def odometry_callback(self, msg):
"""Handle updated measured velocity callback."""
if not bool(self.config):
return
linear = msg.twist.twist.linear
angular = msg.twist.twist.angular
v_linear = numpy.array([linear.x, linear.y, linear.z])
v_angular = numpy.array([angular.x, angular.y, angular.z])
if self.config['odom_vel_in_world']:
# This is a temp. workaround for gazebo's pos3d plugin not behaving properly:
# Twist should be provided wrt child_frame, gazebo provides it wrt world frame
# see http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html
xyzw_array = lambda o: numpy.array([o.x, o.y, o.z, o.w])
q_wb = xyzw_array(msg.pose.pose.orientation)
R_bw = transf.quaternion_matrix(q_wb)[0:3, 0:3].transpose()
v_linear = R_bw.dot(v_linear)
v_angular = R_bw.dot(v_angular)
# Compute compute control output:
t = time_in_float_sec_from_msg(msg.header.stamp)
e_v_linear = (self.v_linear_des - v_linear)
e_v_angular = (self.v_angular_des - v_angular)
a_linear = self.pid_linear.regulate(e_v_linear, t)
a_angular = self.pid_angular.regulate(e_v_angular, t)
# Convert and publish accel. command:
cmd_accel = geometry_msgs.Accel()
cmd_accel.linear = geometry_msgs.Vector3(x=a_linear[0], y=a_linear[1], z=a_linear[2])
cmd_accel.angular = geometry_msgs.Vector3(x=a_angular[0], y=a_angular[1], z=a_angular[2])
self.pub_cmd_accel.publish(cmd_accel)
def odometry_callback(self, msg):
"""Handle updated measured velocity callback."""
if not bool(self.config):
return
q = msg.orientation
q = numpy.array([q.x, q.y, q.z, q.w])
if not self.initialized:
# If this is the first callback: Store and hold latest pose.
self.quat_des = q
self.initialized = True
# Compute control output:
t = time_in_float_sec_from_msg(msg.header.stamp)
# Error quaternion wrt body frame
e_rot_quat = transf.quaternion_multiply(transf.quaternion_conjugate(q),
self.quat_des)
# Error angles
e_rot = numpy.array(transf.euler_from_quaternion(e_rot_quat))
v_angular = self.pid_rot.regulate(e_rot, t)
# Convert and publish vel. command:
cmd_vel = geometry_msgs.Twist()
cmd_vel.angular = geometry_msgs.Vector3(x=v_angular[0],
y=v_angular[1],
z=v_angular[2])
self.pub_cmd_vel.publish(cmd_vel)
def odometry_callback(self, msg):
"""Handle updated measured velocity callback."""
if not bool(self.config):
return
p = msg.pose.pose.position
q = msg.pose.pose.orientation
p = numpy.array([p.x, p.y, p.z])
q = numpy.array([q.x, q.y, q.z, q.w])
if not self.initialized:
# If this is the first callback: Store and hold latest pose.
self.pos_des = p
self.quat_des = q
self.initialized = True
# Compute control output:
t = time_in_float_sec_from_msg(msg.header.stamp)
# Position error
e_pos_world = self.pos_des - p
e_pos_body = transf.quaternion_matrix(q).transpose()[0:3, 0:3].dot(
e_pos_world)
# Error quaternion wrt body frame
e_rot_quat = transf.quaternion_multiply(transf.quaternion_conjugate(q),
self.quat_des)
if numpy.linalg.norm(e_pos_world[0:2]) > 5.0:
# special case if we are far away from goal:
# ignore desired heading, look towards goal position
heading = math.atan2(e_pos_world[1], e_pos_world[0])
quat_des = numpy.array(
[0, 0, math.sin(0.5 * heading),
math.cos(0.5 * heading)])
e_rot_quat = transf.quaternion_multiply(
transf.quaternion_conjugate(q), quat_des)
# Error angles
e_rot = numpy.array(transf.euler_from_quaternion(e_rot_quat))
v_linear = self.pid_pos.regulate(e_pos_body, t)
v_angular = self.pid_rot.regulate(e_rot, t)
# Convert and publish vel. command:
cmd_vel = geometry_msgs.Twist()
cmd_vel.linear = geometry_msgs.Vector3(x=v_linear[0],
y=v_linear[1],
z=v_linear[2])
cmd_vel.angular = geometry_msgs.Vector3(x=v_angular[0],
y=v_angular[1],
z=v_angular[2])
self.pub_cmd_vel.publish(cmd_vel)
def from_message(self, msg):
"""Parse a trajectory point message of type `uuv_control_msgs/TrajectoryPoint`
into the `uuv_trajectory_generator/TrajectoryPoint`.
> *Input arguments*
* `msg` (*type:* `uuv_control_msgs/TrajectoryPoint`): Input trajectory message
"""
t = time_in_float_sec_from_msg(msg.header.stamp)
p = msg.pose.position
q = msg.pose.orientation
v = msg.velocity.linear
w = msg.velocity.angular
a = msg.acceleration.linear
al = msg.acceleration.angular
self._t = t
self._pos = np.array([p.x, p.y, p.z])
self._rot = np.array([q.x, q.y, q.z, q.w])
self._vel = np.array([v.x, v.y, v.z, w.x, w.y, w.z])
self._acc = np.array([a.x, a.y, a.z, al.x, al.y, al.z])
return True
