class WaypointNavigationNode():
def __init__(self):
# defines
self.update_rate = 20 # set update frequency [Hz]
self.automode = False
self.automode_prev = False
self.status = 0
self.wpt = False
self.prev_wpt = False
self.linear_speed = 0.0
self.angular_speed = 0.0
rospy.loginfo(rospy.get_name() + ": Start")
self.quaternion = np.empty((4, ), dtype=np.float64)
self.wii_a = False
self.wii_a_changed = False
self.wii_home = False
self.wii_home_changed = False
self.wii_up = False
self.wii_up_changed = False
self.wii_down = False
self.wii_down_changed = False
# get parameters
self.debug = rospy.get_param("~print_debug_information", 'true')
if self.debug:
rospy.loginfo(rospy.get_name() + ": Debug enabled")
self.status_publish_interval = rospy.get_param(
"~status_publish_interval", 0)
# get topic names
self.automode_topic = rospy.get_param("~automode_sub",
'/fmDecisionMakers/automode')
self.pose_topic = rospy.get_param("~pose_sub", '/fmKnowledge/pose')
self.joy_topic = rospy.get_param("~joy_sub", '/joy')
self.cmdvel_topic = rospy.get_param("~cmd_vel_pub",
'/fmCommand/cmd_vel')
self.wptnav_status_topic = rospy.get_param("~status_pub",
'/fmData/wptnav_status')
# setup subscription topic callbacks
rospy.Subscriber(self.automode_topic, Bool, self.on_automode_message)
rospy.Subscriber(self.pose_topic, Odometry, self.on_pose_message)
rospy.Subscriber(self.joy_topic, Joy, self.on_joy_message)
# setup publish topics
self.cmd_vel_pub = rospy.Publisher(self.cmdvel_topic, TwistStamped)
self.twist = TwistStamped()
self.wptnav_status_pub = rospy.Publisher(self.wptnav_status_topic,
waypoint_navigation_status)
self.wptnav_status = waypoint_navigation_status()
self.status_publish_count = 0
# configure waypoint navigation
self.wptlist = waypoint_list()
self.wptnav = waypoint_navigation(self.update_rate, self.debug)
self.wptlist_loaded = False
# Configure wriggle
turn_angle_left = rospy.get_param("~turn_angle_left", pi / 6)
turn_angle_right = rospy.get_param("~turn_angle_right", pi / 6 * -1)
turn_max_speed = rospy.get_param("~max_angular_velocity", 0.6)
speed_gain = rospy.get_param("~turn_angular_speed_gain", 100)
sensor_penalty_distance = rospy.get_param("~sensor_penalty_distance",
5)
self.wriggle = Wriggle(turn_angle_left, turn_angle_right,
turn_max_speed, speed_gain,
sensor_penalty_distance)
# Configure wads sensor
self.wads_topic = rospy.get_param("~wads_sub", '/fmInformation/wads')
self.wads_threshold = rospy.get_param("~wads_threshold", 3)
rospy.Subscriber(self.wads_topic, Float64, self.on_wads_sensor_msg)
self.wads_value = 0.0
# call updater function
self.r = rospy.Rate(self.update_rate)
self.updater()
def load_wpt_list(self):
self.wptlist.load_from_csv_ne_format('waypoints.txt')
(numwpt, nextwpt) = self.wptlist.status()
self.prev_wpt = False
self.wpt = False
rospy.loginfo(rospy.get_name() + ": %d waypoints loaded" % numwpt)
def goto_next_wpt(self):
self.prev_wpt = self.wpt
self.wpt = self.wptlist.get_next()
if self.wpt != False:
rospy.loginfo(rospy.get_name() +
": Navigating to waypoint: %s" % self.wpt[2])
self.wptnav.navigate(self.wpt, self.prev_wpt)
else:
rospy.loginfo(rospy.get_name() + ": End of waypoint list reached")
self.wptnav.stop()
def goto_previous_wpt(self):
(wpt, prev_wpt) = self.wptlist.get_previous()
if wpt != False:
self.wpt = wpt
self.prev_wpt = prev_wpt
rospy.loginfo(rospy.get_name() +
": Navigating to waypoint: %s" % self.wpt[2])
self.wptnav.navigate(self.wpt, self.prev_wpt)
else:
rospy.loginfo(rospy.get_name() + ": This is the first waypoint")
def on_automode_message(self, msg):
self.automode = msg.data
if self.automode != self.automode_prev:
self.automode_prev = self.automode
if self.automode:
rospy.loginfo(rospy.get_name() +
": Switching to waypoint navigation")
if self.wptlist_loaded == False:
rospy.loginfo(rospy.get_name() + ": Loading waypoint list")
self.load_wpt_list()
self.goto_next_wpt()
self.wptlist_loaded = True
elif self.wptnav.state == self.wptnav.STATE_STANDBY:
self.wptnav.resume()
rospy.loginfo(rospy.get_name() +
": Resuming waypoint navigation")
else:
self.wptnav.standby()
rospy.loginfo(rospy.get_name() +
": Switching to Wiimote control")
def on_pose_message(self, msg):
qx = msg.pose.pose.orientation.x
qy = msg.pose.pose.orientation.y
qz = msg.pose.pose.orientation.z
qw = msg.pose.pose.orientation.w
yaw = atan2(2 * (qx * qy + qw * qz),
qw * qw + qx * qx - qy * qy - qz * qz)
self.wptnav.pose_update(msg.pose.pose.position.x,
msg.pose.pose.position.y, yaw)
# Update wriggle
self.wriggle.pose_update(msg.pose.pose.position.x,
msg.pose.pose.position.y, yaw)
def on_joy_message(self, msg):
if int(msg.buttons[2]) != self.wii_a:
self.wii_a = int(msg.buttons[2])
self.wii_a_changed = True
if int(msg.buttons[8]) != self.wii_up:
self.wii_up = int(msg.buttons[8])
self.wii_up_changed = True
if int(msg.buttons[9]) != self.wii_down:
self.wii_down = int(msg.buttons[9])
self.wii_down_changed = True
if int(msg.buttons[10]) != self.wii_home:
self.wii_home = int(msg.buttons[10])
self.wii_home_changed = True
# WADS Sensor msgs
def on_wads_sensor_msg(self, msg):
self.wads_value = msg.data
def publish_cmd_vel_message(self):
self.twist.header.stamp = rospy.Time.now()
self.twist.twist.linear.x = self.linear_speed
self.twist.twist.angular.z = self.angular_speed
self.cmd_vel_pub.publish(self.twist)
def publish_status_message(self):
self.wptnav_status.header.stamp = rospy.Time.now()
if self.wptnav.pose != False:
self.wptnav_status.easting = self.wptnav.pose[0]
self.wptnav_status.northing = self.wptnav.pose[1]
if self.automode != False and self.wptnav.b != False:
if self.wptnav.state == self.wptnav.STATE_STOP or self.wptnav.state == self.wptnav.STATE_STANDBY:
self.wptnav_status.mode = 0
elif self.wptnav.state == self.wptnav.STATE_DRIVE_INIT or self.wptnav.state == self.wptnav.STATE_DRIVE:
self.wptnav_status.mode = 1
elif self.wptnav.state == self.wptnav.STATE_TURN_INIT or self.wptnav.state == self.wptnav.STATE_TURN:
self.wptnav_status.mode = 2
self.wptnav_status.b_easting = self.wptnav.b[0]
self.wptnav_status.b_northing = self.wptnav.b[1]
self.wptnav_status.a_easting = self.wptnav.a[0]
self.wptnav_status.a_northing = self.wptnav.a[1]
self.wptnav_status.distance_to_b = self.wptnav.dist
self.wptnav_status.bearing_to_b = self.wptnav.bearing
self.wptnav_status.heading_err = self.wptnav.heading_err
self.wptnav_status.distance_to_ab_line = self.wptnav.ab_dist_to_pose
if self.wptnav.target != False:
self.wptnav_status.target_easting = self.wptnav.target[0]
self.wptnav_status.target_northing = self.wptnav.target[1]
self.wptnav_status.target_distance = self.wptnav.target_dist
self.wptnav_status.target_bearing = self.wptnav.target_bearing
self.wptnav_status.target_heading_err = self.wptnav.target_heading_err
else:
self.wptnav_status.target_easting = 0.0
self.wptnav_status.target_northing = 0.0
self.wptnav_status.target_distance = 0.0
self.wptnav_status.target_bearing = 0.0
self.wptnav_status.target_heading_err = 0.0
self.wptnav_status.linear_speed = self.wptnav.linear_speed
self.wptnav_status.angular_speed = self.wptnav.angular_speed
else:
self.wptnav_status.mode = -1
self.wptnav_status_pub.publish(self.wptnav_status)
def updater(self):
while not rospy.is_shutdown():
if self.wii_a == True and self.wii_a_changed == True:
self.wii_a_changed = False
rospy.loginfo(rospy.get_name() +
': Current position: %.3f %.3f' %
(self.wptnav.pose[0], self.wptnav.pose[1]))
if self.wii_home == True and self.wii_home_changed == True:
self.wii_home_changed = False
rospy.loginfo(rospy.get_name() +
": User reloaded waypoint list")
self.load_wpt_list()
self.goto_next_wpt()
if self.wii_up == True and self.wii_up_changed == True:
self.wii_up_changed = False
rospy.loginfo(rospy.get_name() + ": User skipped waypoint")
self.goto_next_wpt()
if self.wii_down == True and self.wii_down_changed == True:
self.wii_down_changed = False
rospy.loginfo(rospy.get_name() +
": User selected previous waypoint")
self.goto_previous_wpt()
if self.automode:
# Start wriggle?
if self.wads_value >= self.wads_threshold and not self.wriggle.has_sensor_penalty(
):
self.wriggle.start_wriggle()
print "Starting wriggle"
# If wriggle is currently active, carry on
if not self.wriggle.is_done():
self.linear_speed = 0.0
(state, self.angular_speed) = self.wriggle.update()
self.publish_cmd_vel_message()
# Else follow the waypoint navigation
else:
ros_time = rospy.Time.now()
time = ros_time.secs + ros_time.nsecs * 1e-9
(self.status, self.linear_speed,
self.angular_speed) = self.wptnav.update(time)
if self.status == self.wptnav.UPDATE_ARRIVAL:
self.goto_next_wpt()
else:
self.publish_cmd_vel_message()
if self.status_publish_interval != 0:
self.status_publish_count += 1
if (self.status_publish_count %
self.status_publish_interval) == 0:
self.publish_status_message()
self.r.sleep()
def __init__(self):
# defines
self.update_rate = 20 # set update frequency [Hz]
self.automode = False
self.automode_prev = False
self.status = 0
self.wpt = False
self.prev_wpt = False
self.linear_speed = 0.0
self.angular_speed = 0.0
rospy.loginfo(rospy.get_name() + ": Start")
self.quaternion = np.empty((4, ), dtype=np.float64)
self.wii_a = False
self.wii_a_changed = False
self.wii_home = False
self.wii_home_changed = False
self.wii_up = False
self.wii_up_changed = False
self.wii_down = False
self.wii_down_changed = False
# get parameters
self.debug = rospy.get_param("~print_debug_information", 'true')
if self.debug:
rospy.loginfo(rospy.get_name() + ": Debug enabled")
self.status_publish_interval = rospy.get_param(
"~status_publish_interval", 0)
# get topic names
self.automode_topic = rospy.get_param("~automode_sub",
'/fmDecisionMakers/automode')
self.pose_topic = rospy.get_param("~pose_sub", '/fmKnowledge/pose')
self.joy_topic = rospy.get_param("~joy_sub", '/joy')
self.cmdvel_topic = rospy.get_param("~cmd_vel_pub",
'/fmCommand/cmd_vel')
self.wptnav_status_topic = rospy.get_param("~status_pub",
'/fmData/wptnav_status')
# setup subscription topic callbacks
rospy.Subscriber(self.automode_topic, Bool, self.on_automode_message)
rospy.Subscriber(self.pose_topic, Odometry, self.on_pose_message)
rospy.Subscriber(self.joy_topic, Joy, self.on_joy_message)
# setup publish topics
self.cmd_vel_pub = rospy.Publisher(self.cmdvel_topic, TwistStamped)
self.twist = TwistStamped()
self.wptnav_status_pub = rospy.Publisher(self.wptnav_status_topic,
waypoint_navigation_status)
self.wptnav_status = waypoint_navigation_status()
self.status_publish_count = 0
# configure waypoint navigation
self.wptlist = waypoint_list()
self.wptnav = waypoint_navigation(self.update_rate, self.debug)
self.wptlist_loaded = False
# Configure wriggle
turn_angle_left = rospy.get_param("~turn_angle_left", pi / 6)
turn_angle_right = rospy.get_param("~turn_angle_right", pi / 6 * -1)
turn_max_speed = rospy.get_param("~max_angular_velocity", 0.6)
speed_gain = rospy.get_param("~turn_angular_speed_gain", 100)
sensor_penalty_distance = rospy.get_param("~sensor_penalty_distance",
5)
self.wriggle = Wriggle(turn_angle_left, turn_angle_right,
turn_max_speed, speed_gain,
sensor_penalty_distance)
# Configure wads sensor
self.wads_topic = rospy.get_param("~wads_sub", '/fmInformation/wads')
self.wads_threshold = rospy.get_param("~wads_threshold", 3)
rospy.Subscriber(self.wads_topic, Float64, self.on_wads_sensor_msg)
self.wads_value = 0.0
# call updater function
self.r = rospy.Rate(self.update_rate)
self.updater()
class WptNavNode():
def __init__(self):
# defines
self.update_rate = 20 # set update frequency [Hz]
self.update_count = 0
self.IMPLEMENT_INVALID = -10000000.0
self.STATE_IDLE = 0
self.STATE_NAVIGATE = 1
self.STATE_WAIT = 2
self.state = self.STATE_IDLE
self.state_prev = self.state
self.automode_warn = False
self.wait_after_arrival = 0.0
self.wait_timeout = 0.0
self.status = 0
self.wpt = False
self.prev_wpt = False
self.linear_vel = 0.0
self.angular_vel = 0.0
self.pos = False
self.bearing = False
rospy.loginfo(rospy.get_name() + ": Start")
self.quaternion = np.empty((4, ), dtype=np.float64)
self.wii_a = False
self.wii_a_changed = False
self.wii_plus = False
self.wii_plus_changed = False
self.wii_minus = False
self.wii_minus_changed = False
self.wii_up = False
self.wii_up_changed = False
self.wii_down = False
self.wii_down_changed = False
self.wii_left = False
self.wii_left_changed = False
self.wii_right = False
self.wii_right_changed = False
self.wii_home = False
self.wii_home_changed = False
# get parameters
self.debug = rospy.get_param("~print_debug_information", 'true')
if self.debug:
rospy.loginfo(rospy.get_name() + ": Debug enabled")
self.status_publish_interval = rospy.get_param("~status_publish_interval", 0)
self.pid_publish_interval = rospy.get_param("~pid_publish_interval", 0)
# get topic names
self.automode_topic = rospy.get_param("~automode_sub",'/fmDecision/automode')
self.pose_topic = rospy.get_param("~pose_sub",'/fmKnowledge/pose')
self.joy_topic = rospy.get_param("~joy_sub",'/fmLib/joy')
self.cmdvel_topic = rospy.get_param("~cmd_vel_pub",'/fmCommand/cmd_vel')
self.implement_topic = rospy.get_param("~implement_pub",'/fmCommand/implement')
self.wptnav_status_topic = rospy.get_param("~status_pub",'/fmInformation/wptnav_status')
self.pid_topic = rospy.get_param("~pid_pub",'/fmInformation/wptnav_pid')
# setup publish topics
self.cmd_vel_pub = rospy.Publisher(self.cmdvel_topic, TwistStamped)
self.twist = TwistStamped()
self.implement_pub = rospy.Publisher(self.implement_topic, FloatStamped)
self.implement = FloatStamped()
self.wptnav_status_pub = rospy.Publisher(self.wptnav_status_topic, waypoint_navigation_status)
self.wptnav_status = waypoint_navigation_status()
self.status_publish_count = 0
self.pid_pub = rospy.Publisher(self.pid_topic, FloatArrayStamped)
self.pid = FloatArrayStamped()
self.pid_publish_count = 0
# configure waypoint navigation
self.w_dist = rospy.get_param("/diff_steer_wheel_distance", 0.2) # [m]
drive_kp = rospy.get_param("~drive_kp", 1.0)
drive_ki = rospy.get_param("~drive_ki", 0.0)
drive_kd = rospy.get_param("~drive_kd", 0.0)
drive_ff = rospy.get_param("~drive_feed_forward", 0.0)
drive_max_output = rospy.get_param("~drive_max_output", 0.3)
turn_kp = rospy.get_param("~turn_kp", 1.0)
turn_ki = rospy.get_param("~turn_ki", 0.0)
turn_kd = rospy.get_param("~turn_kd", 0.2)
turn_ff = rospy.get_param("~turn_feed_forward", 0.0)
turn_max_output = rospy.get_param("~turn_max_output", 0.5)
max_linear_vel = rospy.get_param("~max_linear_velocity", 0.4)
max_angular_vel = rospy.get_param("~max_angular_velocity", 0.4)
self.wpt_def_tolerance = rospy.get_param("~wpt_default_tolerance", 0.5)
self.wpt_def_drive_vel = rospy.get_param("~wpt_default_drive_velocity", 0.5)
self.wpt_def_turn_vel = rospy.get_param("~wpt_default_turn_velocity", 0.3)
self.wpt_def_wait_after_arrival = rospy.get_param("~wpt_default_wait_after_arrival", 0.0)
self.wpt_def_implement = rospy.get_param("~wpt_default_implement_command", 0.0)
turn_start_at_heading_err = rospy.get_param("~turn_start_at_heading_err", 20.0)
turn_stop_at_heading_err = rospy.get_param("~turn_stop_at_heading_err", 2.0)
ramp_drive_vel_at_dist = rospy.get_param("~ramp_drive_velocity_at_distance", 1.0)
ramp_min_drive_vel = rospy.get_param("~ramp_min_drive_velocity", 0.1)
ramp_turn_vel_at_angle = rospy.get_param("~ramp_turn_velocity_at_angle", 25.0)
ramp_min_turn_vel = rospy.get_param("~ramp_min_turn_velocity", 0.05)
stop_nav_at_dist = rospy.get_param("~stop_navigating_at_distance", 0.1)
self.wptnav = waypoint_navigation(self.update_rate, self.w_dist, drive_kp, drive_ki, drive_kd, drive_ff, drive_max_output, turn_kp, turn_ki, turn_kd, turn_ff, turn_max_output, max_linear_vel, max_angular_vel, self.wpt_def_tolerance, self.wpt_def_drive_vel, self.wpt_def_turn_vel, turn_start_at_heading_err, turn_stop_at_heading_err, ramp_drive_vel_at_dist, ramp_min_drive_vel, ramp_turn_vel_at_angle, ramp_min_turn_vel, stop_nav_at_dist, self.debug)
# configure casmo
casmo_width = rospy.get_param("~casmo_width", 0.8)
casmo_default_length = rospy.get_param("~casmo_default_length", 100)
self.casmo = area_coverage_casmo()
self.casmo.param_set_width(casmo_width)
self.casmo.param_set_default_length(casmo_default_length)
# Configure wriggle
turn_angle_left = rospy.get_param("~wads_turn_angle",pi/6)
turn_angle_right = -turn_angle_left
speed_gain = rospy.get_param("~wads_turn_angular_speed_gain", 5)
sensor_penalty_distance = rospy.get_param("~wads_penalty_distance", 5)
self.wriggle = Wriggle(turn_angle_left, turn_angle_right, self.wpt_def_turn_vel, speed_gain, sensor_penalty_distance)
# Configure wads sensor
self.wads_topic = rospy.get_param("~wads_sub",'/fmData/nmea_from_wads')
self.wads_threshold = rospy.get_param("~wads_threshold", 300)
rospy.Subscriber(self.wads_topic, nmea, self.on_wads_sensor_msg)
self.wads_value = [0.0]*10 # buffer length 10
self.wads_value_updated = False
self.wads_error = True
#self.wptlist = waypoint_list()
#self.wptlist_loaded = False
# setup subscription topic callbacks
rospy.Subscriber(self.automode_topic, Bool, self.on_automode_message)
rospy.Subscriber(self.pose_topic, Odometry, self.on_pose_message)
rospy.Subscriber(self.joy_topic, Joy, self.on_joy_message)
# call updater function
self.r = rospy.Rate(self.update_rate)
self.updater()
def load_wpt_list (self):
self.wptlist.load_from_csv_ne_format ('waypoints.txt')
(numwpt, nextwpt) = self.wptlist.status()
self.prev_wpt = False
self.wpt = False
rospy.loginfo(rospy.get_name() + ": %d waypoints loaded" % numwpt)
def goto_next_wpt (self):
(pos) = self.casmo.goto_next()
self.goto_pos(pos)
def goto_pos (self, pos):
self.prev_wpt = self.wpt
self.wpt = (pos[0], pos[1], 0, '', 'MCTE', self.wpt_def_tolerance, self.wpt_def_drive_vel, self.wpt_def_turn_vel)
if self.wpt != False:
rospy.loginfo(rospy.get_name() + ": Navigating to waypoint: %s" % self.wpt[2])
self.wptnav.navigate(self.wpt, self.prev_wpt)
else:
rospy.loginfo(rospy.get_name() + ": End of waypoint list reached")
self.wptnav.stop()
def on_automode_message(self, msg):
if msg.data == True: # if autonomous mode requested
if self.state == self.STATE_IDLE:
if self.wptnav.pose != False: # if we have a valid pose
self.state = self.STATE_NAVIGATE
rospy.loginfo(rospy.get_name() + ": Switching to waypoint navigation")
(b) = self.casmo.start(self.pos, self.bearing)
if b != False:
# Casmo init, set starting waypoint
rospy.loginfo(rospy.get_name() + ": Setting casmo starting point")
self.goto_pos(b)
elif self.wptnav.state == self.wptnav.STATE_STANDBY:
self.wptnav.resume()
rospy.loginfo(rospy.get_name() + ": Resuming waypoint navigation")
else: # no valid pose yet
if self.automode_warn == False:
self.automode_warn = True
rospy.logwarn(rospy.get_name() + ": Absolute pose is required for autonomous navigation")
else: # if manual mode requested
if self.state != self.STATE_IDLE:
self.state = self.STATE_IDLE
self.wptnav.standby()
rospy.loginfo(rospy.get_name() + ": Switching to manual control")
def on_pose_message(self, msg):
qx = msg.pose.pose.orientation.x
qy = msg.pose.pose.orientation.y
qz = msg.pose.pose.orientation.z
qw = msg.pose.pose.orientation.w
yaw = atan2(2*(qx*qy + qw*qz), qw*qw + qx*qx - qy*qy - qz*qz)
self.wptnav.state_update (msg.pose.pose.position.x, msg.pose.pose.position.y, yaw, msg.twist.twist.linear.x)
self.wriggle.pose_update(msg.pose.pose.position.x, msg.pose.pose.position.y, yaw)
self.pos = (msg.pose.pose.position.x, msg.pose.pose.position.y)
self.bearing = yaw
def on_joy_message(self, msg):
if int(msg.buttons[2]) != self.wii_a:
self.wii_a = int(msg.buttons[2])
self.wii_a_changed = True
if int(msg.buttons[8]) != self.wii_up:
self.wii_up = int(msg.buttons[8])
self.wii_up_changed = True
if int(msg.buttons[9]) != self.wii_down:
self.wii_down = int(msg.buttons[9])
self.wii_down_changed = True
if int(msg.buttons[10]) != self.wii_home:
self.wii_home = int(msg.buttons[10])
self.wii_home_changed = True
if int(msg.buttons[6]) != self.wii_left:
self.wii_left = int(msg.buttons[6])
self.wii_left_changed = True
if int(msg.buttons[7]) != self.wii_right:
self.wii_right = int(msg.buttons[7])
self.wii_right_changed = True
def on_wads_sensor_msg(self, msg):
if msg.type == "EBUPX" and msg.valid == True:
self.wads_value.append (int(msg.data[0]))
del self.wads_value[0]
self.wads_value_updated = True
def publish_cmd_vel_message(self):
self.twist.header.stamp = rospy.Time.now()
self.twist.twist.linear.x = self.linear_vel
self.twist.twist.angular.z = self.angular_vel
self.cmd_vel_pub.publish (self.twist)
def publish_implement_message(self):
self.implement.header.stamp = rospy.Time.now()
self.implement.data = self.wriggle.is_done()
self.implement_pub.publish (self.implement)
def publish_status_message(self):
self.wptnav_status.header.stamp = rospy.Time.now()
self.wptnav_status.state = self.state
if self.wptnav.pose != False:
self.wptnav_status.easting = self.wptnav.pose[0]
self.wptnav_status.northing = self.wptnav.pose[1]
if self.state == self.STATE_NAVIGATE and self.wptnav.b != False:
if self.wptnav.state == self.wptnav.STATE_STOP or self.wptnav.state == self.wptnav.STATE_STANDBY:
self.wptnav_status.mode = 0
elif self.wptnav.state == self.wptnav.STATE_DRIVE:
self.wptnav_status.mode = 1
elif self.wptnav.state == self.wptnav.STATE_TURN:
self.wptnav_status.mode = 2
self.wptnav_status.b_id = self.wptnav.b[self.wptnav.W_ID]
self.wptnav_status.b_easting = self.wptnav.b[self.wptnav.W_E]
self.wptnav_status.b_northing = self.wptnav.b[self.wptnav.W_N]
self.wptnav_status.a_easting = self.wptnav.a[self.wptnav.W_E]
self.wptnav_status.a_northing = self.wptnav.a[self.wptnav.W_N]
self.wptnav_status.distance_to_b = self.wptnav.dist
self.wptnav_status.bearing_to_b = self.wptnav.bearing
self.wptnav_status.heading_err = self.wptnav.heading_err
self.wptnav_status.distance_to_ab_line = self.wptnav.ab_dist_to_pose
if self.wptnav.target != False:
self.wptnav_status.target_easting = self.wptnav.target[0]
self.wptnav_status.target_northing = self.wptnav.target[1]
self.wptnav_status.target_distance = self.wptnav.target_dist
self.wptnav_status.target_bearing = self.wptnav.target_bearing
self.wptnav_status.target_heading_err = self.wptnav.target_heading_err
else:
self.wptnav_status.target_easting = 0.0
self.wptnav_status.target_northing = 0.0
self.wptnav_status.target_distance = 0.0
self.wptnav_status.target_bearing = 0.0
self.wptnav_status.target_heading_err = 0.0
self.wptnav_status.linear_speed = self.wptnav.linear_vel
self.wptnav_status.angular_speed = self.wptnav.angular_vel
else:
self.wptnav_status.mode = -1
self.wptnav_status_pub.publish (self.wptnav_status)
def publish_pid_message(self):
if self.state == self.STATE_NAVIGATE:
self.pid.header.stamp = rospy.Time.now()
self.pid.data = self.wptnav.pid_status
self.pid_pub.publish (self.pid)
def updater(self):
while not rospy.is_shutdown():
self.update_count += 1
if self.wii_a == True and self.wii_a_changed == True:
self.wii_a_changed = False
rospy.loginfo(rospy.get_name() + ': Current position: %.3f %.3f' % (self.wptnav.pose[0], self.wptnav.pose[1]))
self.wads_value.append (self.wads_threshold + 1.0)
del self.wads_value[0]
if self.wii_left == True and self.wii_left_changed == True:
self.wii_left_changed = False
rospy.loginfo(rospy.get_name() + ": Casmo turn left")
(b) = self.casmo.turn_left(self.pos)
if b:
self.goto_pos(b)
if self.wii_right == True and self.wii_right_changed == True:
self.wii_right_changed = False
(b) = self.casmo.turn_right(self.pos)
rospy.loginfo(rospy.get_name() + ": Casmo turn right")
if b:
self.goto_pos(b)
if self.state == self.STATE_NAVIGATE:
# Start wriggle?
if self.wads_value[-1] >= self.wads_threshold and not self.wriggle.has_sensor_penalty():
self.wriggle.start_wriggle()
print "Starting wriggle: %d" % self.wads_value[-1]
# If wriggle is currently active, carry on
if not self.wriggle.is_done():
self.linear_vel = 0.0
(state, self.angular_vel) = self.wriggle.update()
self.publish_cmd_vel_message()
# Else follow the waypoint navigation
else:
(self.status, self.linear_vel, self.angular_vel) = self.wptnav.update(rospy.get_time())
if self.status == self.wptnav.UPDATE_ARRIVAL:
rospy.loginfo(rospy.get_name() + ": Arrived at waypoint")
self.goto_next_wpt()
else:
self.publish_cmd_vel_message()
if self.update_count % self.update_rate == 0: # each second
werr = True
for i in xrange(len(self.wads_value)):
if self.wads_value[i] != self.wads_value[0]:
werr = False
if werr != self.wads_error:
self.wads_error = werr
if self.wads_error == True:
rospy.logerr(rospy.get_name() + ": WADS sensor error")
else:
rospy.logwarn(rospy.get_name() + ": Receiving data from WADS sensor")
# publish status
if self.status_publish_interval != 0:
self.status_publish_count += 1
if self.status_publish_count % self.status_publish_interval == 0:
self.publish_status_message()
# publish pid
if self.pid_publish_interval != 0:
self.pid_publish_count += 1
if self.pid_publish_count % self.pid_publish_interval == 0:
self.publish_pid_message()
# publish status
if self.status_publish_interval != 0:
self.status_publish_count += 1
if self.status_publish_count % self.status_publish_interval == 0:
self.publish_status_message()
# publish pid
if self.pid_publish_interval != 0:
self.pid_publish_count += 1
if self.pid_publish_count % self.pid_publish_interval == 0:
self.publish_pid_message()
self.r.sleep()
def __init__(self):
# defines
self.update_rate = 20 # set update frequency [Hz]
self.update_count = 0
self.IMPLEMENT_INVALID = -10000000.0
self.STATE_IDLE = 0
self.STATE_NAVIGATE = 1
self.STATE_WAIT = 2
self.state = self.STATE_IDLE
self.state_prev = self.state
self.automode_warn = False
self.wait_after_arrival = 0.0
self.wait_timeout = 0.0
self.status = 0
self.wpt = False
self.prev_wpt = False
self.linear_vel = 0.0
self.angular_vel = 0.0
self.pos = False
self.bearing = False
rospy.loginfo(rospy.get_name() + ": Start")
self.quaternion = np.empty((4, ), dtype=np.float64)
self.wii_a = False
self.wii_a_changed = False
self.wii_plus = False
self.wii_plus_changed = False
self.wii_minus = False
self.wii_minus_changed = False
self.wii_up = False
self.wii_up_changed = False
self.wii_down = False
self.wii_down_changed = False
self.wii_left = False
self.wii_left_changed = False
self.wii_right = False
self.wii_right_changed = False
self.wii_home = False
self.wii_home_changed = False
# get parameters
self.debug = rospy.get_param("~print_debug_information", 'true')
if self.debug:
rospy.loginfo(rospy.get_name() + ": Debug enabled")
self.status_publish_interval = rospy.get_param("~status_publish_interval", 0)
self.pid_publish_interval = rospy.get_param("~pid_publish_interval", 0)
# get topic names
self.automode_topic = rospy.get_param("~automode_sub",'/fmDecision/automode')
self.pose_topic = rospy.get_param("~pose_sub",'/fmKnowledge/pose')
self.joy_topic = rospy.get_param("~joy_sub",'/fmLib/joy')
self.cmdvel_topic = rospy.get_param("~cmd_vel_pub",'/fmCommand/cmd_vel')
self.implement_topic = rospy.get_param("~implement_pub",'/fmCommand/implement')
self.wptnav_status_topic = rospy.get_param("~status_pub",'/fmInformation/wptnav_status')
self.pid_topic = rospy.get_param("~pid_pub",'/fmInformation/wptnav_pid')
# setup publish topics
self.cmd_vel_pub = rospy.Publisher(self.cmdvel_topic, TwistStamped)
self.twist = TwistStamped()
self.implement_pub = rospy.Publisher(self.implement_topic, FloatStamped)
self.implement = FloatStamped()
self.wptnav_status_pub = rospy.Publisher(self.wptnav_status_topic, waypoint_navigation_status)
self.wptnav_status = waypoint_navigation_status()
self.status_publish_count = 0
self.pid_pub = rospy.Publisher(self.pid_topic, FloatArrayStamped)
self.pid = FloatArrayStamped()
self.pid_publish_count = 0
# configure waypoint navigation
self.w_dist = rospy.get_param("/diff_steer_wheel_distance", 0.2) # [m]
drive_kp = rospy.get_param("~drive_kp", 1.0)
drive_ki = rospy.get_param("~drive_ki", 0.0)
drive_kd = rospy.get_param("~drive_kd", 0.0)
drive_ff = rospy.get_param("~drive_feed_forward", 0.0)
drive_max_output = rospy.get_param("~drive_max_output", 0.3)
turn_kp = rospy.get_param("~turn_kp", 1.0)
turn_ki = rospy.get_param("~turn_ki", 0.0)
turn_kd = rospy.get_param("~turn_kd", 0.2)
turn_ff = rospy.get_param("~turn_feed_forward", 0.0)
turn_max_output = rospy.get_param("~turn_max_output", 0.5)
max_linear_vel = rospy.get_param("~max_linear_velocity", 0.4)
max_angular_vel = rospy.get_param("~max_angular_velocity", 0.4)
self.wpt_def_tolerance = rospy.get_param("~wpt_default_tolerance", 0.5)
self.wpt_def_drive_vel = rospy.get_param("~wpt_default_drive_velocity", 0.5)
self.wpt_def_turn_vel = rospy.get_param("~wpt_default_turn_velocity", 0.3)
self.wpt_def_wait_after_arrival = rospy.get_param("~wpt_default_wait_after_arrival", 0.0)
self.wpt_def_implement = rospy.get_param("~wpt_default_implement_command", 0.0)
turn_start_at_heading_err = rospy.get_param("~turn_start_at_heading_err", 20.0)
turn_stop_at_heading_err = rospy.get_param("~turn_stop_at_heading_err", 2.0)
ramp_drive_vel_at_dist = rospy.get_param("~ramp_drive_velocity_at_distance", 1.0)
ramp_min_drive_vel = rospy.get_param("~ramp_min_drive_velocity", 0.1)
ramp_turn_vel_at_angle = rospy.get_param("~ramp_turn_velocity_at_angle", 25.0)
ramp_min_turn_vel = rospy.get_param("~ramp_min_turn_velocity", 0.05)
stop_nav_at_dist = rospy.get_param("~stop_navigating_at_distance", 0.1)
self.wptnav = waypoint_navigation(self.update_rate, self.w_dist, drive_kp, drive_ki, drive_kd, drive_ff, drive_max_output, turn_kp, turn_ki, turn_kd, turn_ff, turn_max_output, max_linear_vel, max_angular_vel, self.wpt_def_tolerance, self.wpt_def_drive_vel, self.wpt_def_turn_vel, turn_start_at_heading_err, turn_stop_at_heading_err, ramp_drive_vel_at_dist, ramp_min_drive_vel, ramp_turn_vel_at_angle, ramp_min_turn_vel, stop_nav_at_dist, self.debug)
# configure casmo
casmo_width = rospy.get_param("~casmo_width", 0.8)
casmo_default_length = rospy.get_param("~casmo_default_length", 100)
self.casmo = area_coverage_casmo()
self.casmo.param_set_width(casmo_width)
self.casmo.param_set_default_length(casmo_default_length)
# Configure wriggle
turn_angle_left = rospy.get_param("~wads_turn_angle",pi/6)
turn_angle_right = -turn_angle_left
speed_gain = rospy.get_param("~wads_turn_angular_speed_gain", 5)
sensor_penalty_distance = rospy.get_param("~wads_penalty_distance", 5)
self.wriggle = Wriggle(turn_angle_left, turn_angle_right, self.wpt_def_turn_vel, speed_gain, sensor_penalty_distance)
# Configure wads sensor
self.wads_topic = rospy.get_param("~wads_sub",'/fmData/nmea_from_wads')
self.wads_threshold = rospy.get_param("~wads_threshold", 300)
rospy.Subscriber(self.wads_topic, nmea, self.on_wads_sensor_msg)
self.wads_value = [0.0]*10 # buffer length 10
self.wads_value_updated = False
self.wads_error = True
#self.wptlist = waypoint_list()
#self.wptlist_loaded = False
# setup subscription topic callbacks
rospy.Subscriber(self.automode_topic, Bool, self.on_automode_message)
rospy.Subscriber(self.pose_topic, Odometry, self.on_pose_message)
rospy.Subscriber(self.joy_topic, Joy, self.on_joy_message)
# call updater function
self.r = rospy.Rate(self.update_rate)
self.updater()
def __init__(self):
# defines
self.update_rate = 20 # set update frequency [Hz]
self.automode = False
self.automode_prev = False
self.status = 0
self.wpt = False
self.prev_wpt = False
self.linear_speed = 0.0
self.angular_speed = 0.0
self.pos = False
self.bearing = False
rospy.loginfo(rospy.get_name() + ": Start")
self.quaternion = np.empty((4, ), dtype=np.float64)
self.wii_a = False
self.wii_a_changed = False
self.wii_home = False
self.wii_home_changed = False
self.wii_up = False
self.wii_up_changed = False
self.wii_down = False
self.wii_down_changed = False
self.wii_left = False
self.wii_left_changed = False
self.wii_right = False
self.wii_right_changed = False
# get parameters
self.debug = rospy.get_param("~print_debug_information", 'true')
if self.debug:
rospy.loginfo(rospy.get_name() + ": Debug enabled")
self.status_publish_interval = rospy.get_param("~status_publish_interval", 0)
# get topic names
self.automode_topic = rospy.get_param("~automode_sub",'/fmDecisionMakers/automode')
self.pose_topic = rospy.get_param("~pose_sub",'/fmKnowledge/pose')
self.joy_topic = rospy.get_param("~joy_sub",'/fmHMI/joy')
self.cmdvel_topic = rospy.get_param("~cmd_vel_pub",'/fmCommand/cmd_vel')
self.wptnav_status_topic = rospy.get_param("~status_pub",'/fmData/wptnav_status')
# setup subscription topic callbacks
rospy.Subscriber(self.automode_topic, Bool, self.on_automode_message)
rospy.Subscriber(self.pose_topic, Odometry, self.on_pose_message)
rospy.Subscriber(self.joy_topic, Joy, self.on_joy_message)
# setup publish topics
self.cmd_vel_pub = rospy.Publisher(self.cmdvel_topic, TwistStamped)
self.twist = TwistStamped()
self.wptnav_status_pub = rospy.Publisher(self.wptnav_status_topic, waypoint_navigation_status)
self.wptnav_status = waypoint_navigation_status()
self.status_publish_count = 0
# configure waypoint navigation and casmo
casmo_width = rospy.get_param("~casmo_width", 0.8)
casmo_default_length = rospy.get_param("~casmo_default_length", 100)
self.max_linear_velocity = rospy.get_param("~max_linear_velocity", 0.5)
self.wpt_tolerance = rospy.get_param("~wpt_tolerance", 0.5)
self.wptnav = waypoint_navigation(self.update_rate, self.debug)
self.casmo = area_coverage_casmo()
self.casmo.param_set_width(casmo_width)
self.casmo.param_set_default_length(casmo_default_length)
# Configure wriggle
turn_angle_left = rospy.get_param("~turn_angle_left",pi/6)
turn_angle_right = rospy.get_param("~turn_angle_right",pi/6 * -1)
turn_max_speed = rospy.get_param("~max_angular_velocity", 0.3)
speed_gain = rospy.get_param("~turn_angular_speed_gain", 5)
sensor_penalty_distance = rospy.get_param("~sensor_penalty_distance", 5)
self.wriggle = Wriggle(turn_angle_left, turn_angle_right, turn_max_speed, speed_gain, sensor_penalty_distance)
# Configure wads sensor
self.wads_topic = rospy.get_param("~wads_sub",'/fmInformation/wads')
self.wads_threshold = rospy.get_param("~wads_threshold", 3)
rospy.Subscriber(self.wads_topic, Float64, self.on_wads_sensor_msg)
self.wads_value = 0.0
# call updater function
self.r = rospy.Rate(self.update_rate)
self.updater()
class WaypointNavigationNode():
def __init__(self):
# defines
self.update_rate = 20 # set update frequency [Hz]
self.automode = False
self.automode_prev = False
self.status = 0
self.wpt = False
self.prev_wpt = False
self.linear_speed = 0.0
self.angular_speed = 0.0
self.pos = False
self.bearing = False
rospy.loginfo(rospy.get_name() + ": Start")
self.quaternion = np.empty((4, ), dtype=np.float64)
self.wii_a = False
self.wii_a_changed = False
self.wii_home = False
self.wii_home_changed = False
self.wii_up = False
self.wii_up_changed = False
self.wii_down = False
self.wii_down_changed = False
self.wii_left = False
self.wii_left_changed = False
self.wii_right = False
self.wii_right_changed = False
# get parameters
self.debug = rospy.get_param("~print_debug_information", 'true')
if self.debug:
rospy.loginfo(rospy.get_name() + ": Debug enabled")
self.status_publish_interval = rospy.get_param("~status_publish_interval", 0)
# get topic names
self.automode_topic = rospy.get_param("~automode_sub",'/fmDecisionMakers/automode')
self.pose_topic = rospy.get_param("~pose_sub",'/fmKnowledge/pose')
self.joy_topic = rospy.get_param("~joy_sub",'/fmHMI/joy')
self.cmdvel_topic = rospy.get_param("~cmd_vel_pub",'/fmCommand/cmd_vel')
self.wptnav_status_topic = rospy.get_param("~status_pub",'/fmData/wptnav_status')
# setup subscription topic callbacks
rospy.Subscriber(self.automode_topic, Bool, self.on_automode_message)
rospy.Subscriber(self.pose_topic, Odometry, self.on_pose_message)
rospy.Subscriber(self.joy_topic, Joy, self.on_joy_message)
# setup publish topics
self.cmd_vel_pub = rospy.Publisher(self.cmdvel_topic, TwistStamped)
self.twist = TwistStamped()
self.wptnav_status_pub = rospy.Publisher(self.wptnav_status_topic, waypoint_navigation_status)
self.wptnav_status = waypoint_navigation_status()
self.status_publish_count = 0
# configure waypoint navigation and casmo
casmo_width = rospy.get_param("~casmo_width", 0.8)
casmo_default_length = rospy.get_param("~casmo_default_length", 100)
self.max_linear_velocity = rospy.get_param("~max_linear_velocity", 0.5)
self.wpt_tolerance = rospy.get_param("~wpt_tolerance", 0.5)
self.wptnav = waypoint_navigation(self.update_rate, self.debug)
self.casmo = area_coverage_casmo()
self.casmo.param_set_width(casmo_width)
self.casmo.param_set_default_length(casmo_default_length)
# Configure wriggle
turn_angle_left = rospy.get_param("~turn_angle_left",pi/6)
turn_angle_right = rospy.get_param("~turn_angle_right",pi/6 * -1)
turn_max_speed = rospy.get_param("~max_angular_velocity", 0.3)
speed_gain = rospy.get_param("~turn_angular_speed_gain", 5)
sensor_penalty_distance = rospy.get_param("~sensor_penalty_distance", 5)
self.wriggle = Wriggle(turn_angle_left, turn_angle_right, turn_max_speed, speed_gain, sensor_penalty_distance)
# Configure wads sensor
self.wads_topic = rospy.get_param("~wads_sub",'/fmInformation/wads')
self.wads_threshold = rospy.get_param("~wads_threshold", 3)
rospy.Subscriber(self.wads_topic, Float64, self.on_wads_sensor_msg)
self.wads_value = 0.0
# call updater function
self.r = rospy.Rate(self.update_rate)
self.updater()
def goto_next_wpt (self):
(pos) = self.casmo.goto_next()
self.goto_pos(pos)
def goto_pos (self, pos):
self.prev_wpt = self.wpt
self.wpt = (pos[0], pos[1], 0, 'MCTE', self.wpt_tolerance, self.max_linear_velocity)
if self.wpt != False:
rospy.loginfo(rospy.get_name() + ": Navigating to waypoint: %s" % self.wpt[2])
self.wptnav.navigate(self.wpt, self.prev_wpt)
else:
rospy.loginfo(rospy.get_name() + ": End of waypoint list reached")
self.wptnav.stop()
def on_automode_message(self, msg):
if self.pos == False and msg.data == True:
rospy.loginfo("Cannot enter automode without pose information")
return
self.automode = msg.data
if self.automode != self.automode_prev:
self.automode_prev = self.automode
if self.automode:
# going into automode
rospy.loginfo(rospy.get_name() + ": Switching to waypoint navigation")
(b) = self.casmo.start(self.pos, self.bearing)
if b != False:
# Casmo init, set starting waypoint
rospy.loginfo(rospy.get_name() + ": Setting casmo starting point")
self.goto_pos(b)
elif self.wptnav.state == self.wptnav.STATE_STANDBY:
# Resuming waypoint navigation
self.wptnav.resume()
rospy.loginfo(rospy.get_name() + ": Resuming waypoint navigation")
else:
self.wptnav.standby()
rospy.loginfo(rospy.get_name() + ": Switching to Wiimote control")
def on_pose_message(self, msg):
qx = msg.pose.pose.orientation.x
qy = msg.pose.pose.orientation.y
qz = msg.pose.pose.orientation.z
qw = msg.pose.pose.orientation.w
yaw = atan2(2*(qx*qy + qw*qz), qw*qw + qx*qx - qy*qy - qz*qz)
self.wptnav.pose_update (msg.pose.pose.position.x, msg.pose.pose.position.y, yaw)
# Update wriggle
self.wriggle.pose_update(msg.pose.pose.position.x, msg.pose.pose.position.y, yaw)
self.pos = (msg.pose.pose.position.x, msg.pose.pose.position.y)
self.bearing = yaw
def on_joy_message(self, msg):
if int(msg.buttons[2]) != self.wii_a:
self.wii_a = int(msg.buttons[2])
self.wii_a_changed = True
if int(msg.buttons[8]) != self.wii_up:
self.wii_up = int(msg.buttons[8])
self.wii_up_changed = True
if int(msg.buttons[9]) != self.wii_down:
self.wii_down = int(msg.buttons[9])
self.wii_down_changed = True
if int(msg.buttons[10]) != self.wii_home:
self.wii_home = int(msg.buttons[10])
self.wii_home_changed = True
if int(msg.buttons[6]) != self.wii_left:
self.wii_left = int(msg.buttons[6])
self.wii_left_changed = True
if int(msg.buttons[7]) != self.wii_right:
self.wii_right = int(msg.buttons[7])
self.wii_right_changed = True
# WADS Sensor msgs
def on_wads_sensor_msg(self, msg):
self.wads_value = msg.data
def publish_cmd_vel_message(self):
self.twist.header.stamp = rospy.Time.now()
self.twist.twist.linear.x = self.linear_speed
self.twist.twist.angular.z = self.angular_speed
self.cmd_vel_pub.publish (self.twist)
def publish_status_message(self):
self.wptnav_status.header.stamp = rospy.Time.now()
if self.wptnav.pose != False:
self.wptnav_status.easting = self.wptnav.pose[0]
self.wptnav_status.northing = self.wptnav.pose[1]
if self.automode != False and self.wptnav.b != False:
if self.wptnav.state == self.wptnav.STATE_STOP or self.wptnav.state == self.wptnav.STATE_STANDBY:
self.wptnav_status.mode = 0
elif self.wptnav.state == self.wptnav.STATE_DRIVE_INIT or self.wptnav.state == self.wptnav.STATE_DRIVE:
self.wptnav_status.mode = 1
elif self.wptnav.state == self.wptnav.STATE_TURN_INIT or self.wptnav.state == self.wptnav.STATE_TURN:
self.wptnav_status.mode = 2
self.wptnav_status.b_easting = self.wptnav.b[0]
self.wptnav_status.b_northing = self.wptnav.b[1]
self.wptnav_status.a_easting = self.wptnav.a[0]
self.wptnav_status.a_northing = self.wptnav.a[1]
self.wptnav_status.distance_to_b = self.wptnav.dist
self.wptnav_status.bearing_to_b = self.wptnav.bearing
self.wptnav_status.heading_err = self.wptnav.heading_err
self.wptnav_status.distance_to_ab_line = self.wptnav.ab_dist_to_pose
if self.wptnav.target != False:
self.wptnav_status.target_easting = self.wptnav.target[0]
self.wptnav_status.target_northing = self.wptnav.target[1]
self.wptnav_status.target_distance = self.wptnav.target_dist
self.wptnav_status.target_bearing = self.wptnav.target_bearing
self.wptnav_status.target_heading_err = self.wptnav.target_heading_err
else:
self.wptnav_status.target_easting = 0.0
self.wptnav_status.target_northing = 0.0
self.wptnav_status.target_distance = 0.0
self.wptnav_status.target_bearing = 0.0
self.wptnav_status.target_heading_err = 0.0
self.wptnav_status.linear_speed = self.wptnav.linear_speed
self.wptnav_status.angular_speed = self.wptnav.angular_speed
else:
self.wptnav_status.mode = -1
self.wptnav_status_pub.publish (self.wptnav_status)
def updater(self):
while not rospy.is_shutdown():
# WiiMote input
if self.wii_a == True and self.wii_a_changed == True:
self.wii_a_changed = False
rospy.loginfo(rospy.get_name() + ': Current position: %.3f %.3f' % (self.wptnav.pose[0], self.wptnav.pose[1]))
#if self.wii_home == True and self.wii_home_changed == True:
# self.wii_home_changed = False
# rospy.loginfo(rospy.get_name() + ": User reloaded waypoint list")
# self.load_wpt_list()
# self.goto_next_wpt()
#if self.wii_up == True and self.wii_up_changed == True:
# self.wii_up_changed = False
# rospy.loginfo(rospy.get_name() + ": User skipped waypoint")
# self.goto_next_wpt()
#if self.wii_down == True and self.wii_down_changed == True:
# self.wii_down_changed = False
# rospy.loginfo(rospy.get_name() + ": User selected previous waypoint")
# self.goto_previous_wpt()
if self.wii_left == True and self.wii_left_changed == True:
self.wii_left_changed = False
rospy.loginfo(rospy.get_name() + ": Casmo turn left")
(b) = self.casmo.turn_left(self.pos)
if b:
self.goto_pos(b)
if self.wii_right == True and self.wii_right_changed == True:
self.wii_right_changed = False
(b) = self.casmo.turn_right(self.pos)
rospy.loginfo(rospy.get_name() + ": Casmo turn right")
if b:
self.goto_pos(b)
if self.automode:
# Start wriggle?
if self.wads_value >= self.wads_threshold and not self.wriggle.has_sensor_penalty():
self.wriggle.start_wriggle()
print "Starting wriggle"
# If wriggle is currently active, carry on
if not self.wriggle.is_done():
self.linear_speed = 0.0
(state, self.angular_speed) = self.wriggle.update()
self.publish_cmd_vel_message()
# Else follow the waypoint navigation
else:
ros_time = rospy.Time.now()
time = ros_time.secs + ros_time.nsecs*1e-9
(self.status, self.linear_speed, self.angular_speed) = self.wptnav.update(time)
if self.status == self.wptnav.UPDATE_ARRIVAL:
rospy.loginfo(rospy.get_name() + ": Arrived at waypoint")
self.goto_next_wpt()
else:
self.publish_cmd_vel_message()
if self.status_publish_interval != 0:
self.status_publish_count += 1
if (self.status_publish_count % self.status_publish_interval) == 0:
self.publish_status_message()
self.r.sleep()
def __init__(self):
# defines
self.update_rate = 20 # set update frequency [Hz]
self.update_count = 0
self.IMPLEMENT_INVALID = -10000000.0
self.STATE_IDLE = 0
self.STATE_NAVIGATE = 1
self.STATE_WAIT = 2
self.state = self.STATE_IDLE
self.state_prev = self.state
self.automode_warn = False
self.wait_after_arrival = 0.0
self.wait_timeout = 0.0
self.status = 0
self.wpt = False
self.prev_wpt = False
self.linear_vel = 0.0
self.angular_vel = 0.0
self.pos = False
self.bearing = False
rospy.loginfo(rospy.get_name() + ": Start")
self.quaternion = np.empty((4, ), dtype=np.float64)
self.wii_a = False
self.wii_a_changed = False
self.wii_plus = False
self.wii_plus_changed = False
self.wii_minus = False
self.wii_minus_changed = False
self.wii_up = False
self.wii_up_changed = False
self.wii_down = False
self.wii_down_changed = False
self.wii_left = False
self.wii_left_changed = False
self.wii_right = False
self.wii_right_changed = False
self.wii_home = False
self.wii_home_changed = False
# get parameters
self.debug = rospy.get_param("~print_debug_information", 'true')
if self.debug:
rospy.loginfo(rospy.get_name() + ": Debug enabled")
self.status_publish_interval = rospy.get_param(
"~status_publish_interval", 0)
self.pid_publish_interval = rospy.get_param("~pid_publish_interval", 0)
# get topic names
self.automode_topic = rospy.get_param("~automode_sub",
'/fmDecision/automode')
self.pose_topic = rospy.get_param("~pose_sub", '/fmKnowledge/pose')
self.joy_topic = rospy.get_param("~joy_sub", '/fmLib/joy')
self.cmdvel_topic = rospy.get_param("~cmd_vel_pub",
'/fmCommand/cmd_vel')
self.implement_topic = rospy.get_param("~implement_pub",
'/fmCommand/implement')
self.wptnav_status_topic = rospy.get_param(
"~status_pub", '/fmInformation/wptnav_status')
self.pid_topic = rospy.get_param("~pid_pub",
'/fmInformation/wptnav_pid')
# setup publish topics
self.cmd_vel_pub = rospy.Publisher(self.cmdvel_topic, TwistStamped)
self.twist = TwistStamped()
self.implement_pub = rospy.Publisher(self.implement_topic,
FloatStamped)
self.implement = FloatStamped()
self.wptnav_status_pub = rospy.Publisher(self.wptnav_status_topic,
waypoint_navigation_status)
self.wptnav_status = waypoint_navigation_status()
self.status_publish_count = 0
self.pid_pub = rospy.Publisher(self.pid_topic, FloatArrayStamped)
self.pid = FloatArrayStamped()
self.pid_publish_count = 0
# configure waypoint navigation
self.w_dist = rospy.get_param("/diff_steer_wheel_distance", 0.2) # [m]
drive_kp = rospy.get_param("~drive_kp", 1.0)
drive_ki = rospy.get_param("~drive_ki", 0.0)
drive_kd = rospy.get_param("~drive_kd", 0.0)
drive_ff = rospy.get_param("~drive_feed_forward", 0.0)
drive_max_output = rospy.get_param("~drive_max_output", 0.3)
turn_kp = rospy.get_param("~turn_kp", 1.0)
turn_ki = rospy.get_param("~turn_ki", 0.0)
turn_kd = rospy.get_param("~turn_kd", 0.2)
turn_ff = rospy.get_param("~turn_feed_forward", 0.0)
turn_max_output = rospy.get_param("~turn_max_output", 0.5)
max_linear_vel = rospy.get_param("~max_linear_velocity", 0.4)
max_angular_vel = rospy.get_param("~max_angular_velocity", 0.4)
self.wpt_def_tolerance = rospy.get_param("~wpt_default_tolerance", 0.5)
self.wpt_def_drive_vel = rospy.get_param("~wpt_default_drive_velocity",
0.5)
self.wpt_def_turn_vel = rospy.get_param("~wpt_default_turn_velocity",
0.3)
self.wpt_def_wait_after_arrival = rospy.get_param(
"~wpt_default_wait_after_arrival", 0.0)
self.wpt_def_implement = rospy.get_param(
"~wpt_default_implement_command", 0.0)
turn_start_at_heading_err = rospy.get_param(
"~turn_start_at_heading_err", 20.0)
turn_stop_at_heading_err = rospy.get_param("~turn_stop_at_heading_err",
2.0)
ramp_drive_vel_at_dist = rospy.get_param(
"~ramp_drive_velocity_at_distance", 1.0)
ramp_min_drive_vel = rospy.get_param("~ramp_min_drive_velocity", 0.1)
ramp_turn_vel_at_angle = rospy.get_param(
"~ramp_turn_velocity_at_angle", 25.0)
ramp_min_turn_vel = rospy.get_param("~ramp_min_turn_velocity", 0.05)
stop_nav_at_dist = rospy.get_param("~stop_navigating_at_distance", 0.1)
self.wptnav = waypoint_navigation(
self.update_rate, self.w_dist, drive_kp, drive_ki, drive_kd,
drive_ff, drive_max_output, turn_kp, turn_ki, turn_kd, turn_ff,
turn_max_output, max_linear_vel, max_angular_vel,
self.wpt_def_tolerance, self.wpt_def_drive_vel,
self.wpt_def_turn_vel, turn_start_at_heading_err,
turn_stop_at_heading_err, ramp_drive_vel_at_dist,
ramp_min_drive_vel, ramp_turn_vel_at_angle, ramp_min_turn_vel,
stop_nav_at_dist, self.debug)
# configure casmo
casmo_width = rospy.get_param("~casmo_width", 0.8)
casmo_default_length = rospy.get_param("~casmo_default_length", 100)
self.casmo = area_coverage_casmo()
self.casmo.param_set_width(casmo_width)
self.casmo.param_set_default_length(casmo_default_length)
# Configure wriggle
turn_angle_left = rospy.get_param("~wads_turn_angle", pi / 6)
turn_angle_right = -turn_angle_left
speed_gain = rospy.get_param("~wads_turn_angular_speed_gain", 5)
sensor_penalty_distance = rospy.get_param("~wads_penalty_distance", 5)
self.wriggle = Wriggle(turn_angle_left, turn_angle_right,
self.wpt_def_turn_vel, speed_gain,
sensor_penalty_distance)
# Configure wads sensor
self.wads_topic = rospy.get_param("~wads_sub",
'/fmData/nmea_from_wads')
self.wads_threshold = rospy.get_param("~wads_threshold", 300)
rospy.Subscriber(self.wads_topic, nmea, self.on_wads_sensor_msg)
self.wads_value = [0.0] * 10 # buffer length 10
self.wads_value_updated = False
self.wads_error = True
#self.wptlist = waypoint_list()
#self.wptlist_loaded = False
# setup subscription topic callbacks
rospy.Subscriber(self.automode_topic, Bool, self.on_automode_message)
rospy.Subscriber(self.pose_topic, Odometry, self.on_pose_message)
rospy.Subscriber(self.joy_topic, Joy, self.on_joy_message)
# call updater function
self.r = rospy.Rate(self.update_rate)
self.updater()
class WptNavNode():
def __init__(self):
# defines
self.update_rate = 20 # set update frequency [Hz]
self.update_count = 0
self.IMPLEMENT_INVALID = -10000000.0
self.STATE_IDLE = 0
self.STATE_NAVIGATE = 1
self.STATE_WAIT = 2
self.state = self.STATE_IDLE
self.state_prev = self.state
self.automode_warn = False
self.wait_after_arrival = 0.0
self.wait_timeout = 0.0
self.status = 0
self.wpt = False
self.prev_wpt = False
self.linear_vel = 0.0
self.angular_vel = 0.0
self.pos = False
self.bearing = False
rospy.loginfo(rospy.get_name() + ": Start")
self.quaternion = np.empty((4, ), dtype=np.float64)
self.wii_a = False
self.wii_a_changed = False
self.wii_plus = False
self.wii_plus_changed = False
self.wii_minus = False
self.wii_minus_changed = False
self.wii_up = False
self.wii_up_changed = False
self.wii_down = False
self.wii_down_changed = False
self.wii_left = False
self.wii_left_changed = False
self.wii_right = False
self.wii_right_changed = False
self.wii_home = False
self.wii_home_changed = False
# get parameters
self.debug = rospy.get_param("~print_debug_information", 'true')
if self.debug:
rospy.loginfo(rospy.get_name() + ": Debug enabled")
self.status_publish_interval = rospy.get_param(
"~status_publish_interval", 0)
self.pid_publish_interval = rospy.get_param("~pid_publish_interval", 0)
# get topic names
self.automode_topic = rospy.get_param("~automode_sub",
'/fmDecision/automode')
self.pose_topic = rospy.get_param("~pose_sub", '/fmKnowledge/pose')
self.joy_topic = rospy.get_param("~joy_sub", '/fmLib/joy')
self.cmdvel_topic = rospy.get_param("~cmd_vel_pub",
'/fmCommand/cmd_vel')
self.implement_topic = rospy.get_param("~implement_pub",
'/fmCommand/implement')
self.wptnav_status_topic = rospy.get_param(
"~status_pub", '/fmInformation/wptnav_status')
self.pid_topic = rospy.get_param("~pid_pub",
'/fmInformation/wptnav_pid')
# setup publish topics
self.cmd_vel_pub = rospy.Publisher(self.cmdvel_topic, TwistStamped)
self.twist = TwistStamped()
self.implement_pub = rospy.Publisher(self.implement_topic,
FloatStamped)
self.implement = FloatStamped()
self.wptnav_status_pub = rospy.Publisher(self.wptnav_status_topic,
waypoint_navigation_status)
self.wptnav_status = waypoint_navigation_status()
self.status_publish_count = 0
self.pid_pub = rospy.Publisher(self.pid_topic, FloatArrayStamped)
self.pid = FloatArrayStamped()
self.pid_publish_count = 0
# configure waypoint navigation
self.w_dist = rospy.get_param("/diff_steer_wheel_distance", 0.2) # [m]
drive_kp = rospy.get_param("~drive_kp", 1.0)
drive_ki = rospy.get_param("~drive_ki", 0.0)
drive_kd = rospy.get_param("~drive_kd", 0.0)
drive_ff = rospy.get_param("~drive_feed_forward", 0.0)
drive_max_output = rospy.get_param("~drive_max_output", 0.3)
turn_kp = rospy.get_param("~turn_kp", 1.0)
turn_ki = rospy.get_param("~turn_ki", 0.0)
turn_kd = rospy.get_param("~turn_kd", 0.2)
turn_ff = rospy.get_param("~turn_feed_forward", 0.0)
turn_max_output = rospy.get_param("~turn_max_output", 0.5)
max_linear_vel = rospy.get_param("~max_linear_velocity", 0.4)
max_angular_vel = rospy.get_param("~max_angular_velocity", 0.4)
self.wpt_def_tolerance = rospy.get_param("~wpt_default_tolerance", 0.5)
self.wpt_def_drive_vel = rospy.get_param("~wpt_default_drive_velocity",
0.5)
self.wpt_def_turn_vel = rospy.get_param("~wpt_default_turn_velocity",
0.3)
self.wpt_def_wait_after_arrival = rospy.get_param(
"~wpt_default_wait_after_arrival", 0.0)
self.wpt_def_implement = rospy.get_param(
"~wpt_default_implement_command", 0.0)
turn_start_at_heading_err = rospy.get_param(
"~turn_start_at_heading_err", 20.0)
turn_stop_at_heading_err = rospy.get_param("~turn_stop_at_heading_err",
2.0)
ramp_drive_vel_at_dist = rospy.get_param(
"~ramp_drive_velocity_at_distance", 1.0)
ramp_min_drive_vel = rospy.get_param("~ramp_min_drive_velocity", 0.1)
ramp_turn_vel_at_angle = rospy.get_param(
"~ramp_turn_velocity_at_angle", 25.0)
ramp_min_turn_vel = rospy.get_param("~ramp_min_turn_velocity", 0.05)
stop_nav_at_dist = rospy.get_param("~stop_navigating_at_distance", 0.1)
self.wptnav = waypoint_navigation(
self.update_rate, self.w_dist, drive_kp, drive_ki, drive_kd,
drive_ff, drive_max_output, turn_kp, turn_ki, turn_kd, turn_ff,
turn_max_output, max_linear_vel, max_angular_vel,
self.wpt_def_tolerance, self.wpt_def_drive_vel,
self.wpt_def_turn_vel, turn_start_at_heading_err,
turn_stop_at_heading_err, ramp_drive_vel_at_dist,
ramp_min_drive_vel, ramp_turn_vel_at_angle, ramp_min_turn_vel,
stop_nav_at_dist, self.debug)
# configure casmo
casmo_width = rospy.get_param("~casmo_width", 0.8)
casmo_default_length = rospy.get_param("~casmo_default_length", 100)
self.casmo = area_coverage_casmo()
self.casmo.param_set_width(casmo_width)
self.casmo.param_set_default_length(casmo_default_length)
# Configure wriggle
turn_angle_left = rospy.get_param("~wads_turn_angle", pi / 6)
turn_angle_right = -turn_angle_left
speed_gain = rospy.get_param("~wads_turn_angular_speed_gain", 5)
sensor_penalty_distance = rospy.get_param("~wads_penalty_distance", 5)
self.wriggle = Wriggle(turn_angle_left, turn_angle_right,
self.wpt_def_turn_vel, speed_gain,
sensor_penalty_distance)
# Configure wads sensor
self.wads_topic = rospy.get_param("~wads_sub",
'/fmData/nmea_from_wads')
self.wads_threshold = rospy.get_param("~wads_threshold", 300)
rospy.Subscriber(self.wads_topic, nmea, self.on_wads_sensor_msg)
self.wads_value = [0.0] * 10 # buffer length 10
self.wads_value_updated = False
self.wads_error = True
#self.wptlist = waypoint_list()
#self.wptlist_loaded = False
# setup subscription topic callbacks
rospy.Subscriber(self.automode_topic, Bool, self.on_automode_message)
rospy.Subscriber(self.pose_topic, Odometry, self.on_pose_message)
rospy.Subscriber(self.joy_topic, Joy, self.on_joy_message)
# call updater function
self.r = rospy.Rate(self.update_rate)
self.updater()
def load_wpt_list(self):
self.wptlist.load_from_csv_ne_format('waypoints.txt')
(numwpt, nextwpt) = self.wptlist.status()
self.prev_wpt = False
self.wpt = False
rospy.loginfo(rospy.get_name() + ": %d waypoints loaded" % numwpt)
def goto_next_wpt(self):
(pos) = self.casmo.goto_next()
self.goto_pos(pos)
def goto_pos(self, pos):
self.prev_wpt = self.wpt
self.wpt = (pos[0], pos[1], 0, '', 'MCTE', self.wpt_def_tolerance,
self.wpt_def_drive_vel, self.wpt_def_turn_vel)
if self.wpt != False:
rospy.loginfo(rospy.get_name() +
": Navigating to waypoint: %s" % self.wpt[2])
self.wptnav.navigate(self.wpt, self.prev_wpt)
else:
rospy.loginfo(rospy.get_name() + ": End of waypoint list reached")
self.wptnav.stop()
def on_automode_message(self, msg):
if msg.data == True: # if autonomous mode requested
if self.state == self.STATE_IDLE:
if self.wptnav.pose != False: # if we have a valid pose
self.state = self.STATE_NAVIGATE
rospy.loginfo(rospy.get_name() +
": Switching to waypoint navigation")
(b) = self.casmo.start(self.pos, self.bearing)
if b != False:
# Casmo init, set starting waypoint
rospy.loginfo(rospy.get_name() +
": Setting casmo starting point")
self.goto_pos(b)
elif self.wptnav.state == self.wptnav.STATE_STANDBY:
self.wptnav.resume()
rospy.loginfo(rospy.get_name() +
": Resuming waypoint navigation")
else: # no valid pose yet
if self.automode_warn == False:
self.automode_warn = True
rospy.logwarn(
rospy.get_name() +
": Absolute pose is required for autonomous navigation"
)
else: # if manual mode requested
if self.state != self.STATE_IDLE:
self.state = self.STATE_IDLE
self.wptnav.standby()
rospy.loginfo(rospy.get_name() +
": Switching to manual control")
def on_pose_message(self, msg):
qx = msg.pose.pose.orientation.x
qy = msg.pose.pose.orientation.y
qz = msg.pose.pose.orientation.z
qw = msg.pose.pose.orientation.w
yaw = atan2(2 * (qx * qy + qw * qz),
qw * qw + qx * qx - qy * qy - qz * qz)
self.wptnav.state_update(msg.pose.pose.position.x,
msg.pose.pose.position.y, yaw,
msg.twist.twist.linear.x)
self.wriggle.pose_update(msg.pose.pose.position.x,
msg.pose.pose.position.y, yaw)
self.pos = (msg.pose.pose.position.x, msg.pose.pose.position.y)
self.bearing = yaw
def on_joy_message(self, msg):
if int(msg.buttons[2]) != self.wii_a:
self.wii_a = int(msg.buttons[2])
self.wii_a_changed = True
if int(msg.buttons[8]) != self.wii_up:
self.wii_up = int(msg.buttons[8])
self.wii_up_changed = True
if int(msg.buttons[9]) != self.wii_down:
self.wii_down = int(msg.buttons[9])
self.wii_down_changed = True
if int(msg.buttons[10]) != self.wii_home:
self.wii_home = int(msg.buttons[10])
self.wii_home_changed = True
if int(msg.buttons[6]) != self.wii_left:
self.wii_left = int(msg.buttons[6])
self.wii_left_changed = True
if int(msg.buttons[7]) != self.wii_right:
self.wii_right = int(msg.buttons[7])
self.wii_right_changed = True
def on_wads_sensor_msg(self, msg):
if msg.type == "EBUPX" and msg.valid == True:
self.wads_value.append(int(msg.data[0]))
del self.wads_value[0]
self.wads_value_updated = True
def publish_cmd_vel_message(self):
self.twist.header.stamp = rospy.Time.now()
self.twist.twist.linear.x = self.linear_vel
self.twist.twist.angular.z = self.angular_vel
self.cmd_vel_pub.publish(self.twist)
def publish_implement_message(self):
self.implement.header.stamp = rospy.Time.now()
self.implement.data = self.wriggle.is_done()
self.implement_pub.publish(self.implement)
def publish_status_message(self):
self.wptnav_status.header.stamp = rospy.Time.now()
self.wptnav_status.state = self.state
if self.wptnav.pose != False:
self.wptnav_status.easting = self.wptnav.pose[0]
self.wptnav_status.northing = self.wptnav.pose[1]
if self.state == self.STATE_NAVIGATE and self.wptnav.b != False:
if self.wptnav.state == self.wptnav.STATE_STOP or self.wptnav.state == self.wptnav.STATE_STANDBY:
self.wptnav_status.mode = 0
elif self.wptnav.state == self.wptnav.STATE_DRIVE:
self.wptnav_status.mode = 1
elif self.wptnav.state == self.wptnav.STATE_TURN:
self.wptnav_status.mode = 2
self.wptnav_status.b_id = self.wptnav.b[self.wptnav.W_ID]
self.wptnav_status.b_easting = self.wptnav.b[self.wptnav.W_E]
self.wptnav_status.b_northing = self.wptnav.b[self.wptnav.W_N]
self.wptnav_status.a_easting = self.wptnav.a[self.wptnav.W_E]
self.wptnav_status.a_northing = self.wptnav.a[self.wptnav.W_N]
self.wptnav_status.distance_to_b = self.wptnav.dist
self.wptnav_status.bearing_to_b = self.wptnav.bearing
self.wptnav_status.heading_err = self.wptnav.heading_err
self.wptnav_status.distance_to_ab_line = self.wptnav.ab_dist_to_pose
if self.wptnav.target != False:
self.wptnav_status.target_easting = self.wptnav.target[0]
self.wptnav_status.target_northing = self.wptnav.target[1]
self.wptnav_status.target_distance = self.wptnav.target_dist
self.wptnav_status.target_bearing = self.wptnav.target_bearing
self.wptnav_status.target_heading_err = self.wptnav.target_heading_err
else:
self.wptnav_status.target_easting = 0.0
self.wptnav_status.target_northing = 0.0
self.wptnav_status.target_distance = 0.0
self.wptnav_status.target_bearing = 0.0
self.wptnav_status.target_heading_err = 0.0
self.wptnav_status.linear_speed = self.wptnav.linear_vel
self.wptnav_status.angular_speed = self.wptnav.angular_vel
else:
self.wptnav_status.mode = -1
self.wptnav_status_pub.publish(self.wptnav_status)
def publish_pid_message(self):
if self.state == self.STATE_NAVIGATE:
self.pid.header.stamp = rospy.Time.now()
self.pid.data = self.wptnav.pid_status
self.pid_pub.publish(self.pid)
def updater(self):
while not rospy.is_shutdown():
self.update_count += 1
if self.wii_a == True and self.wii_a_changed == True:
self.wii_a_changed = False
rospy.loginfo(rospy.get_name() +
': Current position: %.3f %.3f' %
(self.wptnav.pose[0], self.wptnav.pose[1]))
self.wads_value.append(self.wads_threshold + 1.0)
del self.wads_value[0]
if self.wii_left == True and self.wii_left_changed == True:
self.wii_left_changed = False
rospy.loginfo(rospy.get_name() + ": Casmo turn left")
(b) = self.casmo.turn_left(self.pos)
if b:
self.goto_pos(b)
if self.wii_right == True and self.wii_right_changed == True:
self.wii_right_changed = False
(b) = self.casmo.turn_right(self.pos)
rospy.loginfo(rospy.get_name() + ": Casmo turn right")
if b:
self.goto_pos(b)
if self.state == self.STATE_NAVIGATE:
# Start wriggle?
if self.wads_value[
-1] >= self.wads_threshold and not self.wriggle.has_sensor_penalty(
):
self.wriggle.start_wriggle()
print "Starting wriggle: %d" % self.wads_value[-1]
# If wriggle is currently active, carry on
if not self.wriggle.is_done():
self.linear_vel = 0.0
(state, self.angular_vel) = self.wriggle.update()
self.publish_cmd_vel_message()
# Else follow the waypoint navigation
else:
(self.status, self.linear_vel,
self.angular_vel) = self.wptnav.update(rospy.get_time())
if self.status == self.wptnav.UPDATE_ARRIVAL:
rospy.loginfo(rospy.get_name() +
": Arrived at waypoint")
self.goto_next_wpt()
else:
self.publish_cmd_vel_message()
if self.update_count % self.update_rate == 0: # each second
werr = True
for i in xrange(len(self.wads_value)):
if self.wads_value[i] != self.wads_value[0]:
werr = False
if werr != self.wads_error:
self.wads_error = werr
if self.wads_error == True:
rospy.logerr(rospy.get_name() + ": WADS sensor error")
else:
rospy.logwarn(rospy.get_name() +
": Receiving data from WADS sensor")
# publish status
if self.status_publish_interval != 0:
self.status_publish_count += 1
if self.status_publish_count % self.status_publish_interval == 0:
self.publish_status_message()
# publish pid
if self.pid_publish_interval != 0:
self.pid_publish_count += 1
if self.pid_publish_count % self.pid_publish_interval == 0:
self.publish_pid_message()
# publish status
if self.status_publish_interval != 0:
self.status_publish_count += 1
if self.status_publish_count % self.status_publish_interval == 0:
self.publish_status_message()
# publish pid
if self.pid_publish_interval != 0:
self.pid_publish_count += 1
if self.pid_publish_count % self.pid_publish_interval == 0:
self.publish_pid_message()
self.r.sleep()
def fix_angle(angle):
if (angle > math.pi):
angle -= 2*math.pi
elif (angle < math.pi * -1):
angle += 2*math.pi
return angle
turn_angle_left = 1.0
turn_angle_right = -1.0
turn_max_speed = 0.2
speed_gain = 100
pose_yaw = 3.0 # test with values near 0 and pi
pose_east = 0.0
sensor_penalty_distance = 1
test = Wriggle(turn_angle_left, turn_angle_right, turn_max_speed, speed_gain, sensor_penalty_distance)
test.pose_update(0,0,pose_yaw)
print 'Idle'
pose_yaw += run_update(test, pose_yaw)
pose_yaw += run_update(test, pose_yaw)
print 'Set goal'
test.start_wriggle()
for x in xrange(1, 31):
pose_yaw += run_update(test, pose_yaw)
pose_yaw = fix_angle(pose_yaw)
test.pose_update(pose_east,0,pose_yaw)