class RobotControl(object): """ Class used to interface with the rover. Gets sensor measurements through ROS subscribers, and transforms them into the 2D plane, and publishes velocity commands. """ def __init__(self, world_map,occupancy_map, pos_init, pos_goal, max_speed, max_omega, x_spacing, y_spacing, t_cam_to_body): """ Initialize the class """ # Handles all the ROS related items self.ros_interface = ROSInterface(t_cam_to_body) # YOUR CODE AFTER THIS # Uncomment as completed #self.kalman_filter = KalmanFilter(world_map) self.diff_drive_controller = DiffDriveController(max_speed, max_omega) def process_measurements(self): """ YOUR CODE HERE This function is called at 60Hz """ meas = self.ros_interface.get_measurements() imu_meas = self.ros_interface.get_imu() #print imu_meas #self.ros_interface.command_velocity(0., -8.) if meas and meas != None: state=np.array([meas[0][0],meas[0][1],meas[0][2]]) vw=self.diff_drive_controller.compute_vel(state,np.array([[0,0]])) print vw while vw[2]: self.ros_interface.command_velocity(0,0) self.ros_interface.command_velocity(vw[0],vw[1])
class RobotControl(object): """ Class used to interface with the rover. Gets sensor measurements through ROS subscribers, and transforms them into the 2D plane, and publishes velocity commands. """ def __init__(self, world_map, occupancy_map, pos_init, pos_goal, max_speed, max_omega, x_spacing, y_spacing, t_cam_to_body): """ Initialize the class """ # Handles all the ROS related items self.ros_interface = ROSInterface(t_cam_to_body) # YOUR CODE AFTER THIS # Uncomment as completed #self.kalman_filter = KalmanFilter(world_map) #self.diff_drive_controller = DiffDriveController(max_speed, max_omega) def process_measurements(self): """ YOUR CODE HERE This function is called at 60Hz """ meas = self.ros_interface.get_measurements() imu_meas = self.ros_interface.get_imu() self.ros_interface.command_velocity(0, 0) return
class RobotControl(object): """ Class used to interface with the rover. Gets sensor measurements through ROS subscribers, and transforms them into the 2D plane, and publishes velocity commands. """ def __init__(self, world_map, occupancy_map, pos_init, pos_goal, max_speed, max_omega, x_spacing, y_spacing, t_cam_to_body): """ Initialize the class """ # Handles all the ROS related items self.ros_interface = ROSInterface(t_cam_to_body) self.kalman_filter = KalmanFilter(world_map) print("INITSTATE", self.kalman_filter.state) self.diff_drive_controller = DiffDriveController(max_speed, max_omega) self.vel = 0 self.omega = 0 self.curInd = 0 self.path = dijkstras(occupancy_map, x_spacing, y_spacing, pos_init, pos_goal) print(self.path) self.curGoal = self.path[0] self.done = False def process_measurements(self): """ This function is called at 60Hz """ meas = self.ros_interface.get_measurements() print("Mesurements", meas) imu_meas = self.ros_interface.get_imu() print(imu_meas) updatedPosition = self.kalman_filter.step_filter( self.vel, self.omega, imu_meas, meas) print(np.linalg.norm(self.curGoal - updatedPosition[0:1])) if ((np.abs(self.curGoal[0] - updatedPosition[0]) > 0.1) or (np.abs(self.curGoal[1] - updatedPosition[1]) > 0.1)): (v, omega, done) = self.diff_drive_controller.compute_vel( updatedPosition, self.curGoal) self.vel = v self.omega = omega print("commanded vel:", v, omega) self.ros_interface.command_velocity(v, omega) else: print("updating") self.curInd = self.curInd + 1 if self.curInd < len(self.path): self.curGoal = self.path[self.curInd] else: self.done = True updatedPosition.shape = (3, 1) return
class RobotControl(object): """ Class used to interface with the rover. Gets sensor measurements through ROS subscribers, and transforms them into the 2D plane, and publishes velocity commands. """ def __init__(self, world_map, occupancy_map, pos_init, pos_goal, max_speed, max_omega, x_spacing, y_spacing, t_cam_to_body): """ Initialize the class """ # Handles all the ROS related items self.ros_interface = ROSInterface(t_cam_to_body) # YOUR CODE AFTER THIS # Uncomment as completed #self.kalman_filter = KalmanFilter(world_map) self.diff_drive_controller = DiffDriveController(max_speed, max_omega) def process_measurements(self): """ YOUR CODE HERE This function is called at 60Hz """ meas = self.ros_interface.get_measurements() imu_meas = self.ros_interface.get_imu() #print(meas) done = False #print("time = " + str(self.robot_sim.last_meas_time)) if meas is not None and meas != []: print "meas = " + str(meas[0][0:3]) #print type(meas) state = -np.array(meas[0][0:3]) goal = np.array([0, 0]) print "state = " + str(state) #print type(state) #print goal #print type(goal) v, omega, done = self.diff_drive_controller.compute_vel( state, goal) #print done #self.robot_sim.command_velocity(v, omega) self.ros_interface.command_velocity(v, omega) else: #print "No measurement" #self.robot_sim.command_velocity(0, 0) v = 0 omega = 0 self.ros_interface.command_velocity(v, omega) print "v = " + str(v) print "omega = " + str(omega) return
class RobotControl(object): """ Class used to interface with the rover. Gets sensor measurements through ROS subscribers, and transforms them into the 2D plane, and publishes velocity commands. """ def __init__(self, world_map, occupancy_map, pos_init, pos_goal, max_speed, max_omega, x_spacing, y_spacing, t_cam_to_body): """ Initialize the class """ # Handles all the ROS related items self.ros_interface = ROSInterface(t_cam_to_body) # YOUR CODE AFTER THIS self.markers = world_map self.vel = np.array([0., 0.]) self.imu_meas = np.array([]) self.meas = [] # self.max_speed = max_speed # self.max_omega = max_omega # self.goals = dijkstras(occupancy_map, x_spacing, y_spacing, pos_init, pos_goal) # self.total_goals = self.goals.shape[0] # self.cur_goal = 2 # self.end_goal = self.goals.shape[0] - 1 # Uncomment as completed #self.kalman_filter = KalmanFilter(world_map) #self.diff_drive_controller = DiffDriveController(max_speed, max_omega) def process_measurements(self): """ YOUR CODE HERE This function is called at 60Hz """ meas = self.ros_interface.get_measurements() imu_meas = self.ros_interface.get_imu() self.meas = meas self.imu_meas = imu_meas # for computing motor gain v = 0.3 w = 0. self.ros_interface.command_velocity(v, w) return
class RobotControl(object): """ Class used to interface with the rover. Gets sensor measurements through ROS subscribers, and transforms them into the 2D plane, and publishes velocity commands. """ def __init__(self, world_map, occupancy_map, pos_init, pos_goal, max_speed, max_omega, x_spacing, y_spacing, t_cam_to_body): """ Initialize the class Inputs: (all loaded from the parameter YAML file) world_map - a P by 4 numpy array specifying the location, orientation, and identification of all the markers/AprilTags in the world. The format of each row is (x,y,theta,id) with x,y giving 2D position, theta giving orientation, and id being an integer specifying the unique identifier of the tag. occupancy_map - an N by M numpy array of boolean values (represented as integers of either 0 or 1). This represents the parts of the map that have obstacles. It is mapped to metric coordinates via x_spacing and y_spacing pos_init - a 3 by 1 array specifying the initial position of the robot, formatted as usual as (x,y,theta) pos_goal - a 3 by 1 array specifying the final position of the robot, also formatted as (x,y,theta) max_speed - a parameter specifying the maximum forward speed the robot can go (i.e. maximum control signal for v) max_omega - a parameter specifying the maximum angular speed the robot can go (i.e. maximum control signal for omega) x_spacing - a parameter specifying the spacing between adjacent columns of occupancy_map y_spacing - a parameter specifying the spacing between adjacent rows of occupancy_map t_cam_to_body - numpy transformation between the camera and the robot (not used in simulation) """ # TODO for student: Comment this when running on the robot #self.robot_sim = RobotSim(world_map, occupancy_map, pos_init, pos_goal, # max_speed, max_omega, x_spacing, y_spacing) # TODO for student: Use this when transferring code to robot # Handles all the ROS related items self.ros_interface = ROSInterface(t_cam_to_body) # YOUR CODE AFTER THIS # speed control variables self.v = 0.1 # allows persistent cmds through detection misses self.omega = -0.1 # allows persistent cmds through detection misses self.last_detect_time = rospy.get_time() #TODO on bot only self.missed_vision_debounce = 1 self.start_time = 0 # generate the path assuming we know our start location, goal, and environment self.path = dijkstras(occupancy_map, x_spacing, y_spacing, pos_init, pos_goal) self.path_idx = 0 self.mission_complete = False self.carrot_distance = 0.22 # Uncomment as completed self.kalman_filter = KalmanFilter(world_map) self.diff_drive_controller = DiffDriveController(max_speed, max_omega) def process_measurements(self): """ YOUR CODE HERE Main loop of the robot - where all measurements, control, and esimtaiton are done. This function is called at 60Hz """ print(' ') # TODO for student: Comment this when running on the robot #meas = self.robot_sim.get_measurements() #imu_meas = self.robot_sim.get_imu() # TODO for student: Use this when transferring code to robot meas = self.ros_interface.get_measurements() imu_meas = self.ros_interface.get_imu() # meas is the position of the robot with respect to the AprilTags # print(meas) # now that we have the measurements, update the predicted state self.kalman_filter.step_filter(self.v, imu_meas, meas) # print(self.kalman_filter.x_t) # TODO remove on bot, shows predicted state on simulator #self.robot_sim.set_est_state(self.kalman_filter.x_t) # pull the next path point from the list cur_goal = self.getCarrot() # cur_goal = self.path[self.path_idx] # TODO test to just go to a goal # cur_goal[0] = 0.43 # cur_goal[1] = 2 # calculate the control commands need to reach next path point #print('') #print('current goal:') #print(cur_goal) #print('current state:') #print(self.kalman_filter.x_t) control_cmd = self.diff_drive_controller.compute_vel( self.kalman_filter.x_t, cur_goal) self.v = control_cmd[0] self.omega = control_cmd[1] #print('control command:') # print(control_cmd) if self.mission_complete: self.v = 0 self.omega = 0 #print(control_cmd) if control_cmd[2]: if len(self.path) > (self.path_idx + 1): self.path_idx = self.path_idx + 1 print('next goal') else: self.mission_complete = True #TODO calibration test on bot only for linear velocity ''' if self.start_time - 0 < 0.0001: self.start_time = rospy.get_time() if(rospy.get_time() - self.start_time > 4): self.v = 0 self.omega = 0 else: self.v = 0.15 self.omega = 0 ''' #TODO on bot only self.ros_interface.command_velocity(self.v, self.omega) #TODO for simulation #self.robot_sim.command_velocity(self.v,self.omega) return def getCarrot(self): ''' getCarrot - generates an artificial goal location along a path out infront of the robot. path - the set of points which make up the waypoints in the path position - the current position of the robot ''' path = self.path idx = self.path_idx pos = self.kalman_filter.x_t # if the current line segment ends in the goal point, set that to the goal if self.path_idx + 1 == len(self.path): return self.path[(len(self.path) - 1)] else: # find the point on the current line closest to the robot # calculate current line's slope and intercept pt1 = self.path[self.path_idx] pt2 = self.path[self.path_idx + 1] x_diff = pt2[0] - pt1[0] y_diff = pt2[1] - pt1[1] vert = abs(x_diff) < 0.001 # using the current line's slope and intercept find the point on that # line closest to the robots current point # assumes all lines are either veritcal or horizontal x_bot = pos[0][0] y_bot = pos[1][0] if vert: x_norm = pt2[0] y_norm = y_bot else: x_norm = x_bot y_norm = pt2[1] # if the normal point is past the end point of this segment inc path idx # assumes all lines are either vertical or horizontal inc = False if vert: if (y_diff > 0 and y_norm > pt2[1]) or (y_diff < 0 and y_norm < pt2[1]): inc = True else: if (x_diff > 0 and x_norm > pt2[0]) or (x_diff < 0 and x_norm < pt2[0]): inc = True if (inc): self.path_idx = self.path_idx + 1 print('increment path index') # find a point L distance infront of the normal point on this line # assumes all lines are either vertical or horizontal if vert: x_goal = pt2[0] if y_diff > 0: y_goal = y_bot + self.carrot_distance else: y_goal = y_bot - self.carrot_distance else: y_goal = pt2[1] if x_diff > 0: x_goal = x_bot + self.carrot_distance else: x_goal = x_bot - self.carrot_distance goal = np.array([x_goal, y_goal]) #print(goal) return goal
class RobotControl(object): """ Class used to interface with the rover. Gets sensor measurements through ROS subscribers, and transforms them into the 2D plane, and publishes velocity commands. """ def __init__(self, world_map, occupancy_map, pos_init, pos_goal, max_speed, max_omega, x_spacing, y_spacing, t_cam_to_body): """ Initialize the class Inputs: (all loaded from the parameter YAML file) world_map - a P by 4 numpy array specifying the location, orientation, and identification of all the markers/AprilTags in the world. The format of each row is (x,y,theta,id) with x,y giving 2D position, theta giving orientation, and id being an integer specifying the unique identifier of the tag. occupancy_map - an N by M numpy array of boolean values (represented as integers of either 0 or 1). This represents the parts of the map that have obstacles. It is mapped to metric coordinates via x_spacing and y_spacing pos_init - a 3 by 1 array specifying the initial position of the robot, formatted as usual as (x,y,theta) pos_goal - a 3 by 1 array specifying the final position of the robot, also formatted as (x,y,theta) max_speed - a parameter specifying the maximum forward speed the robot can go (i.e. maximum control signal for v) max_omega - a parameter specifying the maximum angular speed the robot can go (i.e. maximum control signal for omega) x_spacing - a parameter specifying the spacing between adjacent columns of occupancy_map y_spacing - a parameter specifying the spacing between adjacent rows of occupancy_map t_cam_to_body - numpy transformation between the camera and the robot (not used in simulation) """ # Handles all the ROS related items self.ros_interface = ROSInterface(t_cam_to_body) self.kalman_filter = KalmanFilter(world_map) self.prev_v = 0 self.est_pose = np.array([[0], [0], [0]]) self.diff_drive_controller = DiffDriveController(max_speed, max_omega) self.prev_imu_meas = np.array([[0], [0], [0], [0], [0]]) def process_measurements(self, waypoint): """ waypoint is a 1D list [x,y] containing the next waypoint the rover needs to go YOUR CODE HERE Main loop of the robot - where all measurements, control, and esimtaiton are done. This function is called at 60Hz """ #This gives the xy location and the orientation of the tag in the rover frame #The orientation is zero when the rover faces directly at the tag meas = self.ros_interface.get_measurements() self.est_pose = self.kalman_filter.step_filter(self.prev_v, self.prev_imu_meas, meas) state = [self.est_pose[0, 0], self.est_pose[1, 0], self.est_pose[2, 0]] goal = [waypoint[0], waypoint[1]] controls = self.diff_drive_controller.compute_vel(state, goal) self.ros_interface.command_velocity(controls[0], controls[1]) self.prev_v = controls[0] imu_meas = self.ros_interface.get_imu() if imu_meas != None: imu_meas[3, 0] = -imu_meas[ 3, 0] #clockwise angular vel is positive from IMU self.prev_imu_meas = imu_meas return controls[2]
class RobotControl(object): """ Class used to interface with the rover. Gets sensor measurements through ROS subscribers, and transforms them into the 2D plane, and publishes velocity commands. """ def __init__(self, world_map, occupancy_map, pos_init, pos_goal, max_speed, max_omega, x_spacing, y_spacing, t_cam_to_body): """ Initialize the class """ # Handles all the ROS related items self.ros_interface = ROSInterface(t_cam_to_body) # YOUR CODE AFTER THIS # Uncomment as completed #self.kalman_filter = KalmanFilter(world_map) self.diff_drive_controller = DiffDriveController(max_speed, max_omega) def process_measurements(self): """ YOUR CODE HERE This function is called at 60Hz """ meas = self.ros_interface.get_measurements( ) #type list (matriz de 1x3 meas[0][2], posicion del tag [[x, y, z, id]]) imu_meas = self.ros_interface.get_imu() if meas != None: # convert meas into a np array measu = meas[0] # IMPORTANTE USAR ***MEASU*** Y NO MEAS!!! #print measurements, python 2 btw... print("*******") print("Tag: "), print(measu[3]) measu3f = np.round(measu, 3) print("Measurements: "), print(measu3f[:3]) #print state state = np.array([0.0, 0.0, 0.0]) print("State: "), print(state) goal = np.array([measu[0], -measu[1], measu[2]]) vw = self.diff_drive_controller.compute_vel(state, goal) #print comanded velocity vw3f = np.round(vw, 3) print("Computed command vel: "), print(vw3f[:2]) if vw[2] == False: self.ros_interface.command_velocity(vw[0], vw[1]) if vw[2] == True: print("*****The robot arrived its destination*****") else: #self.ros_interface.command_velocity(0, 0) return
class RobotControl(object): """ Class used to interface with the rover. Gets sensor measurements through ROS subscribers, and transforms them into the 2D plane, and publishes velocity commands. """ def __init__(self, world_map,occupancy_map, pos_init, pos_goal, max_speed, max_omega, x_spacing, y_spacing, t_cam_to_body): """ Initialize the class """ # Handles all the ROS related items self.ros_interface = ROSInterface(t_cam_to_body) # YOUR CODE AFTER THIS self.markers = world_map self.vel = np.array([0.,0.]) self.imu_meas = np.array([]) self.meas = [] self.max_speed = max_speed self.max_omega = max_omega # self.goals = dijkstras(occupancy_map, x_spacing, y_spacing, pos_init, pos_goal) # self.total_goals = self.goals.shape[0] # self.cur_goal = 2 # self.end_goal = self.goals.shape[0] - 1 # Uncomment as completed #self.kalman_filter = KalmanFilter(world_map) self.diff_drive_controller = DiffDriveController(max_speed, max_omega) def process_measurements(self): """ YOUR CODE HERE This function is called at 60Hz """ meas = self.ros_interface.get_measurements() imu_meas = self.ros_interface.get_imu() self.meas = meas self.imu_meas = imu_meas # unit test for following april tag if (meas != None and meas): cur_meas = meas[0] # print(cur_meas) tag_robot_pose = cur_meas[:3] # print(self.tag_pos(cur_meas[3])) tag_world_pose = np.float32(self.tag_pos(cur_meas[3])) # print(tag_world_pose) # print(tag_robot_pose) state = self.robot_pos(tag_world_pose,tag_robot_pose) goal = tag_world_pose v,w,done = self.diff_drive_controller.compute_vel(state,goal) if done: v = 0.01 w = 0. vel = (v,w) self.vel = vel[:2] self.done = done else: v = 0. w = 0. self.ros_interface.command_velocity(v,w) return def tag_pos(self, marker_id): # print(marker_id) # print(self.markers) for i in range(len(self.markers)): marker_i = np.copy(self.markers[i]) if int(float(marker_i[3])) == marker_id: return marker_i[:3] return None def robot_pos(self, w_pos, r_pos): H_W = np.array([[np.cos(w_pos[2]), -np.sin(w_pos[2]), w_pos[0]], [np.sin(w_pos[2]), np.cos(w_pos[2]), w_pos[1]], [0., 0., 1.]]) H_R = np.array([[np.cos(r_pos[2]), -np.sin(r_pos[2]), r_pos[0]], [np.sin(r_pos[2]), np.cos(r_pos[2]), r_pos[1]], [0., 0., 1.]]) # print(np.linalg.inv(H_R)) w_r = np.dot(H_W, np.linalg.inv(H_R)) return np.array([[w_r[0,2]],[w_r[1,2]],[np.arctan2(w_r[1,0],w_r[0,0])]])
class RobotControl(object): """ Class used to interface with the rover. Gets sensor measurements through ROS subscribers, and transforms them into the 2D plane, and publishes velocity commands. """ def __init__(self, world_map,occupancy_map, pos_init, pos_goal, max_speed, max_omega, x_spacing, y_spacing, t_cam_to_body): """ Initialize the class """ # Handles all the ROS related items self.ros_interface = ROSInterface(t_cam_to_body) # YOUR CODE AFTER THIS # Uncomment as completed self.markers = world_map self.vel = np.array([0, 0]) self.imu_meas = np.array([]) self.meas = [] # TODO for student: Use this when transferring code to robot # Handles all the ROS related items #self.ros_interface = ROSInterface(t_cam_to_body) # YOUR CODE AFTER THIS # Uncomment as completed self.goals = dijkstras(occupancy_map, x_spacing, y_spacing, pos_init, pos_goal) # self.total_goals = self.goals.shape[0] self.cur_goal = 2 self.end_goal = self.goals.shape[0] - 1 self.kalman_filter = KalmanFilter(world_map) self.diff_drive_controller = DiffDriveController(max_speed, max_omega) def process_measurements(self): """ YOUR CODE HERE This function is called at 60Hz """ meas = self.ros_interface.get_measurements() self.meas = meas; print 'tag output' print meas # imu_meas: measurment comig from the imu imu_meas = self.ros_interface.get_imu() self.imu_meas = imu_meas print 'imu measurement' print imu_meas pose = self.kalman_filter.step_filter(self.vel, self.imu_meas, np.asarray(self.meas)) # Code to follow AprilTags ''' if(meas != None and meas): cur_meas = meas[0] tag_robot_pose = cur_meas[0:3] tag_world_pose = self.tag_pos(cur_meas[3]) state = self.robot_pos(tag_world_pose, tag_robot_pose) goal = tag_world_pose vel = self.diff_drive_controller.compute_vel(state, goal) self.vel = vel[0:2]; print vel if(not vel[2]): self.ros_interface.command_velocity(vel[0], vel[1]) else: vel = (0.01, 0.1) self.vel = vel self.ros_interface.command_velocity(vel[0], vel[1]) ''' # Code to move autonomously goal = self.goals[self.cur_goal] print 'pose' print pose print 'goal' print goal vel = self.diff_drive_controller.compute_vel(pose, goal) self.vel = vel[0:2]; print 'speed' print vel if(not vel[2]): self.ros_interface.command_velocity(vel[0], vel[1]) else: vel = (0, 0) if self.cur_goal < self.end_goal: self.cur_goal = self.cur_goal + 1 self.ros_interface.command_velocity(vel[0], vel[1]) self.vel = vel return def tag_pos(self, marker_id): for i in range(len(self.markers)): marker_i = np.copy(self.markers[i]) if marker_i[3] == marker_id: return marker_i[0:3] return None def robot_pos(self, w_pos, r_pos): H_W = np.array([[math.cos(w_pos[2]), -math.sin(w_pos[2]), w_pos[0]], [math.sin(w_pos[2]), math.cos(w_pos[2]), w_pos[1]], [0, 0, 1]]) H_R = np.array([[math.cos(r_pos[2]), -math.sin(r_pos[2]), r_pos[0]], [math.sin(r_pos[2]), math.cos(r_pos[2]), r_pos[1]], [0, 0, 1]]) w_r = H_W.dot(inv(H_R)) robot_pose = np.array([[w_r[0,2]], [w_r[1,2]], [math.atan2(w_r[1,0], w_r[0, 0])]]) return robot_pose
class RobotControl(object): """ Class used to interface with the rover. Gets sensor measurements through ROS subscribers, and transforms them into the 2D plane, and publishes velocity commands. """ def __init__(self, world_map, occupancy_map, pos_init, pos_goal, max_speed, max_omega, x_spacing, y_spacing, t_cam_to_body): """ Initialize the class """ # Handles all the ROS related items self.ros_interface = ROSInterface(t_cam_to_body) self.pos_goal = pos_goal # YOUR CODE AFTER THIS #-------------------------------------------# self.time = rospy.get_time() self.controlOut = (0.0, 0.0, False) self.count_noMeasurement = 0 #-------------------------------------------# self.markers = world_map self.idx_target_marker = 0 # Calculate the optimal path # From pos_init to pos_goal self.path_2D = dijkstras(occupancy_map, x_spacing, y_spacing, pos_init, pos_goal) self.idx_path = 0 self.size_path = self.path_2D.shape[0] print "path.shape[0]", self.size_path # Generate the 3D path (include "theta") self.path = np.zeros((self.size_path, 3)) theta = 0.0 for idx in range(self.size_path - 1): delta = self.path_2D[(idx + 1), :] - self.path_2D[idx, :] theta = atan2(delta[1], delta[0]) if theta > np.pi: theta -= np.pi * 2 elif theta < -np.pi: theta += np.pi * 2 self.path[idx, :] = np.concatenate( (self.path_2D[idx, :], np.array([theta])), axis=1) self.path[self.size_path - 1, 0:2] = self.path_2D[self.size_path - 1, 0:2] self.path[self.size_path - 1, 2] = pos_goal[2] # theta # self.path[0, 2] = pos_init[2] # theta print "3D path:" print self.path # Uncomment as completed # Kalman filter self.kalman_filter = KalmanFilter(world_map) self.kalman_filter.mu_est = pos_init # 3*pos_init # For test # Differential drive self.diff_drive_controller = DiffDriveController(max_speed, max_omega) self.wayPointFollowing = wayPointFollowing(max_speed, max_omega) # self.task_done = False def process_measurements(self): """ YOUR CODE HERE This function is called at 60Hz """ meas = self.ros_interface.get_measurements() imu_meas = self.ros_interface.get_imu() # print 'meas',meas print 'imu_meas', imu_meas """ # Control the robot to track the tag if (meas is None) or (meas == []): # stop # self.ros_interface.command_velocity(0.0,0.0) # if self.count_noMeasurement > 30: # Actually the ros_interface will stop the motor itself if we don't keep sending new commands self.ros_interface.command_velocity(0.0,0.0) else: # Keep the old command self.ros_interface.command_velocity(self.controlOut[0],self.controlOut[1]) self.count_noMeasurement += 1 else: print 'meas',meas self.count_noMeasurement = 0 # Thew differential drive controller that lead the robot to the tag self.controlOut = self.diff_drive_controller.compute_vel((-1)*np.array(meas[0][0:3]),np.array([0.0,0.0,0.0])) self.ros_interface.command_velocity(self.controlOut[0],self.controlOut[1]) (v,omega,done) = (self.controlOut[0], self.controlOut[1],False ) """ """ if (rospy.get_time() - self.time) < 1.0: self.ros_interface.command_velocity(0.0, 3.0) # Linear velocity = 0.3 m/s, Angular velocity = 0.5 rad/s else: self.ros_interface.command_velocity(0.0,0.0) """ """ (v,omega,done) = (0.0, 0.0, False) self.ros_interface.command_velocity(v, omega) """ """ # Directly move to the goal position if self.controlOut[2]: # done self.ros_interface.command_velocity(0.0, 0.0) else: self.controlOut = self.wayPointFollowing.compute_vel(self.kalman_filter.mu_est, self.pos_goal ) # self.controlOut = self.diff_drive_controller.compute_vel(self.kalman_filter.mu_est, self.pos_goal ) if self.controlOut[2]: # done self.ros_interface.command_velocity(0.0, 0.0) else: self.ros_interface.command_velocity(self.controlOut[0], self.controlOut[1]) """ """ #----------------------------------------# # Switch the targets (way-point of the optimal path) and do the position control # if self.controlOut[2] and self.idx_path == self.size_path-1: # all done if self.idx_path == self.size_path-1 and self.controlOut[0] < 0.05 and self.controlOut[1] < 0.1 : # all done self.ros_interface.command_velocity(0.0, 0.0) else: self.controlOut = self.diff_drive_controller.compute_vel(self.kalman_filter.mu_est, self.path[self.idx_path,:] ) self.ros_interface.command_velocity(self.controlOut[0], self.controlOut[1]) if self.controlOut[2] and self.idx_path < self.size_path-1: # way-point done self.idx_path += 1 #----------------------------------------# """ #----------------------------------------# print "self.idx_path", self.idx_path # Switch the targets (way-point of the optimal path) and do the position control # way-point following (no reducing speeed when reach a way-point) # if self.controlOut[2] and self.idx_path == self.size_path-1: # all done if self.task_done: # all done self.ros_interface.command_velocity(0.0, 0.0) elif self.idx_path == self.size_path - 1: # The last one # Change the threshold self.diff_drive_controller.threshold = 0.02 # 3 cm # Using diff_drive_controller to reach the goal position with right direction self.controlOut = self.diff_drive_controller.compute_vel( self.kalman_filter.mu_est, self.path[self.idx_path, :]) # if self.controlOut[0] < 0.05 and self.controlOut[1] < 0.1 : # all done if self.controlOut[2]: # all done self.ros_interface.command_velocity(0.0, 0.0) self.task_done = True # all done else: self.ros_interface.command_velocity(self.controlOut[0], self.controlOut[1]) else: # The way-points, using wayPointFollowing to trace the trajectory without pausing if self.idx_path == self.size_path - 2: # The last 2nd one self.controlOut = self.diff_drive_controller.compute_vel( self.kalman_filter.mu_est, self.path[self.idx_path, :]) else: self.controlOut = self.wayPointFollowing.compute_vel( self.kalman_filter.mu_est, self.path[self.idx_path, :]) # self.controlOut = self.wayPointFollowing.compute_vel(self.kalman_filter.mu_est, self.path[self.idx_path,:] ) self.ros_interface.command_velocity(self.controlOut[0], self.controlOut[1]) if self.controlOut[ 2] and self.idx_path < self.size_path - 1: # way-point done self.idx_path += 1 #----------------------------------------# # self.time = rospy.get_time() # print "self.time",self.time # Kalman filter self.kalman_filter.step_filter(self.controlOut[0], (-1) * imu_meas, meas, rospy.get_time()) print "mu_est", self.kalman_filter.mu_est return