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vpn
2023-01-21 11:33:15 +01:00
parent 924825aa57
commit e9f436ddd7
37 changed files with 3748 additions and 92 deletions
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.idea/.gitignore
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# Default ignored files
/shelf/
/workspace.xml
# Editor-based HTTP Client requests
/httpRequests/
# Datasource local storage ignored files
/dataSources/
/dataSources.local.xml
.idea/modules.xml
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<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectModuleManager">
<modules>
<module fileurl="file://$PROJECT_DIR$/.idea/motor-ai.iml" filepath="$PROJECT_DIR$/.idea/motor-ai.iml" />
</modules>
</component>
</project>
.idea/motor-ai.iml
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<?xml version="1.0" encoding="UTF-8"?>
<module type="CPP_MODULE" version="4">
<component name="NewModuleRootManager">
<content url="file://$MODULE_DIR$" />
<orderEntry type="inheritedJdk" />
<orderEntry type="sourceFolder" forTests="false" />
</component>
</module>
.idea/vcs.xml
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<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="" vcs="Git" />
</component>
</project>
CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
#if (POLICY CMP0048)
# cmake_policy(SET CMP0048 NEW)
#endif (POLICY CMP0048)
ADD_DEFINITIONS(-DM_DEBUG)
set(CMAKE_BUILD_TYPE "Release")
project(tangent_planner)
## Find catkin and any catkin packages
find_package(catkin REQUIRED COMPONENTS roscpp std_msgs nav_msgs geometry_msgs message_generation)
add_service_files(
FILES
nav_path_start.srv
nav_path_stop.srv
nav_get_patrol_name.srv
nav_get_status.srv
nav_low_bat.srv
)
generate_messages(
DEPENDENCIES
std_msgs
)
## Declare a catkin package
catkin_package(CATKIN_DEPENDS message_runtime std_msgs nav_msgs geometry_msgs)
include_directories(
${catkin_INCLUDE_DIRS}
include
)
add_executable(${PROJECT_NAME}
src/main.cpp
src/tangent_planner.cpp
src/tangent_planner_node.cpp
include/parameters_helper.h
include/tangent_planner.h
include/tangent_planner_node.h include/read.hpp)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
#add_executable(${PROJECT_NAME}_stop_start
# src/tangent_planner_node.cpp
# src/tangent_planner.cpp
# include/parameters_helper.h
# include/tangent_planner_node.h
# include/tangent_planner.h)
#target_link_libraries(${PROJECT_NAME}_stop_start ${catkin_LIBRARIES})
# uncomment to use gtest
catkin_add_gtest(${PROJECT_NAME}_test src/gtest.cpp src/tangent_planner.cpp)
target_link_libraries(${PROJECT_NAME}_test ${catkin_LIBRARIES})
install(TARGETS ${PROJECT_NAME} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch/ FILES_MATCHING PATTERN "*")
Dockerfile
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FROM multiarch/qemu-user-static:x86_64-aarch64 as qemu
FROM debian:buster
# Copy Qeum binaries
COPY --from=qemu /usr/bin/qemu-aarch64-static /usr/bin
MAINTAINER Majid Geravand "[email protected]"
# setup multiarch enviroment
RUN dpkg --add-architecture arm64 \
&& echo "deb-src http://deb.debian.org/debian buster main" >> /etc/apt/sources.list \
&& echo "deb-src http://deb.debian.org/debian buster-updates main" >> /etc/apt/sources.list \
&& echo "deb-src http://security.debian.org buster/updates main" >> /etc/apt/sources.list \
&& DEBIAN_FRONTEND=noninteractive apt-get update && apt-get install -y sudo locales git tar git-lfs fakeroot devscripts cmake\
dh-make dh-exec pkg-kde-tools device-tree-compiler:arm64 bc cpio parted dosfstools mtools libssl-dev:arm64 \
g++-aarch64-linux-gnu dpkg-dev meson debhelper pkgconf \
&& apt-get update && apt-get build-dep -y -a arm64 libdrm xorg-server \
&& rm -rf /var/lib/apt/lists/*
#clone into the binary files and install bloom in chroot
RUN git clone https://github.com/Pilot-Labs-Dev/binary.git \
&& cd binary && tar -zxvf binary.tar.gz -C /opt/ && cd ../ && rm -r -f binary \
&& mkdir -p /opt/binary/home/linaro/ros/src/obstacle_avoidance \
&& cat /etc/resolv.conf > /opt/binary/run/resolvconf/resolv.conf
RUN chroot /opt/binary/ /bin/bash -c "rm /etc/resolv.conf \
&& ln -s /run/resolvconf/resolv.conf /etc/resolv.conf \
&& curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - \
&& source /opt/ros/melodic/setup.bash \
&& DEBIAN_FRONTEND=noninteractive apt-get update && apt-get install -y python-bloom \
python-rosdep fakeroot python-rospkg dh-make\
&& cd /home/linaro/ros/ "
COPY . /opt/binary/home/linaro/ros/src/obstacle_avoidance/
RUN apt-get update && chroot /opt/binary/ /bin/bash -c "source /opt/ros/melodic/setup.bash \
&& apt-get install -y build-essential cmake && rosdep init && rosdep update \
&& cd /home/linaro/ros/src/obstacle_avoidance/ \
&& echo -e 'DISTRIB_ID=ubuntu\nDISTRIB_RELEASE=18.04\nDISTRIB_CODENAME=bionic\nDISTRIB_DESCRIPTION=\"Ubuntu 18.04.4 LTS\"' > /etc/lsb-release \
&& bloom-generate rosdebian --os-name ubuntu --os-version bionic --ros-distro melodic\
&& fakeroot debian/rules binary \
&& cp ../ros-melodic-tangent-planner_1.0.0-0bionic_arm64.deb /ros-melodic-tangent-planner_1.0.0-0bionic_arm64.deb"
ENTRYPOINT ["/bin/bash", "-c", "cp /opt/binary/ros-melodic-tangent-planner_1.0.0-0bionic_arm64.deb /home/"]
LICENSE
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GNU GENERAL PUBLIC LICENSE
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This program is distributed in the hope that it will be useful,
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Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
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The hypothetical commands `show w' and `show c' should show the appropriate
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You should also get your employer (if you work as a programmer) or school,
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The GNU General Public License does not permit incorporating your program
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README.md
-92
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@@ -1,92 +0,0 @@
# motor-ai
## Getting started
To make it easy for you to get started with GitLab, here's a list of recommended next steps.
Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
## Add your files
- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files
- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command:
```
cd existing_repo
git remote add origin http://82.165.99.159/2023/motor-ai.git
git branch -M main
git push -uf origin main
```
## Integrate with your tools
- [ ] [Set up project integrations](http://82.165.99.159/2023/motor-ai/-/settings/integrations)
## Collaborate with your team
- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/)
- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html)
- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically)
- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/)
- [ ] [Automatically merge when pipeline succeeds](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html)
## Test and Deploy
Use the built-in continuous integration in GitLab.
- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html)
- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing(SAST)](https://docs.gitlab.com/ee/user/application_security/sast/)
- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html)
- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/)
- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html)
***
# Editing this README
When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thank you to [makeareadme.com](https://www.makeareadme.com/) for this template.
## Suggestions for a good README
Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information.
## Name
Choose a self-explaining name for your project.
## Description
Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors.
## Badges
On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge.
## Visuals
Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method.
## Installation
Within a particular ecosystem, there may be a common way of installing things, such as using Yarn, NuGet, or Homebrew. However, consider the possibility that whoever is reading your README is a novice and would like more guidance. Listing specific steps helps remove ambiguity and gets people to using your project as quickly as possible. If it only runs in a specific context like a particular programming language version or operating system or has dependencies that have to be installed manually, also add a Requirements subsection.
## Usage
Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README.
## Support
Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc.
## Roadmap
If you have ideas for releases in the future, it is a good idea to list them in the README.
## Contributing
State if you are open to contributions and what your requirements are for accepting them.
For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self.
You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser.
## Authors and acknowledgment
Show your appreciation to those who have contributed to the project.
## License
For open source projects, say how it is licensed.
## Project status
If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers.
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debian/changelog
Vendored Executable
+7
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@@ -0,0 +1,7 @@
ros-noetic-tangent-planner (1.0.0-0focal) focal; urgency=high
* Autogenerated, no changelog for this version found in CHANGELOG.rst.
-- Gfuse <[email protected]> Wed, 10 Aug 2022 13:37:52 -0000
debian/compat
Vendored Executable
+1
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@@ -0,0 +1 @@
9
debian/control
Vendored Executable
+12
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@@ -0,0 +1,12 @@
Source: ros-noetic-tangent-planner
Section: misc
Priority: optional
Maintainer: Gfuse <[email protected]>
Build-Depends: debhelper (>= 9.0.0), ros-noetic-catkin, ros-noetic-geometry-msgs, ros-noetic-message-generation, ros-noetic-nav-msgs, ros-noetic-roscpp, ros-noetic-rospy, ros-noetic-sensor-msgs, ros-noetic-std-msgs
Homepage:
Standards-Version: 3.9.2
Package: ros-noetic-tangent-planner
Architecture: any
Depends: ${shlibs:Depends}, ${misc:Depends}, ros-noetic-geometry-msgs, ros-noetic-message-runtime, ros-noetic-nav-msgs, ros-noetic-roscpp, ros-noetic-rospy, ros-noetic-sensor-msgs, ros-noetic-std-msgs
Description: The tangent_planner package
debian/copyright
Vendored Executable
+7
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@@ -0,0 +1,7 @@
Format: Bloom subset of https://www.debian.org/doc/packaging-manuals/copyright-format/1.0/
Upstream-Name: tangent_planner
Files: See file headers in repository for details
Copyright: See package copyright in source code for details
License: TODO
See repository for full license text
debian/rules
Vendored Executable
+67
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@@ -0,0 +1,67 @@
#!/usr/bin/make -f
# -*- makefile -*-
# Sample debian/rules that uses debhelper.
# This file was originally written by Joey Hess and Craig Small.
# As a special exception, when this file is copied by dh-make into a
# dh-make output file, you may use that output file without restriction.
# This special exception was added by Craig Small in version 0.37 of dh-make.
# Uncomment this to turn on verbose mode.
export DH_VERBOSE=1
# TODO: remove the LDFLAGS override. It's here to avoid esoteric problems
# of this sort:
# https://code.ros.org/trac/ros/ticket/2977
# https://code.ros.org/trac/ros/ticket/3842
export LDFLAGS=
export PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig
# Explicitly enable -DNDEBUG, see:
# https://github.com/ros-infrastructure/bloom/issues/327
export DEB_CXXFLAGS_MAINT_APPEND=-DNDEBUG
ifneq ($(filter nocheck,$(DEB_BUILD_OPTIONS)),)
BUILD_TESTING_ARG=-DBUILD_TESTING=OFF -DCATKIN_ENABLE_TESTING=OFF
endif
DEB_HOST_GNU_TYPE ?= $(shell dpkg-architecture -qDEB_HOST_GNU_TYPE)
%:
dh $@ -v --buildsystem=cmake --builddirectory=.obj-$(DEB_HOST_GNU_TYPE)
override_dh_auto_configure:
# In case we're installing to a non-standard location, look for a setup.sh
# in the install tree that was dropped by catkin, and source it. It will
# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
if [ -f "/opt/ros/noetic/setup.sh" ]; then . "/opt/ros/noetic/setup.sh"; fi && \
dh_auto_configure -- \
-DCATKIN_BUILD_BINARY_PACKAGE="1" \
-DCMAKE_INSTALL_PREFIX="/opt/ros/noetic" \
-DCMAKE_PREFIX_PATH="/opt/ros/noetic" \
$(BUILD_TESTING_ARG)
override_dh_auto_build:
# In case we're installing to a non-standard location, look for a setup.sh
# in the install tree that was dropped by catkin, and source it. It will
# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
if [ -f "/opt/ros/noetic/setup.sh" ]; then . "/opt/ros/noetic/setup.sh"; fi && \
dh_auto_build
override_dh_auto_test:
# In case we're installing to a non-standard location, look for a setup.sh
# in the install tree that was dropped by catkin, and source it. It will
# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
echo -- Running tests. Even if one of them fails the build is not canceled.
if [ -f "/opt/ros/noetic/setup.sh" ]; then . "/opt/ros/noetic/setup.sh"; fi && \
dh_auto_test || true
override_dh_shlibdeps:
# In case we're installing to a non-standard location, look for a setup.sh
# in the install tree that was dropped by catkin, and source it. It will
# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
if [ -f "/opt/ros/noetic/setup.sh" ]; then . "/opt/ros/noetic/setup.sh"; fi && \
dh_shlibdeps -l$(CURDIR)/debian/ros-noetic-tangent-planner//opt/ros/noetic/lib/
override_dh_auto_install:
# In case we're installing to a non-standard location, look for a setup.sh
# in the install tree that was dropped by catkin, and source it. It will
# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
if [ -f "/opt/ros/noetic/setup.sh" ]; then . "/opt/ros/noetic/setup.sh"; fi && \
dh_auto_install
debian/source/format
Vendored Executable
+1
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@@ -0,0 +1 @@
3.0 (quilt)
debian/source/options
Vendored Executable
+5
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@@ -0,0 +1,5 @@
# Automatically add upstream changes to the quilt overlay.
# http://manpages.ubuntu.com/manpages/trusty/man1/dpkg-source.1.html
# This supports reusing the orig.tar.gz for debian increments.
auto-commit
include/parameters_helper.h
Executable
+50
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#ifndef TANGENT_PLANNER_PARAMETERS_HELPER_H
#define TANGENT_PLANNER_PARAMETERS_HELPER_H
#include <string>
#include <ros/ros.h>
#include <chrono>
#include <ctime>
#include <iomanip>
#include <sstream>
#include <string>
namespace Planner {
inline
bool hasParam(const std::string& name)
{
return ros::param::has(name);
}
template<typename T>
T getParam(const std::string& name, const T& defaultValue)
{
T v;
if(ros::param::get(name, v))
{
ROS_INFO_STREAM("Found parameter: " << name << ", value: " << v);
return v;
}
else
ROS_WARN_STREAM("Cannot find value for parameter: " << name << ", assigning default: " << defaultValue);
return defaultValue;
}
template<typename T>
T getParam(const std::string& name)
{
T v;
if(ros::param::get(name, v))
{
ROS_INFO_STREAM("Found parameter: " << name << ", value: " << v);
return v;
}
else
ROS_ERROR_STREAM("Cannot find value for parameter: " << name);
return T();
}
} // namespace planner
#endif //TANGENT_PLANNER_PARAMETERS_HELPER_H
include/read.hpp
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//
// Created by gfuse on 04/06/22.
//
#ifndef P_46_TANGUNT_BUG_OBSTACLE_AVOIDANCE_READ_HPP
#define P_46_TANGUNT_BUG_OBSTACLE_AVOIDANCE_READ_HPP
#include <vector>
#include <sys/types.h>
#include <sys/stat.h>
template<typename T,int N>
class DATA_FILE
{
public:
DATA_FILE(std::string path){
in_ =fopen(path.c_str(),"r+");
assert(in_ && "path is empty in DATA_FILE. Please notice you need to specify the path from project directory like /data/data.txt");
/* out_=fopen("/result.txt").c_str(),"w+");
assert(out_ && "path is empty in DATA_FILE");
chmod((std::string(getenv("HOME"))+"/result.txt").c_str(), ACCESSPERMS);*/
};
~DATA_FILE(){
fclose(in_);
// fclose(out_);
};
bool read(std::array<T,N>& in){
double count=0;
if(fscanf(in_,"%le",&count)<1)return false;
for(int i=0;i<N;++i){
T value;
fscanf(in_,",%f",&value);
in.at(i)=value;
}
fscanf(in_,"\n");
return true;
};
void write(std::array<T,N>& out){
fprintf(out_,"%ld,",count);
for(int i=0;i<N;++i)fprintf(out_,"%f,",out[i]);
fprintf(out_,"\n");
++count;
};
void write(std::array<T,N>& out,T& error){
fprintf(out_,"%ld,",count);
for(int i=0;i<N;++i)fprintf(out_,"%f,",out[i]);
fprintf(out_,", ,");
fprintf(out_,"%f,",error);
fprintf(out_,"\n");
++count;
};
private:
FILE* in_;
FILE* out_;
size_t count=0;
};
#endif //P_46_TANGUNT_BUG_OBSTACLE_AVOIDANCE_READ_HPP
include/tangent_planner.h
Executable
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#ifndef TANGENT_PLANNER_RANGE_MSG_TANGENT_PLANNER_H
#define TANGENT_PLANNER_RANGE_MSG_TANGENT_PLANNER_H
#include <vector>
#include <iterator>
#include <list>
#include <memory>
#include <chrono>
#include "geometry_msgs/Pose2D.h"
#include "sensor_msgs/Range.h"
#include "geometry_msgs/Twist.h"
#define square(x) pow(x, 2)
namespace Planner {
struct Map{
std::shared_ptr<geometry_msgs::Pose2D> obstacle;
std::shared_ptr<geometry_msgs::Pose2D> robot;
std::shared_ptr<geometry_msgs::Pose2D> goal;
Map(std::shared_ptr<geometry_msgs::Pose2D> &ob,
std::shared_ptr<geometry_msgs::Pose2D> &rb,
std::shared_ptr<geometry_msgs::Pose2D> &go){
obstacle = ob;
robot = rb;
goal = go;
}
Map(std::shared_ptr<geometry_msgs::Pose2D> &rb,
std::shared_ptr<geometry_msgs::Pose2D> &go){
robot = rb;
goal = go;
}
};
class TangentPlanner {
public:
TangentPlanner();
~TangentPlanner();
int sign(float number);
void normalizeAngle(float &angle);
float normalizeAngle(float &&angle);
bool computeVelocityCommands();
bool isAtGoal();
bool isAtGoalOrientation();
void resetVariables();
bool foundObstacle();
void calculateErrors();
bool setGoal();
void updateVelocity();
bool foundLocalMinima();
float calculateDistance(std::shared_ptr<geometry_msgs::Pose2D> point, std::shared_ptr<geometry_msgs::Pose2D> target);
float convertAtan2(float&& angle);
float average(float* array, std::size_t index=2, float av=0.0);
void shift(float* array,std::size_t index=2);
float goal_orientation_=0.f;
float goal_distance_=0.f;
float prev_angle_error_=0.f;
float valid_dis_to_goal_=0.f;
float xy_goal_tolerance_=0.05, yaw_goal_tolerance_=0.05;
float heuristic_distance_=0.f, prev_heuristic_distance_=0.f;
float dfollowed_=0.f;
float robot_front_, robot_back_, robot_width_min_, robot_width_max_;
bool turned_around_obs_ = false;
// control values for turn controller
float kp_=0.f, kp_i_=0.f;
float sensor_msg_scale_=1.f;
float factor_scale_ = 2.0;
float max_trans_vel_=0.f, max_rot_vel_=0.f;
// control values for motion controller
float c_ = 0.f , b_ = 0.f;
// the point to be followed
std::vector<std::shared_ptr<geometry_msgs::Pose2D>> global_plan_;
std::shared_ptr<geometry_msgs::Pose2D> current_pose_;
std::shared_ptr<sensor_msgs::Range> range_msg_;
std::shared_ptr<geometry_msgs::Twist> cmd_ptr_;
private:
enum BugState
{
MotionToGoal = 0,
FollowBoundary = 1,
TurnToGoal = 2,
OrientToGoal = 3,
StopAtGoal = 4
} state_;
enum Controller
{
Motion = 0,
Turn = 1
} controller_;
Controller prev_controller_;
int cycle_counter_ = 0;
std::shared_ptr<geometry_msgs::Pose2D> start_follow_point_;
std::vector<std::shared_ptr<Map>> map_;
//will be calculated for motion controller
float k1_ = 0.f;
float k2_ = 0.f;
float k3_ = 0.f;
float error_angle_=0.f,i_error_angle_=0.f;
float error_x_=0.f,i_error_x_=0.f;
float error_y_=0.f,i_error_y_=0.f;
std::tuple<std::shared_ptr<geometry_msgs::Pose2D>,std::shared_ptr<geometry_msgs::Pose2D>>calculateCenter();
float calculateFactor();
void followBoundaries();
void selectDiscontinuityPoint();
void updateController();
void updateState();
void resetError(){
angle_error_t_ = 0;
error_angle_ = 0;
error_x_ = 0;
error_y_ = 0;
i_error_y_ = 0;
i_error_x_ = 0;
}
protected:
// log files
FILE * tof_logfile;
FILE * goal_logfile;
FILE * odometry_logfile;
FILE * twist_logfile;
FILE * state_logfile;
FILE * error_logfile;
FILE * terminal_logfile;
FILE * param_logfile;
FILE * center_logfile;
FILE * custom_logfile;
};
}
#endif //TANGENT_PLANNER_RANGE_MSG_TANGENT_PLANNER_H
include/tangent_planner_node.h
Executable
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#ifndef TANGENT_PLANNER_TANGENT_PLANNER_NODE_H
#define TANGENT_PLANNER_TANGENT_PLANNER_NODE_H
#include "tangent_planner.h"
#include "memory.h"
#include "nav_msgs/Odometry.h"
#include "geometry_msgs/Pose2D.h"
#include "ros/ros.h"
#include "sensor_msgs/Range.h"
#include "read.hpp"
#include <tf/transform_datatypes.h>
//#include "tangent_planner/nav_path_start.h"
//#include "tangent_planner/nav_path_stop.h"
//#include "tangent_planner/nav_get_patrol_name.h"
//#include "tangent_planner/nav_get_status.h"
//#include "tangent_planner/nav_low_bat.h"
#include "thread"
namespace Planner {
class TangentPlannerNode : public TangentPlanner {
public:
TangentPlannerNode();
~TangentPlannerNode();
void set_publisher(const ros::Publisher &publisher);
void odometry_subscriber_callback(const nav_msgs::Odometry &msg);
void tof_subscriber_callback(const sensor_msgs::Range &msg);
void twist_publisher_callback();
// bool start_patrolling_callback(tangent_planner::nav_path_startRequest &req, tangent_planner::nav_path_startResponse &res);
//
// bool stop_patrolling_callback(tangent_planner::nav_path_stopRequest &req, tangent_planner::nav_path_stopResponse &res);
//
// bool get_patrol_path_name_callback(tangent_planner::nav_get_patrol_nameRequest &req,
// tangent_planner::nav_get_patrol_nameResponse &res);
//
// bool get_current_status_callback(tangent_planner::nav_get_statusRequest &req, tangent_planner::nav_get_statusResponse &res);
//
// bool low_battery_callback(tangent_planner::nav_low_batRequest &req, tangent_planner::nav_low_batResponse &res);
void computeVelocity();
bool is_started();
bool going_home = false;
ros::ServiceServer start_patrolling;
ros::ServiceServer stop_patrolling;
ros::ServiceServer get_patrol_path_name;
ros::ServiceServer get_current_status;
ros::ServiceServer low_battery;
std::string path_file_name;
void start_thread();
private:
void read_path_file(const char* path){
std::shared_ptr<DATA_FILE<float,10>> file = std::make_shared<DATA_FILE<float, 10>>(path);
std::array<float,10> in={0.f};
while(file->read(in)){
tf::Quaternion q(in[4],in[5],in[6], in[3]);
tf::Matrix3x3 m(q);
double roll, pitch, yaw;
m.getRPY(roll, pitch, yaw);
std::shared_ptr<geometry_msgs::Pose2D> pose = std::make_shared<geometry_msgs::Pose2D>();
pose->x = in[1];
pose->y = in[0];
pose->theta = yaw;
global_plan_.insert(global_plan_.begin(), pose);
}
setGoal();
file.reset();
}
void read_path_file(std::string path);
ros::Publisher twist_publisher;
bool started_ = false;
// std::mutex mtx_;
};
}
#endif //TANGENT_PLANNER_TANGENT_PLANNER_NODE_H
launch/planner_and_odom.launch
+6
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@@ -0,0 +1,6 @@
<launch>
<include file="$(find roller_eye_odom)/launch/odometry.launch" pass_all_args="true">
</include>
<include file="$(find tangent_planner)/launch/tangent_planner.launch" pass_all_args="true">
</include>
</launch>
launch/tangent_planner.launch
Executable
+32
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@@ -0,0 +1,32 @@
<launch>
<node pkg="tangent_planner" type="tangent_planner" name="tangent_planner" clear_params="true" output="screen" />
<param name="c" value="0.9" />
<param name="b" value="500" />
<param name="kp" value="1.1" />
<param name="kp_i" value="1.5" />
<param name="xy_goal_tolerance" value="0.05" />
<param name="yaw_goal_tolerance" value="0.05" />
<param name="max_trans_vel" value="2" />
<param name="max_rot_vel" value="0.3" />
<param name="robot_front" value="0.21"/>
<param name="robot_back" value="0.2" />
<param name="robot_width_min" value="0.8" />
<param name="robot_width_max" value="0.4" />
<param name="valid_dis_to_goal" value="0.00001" />
<param name="range_sensor_scale" value="0.1" />
<param name="factor_scale_" value="2.0" />
<param name="goal_path" value="/root/path/path.txt" />
<param name="error_log" value="/root/logs/error_log.txt" />
<param name="goal_log" value="/root/logs/goal_log.txt" />
<param name="odometry_log" value="/root/logs/odometry_log.txt" />
<param name="state_log" value="/root/logs/state_log.txt" />
<param name="center_log" value="/root/logs/center_log.txt" />
<param name="terminal_log" value="/root/logs/terminal_log.txt" />
<param name="tof_log" value="/root/logs/tof_log.txt" />
<param name="twist_log" value="/root/logs/twist_log.txt" />
<param name="param_log" value="/root/logs/param_log.txt" />
</launch>
package.xml
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<?xml version="1.0"?>
<package format="2">
<name>tangent_planner</name>
<version>1.0.0</version>
<description>The tangent_planner package</description>
<maintainer email="[email protected]">Gfuse</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>nav_msgs</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>message_generation</build_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>nav_msgs</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>message_runtime</exec_depend>
<export>
</export>
</package>
param/demo.yaml
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kp_i_: 0.3
xy_goal_tolerance_: 0.0001
yaw_goal_tolerance_: 0.0001
max_trans_vel_: 0.001
max_rot_vel_: 0.001
robot_front_ : 0.05
robot_back_ : 0.05
robot_width_min_ : 0.06
robot_width_max_ : 0.08
sensor_msg_scale : 0.1
param/tangent_planner_params.yaml
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TangentPlanner:
# The velocity when robot is moving in a straight line
max_trans_vel: 0.22
# The velocity when robot is rotating
max_rot_vel: 2.75
# Goal Tolerance Parametes
xy_goal_tolerance: 0.05
yaw_goal_tolerance: 0.17
readme.md
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# Tangent Planner Roller eye
## Project structure
### Subscribers and publishers
1. odometry subscriber
subscribing to odometry for getting Pose2D message(x, y, theta)
2. tof subscriber
subscribing to the scanner for getting range message (field of view, range, max range , min range)
3. twist publisher
calculating velocity based on odometry and tof message then publish twist message (linear x, linear y, angular z)
### General workflow
The main function calls computeVelocityCommand of the node class, and it consists of 4 main steps:
1. calculate errors
error here means the x, y and theta difference between current position and goal
2. update state
there are states for robot :
- StopAtGoal robot has reached to goal and there isn't any error
- TurnToGoal robot needs to turn to goal when error_angel is more than a specific value and then start_patrolling to move
- MotionToGoal robot can move toward goal with computed velocity
- OrientToGoal robots x and y are ok but needs to change its orientation to goal
- FollowBoundary robot is trying to skip an obstacle by following its boundary
each time, based on changing situations, robot state will update to one of these states
3. update controller
based of robot current state that set at last step, some values will be set before computing velocity
4. update velocity
calculate the velocity for robot by using a nonlinear controller and values
### Obstacle avoidance and follow boundary workflow
An obstacle avoidance planning algorithm that guides a robot from a start_patrolling to the goal point. The robot has two main behavior: MotionToGoal and FollowBoundary.
It starts moving to the goal until there is no obstacle. If it encounters an obstacle then starts to follow the obstacle’s boundary.
Following a boundary with a TOF sensor that has a low field of view is a challenging problem that has been solved by saving the history of the robot’s positions as well as the obstacle’s positions, in order to decide where to go at the next step. The robot exits the FollowBoundary mode when it passes the obstacle through the goal.
It finally stops at the goal point.
### Controllers
1. motion controller
this controller is responsible for states which needs robot x and y to be changed
b and c are the values for this controller to be adjusted and k1, k2 and k3 will be calculated
2. turn controller
this controller is responsible for states which robot just needs to turn around on its current place
kp_ and kp_i_ are the values for this controller to be adjusted
## Installation
### generating debian package form source code
package generation form source code has been automated by docker, so it can be done by executing release.sh
```$ sudo ./release.sh```
note that the script uses docker to create debian package, and you must have docker installed on your system
### installing debian package
you can install generated package by this command:
```$ dpkg -i debian_package_name.deb```
now the package should be in ros installation directory in the share subdirectory
you can source ros setup.bash and run the package
release.sh
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docker build --network host -t obstacle_avoidance:0.1 .
docker run --network host --rm -d -v ${PWD}:/home/:rw --name tanget obstacle_avoidance:0.1
src/gtest.cpp
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#include <gtest/gtest.h>
#include "tangent_planner.h"
#include <memory>
#include "ros/ros.h"
#include <cstdio>
#include "cstring"
#include "vector"
#include "math.h"
#include "read.hpp"
#include <tf/transform_datatypes.h>
#include <functional>
#include <iostream>
#include <random>
#include "time.h"
bool simulation(std::string path){
// file to save data for visualizing
FILE *fptr;
fptr = fopen("/home/p_46_ws/src/tangent_planner/data/visual.txt","w");
Planner::TangentPlanner tangent_planner = Planner::TangentPlanner();
// Define random generator with Gaussian distribution to add noise to odometry
const double mean = 0.001;
const double stddev = 0.0001;
auto dist = std::bind(std::normal_distribution<double>{mean, stddev},
std::mt19937(std::random_device{}()));
// load path file and set points to global_plan_
std::shared_ptr<DATA_FILE<float, 10>> file = std::make_shared<DATA_FILE<float, 10>>(path);
std::array<float, 10> in = {0.f};
while (file->read(in)) {
tf::Quaternion q(in[4], in[5], in[6], in[3]);
tf::Matrix3x3 m(q);
double roll, pitch, yaw;
m.getRPY(roll, pitch, yaw);
std::shared_ptr<geometry_msgs::Pose2D> pose = std::make_shared<geometry_msgs::Pose2D>();
pose->x = in[1];
pose->y = in[0];
std::cerr << "x is : " << in[1] << "and y is : " << in[0] << std::endl;
pose->theta = yaw;
tangent_planner.global_plan_.insert(tangent_planner.global_plan_.begin(), pose);
}
tangent_planner.setGoal();
file.reset();
// initial tangent_planner values
tangent_planner.kp_ = 1;
tangent_planner.kp_i_ = 0.01;
tangent_planner.xy_goal_tolerance_ = 0.2;
tangent_planner.yaw_goal_tolerance_ = 0.1;
tangent_planner.max_trans_vel_ =1;
tangent_planner.max_rot_vel_ = 0.5;
tangent_planner.robot_front_ = 0.2;
tangent_planner.robot_back_ = 0.05;
tangent_planner.robot_width_min_ = 0.06;
tangent_planner.robot_width_max_ = 0.08;
tangent_planner.valid_dis_to_goal_ = 0.5;
tangent_planner.sensor_msg_scale_ = 1;
tangent_planner.range_msg_->field_of_view = 0.4;
tangent_planner.range_msg_->min_range = 0.02;
tangent_planner.range_msg_->max_range = 2.0;
tangent_planner.c = 0.15;
tangent_planner.b = 20;
tangent_planner.current_pose_->x = 0;
tangent_planner.current_pose_->y = 0;
tangent_planner.current_pose_->theta = 0.f;
// setting points of obstacle
std::vector<std::shared_ptr<geometry_msgs::Pose2D>> obstacles;
for(double i=0;i<0.4;i+=0.0001){
std::shared_ptr<geometry_msgs::Pose2D> point = std::make_shared<geometry_msgs::Pose2D>();
point->x = -3;
point->y = 0.2 -i;
obstacles.push_back(point);
}
bool cycle = true;
bool goal_found = false;
for(int i = 0; i<2000; i++) {
float temp = std::numeric_limits<float>::max();
float temp2 = std::numeric_limits<float>::max();
tangent_planner.range_msg_->range = std::numeric_limits<float>::max();
for (auto obs:obstacles){
float obs_theta = atan2((obs->y-tangent_planner.current_pose_->y),(obs->x-tangent_planner.current_pose_->x));
if (obs_theta < tangent_planner.current_pose_->theta + 0.2 &&
obs_theta > tangent_planner.current_pose_->theta - 0.2 &&
tangent_planner.calculateDistance(tangent_planner.current_pose_, obs) < 2){
tangent_planner.range_msg_->range = tangent_planner.calculateDistance(tangent_planner.current_pose_, obs);
temp = obs->x;
temp2 = obs->y;
}
}
fprintf(fptr, "%f,%f,%f,%f,%f,%f\n",
tangent_planner.current_pose_->x,
tangent_planner.current_pose_->y,
tangent_planner.current_pose_->theta,
tangent_planner.range_msg_->range,
temp,
temp2
);
cycle = tangent_planner.computeVelocityCommands();
tangent_planner.cmd_ptr_->linear.x,
tangent_planner.cmd_ptr_->linear.y,
tangent_planner.cmd_ptr_->linear.z,
tangent_planner.cmd_ptr_->angular.x,
tangent_planner.cmd_ptr_->angular.y,
tangent_planner.cmd_ptr_->angular.z;
float vel = sqrt(pow(tangent_planner.cmd_ptr_->linear.x, 2) + pow(tangent_planner.cmd_ptr_->linear.y, 2));
tangent_planner.current_pose_->theta += tangent_planner.cmd_ptr_->angular.z*0.1;
tangent_planner.current_pose_->x += vel*0.1 * cos(tangent_planner.current_pose_->theta);
tangent_planner.current_pose_->y += vel*0.1 * sin(tangent_planner.current_pose_->theta);
//with noise --- uncomment to add noise
// tangent_planner.current_pose_->x += dist();
// tangent_planner.current_pose_->y += dist();
// tangent_planner.current_pose_->theta += dist();
if(tangent_planner.global_plan_.empty()){
goal_found = true;
break;
}
}
fclose(fptr);
return goal_found;
}
TEST(TangentPlanner, rosFreeCycle){
bool status = simulation( "/home/p_46_ws/src/tangent_planner/data/straight-front&back-path.txt");
std::cerr << status;
}
TEST(TangentPlanner, average){
float a[50];
for(int i=0;i<50;++i)a[i]=i;
Planner::TangentPlanner tangent_planner = Planner::TangentPlanner();
auto c=tangent_planner.average(a);
std::cerr<<c;
for (int i=0;i<50;i++){
std::cerr << a[i] << "\t";
}
}
TEST(TangentPlanner, normalizeAngle) {
Planner::TangentPlanner rftp = Planner::TangentPlanner();
rftp.angle_error_t_ = (-3 * M_PI - M_PI_2) * 0.99;
double angle = -3 * M_PI - M_PI_2;
angle = rftp.normalizeAngle(angle);
std::cerr << angle;
// EXPECT_NEAR(angle, 0.1, 0.01);
// angle = M_PI_2;
// angle = rftp.normalizeAngle(angle);
// EXPECT_NEAR(angle, M_PI_2, 0.00001);
// angle = M_PI * 3;
// angle = rftp.normalizeAngle(angle);
// EXPECT_NEAR(angle, 0.1, 0.01);
// angle = M_PI_2; // angle = pi/2; fn should return pi/2
// rftp.normalizeAngle(angle);
// EXPECT_NEAR(angle, 1.5708, 0.00001);
// angle = M_PI;
// rftp.normalizeAngle(angle);
// EXPECT_NEAR(angle, 3.14159, 0.00001);
// angle = M_PI + M_PI_2;
// rftp.normalizeAngle(angle);
// EXPECT_NEAR(angle, 4.71239, 0.00001);
// angle = M_PI * 2 + 1;
// std::cerr << angle << std::endl;
// rftp.normalizeAngle(angle);
// std::cerr << angle << std::endl;
// EXPECT_NEAR(angle, 0, 0.00001);
// angle = M_PI + M_PI_2; // angle = 3pi/2; fn should return -pi/2
// rftp.normalizeAngle(angle);
// EXPECT_NEAR(angle, -m_pi/2, 0.001);
//
// angle = 2*M_PI + M_PI_2; //angle = 2pi+(pi/2); fn should return pi/2
// rftp.normalizeAngle(angle);
// EXPECT_NEAR(angle, m_pi/2, 0.001);
//
// angle = -M_PI - M_PI_2; //angle = -3pi/2; fn should return pi/2
// rftp.normalizeAngle(angle);
// EXPECT_NEAR(angle, m_pi/2, 0.001);
//
// angle = -2*M_PI - M_PI_2; // angle = -2pi-(pi/2); fn should return -pi/2
// rftp.normalizeAngle(angle);
// EXPECT_NEAR(angle, -m_pi/2, 0.001);
//
// angle = M_PI+0.1;
// // note angle > M_PI this time returns true
// rftp.normalizeAngle(angle);
// EXPECT_NEAR(angle, m_pi+0.1-2*m_pi, 0.001);
//
// angle = -M_PI;
// rftp.normalizeAngle(angle);
// EXPECT_NEAR(angle, m_pi, 0.001);
// std::cerr << rftp.normalizeAngle(0.022850);
//}
//TEST(TangentPlanner, normalizeAngle2){
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// float angle = -6.389263;
// rftp.angle_error_t_ = -0.2;
// rftp.normalizeAngle(angle);
// std::cerr << angle;
//}
TEST(TangentPlanner, setGoal) {
Planner::TangentPlanner rftp = Planner::TangentPlanner();
EXPECT_FALSE(rftp.setGoal());
std::shared_ptr<geometry_msgs::Pose2D> point = std::make_shared<geometry_msgs::Pose2D>();
point->x = 0;
point->y = 0;
point->theta = 0;
rftp.global_plan_.push_back(point);
EXPECT_TRUE(rftp.setGoal());
rftp.valid_dis_to_goal_ = 0.1;
EXPECT_FALSE(rftp.setGoal());
}
//
//TEST(TangentPlanner, isInGoalDirection) {
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.yaw_goal_tolerance_ = 2;
// rftp.goal_angle_ = 1.5;
// EXPECT_EQ(rftp.isInGoalDirection(), true);
// rftp.goal_angle_ = -1.5;
// EXPECT_EQ(rftp.isInGoalDirection(), true);
// rftp.goal_angle_ = 2;
// EXPECT_EQ(rftp.isInGoalDirection(), false);
// rftp.goal_angle_ = 3;
// EXPECT_EQ(rftp.isInGoalDirection(), false);
// rftp.goal_angle_ = -3;
// EXPECT_EQ(rftp.isInGoalDirection(), false);
//}
//
TEST(TangentPlanner, foundLocalMinima) {
// it seems that true anf false should be exchange
Planner::TangentPlanner rftp = Planner::TangentPlanner();
rftp.prev_heuristic_distance_ = 3;
rftp.heuristic_distance_ = 2;
rftp.xy_goal_tolerance_ = 1;
EXPECT_FALSE(rftp.foundLocalMinima());
rftp.xy_goal_tolerance_ = 0.5;
EXPECT_FALSE(rftp.foundLocalMinima());
rftp.xy_goal_tolerance_ = 0.1;
EXPECT_TRUE(rftp.foundLocalMinima());
rftp.prev_heuristic_distance_ = 2;
rftp.heuristic_distance_ = 3;
rftp.xy_goal_tolerance_ = 1;
EXPECT_FALSE(rftp.foundLocalMinima());
rftp.xy_goal_tolerance_ = 0.1;
EXPECT_FALSE(rftp.foundLocalMinima());
}
TEST(TangentPlanner, isAtGoal) {
Planner::TangentPlanner rftp = Planner::TangentPlanner();
rftp.xy_goal_tolerance_ = 2;
rftp.goal_distance_ = 1;
EXPECT_TRUE(rftp.isAtGoal());
rftp.goal_distance_ = 2;
EXPECT_FALSE(rftp.isAtGoal());
rftp.goal_distance_ = 3;
EXPECT_FALSE(rftp.isAtGoal());
}
TEST(TangentPlanner, isAtGoalOrientation) {
Planner::TangentPlanner rftp = Planner::TangentPlanner();
rftp.yaw_goal_tolerance_ = 2;
rftp.goal_orientation_ = 1;
EXPECT_EQ(rftp.isAtGoalOrientation(), true);
rftp.goal_orientation_ = 2;
EXPECT_EQ(rftp.isAtGoalOrientation(), false);
rftp.goal_orientation_ = -2;
EXPECT_EQ(rftp.isAtGoalOrientation(), false);
rftp.goal_orientation_ = 0.3;
EXPECT_EQ(rftp.isAtGoalOrientation(), true);
rftp.goal_orientation_ = -0.3;
EXPECT_EQ(rftp.isAtGoalOrientation(), true);
}
TEST(TangentPlanner, resetVariables) {
Planner::TangentPlanner rftp = Planner::TangentPlanner();
rftp.dfollowed_ = 3;
rftp.resetVariables();
EXPECT_EQ(rftp.dfollowed_, 0);
}
//TEST(TangentPlanner, foundObstacle){
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.range_msg_->range = 0.5;
// rftp.range_msg_->min_range = 0.001;
// rftp.range_msg_->max_range = 2.0;
// rftp.goal_distance_ = 1.5;
// EXPECT_EQ(rftp.foundObstacle(), true);
// rftp.range_msg_->range = 0.0005;
// EXPECT_EQ(rftp.foundObstacle(), false);
// rftp.range_msg_->range = 2.1;
// EXPECT_EQ(rftp.foundObstacle(), false);
// rftp.range_msg_->range = rftp.range_msg_->min_range;
// EXPECT_EQ(rftp.foundObstacle(), false);
// rftp.range_msg_->range = rftp.range_msg_->max_range;
// EXPECT_EQ(rftp.foundObstacle(), false);
//
// rftp.range_msg_->range = 1.8;
// EXPECT_EQ(rftp.foundObstacle(), false);
// rftp.range_msg_->range = 1.2;
// EXPECT_EQ(rftp.foundObstacle(), true);
// rftp.goal_distance_ = rftp.range_msg_->max_range;
// EXPECT_EQ(rftp.foundObstacle(), true);
//}
//TEST(TangentPlanner, followBoundaries){
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// std::shared_ptr<geometry_msgs::Pose2D> gp = std::make_shared<geometry_msgs::Pose2D>();
// gp->x = 4.0;
// gp->y = 5.0;
// gp->theta = M_PI_2;
// rftp.global_plan_.push_back(gp);
// rftp.goal_distance_ = 10.0;
// rftp.goal_angle_ = M_PI_2;
// rftp.dfollowed_ = std::numeric_limits<float>::max();
// rftp.state_ = Planner::TangentPlanner::BugState::FollowBoundary;
// rftp.range_msg_->range = 1.0;
// rftp.current_pose_->x = 2.0;
// rftp.current_pose_->y = 3.0;
// rftp.current_pose_->theta = M_PI_2;
// rftp.followBoundaries();
// EXPECT_EQ(rftp.goal_angle_, 0.0);
// EXPECT_EQ(rftp.dreached_, 10.0);
// EXPECT_NEAR(rftp.dfollowed_, sqrt(5), 0.001);
// EXPECT_EQ(rftp.state_, Planner::TangentPlanner::BugState::FollowBoundary);
//}
//
//TEST(TangentPlanner, selectDiscontinuityPoint){
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.range_msg_->field_of_view = M_PI;
// rftp.range_msg_->range = 1.0;
// rftp.range_msg_->max_range = 2.0;
// rftp.range_msg_->min_range = 0.001;
// rftp.goal_distance_ = 10;
// rftp.goal_angle_ = 0.0;
// rftp.selectDiscontinuityPoint();
// EXPECT_NEAR(rftp.heuristic_distance_, sqrt(101)+1.0, 0.001);
// EXPECT_NEAR(rftp.goal_angle_, -M_PI_2, 0.001);
//}
//
//TEST(TangentPlanner, updateVelocity){
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.angular_velocity_ = 5;
// rftp.max_rot_vel_ = 3;
// rftp.max_trans_vel_ = 10;
// rftp.kp_ = 2;
// rftp.updateVelocity();
// EXPECT_EQ(rftp.cmd_ptr_->angular.z, 3);
// rftp.angular_velocity_ = 3;
// rftp.max_rot_vel_ = 5;
// rftp.updateVelocity();
// EXPECT_EQ(rftp.cmd_ptr_->angular.z, 3);
// EXPECT_EQ(rftp.cmd_ptr_->linear.x, 8);
//
//}
//
//TEST(TangentPlanner, updateControllerStateStopAtGoal){
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.state_ = Planner::TangentPlanner::BugState::StopAtGoal;
// rftp.kp_ = 1;
// rftp.angular_velocity_ = 1;
// rftp.goal_reached_ = false;
// rftp.prev_heuristic_distance_ = -1;
// rftp.updateController();
// EXPECT_EQ(rftp.kp_, 0);
// EXPECT_EQ(rftp.angular_velocity_, 0);
// EXPECT_EQ(rftp.goal_reached_, true);
// EXPECT_EQ(rftp.prev_heuristic_distance_, 0);
//}
//
//TEST(TangentPlanner, updateControllerStateTurnToGoal){
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.state_ = Planner::TangentPlanner::BugState::TurnToGoal;
// rftp.kp_ = 1;
// rftp.goal_angle_ = 4;
// rftp.angular_velocity_ = 1;
// rftp.updateController();
// EXPECT_EQ(rftp.kp_, 0);
// rftp.yaw_goal_tolerance_ = 1;
// EXPECT_NEAR(rftp.goal_angle_, -2.28319, 0.001);
// rftp.goal_angle_ = M_PI_2;
// rftp.updateController();
// EXPECT_NEAR(rftp.angular_velocity_, 0.5*M_PI_2, 0.0001);
// rftp.goal_angle_ = 1;
// rftp.yaw_goal_tolerance_ = 5;
// rftp.updateController();
// EXPECT_EQ(rftp.goal_angle_, 0);
// EXPECT_EQ(rftp.angular_velocity_, 0);
//}
//
//TEST(TangentPlanner, updateControllerStateOrientToGoal){
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.state_ = Planner::TangentPlanner::BugState::OrientToGoal;
// rftp.kp_ = 1;
// rftp.goal_orientation_ = 2;
// rftp.updateController();
// EXPECT_EQ(rftp.kp_, 0);
// EXPECT_EQ(rftp.angular_velocity_, 1);
//}
//
//TEST(TangentPlanner, updateControllerStateMotionToGoal){
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.state_ = Planner::TangentPlanner::BugState::MotionToGoal;
// rftp.kp_ = 1.5;
// rftp.kp_i_ = 0.8;
// rftp.range_msg_->range = 0.0001;
// rftp.goal_angle_ = 1.5;
// rftp.updateController();
// EXPECT_EQ(rftp.kp_, 1);
// EXPECT_EQ(rftp.angular_velocity_, 1.5);
// rftp.kp_ = 0.1;
// rftp.updateController();
// EXPECT_NEAR(rftp.kp_, 0.9, 0.1);
//}
//
//TEST(TangentPlanner, updateControllerStateMotionToGoal2){
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.state_ = Planner::TangentPlanner::BugState::MotionToGoal;
// rftp.kp_ = 1.5;
// rftp.kp_i_ = 0.8;
// rftp.goal_distance_ = 10;
// rftp.goal_angle_ = 0.0;
// rftp.range_msg_->range = 1.0;
// rftp.range_msg_->min_range =0.001;
// rftp.range_msg_->max_range =2.0;
// rftp.range_msg_->field_of_view = M_PI;
// rftp.updateController();
// EXPECT_NEAR(rftp.heuristic_distance_, sqrt(101)+1.0, 0.1);
// EXPECT_NEAR(rftp.goal_angle_, -M_PI_2, 0.0001);
// EXPECT_NEAR(rftp.angular_velocity_, -M_PI_2, 0.0001);
//}
//
//TEST(TangentPlanner, updateControllerStateFollowBoundary){
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.state_ = Planner::TangentPlanner::BugState::FollowBoundary;
// std::shared_ptr<geometry_msgs::Pose2D> gp = std::make_shared<geometry_msgs::Pose2D>();
// rftp.kp_ = 1.5;
// rftp.kp_i_ = 0.8;
// gp->x = 4.0;
// gp->y = 5.0;
// gp->theta = M_PI_2;
// rftp.global_plan_.push_back(*gp);
// rftp.goal_distance_ = 10;
// rftp.goal_angle_ = M_PI_2;
// rftp.range_msg_->range = 1.0;
// rftp.current_pose_->x = 2.0;
// rftp.current_pose_->y = 3.0;
// rftp.current_pose_->theta = M_PI_2;
// rftp.updateController();
// EXPECT_EQ(rftp.kp_, 1);
// EXPECT_EQ(rftp.angular_velocity_, 0.0);
// rftp.kp_ = 0.1;
// rftp.updateController();
// EXPECT_NEAR(rftp.kp_, 0.9, 0.1);
//}
//
//TEST(TangentPlanner, updateControllerStateCloseToGoal){
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.state_ = Planner::TangentPlanner::BugState::CloseToGoal;
// rftp.kp_ = 0.3;
// rftp.kp_i_ = 0.1;
// rftp.goal_angle_ = 1.5;
// rftp.updateController();
// EXPECT_EQ(rftp.kp_, 0.25);
// EXPECT_EQ(rftp.angular_velocity_, 1.5);
// rftp.kp_ = 0.3;
// rftp.kp_i_ = 0.01;
// rftp.updateController();
// EXPECT_NEAR(rftp.kp_, 0.29, 0.01);
// EXPECT_EQ(rftp.angular_velocity_, 1.5);
//}
//
//
//TEST(TangentPlanner, updateStateToFollowBoundary) {
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.state_ = Planner::TangentPlanner::BugState::FollowBoundary;
// rftp.updateState();
// EXPECT_EQ(rftp.state_, Planner::TangentPlanner::BugState::FollowBoundary);
//}
//
//TEST(TangentPlanner, updateStateToTurnToGoal) {
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.state_ = Planner::TangentPlanner::BugState::OrientToGoal;
// rftp.goal_angle_ = 2;
// rftp.yaw_goal_tolerance_ = 1.5;
// rftp.goal_distance_ = 2;
// rftp.xy_goal_tolerance_ = 1.5;
// rftp.is_new_goal_ = true;
// rftp.updateState();
// EXPECT_EQ(rftp.state_, Planner::TangentPlanner::BugState::TurnToGoal);
//}
//
//TEST(TangentPlanner, updateStateSetIsNewGoalFalse) {
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.goal_angle_ = 1.5;
// rftp.yaw_goal_tolerance_ = 2;
// rftp.updateState();
// EXPECT_EQ(rftp.is_new_goal_, false);
//}
//TEST(TangentPlanner, updateStateToOrientToGoal) {
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.is_new_goal_ = false;
// rftp.goal_angle_ = 2;
// rftp.yaw_goal_tolerance_ = 1.5;
// rftp.goal_distance_ = 1.5;
// rftp.xy_goal_tolerance_ = 2;
// rftp.goal_orientation_ = 2;
// rftp.state_ = Planner::TangentPlanner::BugState::TurnToGoal;
// rftp.updateState();
// EXPECT_EQ(rftp.state_, Planner::TangentPlanner::BugState::OrientToGoal);
//}
//
//TEST(TangentPlanner, updateStateToCloseToGoal) {
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.is_new_goal_ = false;
// //rftp.goal_angle_ = 1.5;
// rftp.yaw_goal_tolerance_ = 2;
// rftp.kp_ = 7;
// rftp.max_trans_vel_ = 1;
// rftp.goal_distance_ = 4;
// rftp.state_ = Planner::TangentPlanner::BugState::TurnToGoal;
// rftp.updateState();
// //EXPECT_EQ(rftp.state_, Planner::TangentPlanner::BugState::CloseToGoal);
//}
//
//TEST(TangentPlanner, updateStateToCloseToGoal2) {
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.is_new_goal_ = false;
// //rftp.goal_angle_ = 2;
// rftp.yaw_goal_tolerance_ = 1.5;
// rftp.kp_ = 7;
// rftp.max_trans_vel_ = 1;
// rftp.range_msg_->range = 2.4;
// rftp.range_msg_->min_range = 0.001;
// rftp.range_msg_->max_range = 2.0;
// //rftp.goal_angle_ = 3.0;
// rftp.yaw_goal_tolerance_ = 2;
// rftp.goal_distance_ = 4;
// rftp.state_ = Planner::TangentPlanner::BugState::TurnToGoal;
// rftp.updateState();
// //EXPECT_EQ(rftp.state_, Planner::TangentPlanner::BugState::CloseToGoal);
//}
//
////printf("is in goal orientation: %d and is close to goal: %d and is at goal: %d and is in goal direction: %d",
////rftp.isInGoalDirection(),
//// rftp.isCloseToGoal(),
//// rftp.isAtGoal(),
//// rftp.isInGoalDirection());
//
//TEST(TangentPlanner, updateStateToStopAtGoal) {
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.xy_goal_tolerance_ = 2;
// rftp.goal_distance_ = 1;
// rftp.goal_orientation_ = -1;
// rftp.yaw_goal_tolerance_ = 2;
// rftp.is_new_goal_ = false;
// rftp.state_ = Planner::TangentPlanner::BugState::TurnToGoal;
// rftp.updateState();
// EXPECT_EQ(rftp.state_, Planner::TangentPlanner::BugState::StopAtGoal);
//}
//
//TEST(TangentPlanner, updateStateToMotionToGoal) {
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.xy_goal_tolerance_ = 8;
// rftp.goal_distance_ = 10;
// rftp.kp_ = 1;
// rftp.max_trans_vel_ = 1;
// rftp.goal_orientation_ = -3;
// rftp.yaw_goal_tolerance_ = 4;
// rftp.is_new_goal_ = false;
// rftp.state_ = Planner::TangentPlanner::BugState::TurnToGoal;
// rftp.updateState();
// EXPECT_EQ(rftp.state_, Planner::TangentPlanner::BugState::MotionToGoal);
//}
//
//TEST(TangentPlanner, updateStateToMotionToGoal2) {
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.xy_goal_tolerance_ = 8;
// rftp.goal_distance_ = 10;
// rftp.kp_ = 1;
// rftp.max_trans_vel_ = 1;
// rftp.goal_orientation_ = -3;
// rftp.is_new_goal_ = false;
// rftp.range_msg_->range = 0.5;
// rftp.range_msg_->min_range = 0.001;
// rftp.range_msg_->max_range = 2.0;
// //rftp.goal_angle_ = 3.0;
// rftp.yaw_goal_tolerance_ = 2;
// rftp.prev_heuristic_distance_ = 26.0;
// rftp.heuristic_distance_ = 9.0;
// rftp.state_ = Planner::TangentPlanner::BugState::TurnToGoal;
// rftp.updateState();
// EXPECT_EQ(rftp.state_, Planner::TangentPlanner::BugState::FollowBoundary);
//}
//
//TEST(TangentPlanner, updateGoal){
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.current_pose_->x = 1.0;
// rftp.current_pose_->y = 5.0;
// rftp.current_pose_->theta = M_PI;
// std::shared_ptr<geometry_msgs::Pose2D> gp = std::make_shared<geometry_msgs::Pose2D>();
// gp->x = 4.0;
// gp->y = 9.0;
// gp->theta = M_PI_2;
// float gp_atan2 = atan2(gp->y - rftp.current_pose_->y, gp->x - rftp.current_pose_->x) ;
// rftp.global_plan_.push_back(gp);
//
// //rftp.updateGoal();
// std::cout<<"step 000"<<std::endl;
// EXPECT_EQ(rftp.goal_distance_, 5.0);
// //EXPECT_NEAR(rftp.goal_angle_, gp_atan2 - rftp.current_pose_->theta, 0.0001);
// EXPECT_NEAR(rftp.goal_orientation_, -M_PI_2, 0.0001);
//}
//
//TEST(TangentPlanner, computeVelocityCommands){
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.state_ = Planner::TangentPlanner::BugState::MotionToGoal;
// rftp.initialized_ = false;
// EXPECT_EQ(rftp.computeVelocityCommands(), false);
// rftp.initialized_ = true;
// // goal position:
// std::shared_ptr<geometry_msgs::Pose2D> gp = std::make_shared<geometry_msgs::Pose2D>();
// gp->x = 4.0;
// gp->y = 8.0;
// gp->theta = M_PI_2;
// rftp.global_plan_.push_back(gp);
// // current position:
// rftp.current_pose_->x = 1.0;
// rftp.current_pose_->y = 5.0;
// rftp.current_pose_->theta = M_PI;
// rftp.range_msg_->range = 0.7;
// rftp.range_msg_->max_range = 2.0;
// rftp.range_msg_->min_range = 0.001;
// EXPECT_EQ(rftp.computeVelocityCommands(), true);
// EXPECT_EQ(rftp.state_, Planner::TangentPlanner::BugState::TurnToGoal);
// EXPECT_NEAR(rftp.cmd_ptr_->angular.z, 0.5*(M_PI_2/2-M_PI), 0.001);
//}
//
//TEST(TangentPlanner, whileLoop){
// Planner::TangentPlanner rftp = Planner::TangentPlanner();
// rftp.state_ = Planner::TangentPlanner::BugState::MotionToGoal;
// rftp.initialized_ = true;
// // number of goal points:
// int goalNumbers = 5;
// rftp.plan_size_ = goalNumbers;
// // goal positions:
// std::shared_ptr<geometry_msgs::Pose2D> gp = std::make_shared<geometry_msgs::Pose2D>();
// gp->x = 4.0;
// gp->y = 9.0;
// gp->theta = M_PI_2;
// for (int i=0; i<goalNumbers; i++){
// rftp.global_plan_.push_back(*gp);
// gp->x += 2.0;
// gp->y += 1.0;
// gp->theta = M_PI_2;
// }
// // while loop for multiple goals:
// uint counter = 0;
// rftp.range_msg_->max_range = 2.0;
// rftp.range_msg_->min_range = 0.001;
// for (int j=0; j<goalNumbers; j++){
// while (!rftp.isGoalReached() && counter!=100){
// counter++;
// // current position and range sensor:
// rftp.current_pose_->x = rand()%10;
// rftp.current_pose_->y = rand()%10;
// rftp.current_pose_->theta = rand()%3;
// rftp.range_msg_->range = rand()%2;
//
// rftp.computeVelocityCommands();
// EXPECT_EQ(rftp.computeVelocityCommands(), true);
// }
// std::cout<<"counter is:"<<counter<<std::endl;
// rftp.resetVariables();
// rftp.plan_size_--;
// counter = 0;
// rftp.goal_reached_ = false;
// }
//}
int main(int argc, char** argv) {
::testing::InitGoogleTest(&argc, argv);
ros::init(argc, argv, "tangent_planner_test");
ros::NodeHandle nh;
return RUN_ALL_TESTS();
}
src/main.cpp
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#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
#include <ros/callback_queue.h>
#include "tangent_planner_node.h"
int main(int argc, char **argv) {
ROS_INFO("Main started");
ros::init(argc, argv, "tangent_planner_remote", ros::init_options::NoRosout);
Planner::TangentPlannerNode tangent_planner_node;
tangent_planner_node.start_thread();
//// integration into the portal control has been left for client
// ros::NodeHandle node_handler;
// ros::CallbackQueue Q;
// node_handler.setCallbackQueue(&Q);
// tangent_planner_node.start_patrolling = node_handler.advertiseService("nav_patrol",
// &Planner::TangentPlannerNode::start_patrolling_callback, &tangent_planner_node);
// tangent_planner_node.stop_patrolling = node_handler.advertiseService("nav_patrol_stop",
// &Planner::TangentPlannerNode::stop_patrolling_callback, &tangent_planner_node);
// tangent_planner_node.get_patrol_path_name = node_handler.advertiseService("nav_get_patrol_name",
// &Planner::TangentPlannerNode::get_patrol_path_name_callback, &tangent_planner_node);
// tangent_planner_node.get_current_status = node_handler.advertiseService("nav_get_status",
// &Planner::TangentPlannerNode::get_current_status_callback, &tangent_planner_node);
// tangent_planner_node.low_battery = node_handler.advertiseService("nav_low_bat", &Planner::TangentPlannerNode::low_battery_callback, &tangent_planner_node);
// while (ros::ok()) {
// Q.callOne(ros::WallDuration(1, 0.0));
// }
// ROS_INFO("shutdown");
return 0;
}
src/tangent_planner.cpp
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#include "tangent_planner.h"
#include <cmath>
#include <limits>
#include "ros/ros.h"
#include "geometry_msgs/Twist.h"
#include "parameters_helper.h"
#define M_PI 3.141592
#define M_PI_2 1.570796
using namespace Planner;
/* This algorithm has two main parts: "MotionToGoal" and "FollowBoundary".
*
* heuristic_distance = robot_to_obstacle + obstacle_to_goal distance
* d_reach = distance from robot to goal
* d_followed = minimum distance of obstacle to goal during the FollowBoundary part
*
* 1. Keep MotionToGoal in direction of the goal until sensing an obstacle,
* If heuristic_distance is decreasing continues step 1 else switch to FollowBoundary part:
* 2. Keep FollowBoundary while d_followed < d_reach
* Go to step 1 when d_reach > d_followed
* 3. Continues until the goal is reached.
*/
// NOTE: code snippets inside M_DEBUG blocks are for debugging purpose
TangentPlanner::TangentPlanner() {
#if M_DEBUG
// open log files
tof_logfile = fopen(
Planner::getParam<std::string>("tof_log", "/home/p_46_ws/src/tangent_planner/data/tof_log.txt").c_str(),
"w");
odometry_logfile = fopen(Planner::getParam<std::string>("odometry_log",
"/home/p_46_ws/src/tangent_planner/data/odometry_log.txt").c_str(),
"w");
state_logfile = fopen(
Planner::getParam<std::string>("state_log", "/home/p_46_ws/src/tangent_planner/data/state_log.txt").c_str(),
"w");
goal_logfile = fopen(
Planner::getParam<std::string>("goal_log", "/home/p_46_ws/src/tangent_planner/data/goal_log.txt").c_str(),
"w");
twist_logfile = fopen(
Planner::getParam<std::string>("twist_log", "/home/p_46_ws/src/tangent_planner/data/twist_log.txt").c_str(),
"w");
error_logfile = fopen(
Planner::getParam<std::string>("error_log", "/home/p_46_ws/src/tangent_planner/data/error_log.txt").c_str(),
"w");
terminal_logfile = fopen(Planner::getParam<std::string>("terminal_log",
"/home/p_46_ws/src/tangent_planner/data/terminal_log.txt").c_str(),
"w");
param_logfile = fopen(
Planner::getParam<std::string>("param_log", "/home/p_46_ws/src/tangent_planner/data/param_log.txt").c_str(),
"w");
center_logfile = fopen(Planner::getParam<std::string>("center_log",
"/home/p_46_ws/src/tangent_planner/data/center_log.txt").c_str(),
"w");
custom_logfile = fopen(Planner::getParam<std::string>("param_log",
"/home/p_46_ws/src/tangent_planner/data/custom_log.txt").c_str(),
"w");
#endif
dfollowed_ = std::numeric_limits<float>::max();
heuristic_distance_ = 0.f;
prev_heuristic_distance_ = 0.f;
range_msg_ = std::make_shared<sensor_msgs::Range>();
state_ = MotionToGoal;
cmd_ptr_ = std::make_shared<geometry_msgs::Twist>();
current_pose_ = std::make_shared<geometry_msgs::Pose2D>();
start_follow_point_ = std::make_shared<geometry_msgs::Pose2D>();
range_msg_->min_range = 0.02;
range_msg_->max_range = 2;
range_msg_->field_of_view = 0.4;
for (int i = 0; i < 50; ++i)this->frq_[i] = 0.01;
}
TangentPlanner::~TangentPlanner() {
#if M_DEBUG
// close log files
fclose(tof_logfile);
fclose(error_logfile);
fclose(odometry_logfile);
fclose(twist_logfile);
fclose(state_logfile);
fclose(goal_logfile);
fclose(terminal_logfile);
fclose(center_logfile);
fclose(custom_logfile);
#endif
}
// return the sign of the given number
int TangentPlanner::sign(float number) {
if (number > 0)
return 1;
else if (number < 0)
return -1;
else
return 0;
}
// Keeps the angle interval in: [-M_PI, 0] or [0, M_PI]
void TangentPlanner::normalizeAngle(float &angle) {
if (abs(angle - angle_error_t_) > (0.9 * M_PI)) {
angle = angle_error_t_;
}
if (abs(angle) > 2.0 * M_PI) {
angle = angle - (2.0 * M_PI);
}
if (angle < 0){
angle = (2*M_PI) + angle;
}
}
float TangentPlanner::normalizeAngle(float &&angle) {
if (abs(angle - angle_error_t_) > (0.9 * M_PI)) {
angle = angle_error_t_;
}
if (abs(angle) > 2.0 * M_PI) {
angle = abs(angle) - (2.0 * M_PI);
}
if (angle < 0){
angle = (2*M_PI) + angle;
}
return angle;
}
float TangentPlanner::convertAtan2(float&& angle){
if (angle < 0){
angle = (2*M_PI) + angle;
}
return angle;
}
float TangentPlanner::average(float* array, std::size_t index, float av){
if(index>50){
return av/50.0;
}
av+=array[0];
return average(&array[1], ++index, av);
}
void TangentPlanner::shift(float* array,std::size_t index){
if(index>50)return;
array[0]=array[1];
shift(&array[1],++index);
}
bool TangentPlanner::setGoal() {
while (!global_plan_.empty()) {
float dis_x = global_plan_.front()->x - current_pose_->x;
float dis_y = global_plan_.front()->y - current_pose_->y;
float dis = hypot(dis_x, dis_y);
if (dis < valid_dis_to_goal_) {
#if M_DEBUG
fprintf(terminal_logfile, "CYCLE[%d]\tpoint x=%f, y = %f, theta=%f is invalid\n", cycle_counter_,
global_plan_.front()->x, global_plan_.front()->y,
global_plan_.front()->theta);
#endif
global_plan_.erase(global_plan_.begin());
} else {
#if M_DEBUG
fprintf(terminal_logfile, "CYCLE[%d]\tgoal set to x=%f, y=%f, theta=%f\n", cycle_counter_,
global_plan_.front()->x, global_plan_.front()->y,
global_plan_.front()->theta);
fprintf(goal_logfile, "%d, %f, %f, %f\n", cycle_counter_, global_plan_.front()->x, global_plan_.front()->y,
global_plan_.front()->theta);
#endif
error_angle_ = 0;
error_y_ = 0;
error_x_ = 0;
i_error_angle_ = 0;
i_error_x_ = 0;
i_error_y_ = 0;
break;
}
}
if (global_plan_.empty()) {
std::shared_ptr<geometry_msgs::Pose2D> t_goal = std::make_shared<geometry_msgs::Pose2D>();
t_goal->x = 0.f;
t_goal->y = 0.f;
global_plan_.push_back(t_goal);
return true;
}
return true;
}
// When heuristic_distance is increasing it means that we are in local minima and there is an obstacle that we should follow its boundary
bool TangentPlanner::foundLocalMinima() {
return prev_heuristic_distance_ - heuristic_distance_ < 2 * xy_goal_tolerance_;
}
bool TangentPlanner::isAtGoal() {
return goal_distance_ < xy_goal_tolerance_;
}
bool TangentPlanner::isAtGoalOrientation() {
return std::abs(goal_orientation_) < yaw_goal_tolerance_;
}
void TangentPlanner::resetVariables() {
dfollowed_ = std::numeric_limits<float>::max();
map_.clear();
}
// check the range msg to see if there is any obstacle
bool TangentPlanner::foundObstacle() {
if (range_msg_->range > range_msg_->min_range * sensor_msg_scale_ &&
range_msg_->range <= robot_front_ * sensor_msg_scale_) {
return true;
}
return false;
}
float TangentPlanner::calculateDistance(std::shared_ptr<geometry_msgs::Pose2D> point,
std::shared_ptr<geometry_msgs::Pose2D> target) {
float dis_x = point->x - target->x;
float dis_y = point->y - target->y;
return hypot(dis_x, dis_y);
}
std::tuple<std::shared_ptr<geometry_msgs::Pose2D>, std::shared_ptr<geometry_msgs::Pose2D>>
TangentPlanner::calculateCenter() {
std::shared_ptr<geometry_msgs::Pose2D> center = std::make_shared<geometry_msgs::Pose2D>();
std::shared_ptr<geometry_msgs::Pose2D> center_path = std::make_shared<geometry_msgs::Pose2D>();
center->x = 0.0;
center->y = 0.0;
center->theta = 0.0;
center_path->x = 0.0;
center_path->y = 0.0;
center_path->theta = 0.0;
std::shared_ptr<geometry_msgs::Pose2D> max_point = std::make_shared<geometry_msgs::Pose2D>();
max_point->x = 0.f;
max_point->y = 0.f;
int count = 0;
for (auto &&point: map_) {
if (point->obstacle) {
center->x += point->obstacle->x;
center->y += point->obstacle->y;
count++;
}
if (point->robot->x > max_point->x) {
max_point->x = point->robot->x;
}
if (point->robot->y > max_point->y) {
max_point->y = point->robot->y;
}
center_path->x += point->robot->x;
center_path->y += point->robot->y;
}
center->x /= count;
center->y /= count;
center_path->x /= map_.size();
center_path->y /= map_.size();
float radios = calculateDistance(max_point, center_path);
bool point_90 = false;
bool point_180 = false;
bool point_270 = false;
turned_around_obs_ = false;
for (auto &&point: map_) {
float theta = convertAtan2(atan2((point->robot->x - center_path->x), (point->robot->y - center_path->y)));
float l = theta * radios;
if (l > 0.3 * M_PI * radios && l < 0.6 * M_PI * radios) {
point_90 = true;
}
if (l > 0.8 * M_PI * radios && l < 1.2 * M_PI * radios) {
point_180 = true;
}
if (l > 1.3 * M_PI * radios && l < 1.7 * M_PI * radios) {
point_270 = true;
}
}
if (point_90 && point_180 && point_270) {
turned_around_obs_ = true;
}
return std::make_tuple(center, center_path);
}
float TangentPlanner::calculateFactor() {
float latest_ob = 0.f;
for (size_t i = 0; i < map_.size(); ++i) {
if (map_.at(i)->obstacle) {
latest_ob = static_cast<float >(i);
}
}
return latest_ob / (factor_scale_ * static_cast<int>(map_.size()));
}
// FollowBoundary part of the algorithm: it turns right or left against obstacle and tries to follow its boundary
void TangentPlanner::followBoundaries() {
if (foundObstacle()) {
// obstacle is ahead try to turn left or right
#if M_DEBUG
fprintf(terminal_logfile, "CYCLE[%d]\tfollowing boundary.... still seeing obstacle", cycle_counter_);
#endif
std::shared_ptr<geometry_msgs::Pose2D> obs_point = std::make_shared<geometry_msgs::Pose2D>();
float obs_distance;
// position of sensed point on obstacle:
obs_point->x = range_msg_->range * cos(current_pose_->theta) + current_pose_->x;
obs_point->y = range_msg_->range * sin(current_pose_->theta) + current_pose_->y;
// distance from obstacle to goal:
obs_distance = calculateDistance(global_plan_.front(), obs_point);
if (obs_distance < dfollowed_) // finds the d_followed here
{
dfollowed_ = obs_distance;
}
if (map_.empty()) {
float rotate_i = M_PI_2 - (range_msg_->range / (robot_front_ - 0.1) * sensor_msg_scale_) * M_PI_2;
std::shared_ptr<geometry_msgs::Pose2D> right = std::make_shared<geometry_msgs::Pose2D>();
std::shared_ptr<geometry_msgs::Pose2D> left = std::make_shared<geometry_msgs::Pose2D>();
right->theta = current_pose_->theta - rotate_i;
right->x = current_pose_->x + (1 / range_msg_->range) * cos(right->theta);
right->y = current_pose_->y + (1 / range_msg_->range) * sin(right->theta); // 0
left->theta = current_pose_->theta + rotate_i;
left->x = current_pose_->x + (1 / range_msg_->range) * cos(left->theta);
left->y = current_pose_->y + (1 / range_msg_->range) * sin(left->theta);; // 0
if (calculateDistance(global_plan_.front(), left) > calculateDistance(global_plan_.front(), right)) {
error_angle_ = right->theta;
error_y_ = right->y - current_pose_->y; // 0
} else {
error_angle_ = left->theta;
error_y_ = left->y - current_pose_->y; // 0
}
} else {
auto centers = calculateCenter();
std::shared_ptr<geometry_msgs::Pose2D> ob_center2current = std::make_shared<geometry_msgs::Pose2D>();
std::shared_ptr<geometry_msgs::Pose2D> map_center2current = std::make_shared<geometry_msgs::Pose2D>();
ob_center2current->x = current_pose_->x - std::get<0>(centers)->x + 0.0001;
ob_center2current->y = current_pose_->y - std::get<0>(centers)->y + 0.0001;
map_center2current->x = current_pose_->x - std::get<1>(centers)->x + 0.0001;
map_center2current->y = current_pose_->y - std::get<1>(centers)->y + 0.0001;
float dot =
(ob_center2current->x * (map_center2current->x)) + (ob_center2current->y * map_center2current->y);
float cross =
(ob_center2current->x * map_center2current->y) - (ob_center2current->y * map_center2current->x);
error_angle_ = convertAtan2(atan2(cross, dot));
error_y_ = (1 / range_msg_->range) * sin(error_angle_); // 0
}
resetError();
error_x_ = 0.f;
// stop if distance to obstacle is less than 0.1 (error_x_ and error_y_ became zero, only error_angle_ exist)
controller_ = Controller::Motion;
if (range_msg_->range > range_msg_->min_range * sensor_msg_scale_ &&
range_msg_->range < 0.1 * sensor_msg_scale_) {
resetError();
float rotate_i = M_PI_2 - (0.01/ (robot_front_ - 0.1)) * M_PI_2;
error_angle_ = current_pose_->theta - rotate_i;
error_y_ = 0.f;
controller_ = Controller::Turn;
}
normalizeAngle(error_angle_);
// FollowBoundary part terminates here:
state_ = BugState::FollowBoundary;
map_.push_back(std::make_shared<Map>(obs_point, current_pose_, global_plan_.front()));
} else {
// no obstacle, go forward and try to turn back
#if M_DEBUG
fprintf(terminal_logfile, "CYCLE[%d]\tno obstacle anymore", cycle_counter_);
#endif
float factor = calculateFactor();
auto centers = calculateCenter();
std::shared_ptr<geometry_msgs::Pose2D> home_point = std::make_shared<geometry_msgs::Pose2D>();
float temp_distance = calculateDistance(global_plan_.front(), home_point);
if (calculateDistance(std::get<1>(centers), home_point) > temp_distance && temp_distance > 0.00001) {
global_plan_.clear();
global_plan_.push_back(home_point);
resetVariables();
return;
}
std::shared_ptr<geometry_msgs::Pose2D> ob_center2current = std::make_shared<geometry_msgs::Pose2D>();
std::shared_ptr<geometry_msgs::Pose2D> map_center2current = std::make_shared<geometry_msgs::Pose2D>();
ob_center2current->x = current_pose_->x - std::get<0>(centers)->x;
ob_center2current->y = current_pose_->y - std::get<0>(centers)->y;
map_center2current->x = current_pose_->x - std::get<1>(centers)->x;
map_center2current->y = current_pose_->y - std::get<1>(centers)->y;
#if M_DEBUG
fprintf(center_logfile, "%d, %f, %f, %f, %f, %f\n", cycle_counter_, std::get<0>(centers)->x,
std::get<0>(centers)->y, std::get<1>(centers)->x, std::get<1>(centers)->y, factor);
#endif
resetError();
float dot = (ob_center2current->x * map_center2current->x) + (ob_center2current->y * map_center2current->y);
float cross = (ob_center2current->x * map_center2current->y) - (ob_center2current->y * map_center2current->x);
error_angle_ = (1 - factor) * (error_angle_) - factor * convertAtan2(atan2(cross, dot));
error_x_ = ((1 - factor) * (goal_distance_) -
factor * calculateDistance(std::get<0>(centers), std::get<1>(centers))) * cos(error_angle_);
error_y_ = 0; // 0
normalizeAngle(error_angle_);
// FollowBoundary part terminates here:
goal_distance_ < dfollowed_ ? state_ = BugState::TurnToGoal : BugState::FollowBoundary;
map_.push_back(std::make_shared<Map>(current_pose_, global_plan_.front()));
controller_ = Controller::Motion;
}
// reset variables if followBoundary part has been finished:
if (state_ == BugState::TurnToGoal) {
resetError();
controller_ = Controller::Turn;
resetVariables();
} else {
float dis = calculateDistance(start_follow_point, current_pose_);
float check_point = abs(
atan2(start_follow_point->y, start_follow_point->x) - atan2(current_pose_->y, current_pose_->x));
if (dis < 0.001 && check_point > M_PI_2 * 0.8
&& global_plan_.front()->x != 0 && global_plan_.front()->y != 0.f) {
resetError();
std::shared_ptr<geometry_msgs::Pose2D> t_goal = std::make_shared<geometry_msgs::Pose2D>();
t_goal->x = 0.f;
t_goal->y = 0.f;
global_plan_.clear();
global_plan_.push_back(t_goal);
controller_ = Controller::Turn;
#if M_DEBUG
fprintf(terminal_logfile, "CYCLE[%d]\t can't reach goal going back home %d\n", cycle_counter_, state_);
#endif
}
}
}
// This function selects the range sensor's min_angle/max_angle that has min dist from robot to obs and obs to goal
void TangentPlanner::selectDiscontinuityPoint() {
start_follow_point_ = current_pose_;
prev_heuristic_distance_ = heuristic_distance_;
float angle = 0.f;
float obstacle_to_goal_distance = 0.f;
float range_sensor_minAngle = -range_msg_->field_of_view / 2;
float range_sensor_maxAngle = range_msg_->field_of_view / 2;
// From range sensor's min_angle/max angle selects the one that has minimum distance from robot to obs and obs to goal:
obstacle_to_goal_distance = sqrt(square(range_msg_->range) + square(goal_distance_) -
2 * range_msg_->range * goal_distance_ * cos(abs(range_sensor_minAngle)));
heuristic_distance_ = obstacle_to_goal_distance + range_msg_->range;
followBoundaries();
}
// This function sets cmd_ptr_ (from geometry_msgs::Twist type) for publishing and sending these velocity commands to robot's motor to move
void TangentPlanner::updateVelocity() {
shift(this->frq_);
this->frq_[49]=std::chrono::duration<float>(std::chrono::system_clock::now() - this->time_).count();
float dt= average(this->frq_);
this->time_= std::chrono::system_clock::now();
if (controller_ != prev_controller_) {
error_angle_ = 0.f;
error_x_ = 0.f;
error_y_ = 0.f;
i_error_angle_ = 0.f;
i_error_x_ = 0.f;
i_error_y_ = 0.f;
}
if (error_angle_ > M_PI || -M_PI > error_angle_) {
error_angle_ = (2 * M_PI) - sign(error_angle_) * error_angle_;
}
prev_controller_ = controller_;
if (controller_ == Controller::Motion) {
float e1, e2, e3;
e1 = error_x_ * cos(current_pose_->theta) + error_y_ * sin(current_pose_->theta);
e2 = -error_x_ * sin(current_pose_->theta) + error_y_ * cos(current_pose_->theta);
e3 = error_angle_;
float v_d = 0.01;
float w_d = 0.01;
k1_ = 2 * c_ * sqrt((pow(w_d, 2)) + (b_ * pow(v_d, 2)));
k3_ = k1_;
k2_ = b_ * abs(v_d);
float u1 = -k1_ * e1;
float u2 = (-k2_ * sign(v_d) * e2) - (k3_ * e3);
float linear_velocity = v_d * cos(error_angle_) - u1;
float angular_velocity = w_d - u2;
cmd_ptr_->angular.x = 0.f;
cmd_ptr_->angular.y = 0.f;
cmd_ptr_->angular.z = (abs(angular_velocity) > max_rot_vel_) ? sign(angular_velocity) * max_rot_vel_
: angular_velocity;
cmd_ptr_->linear.x = (abs(linear_velocity) > max_trans_vel_) ? sign(linear_velocity) * max_trans_vel_
: linear_velocity;
cmd_ptr_->linear.z = 0.f;
cmd_ptr_->linear.y = 0.f;
} else {
// TODO: remove next line or check why this returns positive for negative angle
error_angle_ = std::abs(error_angle_) < yaw_goal_tolerance_ ? 0.f : error_angle_;
float angular_vel = kp_ * error_angle_ + kp_i_ * i_error_angle_;
cmd_ptr_->angular.x = 0.f;
cmd_ptr_->angular.y = 0.f;
cmd_ptr_->angular.z = (abs(angular_vel) > max_rot_vel_) ? sign(angular_vel) * max_rot_vel_
: angular_vel;
cmd_ptr_->linear.x = 0.f;
cmd_ptr_->linear.y = 0.f;
cmd_ptr_->linear.z = 0.f;
float temp = error_angle_ * dt;
//normalizeAngle(temp);
i_error_angle_ += temp;
prev_angle_error_ = error_angle_;
}
#if M_DEBUG
fprintf(error_logfile, "[%d],%f,%f,%f\n", cycle_counter_, error_x_, error_y_,
error_angle_);
fprintf(twist_logfile, "[%d], %f, %f, %f, %f, %f, %f\n", cycle_counter_, cmd_ptr_->linear.x, cmd_ptr_->linear.y,
cmd_ptr_->linear.z, cmd_ptr_->angular.x, cmd_ptr_->angular.y, cmd_ptr_->angular.z);
#endif
}
/* This function computes the necessary velocity commands for moving the robot in every state
especially finds the direction of moving in different states by calling different functions.*/
void TangentPlanner::updateController() {
if (state_ == BugState::StopAtGoal) {
error_angle_ = 0.f;
error_x_ = 0.f;
error_y_ = 0.f;
resetVariables();
global_plan_.erase(global_plan_.begin());
if (!setGoal()) {
ROS_WARN("Path ended");
state_ = BugState::StopAtGoal;
}
state_ = BugState::TurnToGoal;
resetError();
controller_ = Controller::Turn;
} else if (state_ == BugState::TurnToGoal) {
error_x_ = 0.f;
error_y_ = 0.f;
controller_ = Controller::Turn;
} else if (state_ == BugState::OrientToGoal) {
resetError();
error_x_ = 0.f;
error_y_ = 0.f;
i_error_x_ = 0.f;
i_error_y_ = 0.f;
controller_ = Controller::Turn;
} else if (state_ == BugState::MotionToGoal) {
if (foundObstacle()) {
selectDiscontinuityPoint();
} else {
resetError();
controller_ = Controller::Motion;
}
} else if (state_ == BugState::FollowBoundary) {
followBoundaries();
}
}
/* This function controls the robot states and decides when to switch from MotionToGoal to FollowBoundary state.
Switching from FollowBoundary to MotionToGoal state occurs in followBoundaries() function.*/
void TangentPlanner::updateState() {
if (state_ != BugState::FollowBoundary) {
if (error_angle_ > M_PI_2 * 0.25 && !isAtGoal()) {
if(state_ != BugState::TurnToGoal){
i_error_angle_ = 0;
}
state_ = BugState::TurnToGoal;
#if M_DEBUG
fprintf(terminal_logfile, "CYCLE[%d]\t state updated to TurnToGoal %d\n", cycle_counter_, state_);
#endif
} else if (isAtGoal() && !isAtGoalOrientation()) {
if (state_ != BugState::OrientToGoal) {
i_error_angle_ = 0;
}
state_ = BugState::OrientToGoal;
#if M_DEBUG
fprintf(terminal_logfile, "CYCLE[%d]\t state updated to OrientToGoal %d\n", cycle_counter_, state_);
#endif
} else if (isAtGoal() && isAtGoalOrientation()) {
state_ = BugState::StopAtGoal;
#if M_DEBUG
fprintf(terminal_logfile, "CYCLE[%d]\t state updated to StopAtGoal %d\n", cycle_counter_, state_);
#endif
} else {
state_ = BugState::MotionToGoal;
#if M_DEBUG
fprintf(terminal_logfile, "CYCLE[%d]\t state updated to MotionToGoal %d\n", cycle_counter_, state_);
#endif
if (foundObstacle() && foundLocalMinima()) {
state_ = BugState::FollowBoundary;
#if M_DEBUG
fprintf(terminal_logfile, "CYCLE[%d]\t state updated to FollowBoundary %d\n", cycle_counter_, state_);
#endif
}
}
}
#if M_DEBUG
fprintf(state_logfile, "%d, %d\n", cycle_counter_, state_);
#endif
}
// This function finds the direction to goal and the distance of robot to goal at start of the algorithm:
// global_plan_ has position of the goal.
void TangentPlanner::calculateErrors() {
#if M_DEBUG
fprintf(odometry_logfile, "%d, %f, %f, %f\n", cycle_counter_, current_pose_->x, current_pose_->y,
current_pose_->theta);
fprintf(tof_logfile, "%d, %f, %f, %f, %f\n", cycle_counter_, range_msg_->field_of_view, range_msg_->range,
range_msg_->max_range, range_msg_->min_range);
#endif
#if M_DEBUG
fprintf(terminal_logfile, "\nCYCLE[%d]\tcurrent position x=%f, y=%f, theta=%f\n", cycle_counter_, current_pose_->x,
current_pose_->y,
current_pose_->theta);
#endif
error_x_ = global_plan_.front()->x - current_pose_->x;
error_y_ = global_plan_.front()->y - current_pose_->y;
goal_distance_ = calculateDistance(global_plan_.front(), current_pose_);
goal_orientation_ = global_plan_.front()->theta - current_pose_->theta;
error_angle_ = state_ != BugState::OrientToGoal ? normalizeAngle(atan2(error_y_, error_x_)) - current_pose_->theta : goal_orientation_;
normalizeAngle(error_angle_);
#if M_DEBUG
fprintf(error_logfile, "%d, %f, %f, %f, %f\n", cycle_counter, error_x_, error_y_, error_angle_, atan2(error_y_, error_x_));
#endif
#if M_DEBUG
ROS_ERROR("CYCLE[%d]\terror x=%f, y=%f, theta=%f", cycle_counter, error_x_, error_y_, error_angle_);
fprintf(terminal_logfile, "CYCLE[%d]\t error x=%f, y=%f, theta=%f, angle_error_t=%f\n", cycle_counter, error_x_, error_y_,
error_angle_, angle_error_t_);
#endif
}
// Call this function to start running of the algorithm
// the input argument is previous velocity command of the robot.
bool TangentPlanner::computeVelocityCommands() {
if (global_plan_.empty()) {
ROS_WARN("Planner is not initialized or end of path");
return false;
}
// step 1
calculateErrors();
// step 2
updateState();
// step 3
updateController();
// step 4
updateVelocity();
cycle_counter_++;
return true;
}
src/tangent_planner_node.cpp
Executable
+125
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@@ -0,0 +1,125 @@
#include "tangent_planner_node.h"
#include <cstdio>
#include "parameters_helper.h"
#include <ros/callback_queue.h>
Planner::TangentPlannerNode::TangentPlannerNode() {
sensor_msg_scale_ = Planner::getParam<float>("range_sensor_scale", 1);
factor_scale_ = Planner::getParam<float>("factor_scale_", 2);
kp_ = Planner::getParam<float>("kp", 0.05);
kp_i_ = Planner::getParam<float>("kp_i", 0.3);
xy_goal_tolerance_ = Planner::getParam<float>("xy_goal_tolerance", 0.05);
yaw_goal_tolerance_ = Planner::getParam<float>("yaw_goal_tolerance", 0.05);
max_trans_vel_ = Planner::getParam<float>("max_trans_vel", 1);
max_rot_vel_ = Planner::getParam<float>("max_rot_vel", 0.5);
robot_front_ = Planner::getParam<float>("robot_front", 0.05);
robot_back_ = Planner::getParam<float>("robot_back", 0.05);
robot_width_min_ = Planner::getParam<float>("robot_width_min", 0.06);
robot_width_max_ = Planner::getParam<float>("robot_width_max", 0.08);
valid_dis_to_goal_ = Planner::getParam<float>("valid_dis_to_goal", 0.2);
read_path_file(Planner::getParam<std::string>("goal_path", "/home/p_46_ws/src/tangent_planner/data/straight-front&back-path.txt").c_str());
c_ = Planner::getParam<float>("c", 0.2);
b_ = Planner::getParam<float>("b", 0.2);
#if M_DEBUG
fprintf(param_logfile,
"sensor_msg_scale_ is: %f\nkp_ is: %f\nkp_i_ is: %f\nxy_goal_tolerance_ is: %f\nyaw_goal_tolerance_ is: %f\nmax_trans_vel_ is: %f\nmax_rot_vel_ is: %f\nrobot_front_ is: %f\nrobot_back_ is: %f\nrobot_width_min_ is: %f\nrobot_width_max_ is: %f\nvalid_dis_to_goal_ is: %f\n",
sensor_msg_scale_, kp_, kp_i_, xy_goal_tolerance_, yaw_goal_tolerance_, max_trans_vel_, max_rot_vel_,
robot_front_, robot_back_, robot_width_min_, robot_width_max_, valid_dis_to_goal_);
fclose(param_logfile);
#endif
}
Planner::TangentPlannerNode::~TangentPlannerNode() {
}
// get path name, load path file form storage and set points of path to global_plan_
// TODO: add comment for correctly reading path file because of deference between path file and robot frame
void Planner::TangentPlannerNode::read_path_file(std::string path) {
std::shared_ptr<DATA_FILE<float, 10>> file = std::make_shared<DATA_FILE<float, 10>>(path);
std::array<float, 10> in = {0.f};
while (file->read(in)) {
tf::Quaternion q(in[4], in[5], in[6], in[3]);
tf::Matrix3x3 m(q);
double roll, pitch, yaw;
m.getRPY(roll, pitch, yaw);
std::shared_ptr<geometry_msgs::Pose2D> pose = std::make_shared<geometry_msgs::Pose2D>();
pose->x = in[1];
pose->y = in[0];
pose->theta = convertAtan2(yaw);
global_plan_.insert(global_plan_.begin(), pose);
}
setGoal();
file.reset();
}
void Planner::TangentPlannerNode::set_publisher(const ros::Publisher &publisher) {
twist_publisher = publisher;
}
void Planner::TangentPlannerNode::odometry_subscriber_callback(const nav_msgs::Odometry &msg) {
current_pose_->y = msg.pose.pose.position.x;
current_pose_->x = msg.pose.pose.position.y;
tf::Quaternion q(msg.pose.pose.orientation.x, msg.pose.pose.orientation.y, msg.pose.pose.orientation.z,
msg.pose.pose.orientation.w);
tf::Matrix3x3 m(q);
double roll, pitch, yaw;
m.getRPY(roll, pitch, yaw);
current_pose_->theta = yaw;
computeVelocity();
}
void Planner::TangentPlannerNode::tof_subscriber_callback(const sensor_msgs::Range &msg) {
range_msg_->field_of_view = msg.field_of_view;
range_msg_->min_range = msg.min_range * sensor_msg_scale_;
range_msg_->max_range = msg.max_range * sensor_msg_scale_;
range_msg_->range = msg.range * sensor_msg_scale_;
}
void Planner::TangentPlannerNode::twist_publisher_callback() {
geometry_msgs::Twist msg;
msg.linear.x = cmd_ptr_->linear.y;
msg.linear.y = cmd_ptr_->linear.x;
msg.linear.z = cmd_ptr_->linear.z;
msg.angular.x = cmd_ptr_->angular.x;
msg.angular.y = cmd_ptr_->angular.y;
msg.angular.z = cmd_ptr_->angular.z;
twist_publisher.publish(msg);
}
void Planner::TangentPlannerNode::computeVelocity() {
bool status = computeVelocityCommands();
if (!status) {
ROS_WARN("End of path or not initialized");
}
twist_publisher_callback();
}
// is planner algorithm thread started or waiting for start request?
bool Planner::TangentPlannerNode::is_started() {
return started_;
}
// starting the cycle of subscribing to odometry and tof and publishing velocity to motor node as a thread until is_started gets false
void Planner::TangentPlannerNode::start_thread() {
ROS_WARN("Navigation started");
ros::NodeHandle node_handler;
ros::CallbackQueue Q;
node_handler.setCallbackQueue(&Q);
ros::Subscriber odometry_subscriber = node_handler.subscribe("/odometry",
1,
&Planner::TangentPlannerNode::odometry_subscriber_callback,
this);
ros::Subscriber tof_subscriber = node_handler.subscribe("/SensorNode/tof",
1,
&Planner::TangentPlannerNode::tof_subscriber_callback,
this);
set_publisher(node_handler.advertise<geometry_msgs::Twist>("/cmd_vel", 1));
while (ros::ok()) {
Q.callOne(ros::WallDuration(1, 0.0));
}
ROS_WARN("Navigation stopped");
}
srv/nav_get_patrol_name.srv
Executable
+3
View File
@@ -0,0 +1,3 @@
#get patrol path name
---
string name
srv/nav_get_status.srv
Executable
+3
View File
@@ -0,0 +1,3 @@
#get nav status
---
int32 status
srv/nav_low_bat.srv
Executable
+1
View File
@@ -0,0 +1 @@
---
srv/nav_path_start.srv
Executable
+4
View File
@@ -0,0 +1,4 @@
#0-no, 1-yes
int8 isFromOutStart
string name
---
srv/nav_path_stop.srv
Executable
+1
View File
@@ -0,0 +1 @@
---
tangent_planner_plugin.xml
Executable
+7
View File
@@ -0,0 +1,7 @@
<library path="lib/libtangent_planner">
<class name="tangent_planner/TangentPlanner" type="tangent_planner::TangentPlanner" base_class_type="nav_core::BaseLocalPlanner">
<description>
This is local planner based on Tangent Bug algorithm.
</description>
</class>
</library>