.pose.pose.orientation.z - # self.d += v - # self.gps_x = self.d*np.cos(angle*np.pi/180) - # self.gps_y = self.d*np.sin(angle*np.pi/180) - - #%% Callback Encoders - def Wr_ref_callbaback(self,data): - self.ref_R = data.data - def Wl_ref_callbaback(self,data): - self.ref_L = data.data - - def Wl_callbaback(self,data): - #% Displacement old variables - self.wl_2 = self.wl_1 - self.wl_1 = self.wl - self.wl_f_2 = self.wl_f_1 - self.wl_f_1 = self.wl_f - - # Measurement of sample time of encoders - self.Ts_encL = rospy.get_time() - self.Ts_encL0 - self.Ts_encL0 = rospy.get_time() - - # self.wl = (data.data - self.encL0)/self.Ts_encL - # self.wl *= self.rpm2rad - self.wl = data.data - - #----------------------------------------- - # filter Left encoder - #% Interpolation - Dw = 0.08*(self.wl - self.wl_1)/self.Ts_encL - if (abs(Dw) > self.acce): - Delta_wl_1 = self.wl_1 - self.wl_2 - wl = self.wl_1 + Delta_wl_1 - else: - wl = self.wl - #% Low-pass filter - self.wl_f = 0.06327976*wl - self.wl_f += 0.12655953*self.wl_1 - self.wl_f += 0.06327976*self.wl_2 - self.wl_f -= -1.07222953*self.wl_f_1 - self.wl_f -= 0.32534858*self.wl_f_2 - - #% Displacement old variables - self.encL0 = data.data - - def Wr_callbaback(self,data): - #% Displacement old variables - self.wr_2 = self.wr_1 - self.wr_1 = self.wr - self.wr_f_2 = self.wr_f_1 - self.wr_f_1 = self.wr_f - - # Measurement of sample time of encoders - self.Ts_encR = rospy.get_time() - self.Ts_encR0 - self.Ts_encR0 = rospy.get_time() - - # self.wr = (data.data - self.encR0)/self.Ts_encR - # self.wr *= self.rpm2rad - self.wr = data.data - - #------------------------------------------- - # filter Rigth encoder - #% Interpolation - Dw = 0.08*(self.wr - self.wr_1)/self.Ts_encR - if (abs(Dw) > self.acce): - Delta_wr_1 = self.wr_1 - self.wr_2 - wr = self.wr_1 + Delta_wr_1 - else: - wr = self.wr - #% Low-pass filter - self.wr_f = 0.06327976*wr - self.wr_f += 0.12655953*self.wr_1 - self.wr_f += 0.06327976*self.wr_2 - self.wr_f -= -1.07222953*self.wr_f_1 - self.wr_f -= 0.32534858*self.wr_f_2 - - #% Displacement old variables - self.encR0 = data.data - - - #%% Callback IMU - def calIMU(self,data): - #% Displacement old variables - self.Acc_x2 = self.Acc_x1 - self.Acc_x1 = self.Acc_x - self.Acc_xf_2 = self.Acc_xf_1 - self.Acc_xf_1 = self.Acc_xf - - self.Acc_y2 = self.Acc_y1 - self.Acc_y1 = self.Acc_y - self.Acc_yf_2 = self.Acc_yf_1 - self.Acc_yf_1 = self.Acc_yf - - self.Wz2 = self.Wz1 - self.Wz1 = self.Wz - self.Wzf_2 = self.Wzf_1 - self.Wzf_1 = self.Wzf - - self.Flag_start = True - #% Measurement of sample time of IMU - self.imu_toc= rospy.get_time() - self.imu_Ts = (self.imu_toc - self.imu_tic) - self.imu_tic = rospy.get_time() - #% Data descomposition - q = data.orientation - euler = quaternion2euler(q) - self.imu_pitch = euler[1] - self.imu_roll = euler[0] - #% Quit the initial value of yaw - if self.flag_imu: - self.euler1 = euler - print('Initial imu data') - print(' Roll: %0.6f' % self.euler1[0]) - print(' Pitch: %0.6f' % self.euler1[1]) - print(' yaw: %0.6f' % self.euler1[2]) - self.flag_imu = False - self.imu_yaw = euler[2] - self.euler1[2] - if self.imu_yaw < -np.pi: - self.imu_yaw += 2.0*np.pi - elif self.imu_yaw > np.pi: - self.imu_yaw -= 2.0*np.pi - self.Acc_x = data.linear_acceleration.x - self.Acc_y = data.linear_acceleration.y - self.Wz = data.angular_velocity.z - - #% Low-pass filter - self.Acc_xf = 0.06327976*self.Acc_x - self.Acc_xf += 0.12655953*self.Acc_x1 - self.Acc_xf += 0.06327976*self.Acc_x2 - self.Acc_xf -= -1.07222953*self.Acc_xf_1 - self.Acc_xf -= 0.32534858*self.Acc_xf_2 - #% Low-pass filter - self.Acc_yf = 0.06327976*self.Acc_y - self.Acc_yf += 0.12655953*self.Acc_y1 - self.Acc_yf += 0.06327976*self.Acc_y2 - self.Acc_yf -= -1.07222953*self.Acc_yf_1 - self.Acc_yf -= 0.32534858*self.Acc_yf_2 - #% Low-pass filter - self.Wzf = 0.06327976*self.Wz - self.Wzf += 0.12655953*self.Wz1 - self.Wzf += 0.06327976*self.Wz2 - self.Wzf -= -1.07222953*self.Wzf_1 - self.Wzf -= 0.32534858*self.Wzf_2 - - - #%% Callback Mag - def calMag(self,data): - #% Displacement old variables - self.mag_yaw_1 = self.mag_yaw - #% Measurement of sample time of Mag - self.mag_Ts = (rospy.get_time() - self.mag_tic) - self.mag_tic = rospy.get_time() - #% Data descomposition - self.x_mag = data.magnetic_field.x - self.y_mag = data.magnetic_field.y - self.z_mag = data.magnetic_field.z - self.mag_yaw = math.atan2(self.y_mag,self.x_mag) - # self.mag_yaw = math.atan(self.y_mag/self.x_mag) - #% Quit the initial value of yaw - if (self.flag_mag): - self.yaw_mag1 = self.mag_yaw - print('Initial magnetic yaw: %0.6f' % self.yaw_mag1) - self.flag_mag = False - self.mag_yaw = self.mag_yaw - self.yaw_mag1 - if self.mag_yaw < -np.pi: - self.mag_yaw += 2.0*np.pi - if self.mag_yaw > np.pi: - self.mag_yaw -= 2.0*np.pi - + #%% Callback Kalman + def Kalman(self): + if self.Flag_start: + # Measurement of sample time of kalman + if self.times: + self.times = False + else: + self.Ts = round(rospy.get_time() - self.tick, 2) + self.tick = rospy.get_time() + # print('Kalman sample-time: %.3f' % self.Ts) + ####################### Local model ############################## + # while True: + # self.SkidSteer() + # # print(np.linalg.det(self.P_g)) + # if not np.abs(np.linalg.det(self.P_g)) > 0.01: + # # print('flag') + # break + self.SkidSteer() + U = np.array([[self.wz], + [self.Acc_x], + [self.Acc_y]]) + # print('U') + # print(U) + + self.A_l[0,3] = self.Ts + self.A_l[0,5] = -(self.Ts**2) + self.A_l[1,4] = self.Ts + self.A_l[1,6] = -(self.Ts**2) + + self.B_l[0,1] = (self.Ts**2) + self.B_l[1,2] = (self.Ts**2) + self.B_l[2,0] = self.Ts + self.B_l[3,1] = self.Ts + self.B_l[4,2] = self.Ts + + # print('A_local') + # print(self.A_l) + # print('B_local') + # print(self.B_l) + # print('x_local_(k-1)') + # print(self.x_l) + + self.x_l = self.A_l.dot(self.x_l) + self.B_l.dot(U) + + # print('x_local_(k)') + # print(self.x_l) + + # print('P_(k-1)') + # print(self.P_l) + aux = self.A_l.dot(self.P_l) # AP + # print(aux) + aux = aux.dot(self.A_l.T) # APA' + # print(aux) + self.P_l = aux + self.Q_l + # print('P_local') + # print(self.P_l) + + aux = self.C_l.dot(self.P_l) # CP + # print(aux) + aux = aux.dot(self.C_l.T) # CPC' + # print(aux) + aux += self.R_l # CPC' + R + # print(aux) + aux = np.linalg.inv(aux) # (CPC' + R)^-1 + # print(aux) + K = self.P_l.dot(self.C_l.T) # PC' + # print(K) + K = K.dot(aux) # PC'(CPC' + R)^-1 + # print('k') + # print(K) + + # Output model + h = self.C_l.dot(self.x_l) + # Measured states + yk = np.array([[self.x_g[0,0]], + [self.x_g[1,0]], + [self.x_g[2,0]], + [self.vx], + [self.vy]]) + # print('output model') + # print(h) + # print('yk -> [x_gps y_gps vr vl]\'') + # print(yk) + + ye = yk - h + # print('ye') + # print(ye) + self.x_l += K.dot(ye) + # print('x_locla~') + # print(self.x_l) + + aux = np.identity(7) - K.dot(self.C_l) + self.P_l = aux.dot(self.P_l) + # print('P_local') + # print(np.round(self.P_l, 4)) + # print('===================================================') + # print('===================================================') + # print('') + + self.publish_odom() #%% Skid-steer model # doi = https://doi.org/10.1002/rob.21509 # sci-hub.se/10.1002/rob.21509 - # The reference frame is rotated, then the ecuations (11) ans (12) changes as: - # dot_N = Vx*Sin(psi) + Vy*Cos(psi) - # dot_E = Vx*Cos(phi) - Vy*Sin(psi) - def SkidSteer(self): - # Measurement of sample time of encoders - if self.times: - self.times = False - else: - self.Ts = round(rospy.get_time() - self.tick, 2) - self.tick = rospy.get_time() - # print(rospy.get_time() - self.tic_proccess) - # self.tic_proccess = rospy.get_time() - - # print(self.wl,self.wr) - # [ 0 1 2 3 4 5] - # [x_N y_E yaw y_ICR_r y_ICR_l x_ICR_v]] - vl = self.radio*self.wl_f_2 - vr = self.radio*self.wr_f_2 - # print('vr,vl') - # print(vr,vl) - - xN = self.x_model[0,0] - yE = self.x_model[1,0] - psi = self.x_model[2,0] - Yr = self.x_model[3,0] - Yl = self.x_model[4,0] - Xv = self.x_model[5,0] - vr = self.x_model[6,0] - vl = self.x_model[7,0] - # print(xN,yE,psi,Yr,Yl,Xv,vr,vl) - - den = np.abs(Yl-Yr) - - vx = (vr*Yl - vl*Yr)/den - vy = (vl - vr)*Xv/den - w = - (vl - vr)/den - + # The reference frame is rotated, then the ecuations (10) to (12) changes: + def model(self,x): + xN = x[0,0] + yE = x[1,0] + psi = x[2,0] + yr = x[3,0] + yl = x[4,0] + xv = x[5,0] + vr = x[6,0] + vl = x[7,0] + # print(xN,yE,psi,yr,yl,xv,vr,vl) + + den = np.abs(yl-yr) s = np.sin(psi) c = np.cos(psi) + + self.vx = (vr*yl - vl*yr)/den + self.vy = (vl - vr)*xv/den + self.wz = (vl - vr)/den + + self.VN = self.vx*c - self.vy*s + self.VE = self.vx*s + self.vy*c + # Jacobian computation - Fk13 = self.Ts*(vx*c - vy*s) - Fk23 = - self.Ts*(vx*s + vy*c) + Fk13 = self.Ts*(- self.vy*c - self.vx*s) + Fk23 = self.Ts*(self.vx*c - self.vy*s) Fk = np.array([[1,0,Fk13], [0,1,Fk23], - [0,0,1]]) + [0,0,1.0]]) # print(Fk) - Fi11 = - vl*s/den + vx*s/den + vy*c/den - Fi12 = vr*s/den - vx*s/den - vy*c/den - Fi13 = - w*c - Fi21 = - vl*c/den + vx*c/den - vy*s/den - Fi22 = vr*c/den - vx*c/den + vy*s/den - Fi23 = w*s - Fi31 = w/den - Fi32 = - w/den - Fi = np.array([[Fi11,Fi12,Fi13], - [Fi21,Fi22,Fi23], - [Fi31,Fi32,0]]) - Fi *= self.Ts + Fi11 = self.Ts*(((vr - vl)*(yl*c + xv*s))/(-yr + yl)**2) + Fi12 = self.Ts*(-((vr - vl)*(yr*c + xv*s))/(-yr + yl)**2) + Fi13 = self.Ts*(-((vr - vl)*s)/(yr - yl)) + Fi21 = self.Ts*(((vr - vl)*(-xv*c + yl*s))/(-yr + yl)**2) + Fi22 = self.Ts*(((vr - vl)*(xv*c - yr*s))/(-yr + yl)**2) + Fi23 = self.Ts*(((vr - vl)*c)/(yr - yl)) + Fi31 = self.Ts*((-vr + vl)/(-yr + yl)**2) + Fi32 = self.Ts*((vr - vl)/(-yr + yl)**2) + Fi33 = 0; + Fi = np.array([[Fi11, Fi12, Fi13], + [Fi21, Fi22, Fi23], + [Fi31, Fi32, Fi33]]) # print(Fi) - - Fv11 = (Yl*s - Xv*c)/den - Fv12 = (- Yl*s + Xv*c)/den - Fv21 = (Yl*c + Xv*s)/den - Fv22 = (- Yl*s - Xv*c)/den - Fv31 = 1/den - Fv32 = - 1/den - Fv = np.array([[Fv11,Fv12], - [Fv21,Fv22], - [Fv31,Fv32]]) - Fv *= self.Ts + + Fv11 = self.Ts*((yl*c + xv*s)/(-yr + yl)); + Fv12 = self.Ts*((yr*c + xv*s)/(yr - yl)); + Fv21 = self.Ts*((xv*c - yl*s)/(yr - yl)); + Fv22 = self.Ts*((-xv*c + yr*s)/(yr - yl)); + Fv31 = self.Ts*(1/(yr - yl)); + Fv32 = self.Ts*(1/(-yr + yl)); + Fv = np.array([[Fv11, Fv12], + [Fv21, Fv22], + [Fv31, Fv32]]) # print(Fv) # a -> Fk|Fi|Fv @@ -557,231 +378,155 @@ def SkidSteer(self): F = np.concatenate((a,b)) # print(F) - F = np.concatenate((F,c)) + self.F = np.concatenate((F,c)) # print('F') - # print(F) - # print('P') - # print(self.P_ICR) + # print(self.F) + + def SkidSteer(self): - L = self.Ts*self.I8 + # Non-linear model + self.x_g[0,0] += self.Ts*self.VN + self.x_g[1,0] += self.Ts*self.VE + self.x_g[2,0] += self.Ts*self.wz - # self.x_model = F.dot(self.x_model) + L = self.Ts*self.I8 - aux = F.dot(self.P_ICR) # FP + # Kalman Adjustment + aux = self.F.dot(self.P_g) # FP # print(aux) - aux = aux.dot(F.T) # FPF' + aux = aux.dot(self.F.T) # FPF' # print(aux) - aux2 = L.dot(self.Q_model) # LQ + aux2 = L.dot(self.Q_g) # LQ # print(aux2) aux2 = aux2.dot(L.T) # LQL' # print(aux2) - self.P_ICR = aux + aux2 - # print('P') - # print(self.kalman_P) - - # H = np.array([[1, 0, 0, 0, 0, 0, 0, 0], - # [0, 1, 0, 0, 0, 0, 0, 0], - # [0, 0, 1, 0, 0, 0, 0, 0], - # [0, 0, 0, 0, 0, 0, 1, 0], - # [0, 0, 0, 0, 0, 0, 0, 1]]) - H = np.array([[1, 0, 0, 0, 0, 0, 0, 0], - [0, 1, 0, 0, 0, 0, 0, 0], - [0, 0, 0, 0, 0, 0, 1, 0], - [0, 0, 0, 0, 0, 0, 0, 1]]) - h = H.dot(self.x_model) - - # y = np.array([[self.gps_x], - # [self.gps_y], - # [self.mag_yaw], - # [self.radio*self.wr], - # [self.radio*self.wl]]) - y = np.array([[self.gps_x], - [self.gps_y], - [self.radio*self.wr], - [self.radio*self.wl]]) - # print('h') - # print(h) - # print('y') - # print(y) + self.P_g = aux + aux2 # FPF'+LQL' + # print('P_global') + # print(self.P_g) - aux = H.dot(self.P_ICR) # HP + aux = self.C_g.dot(self.P_g) # CP # print(aux) - aux = aux.dot(H.T) # HPH' + aux = aux.dot(self.C_g.T) # CPC' # print(aux) - aux += self.R_model # CPC' + R + aux += self.R_g # CPC' + R # print(aux) aux = np.linalg.inv(aux) # (CPC' + R)^-1 # print(aux) - K = self.P_ICR.dot(H.T) # PC' + K = self.P_g.dot(self.C_g.T) # PC' # print(K) K = K.dot(aux) # PC'(CPC' + R)^-1 # print('k') # print(K) + h = self.C_g.dot(self.x_g) + + y = np.array([[self.imu_yaw], + [self.vr_x], + [self.vl_x]]) + # print('output model') + # print(h) + # print('y -> [x_gps y_gps vr vl]\'') + # print(y) + ye = y - h - # ye = h - y # print('ye') # print(ye) - self.x_model = self.x_model + K.dot(ye) - - aux = self.I8 - K.dot(H) - self.P_ICR = aux.dot(self.P_ICR) - # print('P') - # print(self.P_ICR) - - if self.x_model[2,0] < -np.pi: - self.x_model[2,0] += 2.0*np.pi - elif self.x_model[2,0] > np.pi: - self.x_model[2,0] -= 2.0*np.pi - # print('states') - # print(self.x_model) + + self.x_g += K.dot(ye) + # print('x_global~') + # print(self.x_g) + + aux = self.I8 - K.dot(self.C_g) + self.P_g = aux.dot(self.P_g) # (I - KC)P + # print('P_global') + # print(np.round(self.P_g, 4)) + + self.model(self.x_g) # print('-------------------------------------------------') # print('') # print('') - #%% Callback Kalman - def Kalman(self): - if self.Flag_start: - while True: - self.SkidSteer() - # print(np.linalg.det(self.P_ICR)) - if not np.linalg.det(self.P_ICR) > 0.0001: - # print('flag') - break - - U = np.array([[self.Wzf], - [self.Acc_xf], - [self.Acc_yf]]) - # print('U') - # print(U) - - self.A_imu[0,3] = self.Ts - self.A_imu[0,5] = - self.Ts**2 - self.A_imu[1,4] = self.Ts - self.A_imu[1,6] = - self.Ts**2 - self.A_imu[3,5] = - self.Ts - self.A_imu[4,6] = - self.Ts - - self.B_imu[0,1] = self.Ts**2 - self.B_imu[1,2] = self.Ts**2 - self.B_imu[2,0] = self.Ts - self.B_imu[3,1] = self.Ts - self.B_imu[4,2] = self.Ts - - # print('A') - # print(self.A_imu) - # print('B') - # print(self.B_imu) - # print('x_imu') - # print(self.x_imu) - - self.x_imu = self.A_imu.dot(self.x_imu) + self.B_imu.dot(U) - if self.x_imu[2,0] < -np.pi: - self.x_imu[2,0] += 2.0*np.pi - elif self.x_imu[2,0] > np.pi: - self.x_imu[2,0] -= 2.0*np.pi - - # print('x_imu') - # print(self.x_imu) - - yk = self.C_imu.dot(self.x_imu) - - h = np.array([[self.x_model[0,0]], - [self.x_model[1,0]], - [self.x_model[2,0]], - [self.mag_yaw]]) - - # # h = np.array([[self.x_model[0,0]], - # # [self.x_model[1,0]], - # # [self.imu_yaw], - # # [self.x_model[0,0]], - # # [self.x_model[1,0]], - # # [self.x_model[2,0]]]) - - # print('y') - # print(yk) - # print('h') - # print(h) - # print('P') - # print(self.kalman_P) - - aux = self.A_imu.dot(self.kalman_P) # AP - # print(aux) - aux = aux.dot(self.A_imu.T) # APA' - # print(aux) - self.kalman_P = aux + self.kalman_Q - # print('P') - # print(self.kalman_P) - - aux = self.C_imu.dot(self.kalman_P) # CP - # print(aux) - aux = aux.dot(self.C_imu.T) # CPC' - # print(aux) - aux += self.kalman_R # CPC' + R - # print(aux) - aux = np.linalg.inv(aux) # (CPC' + R)^-1 - # print(aux) - K = self.kalman_P.dot(self.C_imu.T) # PC' - # print(K) - K = K.dot(aux) # PC'(CPC' + R)^-1 - # print('k') - # print(K) - - ye = h - yk - # ye = yk - h - # print('ye') - # print(ye) - self.x_imu = self.x_imu + K.dot(ye) - if self.x_imu[2,0] < -np.pi: - self.x_imu[2,0] += 2.0*np.pi - elif self.x_imu[2,0] > np.pi: - self.x_imu[2,0] -= 2.0*np.pi - # print('x_imu~') - # print(self.x_imu) + #%% Callback GPS + def gps_callback(self,data): + if self.flag_gps: + self.gps_0x = data.pose.pose.position.x + self.gps_0y = data.pose.pose.position.y + self.flag_gps = False + self.gps_x = data.pose.pose.position.x - self.gps_0x + self.gps_y = data.pose.pose.position.y - self.gps_0y + # v = data.twist.twist.linear.x + # angle = data.pose.pose.orientation.z + # self.d += v + # self.gps_x = self.d*np.cos(angle*np.pi/180) + # self.gps_y = self.d*np.sin(angle*np.pi/180) + + #%% Callback Encoders + def Wr_ref_callbaback(self,data): + self.ref_R = data.data + + def Wl_ref_callbaback(self,data): + self.ref_L = data.data + + def Wl_callbaback(self,data): + wl = data.data + self.vl_x = wl*self.radio + + def Wr_callbaback(self,data): + wr = data.data + self.vr_x = wr*self.radio - aux = np.identity(7) - K.dot(self.C_imu) - self.kalman_P = aux.dot(self.kalman_P) - # print('P') - # print(np.round(self.kalman_P, 4)) - # print('===================================================') - # print('===================================================') - # print('') - line = '\t'.join([str(elem[0]) for elem in self.x_imu]) - line += '\t' - line += '\t'.join([str(elem[0]) for elem in self.x_model]) - line += '\t' + str(self.gps_x) + '\t' + str(self.gps_y) + '\t' + str(self.mag_yaw) - line += '\t' + str(self.wr) + '\t' + str(self.wl) - line += '\t' + str(self.wr_f) + '\t' + str(self.wl_f) - line += '\t' + str(self.ekf_x) + '\t' + str(self.ekf_y) - line += '\t' + str(self.ref_R) + '\t' + str(self.ref_L) - FILE = open('ekf_modified.txt','a') - FILE.write(line + '\n') - FILE.close() - # self.cont += 1 - # if self.cont == 100: - # rospy.signal_shutdown('finish') - # exit() + #%% Callback IMU + def calIMU(self,data): + self.imu_yaw1 = self.imu_yaw + #% Data descomposition + q = data.orientation + euler = quaternion2euler(q) + self.imu_pitch = euler[1] + self.imu_roll = euler[0] + #% Quit the initial value of yaw + if self.flag_imu: + self.euler1 = euler + print('Initial imu data') + print(' Roll: %0.6f' % self.euler1[0]) + print(' Pitch: %0.6f' % self.euler1[1]) + print(' yaw: %0.6f' % self.euler1[2]) + self.flag_imu = False + self.Flag_start = True + self.imu_yaw = euler[2] - self.euler1[2] + + dy = self.imu_yaw - self.imu_yaw1 + if dy > np.pi: + self.K_turn -= 1 + elif dy < -np.pi: + self.K_turn += 1 + self.imu_yaw += self.K_turn*2*np.pi + + self.Acc_x = data.linear_acceleration.x + + self.Acc_y = - data.linear_acceleration.y + + self.Wz = data.angular_velocity.z - # self.publish_odom(self.x_imu[0,0],self.x_imu[1,0],self.x_imu[2,0],self.x_imu[3,0],self.x_imu[4,0], self.x_imu[5,0]) - #%% Callback Publish - def publish_odom(self, cur_x, cur_y, cur_theta, vx, vy, vth): + def publish_odom(self): # quat = tf.transformations.quaternion_from_euler(0, 0, cur_theta) - quat = euler2quaternion(0, 0, cur_theta) + quat = euler2quaternion(0, 0, self.x_l[2,0]) current_time = rospy.Time.now() odom = Odometry() odom.header.stamp = current_time - odom.header.frame_id = 'odom' - odom.pose.pose.position.x = cur_x - odom.pose.pose.position.y = cur_y + odom.header.frame_id = 'kalman_odom' + odom.pose.pose.position.x = self.x_l[0,0] + odom.pose.pose.position.y = self.x_l[1,0] odom.pose.pose.position.z = 0.0 odom.pose.pose.orientation = Quaternion(*quat) odom.child_frame_id = 'base_link' - odom.twist.twist.linear.x = vx - odom.twist.twist.linear.y = vy - odom.twist.twist.angular.z = vth + odom.twist.twist.linear.x = self.x_l[3,0] + odom.twist.twist.linear.y = self.x_l[4,0] + odom.twist.twist.angular.z = self.wz odom.twist.covariance = odom.pose.covariance self.ekf_pub.publish(odom) + self.Wl_filt.publish(self.x_g[6,0]) + self.Wr_filt.publish(self.x_g[7,0]) #%% Main if __name__ == '__main__': rospy.init_node("ekf2V5_node") From 2c761c77394208ebd3c016d5338917506bba5221 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy Lezama Date: Thu, 18 Feb 2021 14:35:21 -0500 Subject: [PATCH 84/89] Delete ekf_modified.txt --- src/EKF/ekf_modified.txt | 4144 -------------------------------------- 1 file changed, 4144 deletions(-) delete mode 100755 src/EKF/ekf_modified.txt diff --git a/src/EKF/ekf_modified.txt b/src/EKF/ekf_modified.txt deleted file mode 100755 index fa29a30..0000000 --- a/src/EKF/ekf_modified.txt +++ /dev/null @@ -1,4144 +0,0 @@ -x_e y_e yaw_e vx_e vy_e Bx By x_N y_E yaw y_ICR_r y_ICR_l x_ICR_v vr vl x y yaw_imu wr wl wr_f wl_f old_x old_y ref_r ref_l -1.7454142075668435e-07 5.501407327691704e-07 -0.0008165723026053258 0.0 0.0 0.0 0.0 1.7461123725517054e-07 5.50360788842222e-07 -2.7972382369370598e-05 4.999999993215544 -4.99999999080164 4.999999999234075 -0.005806975391819861 -0.0030097277217859025 0.0 0.0 -0.0033716361008568896 -0.09073399752378464 -0.04702699929475784 -0.06486269271797858 -0.03361802508376071 -0.01246906400230483 0.0009367571163387279 0.0 -0.0 -1.4251928599363099e-07 4.4920939949376597e-07 0.0005204672999827695 0.0 0.0 0.0 0.0 1.1056426190470128e-07 3.484895939589833e-07 -2.7972383685107953e-05 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39.972250178019706 -188.8332976959398 -13.52726110191144 -0.005777138234212367 -0.003014997593738105 -4.259294901974499 -24.077580627286807 -1.4810694909890432 -0.09073399752378464 -0.04702699929475784 -0.09073391739867658 -0.04702690326580744 44.149466789247334 45.99267783003878 -0.0 0.0 From a046ed7055e3c6fcd49028e67726b612ca562664 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy Lezama Date: Thu, 18 Feb 2021 14:35:33 -0500 Subject: [PATCH 85/89] Delete read_ekf_file.py --- src/EKF/read_ekf_file.py | 71 ---------------------------------------- 1 file changed, 71 deletions(-) delete mode 100755 src/EKF/read_ekf_file.py diff --git a/src/EKF/read_ekf_file.py b/src/EKF/read_ekf_file.py deleted file mode 100755 index 5919a69..0000000 --- a/src/EKF/read_ekf_file.py +++ /dev/null @@ -1,71 +0,0 @@ -#!/usr/bin/env python3 -# -*- coding: utf-8 -*- -""" -Created on Sat Dec 5 12:15:13 2020 - -__author__ = sebastian.tilaguy@gmail.com -__version__ = "1.0" -__maintainer__ = "Sebastian Tilaguy" -__email__ = "sebastian.tilaguy@gmail.com" -__status__ = "Development" -""" - -import pandas as pd -import numpy as np -import matplotlib.pyplot as plt - - -data = pd.read_csv('ekf_modified.txt', sep="\t", header=0,index_col=None) -# [x y yaw vx vy W x_N y_E yaw y_ICR_r y_ICR_l x_ICR_v] -m,n = data.shape -print(data) - -Fs = 10 -Ts = 1/Fs -t = np.linspace(0,m*Ts,m) - -rad2deg = 180/np.pi - -plt.figure(1) -plt.subplot(211) -plt.plot(data['y_ICR_r'].values) -plt.plot(data['y_ICR_l'].values) -plt.plot(data['x_ICR_v'].values) -plt.legend(['Y_ICRr','Y_ICRl','X_ICR']) -plt.subplot(212) -plt.plot(data['yaw_imu'].values*rad2deg,'r') -plt.plot(data['yaw'].values*rad2deg,'--b') -plt.plot(data['yaw_e'].values*rad2deg,'.k') -plt.legend(['mag','model','kalman']) - -# plt.figure(2) -# plt.plot(data['old_x'].values,data['old_y'].values) - -plt.figure(3) -plt.plot(data['x_N'].values,data['y_E'].values,'r') -plt.plot((data['x'].values),(data['y'].values),'.b') -plt.plot(data['x_e'].values,data['y_e'].values,'--k') -plt.legend(['model','GPS','kalman']) - -plt.figure(4) -plt.subplot(311) -plt.plot(data['ref_r'].values*0.064/15,'k') -plt.plot(data['wr'].values*0.064) -plt.plot(data['wr_f'].values*0.064,'--') -plt.plot(data['vr'].values,'--g') -plt.legend(['ref','vr_enc','vr_f','vr_ekf']) -plt.subplot(312) -plt.plot(data['ref_l'].values*0.064/15,'k') -plt.plot(data['wl'].values*0.064) -plt.plot(data['wl_f'].values*0.064,'--') -plt.plot(data['vl'].values,'--g') -plt.legend(['ref','vl_enc','vl_f','vl_ekf']) -plt.subplot(313) -plt.plot((data['ref_r'].values*0.064/15)-(data['ref_l'].values*0.064/15),'k') -plt.plot((data['wr'].values*0.064)-(data['wl'].values*0.064)) -plt.plot((data['wr_f'].values*0.064)-(data['wl_f'].values*0.064)) -plt.plot(data['vr'].values-data['vl'].values) -plt.legend(['ref','enc','filt','ekf']) - -plt.show() - From 021c64fe154196089f80cd68bd7e7fa6b183e4cf Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy Lezama Date: Wed, 24 Mar 2021 10:15:38 -0500 Subject: [PATCH 86/89] Add files via upload --- src/speed_control/src/speed_control.py | 80 ++++++++++---------------- 1 file changed, 30 insertions(+), 50 deletions(-) diff --git a/src/speed_control/src/speed_control.py b/src/speed_control/src/speed_control.py index af580b2..e973077 100755 --- a/src/speed_control/src/speed_control.py +++ b/src/speed_control/src/speed_control.py @@ -7,78 +7,59 @@ """ import rospy -from std_msgs.msg import Float32, Bool, Int64 +from std_msgs.msg import Float32 from diagnostic_msgs.msg import KeyValue import numpy as np class PID_speed: def __init__(self): - self.Kp = 8.1410 # 8.1410 #7.0 - self.Ki = 1.7879 # 1.7879 #0.5 - self.Kd = 9.2674 # 9.2674 #3.0 + self.Kp = 8.1410 # 5.109923 + self.Ki = 1.7879 # 3.109923 + self.Kd = 9.2674 # 2.774808 self.K = 0.8 self.mode = 0 self.errorL_1 = 0.0 self.UiL_1 = 0.0 self.errorR_1 = 0.0 self.UiR_1 = 0.0 - self.ref_WL = 0.0 - self.ref_WR = 0.0 - self.wr = 0.0 - self.wl = 0.0 - self.cam_flag = False - self.Ts_encL = 0.0 - self.Ts_encR = 0.0 - self.Ts_encL0 = 0.0 - self.Ts_encR0 = 0.0 - self.encL0 = 0.0 - self.encR0 = 0.0 - self.rpm2rad = 2.0*np.pi/6533 - + self.ref_vL = 0.0 + self.ref_vR = 0.0 + self.vr = 0.0 + self.vl = 0.0 + # self.Ts_encL = 0.0 + # self.Ts_encR = 0.0 + # self.Ts_encL0 = 0.0 + # self.Ts_encR0 = 0.0 + # self.encL0 = 0.0 + # self.encR0 = 0.0 + # self.rpm2rad = 2.0*np.pi/6533 + self.radio = 0.064 rospy.init_node("speed_control") rospy.Subscriber("/ctrl_flag", KeyValue, self.mode_callbaback) - # rospy.Subscriber('/WL', Float32, self.Wl_callbaback) - # rospy.Subscriber('/WR', Float32, self.Wr_callbaback) - rospy.Subscriber('/enc_L', Int64, self.Wl_callbaback) - rospy.Subscriber('/enc_R', Int64, self.Wr_callbaback) + rospy.Subscriber('/ekf/Vl', Float32, self.Wl_callbaback) + rospy.Subscriber('/ekf/Vl', Float32, self.Wr_callbaback) rospy.Subscriber('/WL_ref', Float32, self.Wl_ref) rospy.Subscriber('/WR_ref', Float32, self.Wr_ref) - rospy.Subscriber('/cam_shut', Bool, self.cam_shut) - - def cam_shut(self,data): - self.cam_flag = data.data def mode_callbaback(self,data): self.mode = int(data.value) def Wl_ref(self,data): - self.ref_WL = data.data + self.ref_vL = data.data * self.radio def Wr_ref(self,data): - self.ref_WR = data.data + self.ref_vR = data.data * self.radio def Wl_callbaback(self,data): - # Measurement of sample time of encoders - self.Ts_encL = rospy.get_time() - self.Ts_encL0 - self.Ts_encL0 = rospy.get_time() - - self.wl = (data.data - self.encL0)/self.Ts_encL - self.wl *= self.rpm2rad - self.encL0 = data.data + self.vl = data.data def Wr_callbaback(self,data): - # Measurement of sample time of encoders - self.Ts_encR = rospy.get_time() - self.Ts_encR0 - self.Ts_encR0 = rospy.get_time() - - self.wr = (data.data - self.encR0)/self.Ts_encR - self.wr *= self.rpm2rad - self.encR0 = data.data + self.vr = data.data def Wl_control(self,ref): # print(ref,self.wl) - error = ref - self.wl + error = ref - self.vl # print('e(k) = %f' % error) Up = self.Kp*error @@ -100,7 +81,7 @@ def Wl_control(self,ref): return U def Wr_control(self,ref): - error = ref - self.wr + error = ref - self.vr Up = self.Kp*error Ui = self.Ki*self.errorR_1 + self.UiR_1 @@ -121,19 +102,18 @@ def Wr_control(self,ref): return U def pub_control(self): - r_time = rospy.Rate(100) + r_time = rospy.Rate(10) WL_pub = rospy.Publisher('/UL', Float32, queue_size=10) # WR_pub = rospy.Publisher('/UR', Float32, queue_size=10) while not rospy.is_shutdown(): - # print(self.mode) if self.mode == 0: self.errorL_1 = 0.0 self.UiL_1 = 0.0 self.errorR_1 = 0.0 self.UiR_1 = 0.0 - UR = self.ref_WR - UL = self.ref_WL + UR = self.ref_vR + UL = self.ref_vL if UR > 63: UR = 63 elif UR < -63: @@ -142,9 +122,9 @@ def pub_control(self): UL = 63 elif UL < -63: UL = -63 - else: # constant speed - UR = self.Wr_control(self.ref_WR) - UL = self.Wl_control(self.ref_WL) + else: # Controlled speed + UR = self.Wr_control(self.ref_vR) + UL = self.Wl_control(self.ref_vL) WL_pub.publish(UL) # WR_pub.publish(UR) From 4618cdf48cdb5366ee55e7effd415c5183619fc5 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy Lezama Date: Wed, 24 Mar 2021 10:18:49 -0500 Subject: [PATCH 87/89] Add files via upload --- src/Apps/identi_model.py | 193 +++++++++++++++++++++++++++------------ 1 file changed, 134 insertions(+), 59 deletions(-) diff --git a/src/Apps/identi_model.py b/src/Apps/identi_model.py index f8f2643..24be89e 100755 --- a/src/Apps/identi_model.py +++ b/src/Apps/identi_model.py @@ -8,13 +8,13 @@ import rospy from std_msgs.msg import Float32, Int64 +from sensor_msgs.msg import Imu from diagnostic_msgs.msg import KeyValue from optparse import OptionParser import numpy as np import os import rosnode import time as T -import pandas as pd parser = OptionParser() parser.add_option("-o", "--outputfile", dest="filename", @@ -26,20 +26,78 @@ parser.add_option("--step", action="store_true", dest="steps", default=False, help="Run ident-routine for a step signal.") -U_ident1 = np.array([[-60, -60, -60, -60, -60, -60, -60, 60, -60, 60, -60, 60, - -60, 60, 60, -60, -60, 60, 60, -60, -60, -60, 60, -60, -60, - -60, 60, -60, 60, 60, -60, 60, -60, -60, 60, 60, 60, -60, - -60, 60, -60, -60, -60, -60, 60, -60, -60, 60, -60, 60, - -60, -60, 60, -60, -60, 60, 60, -60, 60, 60, -60, 60, 60, - 60, -60, -60, -60, 60, 60, 60, 60, -60, 60, -60, -60, -60, - -60, -60, 60, 60]]) -U_ident2 = np.array([[-10, -10, -10, -10, -10, -10, -10, 10, -10, 10, -10, 10, - -10, 10, 10, -10, -10, 10, 10, -10, -10, -10, 10, -10, -10, - -10, 10, -10, 10, 10, -10, 10, -10, -10, 10, 10, 10, -10, - -10, 10, -10, -10, -10, -10, 10, -10, -10, 10, -10, 10, - -10, -10, 10, -10, -10, 10, 10, -10, 10, 10, -10, 10, 10, - 10, -10, -10, -10, 10, 10, 10, 10, -10, 10, -10, -10, -10, - -10, -10, 10, 10]]) +U_ident1 = np.array([[30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, + 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, + 30, 30, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -25, -25, -25, -25, + -25, -25, -25, 25, -25, 25, -25, 25, -25, 25, 25, -25, + -25, 25, 25, -25, -25, -25, 25, -25, -25, -25, 25, -25, + 25, 25, -25, 25, -25, -25, 25, 25, 25, -25, -25, 25, -25, + -25, -25, -25, 25, -25, -25, 25, -25, 25, -25, -25, 25, + -25, -25, 25, 25, -25, 25, 25, -25, 25, 25, 25, -25, -25, + -25, 25, 25, 25, 25, -25, 25, -25, -25, -25, -25, -25, + 25, 25, -25, 25, -25, 25, -25, -25, -25, 25, 25, -25, + -25, 25, -25, 25, 25, 25, -25, 25, 25, -25, 25, + 21.9278158910840, 13.5368364671754, 1.94581746618692, + -10.0343092394307, -19.5923364331460, -24.5688772127973, + -23.9208469141895, -17.9057216762786, -7.96405702560531, + 3.65207571406030, 14.4051025948500, 22.0276358288169, + 24.9873328842899, 22.7699746453866, 15.9355997437173, + 5.95316622220148, -5.13631709277292, -15.1483216065896, + -22.1841292267491, -24.9780707524715, -23.1029949305229, + -17.0065116085610, -7.88460121183810, 2.57154949734102, + 12.5000000000000, 20.2007753898620, 24.4183051416901, + 24.5292876295416, 20.6120477364298, 13.3956698744749, + 4.10725360746680, -5.74954489813444, -14.6437529142636, + -21.2528337286733, -24.6499009267626, -24.4183051416901, + -20.6828986660698, -14.0607443807835, -5.54552005121068, + 3.65207571406027, 12.2817160931351, 19.2227197438348, + 23.6231516433983, 24.9931222977302, 23.2444121472063, + 18.6764002859112, 11.9151622257896, 3.81774662245660, + -4.64338035618379, -12.5000000000000, -18.8974794214355, + -23.1822107077213, -24.9594447022930, -24.1180756094486, + -20.8230310177525, -15.4794046027953, -8.67502819318622, + -1.10966470963542, 6.48059071121280, 13.3956698744749, + 19.0339322156596, 22.9397047063747, 24.8331133423095, + 24.6214051582989, 22.3927940059853, 18.3953373351800, + 13.0043783975144, 6.68264123809208, -0.0628317869252142, + -6.72299551538168, -12.8250503160961, -17.9640852721959, + -21.8264569837335, -24.2041279460146, -25, + -24.2249621315342, -21.9878929808683, -18.4802020693867, + -13.9566627737589, -8.71430118304543, -3.07098460367923, + 2.65486632983292, 8.16230334733677, 13.1827937868820, + 17.4915835128341, 20.9152843084211, 23.3357557945769, + 24.6905681707963, 24.9704934956481, 24.2145790282158, + 22.5034095811535, 19.9511731019167, 16.6971129148027, + 12.8968902676389, 8.71430118304535, 4.31370071864113, + -0.146606816860488, -4.51984507944680, -8.67502819318617, + -12.5000000000001, -15.9033022071478, -18.8149705088285, + -21.1863910429930, -22.9893700772956, -24.2145790282158, + -24.8695365700784, -24.9762816088736, -24.5688772127973, + -23.6908680375724, -22.3927940059853, -20.7298424086274, + -18.7597003370407, -16.5406503271948, -14.1299349137314, + -11.5824008779966, -8.94942152156476, -6.27808535416450, + -3.61063206453365, -0.984111364089962, 1.56976298823283, + 4.02459323777699, 6.35914116770603, 8.55706354173926, + 10.6065660585044, 12.5000000000000, 14.2334229631316, + 15.8061420836034, 17.2202551486760, 18.4802020693867, + 19.5923364331460, 20.5645243463139, 21.4057755421137, + 22.1259097912254, 22.7352600141340, 23.2444121472063, + 23.6639807411717, 24.0044184478189, 24.2758569513516, + 24.4879764964248, 24.6499009267626, 24.7701150489425, + 24.8564011498151, 24.9157916000564, 24.9545346502603, + 24.9780707524715, 24.9910170047625, 24.9971576077954, + 24.9994385312735, 24.9999649080815, 25, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, -30, -30, -30, -30, -30, -30, -30, -30, + -30, -30, -30, -30, -30, -30, -30, -30, -30, -30, -30, + -30, -30, -30, -30, -30, -30, -30, -30, -30, -30, -30]]) +U_ident2 = np.array([[30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 50, 50, + 30, 30, 50, 50, 30, 30, 50, 50, 30, 30, 30, 30, 50, 50, + 50, 50, 30, 30, 30, 30, 50, 50, 30, 30, 30, 30, 30, 30, + 50, 50, 30, 30, 30, 30, 50, 50, 30, 30, 50, 50, 50, 50, + 30, 30, 50, 50, 50, 50, 30, 30, 30, 30, 30, 30, 50, 50, + 50, 50, 50, 50, 30, 30, 50, 50, 30, 30, 30, 30, 30, 30, + 30, 30, 50, 50, 50, 50, 30, 30, 50, 50, 30, 30, 50, 50, + 50, 50]]) U_ident3 = np.concatenate((-20*np.ones([1,10]), -10*np.ones([1,10]), 0*np.ones([1,10]), @@ -67,51 +125,65 @@ def __init__(self): self.ir = 0.0 self.encl = 0.0 self.encr = 0.0 + self.a = np.arry([0,0,0]) + self.av = np.arry([0,0,0]) - topics_list = ['/UL','/UR','/WL','/WL_ref','/WR','/WR_ref','/ctrl_flag','/enc_L','/enc_R', - '/iL','/iR','/voltage'] + topics_list = ['/UL','/UR','/WL','/WL_ref','/WR','/WR_ref','/enc_L','/enc_R', + '/iL','/iR','/voltage','/um7','/imu/data'] self.topic2save = ' '.join(topics_list) (self.options, self.args) = parser.parse_args() rospy.init_node("Ident_model") - rospy.Subscriber("/ctrl_flag", KeyValue, self.mode_callbaback) - rospy.Subscriber('/WL', Float32, self.Wl_callbaback) - rospy.Subscriber('/WR', Float32, self.Wr_callbaback) - rospy.Subscriber('/WL_ref', Float32, self.Wl_ref) - rospy.Subscriber('/WR_ref', Float32, self.Wr_ref) - rospy.Subscriber('/iL', Float32, self.il_callback) - rospy.Subscriber('/iR', Float32, self.ir_callback) - rospy.Subscriber('/enc_L', Int64, self.encl_callback) - rospy.Subscriber('/enc_R', Int64, self.encr_callback) + # rospy.Subscriber("/ctrl_flag", KeyValue, self.mode_callbaback) + # rospy.Subscriber('/WL', Float32, self.Wl_callbaback) + # rospy.Subscriber('/WR', Float32, self.Wr_callbaback) + # rospy.Subscriber('/WL_ref', Float32, self.Wl_ref) + # rospy.Subscriber('/WR_ref', Float32, self.Wr_ref) + # rospy.Subscriber('/iL', Float32, self.il_callback) + # rospy.Subscriber('/iR', Float32, self.ir_callback) + # rospy.Subscriber('/enc_L', Int64, self.encl_callback) + # rospy.Subscriber('/enc_R', Int64, self.encr_callback) + # rospy.Subscriber('/um7', Imu, self.imu_callback) + # rospy.Subscriber('/imu/data', Imu, self.calIMU) - def mode_callbaback(self,data): - self.mode = int(data.value) + # def calIMU(self,data): + # self.av[0] = data.linear_acceleration.x + # self.av[1] = data.linear_acceleration.y + # self.av[2] = data.linear_acceleration.z + + # def imu_callback(self,data): + # self.a[0] = data.linear_acceleration.x + # self.a[1] = data.linear_acceleration.y + # self.a[2] = data.linear_acceleration.z + + # def mode_callbaback(self,data): + # self.mode = int(data.value) - def Wl_ref(self,data): - self.ref_WL = data.data + # def Wl_ref(self,data): + # self.ref_WL = data.data - def Wr_ref(self,data): - self.ref_WR = data.data + # def Wr_ref(self,data): + # self.ref_WR = data.data - def Wl_callbaback(self,data): - self.wl = data.data + # def Wl_callbaback(self,data): + # self.wl = data.data - def Wr_callbaback(self,data): - self.wr = data.data + # def Wr_callbaback(self,data): + # self.wr = data.data - def il_callback(self,data): - self.il = data.data + # def il_callback(self,data): + # self.il = data.data - def ir_callback(self,data): - self.ir = data.data + # def ir_callback(self,data): + # self.ir = data.data - def encl_callback(self,data): - self.encl = data.data + # def encl_callback(self,data): + # self.encl = data.data - def encr_callback(self,data): - self.encr = data.data + # def encr_callback(self,data): + # self.encr = data.data def pub_control(self): Ts = 0.1 @@ -122,22 +194,24 @@ def pub_control(self): cont_u = 0 K = 2 if self.options.small: - U_ident = U_ident2 + # U_ident = U_ident2 + U_ident = (U_ident1*0.3)+20 else: U_ident = U_ident1 if self.options.steps: U_ident = U_ident3 - k = 1 + print(U_ident) + L = len(U_ident) while not rospy.is_shutdown(): # print(self.mode) if self.mode == 0: UR = self.ref_WR UL = self.ref_WL - else: # constant speed + else: if self.options.ident: if cont_times==-1: - data = pd.DataFrame([],columns=(['u', 'wl', 'wr', 'il', 'ir', 'encL', 'encR'])) + # data = pd.DataFrame([],columns=(['u', 'wl', 'wr', 'il', 'ir', 'encL', 'encR'])) os.system("rosbag record -O %s %s &" % (self.options.filename, self.topic2save)) print('Begining identification test...') cont_times += 1 @@ -147,14 +221,16 @@ def pub_control(self): print(u) UL = float(u) UR = float(u) - S = pd.DataFrame([[u, self.wl, self.wr, self.il, self.ir, self.encl, self.encr]], - columns=(['u', 'wl', 'wr', 'il', 'ir', 'encL', 'encR'])) - data = data.append(S, ignore_index=True) - print(cont_times,cont_u,int(cont_u)) + # S = pd.DataFrame([[u, self.wl, self.wr, self.il, self.ir, self.encl, self.encr]], + # columns=(['u', 'wl', 'wr', 'il', 'ir', 'encL', 'encR'])) + # data = data.append(S, ignore_index=True) + print('Iteration: ',str(cont_times), + ', action: ',str(u), + ', Cont: ',str(cont_u),' of ',str(L)) if cont_times < K: - cont_u += 0.5 - if cont_u == 79.5: - cont_u = 0.0 + cont_u += 1 + if cont_u == L: + cont_u = 0 cont_times += 1 else: print('Finishing identification test...') @@ -163,7 +239,7 @@ def pub_control(self): WL_pub.publish(0.0) # WR_pub.publish(0.0) os.system("rosnode kill %s" % bag_node[0]) - data.to_csv('ident_data.csv',sep='\t') + # data.to_csv('ident_data.csv',sep='\t') rospy.signal_shutdown('finish') exit() @@ -179,11 +255,10 @@ def pub_control(self): UL = 63.0 elif UL < -63.0: UL = -63.0 - print(UL,UR) + print('Ul: ',str(UL),', Ur: ',str(UR)) WL_pub.publish(UL) # WR_pub.publish(UR) - - + r_time.sleep() From 712bc0038d5138531ae08fb45b73a560129f56f6 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy Lezama Date: Wed, 24 Mar 2021 10:19:32 -0500 Subject: [PATCH 88/89] Add files via upload --- src/Apps/scan3d.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/Apps/scan3d.py b/src/Apps/scan3d.py index 1c914bb..4337665 100755 --- a/src/Apps/scan3d.py +++ b/src/Apps/scan3d.py @@ -33,12 +33,12 @@ flag_print = False bagname = "" bag_node = "" -topics_list = ['/gps/odom','/gps/data','/gps/str' +topics_list = ['/gps/odom','/gps/data','/gps/str', '/um7', '/cam_time', - '/ekf','/odom_alpha','/ekf2','/velocity', + '/ekf/Odom','/odom_alpha','/velocity', '/UL','/UR','/WL','/WL_ref','/WR','/WR_ref','/ctrl_flag', - '/enc_L','/enc_R', + '/ekf/Vl','/ekf/Vr', '/iL','/iR','/voltage', '/diagnostics','/diagnostics_agg','/diagnostics_toplevel_state', '/echoes', From bff792fe1cb5fa6c46b803a90b375086d6a78bd0 Mon Sep 17 00:00:00 2001 From: Sebastian Tilaguy Lezama Date: Wed, 24 Mar 2021 10:20:23 -0500 Subject: [PATCH 89/89] Add files via upload --- src/Config/alphaROVER.sh | 54 +++++++++++++++++++++++++++++----------- 1 file changed, 39 insertions(+), 15 deletions(-) diff --git a/src/Config/alphaROVER.sh b/src/Config/alphaROVER.sh index eafdc5f..ecb4e9f 100755 --- a/src/Config/alphaROVER.sh +++ b/src/Config/alphaROVER.sh @@ -39,11 +39,9 @@ hokuyo_ip="192.168.0.10" DIR=$path_alpha_config$'/xsens_mt' if [ -d "$DIR" ]; then ### Take action if $DIR exists ### - cd ~/catkin_ws - catkin_make - sleep 10 + sleep 1 cd - echo "mti config done!" + echo "MTI configuration is alredy done!" else cd $path_alpha_config git clone https://github.com/xsens/xsens_mt.git @@ -125,8 +123,9 @@ function xsens_node { sleep 1 sudo chmod -R 777 /dev/tty_imu ls -l /dev/tty_imu - roslaunch xsens_driver xsens.launch & - printf $"Xsens MTi-10 ready...\n" + roslaunch xsens_driver xsens_driver.launch device:=/dev/tty_imu initial_wait:=3 & + sleep 20 + printf $"Xsens MTi-100 ready...\n" } function kinect_node { @@ -138,15 +137,17 @@ function kinect_node { function webcam { echo "=======================================" - roslaunch usb_cam usb_cam-test.launch & + roslaunch usb_cam usb_cam-test.launch & sleep 5 printf $"Main camera ready...\n" } function roboclaw_node { echo "=======================================" + roslaunch speed_control speed_control.launch & + sleep 3 ls -l /dev/tty_roboclaw - roslaunch roboclaw_node roboclaw.launch & + roslaunch roboclaw_node roboclaw.launch dev:=/dev/tty_roboclaw & sleep 3 printf "Roboclaw ready...\n" } @@ -154,7 +155,7 @@ function roboclaw_node { function arm_node { echo "=======================================" python $path_alphaROVER$"/src/Arm/arm.py" & - sleep 3 + sleep 1 printf "Arm ready...\n" } @@ -178,14 +179,17 @@ function pilot { sudo chmod a+rw /dev/input/js0 # permission options (all) + (read)(write) rosparam set joy_node/dev "/dev/input/js0" # ROS parameter assignment rosrun joy joy_node & # Run Joy_node + sleep 1 + roslaunch command_center command_center.launch & + sleep 3 printf "Joy is ready...\n" } function USB { echo "=======================================" ls -l /dev/sda1 - sudo mount -t vfat /dev/sda1 /media/usb/ -o uid=1000,gid=1000 - cd /media/usb + sudo mount -t vfat /dev/sda1 /media/usb/ -o uid=1000, gid=1000 + ls -l /media/usb printf "USB is ready...\n" } @@ -211,7 +215,7 @@ function um7_node { echo "=======================================" chmod +x $path_alphaROVER$"/src/um7_node/src/um7_node.py" ls -l /dev/tty_um7 - roslaunch um7_node um7_node.launch device_name:=/dev/tty_GPS & + roslaunch um7_node um7_node.launch device_name:=/dev/tty_um7 & sleep 3 printf "UM7 imu is ready...\n" } @@ -225,18 +229,38 @@ function Alpha_update { git clone https://github.com/Tilaguy/AlphaROVER.git } +function scan_mode { + echo "=======================================" + echo "Scan function is beginning" + USB + sleep 1 + um7_node + sleep 3 + urg_node + sleep 3 + dynamixel_node + sleep 4 +# kinect_node +# sleep 10 + cd $path_alphaROVER$"/src/Apps/" + echo "=======================================" +} + function rover { - printf "\n=======================================" + echo "=======================================" roscore & sleep 4 pilot & sleep 2 xsens_node & sleep 5 + gps_node + sleep 3 roboclaw_node & sleep 3 ekf_node & + clear sleep 7 - printf $"ROVER READY\n" - printf "=======================================\n" + echo "ROVER READY" + echo "=======================================" }