def test_learning_from_generated_samples(self):
        self.setup_publishers_and_subscribers()

        # Generate random samples and publish
        msg_v_sample = Vsample()
        msg_theta_dot_sample = ThetaDotSample()
        theta_dot_weights = np.array([-1, 1])
        v_weights = np.array([1,1])
        rate = rospy.Rate(30)
        timeout = time.time()+10.0
        while (not rospy.is_shutdown()) and (not (self.msg_theta_dot_received and self.msg_v_received)) and time.time()<timeout:
            sample = self.getRandomSamplePair(theta_dot_weights, v_weights)
            msg_v_sample.d_L = sample[0]
            msg_v_sample.d_R = sample[1]
            msg_v_sample.dt = sample[2]
            msg_v_sample.theta_angle_pose_delta = sample[3]
            msg_v_sample.x_axis_pose_delta = sample[4]
            msg_v_sample.y_axis_pose_delta = sample[5]
            msg_theta_dot_sample.d_L = sample[0]
            msg_theta_dot_sample.d_R = sample[1]
            msg_theta_dot_sample.dt = sample[2]
            msg_theta_dot_sample.theta_angle_pose_delta = sample[3]

            self.pub_v_sample.publish(msg_v_sample)
            self.pub_theta_dot_sample.publish(msg_theta_dot_sample)
            rate.sleep()

        # Notify if the timeout struck
        self.assertLess(time.time(),timeout,msg="WARNING: There was not enough time to receive the weights. Either increase the timeout or decrease the number of points needed by the learner.")

        # Check that the new weights are close to the generating ones
        self.assertAlmostEqual(self.msg_v_weights.weights[0],1, 0)
        self.assertAlmostEqual(self.msg_v_weights.weights[1],1, 0)
        self.assertAlmostEqual(self.msg_theta_dot_weights.weights[0],-1, 0)
        self.assertAlmostEqual(self.msg_theta_dot_weights.weights[1],1, 0)
    def poseCallback(self, msg_pose):
        self.pose_list.append(msg_pose)
        n = 0
        # make sure we have at least two wheels commands and two poses
        while len(self.wheels_cmd_list) > 1 and len(self.pose_list) > 1+n:
            # discard any pose messages received before the first wheel command plus timeOffset
            while len(self.pose_list) > 1+n and (self.pose_list[0].header.stamp.to_sec() + self.timeOffset < self.wheels_cmd_list[0].header.stamp.to_sec()):
                del self.pose_list[0]
            # need at least two poses to calculate delta
            if len(self.pose_list) > 1+n:
                # make sure that the second pose is not beyond the duration of the current wheel command
                if self.pose_list[1+n].header.stamp.to_sec() < (self.wheels_cmd_list[1].header.stamp.to_sec() + self.timeOffset):
                    # Calculate the change in pose
                    #print 'pose', self.pose_list[1]
                    dx = self.pose_list[0].pose.position.x - self.pose_list[1+n].pose.position.x
                    dy = self.pose_list[0].pose.position.y - self.pose_list[1+n].pose.position.y
                    q = [self.pose_list[1+n].pose.orientation.x, self.pose_list[1+n].pose.orientation.y, self.pose_list[1+n].pose.orientation.z, self.pose_list[1+n].pose.orientation.w]
                    q = q/linalg.norm(q)
                    cur_phi = arctan2(2*(q[0]*q[1]+q[2]*q[3]), 1.0-2.0*(q[1]*q[1]+q[2]*q[2]))
                    cur_theta = arcsin(2*(q[0]*q[2]-q[3]*q[1]))
                    cur_psi = arctan2(2*(q[0]*q[3]+q[1]*q[2]), 1-2.0*(q[2]*q[2]+q[3]*q[3]))
                    q = [self.pose_list[0].pose.orientation.x, self.pose_list[0].pose.orientation.y, self.pose_list[0].pose.orientation.z, self.pose_list[0].pose.orientation.w]
                    q = q/linalg.norm(q)
                    delta_phi = cur_phi - arctan2(2*(q[0]*q[1]+q[2]*q[3]), 1.0-2.0*(q[1]*q[1]+q[2]*q[2]))
                    while delta_phi > pi:
                        delta_phi = delta_phi - 2.0*pi
                    while delta_phi <= -pi:
                        delta_phi = delta_phi + 2.0*pi
                    # delta_theta = cur_theta - arcsin(2*(q[0]*q[2]-q[3]*q[1]))
                    # delta_psi = cur_psi - arctan2(2*(q[0]*q[3]+q[1]*q[2]), 1-2.0*(q[2]*q[2]+q[3]*q[3]))
                    # print 'delta_phi', delta_phi, 'delta_theta', delta_theta, 'delta_psi', delta_psi
                    #dw = euler_from_matrix(trans_diff)[2] #Only the z axis
                    dw = -delta_phi
                    dt = self.pose_list[1+n].header.stamp.to_sec() - self.pose_list[0].header.stamp.to_sec()
                    #print 'dt', dt

                    # Stuff the measurements into messages and publish
                    msg_theta_dot = ThetaDotSample()
                    msg_theta_dot.d_L = self.wheels_cmd_list[0].vel_left
                    msg_theta_dot.d_R = self.wheels_cmd_list[0].vel_right
                    msg_theta_dot.dt = dt
                    msg_theta_dot.theta_angle_pose_delta = dw
                    self.pub_theta_dot.publish(msg_theta_dot)


                    msg_v = Vsample()
                    msg_v.d_L = self.wheels_cmd_list[0].vel_left
                    msg_v.d_R = self.wheels_cmd_list[0].vel_right
                    msg_v.dt = dt
                    msg_v.x_axis_pose_delta = -dy   # The vicon frame is setup with -y facing forward on the duckiecar
                    msg_v.y_axis_pose_delta = dx
                    msg_v.theta_angle_pose_delta = dw
                    self.pub_v.publish(msg_v)
                else:
                    del self.wheels_cmd_list[0]

                del self.pose_list[0]
Пример #3
0
    def __init__(self):
        self.node_name = 'virtual_learning_node'

        # Setup the publishers and subscribers
        self.sub_pose = rospy.Subscriber("~pose", Pose2DStamped,
                                         self.pose2DCallback)
        self.sub_wheels_cmd = rospy.Subscriber("~wheels_cmd", WheelsCmdStamped,
                                               self.wheelsCmdCallback)
        self.pub_theta_dot = rospy.Publisher("~theta_dot_sample",
                                             ThetaDotSample,
                                             queue_size=1)
        self.pub_v = rospy.Publisher("~v_sample", Vsample, queue_size=1)

        self.pose_prev = None
        self.wheels_cmd = None
        self.msg_theta_dot = ThetaDotSample()
        self.msg_v = Vsample()

        rospy.loginfo("[%s] has started", self.node_name)
    def test_learning_from_generated_samples(self):
        self.setup_publishers_and_subscribers()

        # Generate random samples and publish
        msg_v_sample = Vsample()
        msg_theta_dot_sample = ThetaDotSample()
        theta_dot_weights = np.array([-1, 1])
        v_weights = np.array([1, 1])
        rate = rospy.Rate(30)
        timeout = time.time() + 10.0
        while (
            (not rospy.is_shutdown())
            and (not (self.msg_theta_dot_received and self.msg_v_received))
            and time.time() < timeout
        ):
            sample = self.getRandomSamplePair(theta_dot_weights, v_weights)
            msg_v_sample.d_L = sample[0]
            msg_v_sample.d_R = sample[1]
            msg_v_sample.dt = sample[2]
            msg_v_sample.theta_angle_pose_delta = sample[3]
            msg_v_sample.x_axis_pose_delta = sample[4]
            msg_v_sample.y_axis_pose_delta = sample[5]
            msg_theta_dot_sample.d_L = sample[0]
            msg_theta_dot_sample.d_R = sample[1]
            msg_theta_dot_sample.dt = sample[2]
            msg_theta_dot_sample.theta_angle_pose_delta = sample[3]

            self.pub_v_sample.publish(msg_v_sample)
            self.pub_theta_dot_sample.publish(msg_theta_dot_sample)
            rate.sleep()

        # Notify if the timeout struck
        self.assertLess(
            time.time(),
            timeout,
            msg="WARNING: There was not enough time to receive the weights. Either increase the timeout or decrease the number of points needed by the learner.",
        )

        # Check that the new weights are close to the generating ones
        self.assertAlmostEqual(self.msg_v_weights.weights[0], 1, 0)
        self.assertAlmostEqual(self.msg_v_weights.weights[1], 1, 0)
        self.assertAlmostEqual(self.msg_theta_dot_weights.weights[0], -1, 0)
        self.assertAlmostEqual(self.msg_theta_dot_weights.weights[1], 1, 0)
Пример #5
0
    def __init__(self):
        self.node_name = rospy.get_name()

        ## Parameters
        self.stop_line_max_age = self.setupParameter(
            "~stop_line_max_age", 1.0
        )  # [sec] don't use stop_line_reading msg pairs more than this far apart
        self.lane_pose_max_age = self.setupParameter(
            "~lane_pose_max_age", 1.0
        )  # [sec] don't use lane_pose msg pairs more than this far apart
        self.wheels_cmd_max_age = self.setupParameter(
            "~wheels_cmd_max_age",
            2.0)  # [sec] throw away wheels_cmd's older than this

        ## state vars
        self.in_lane = False
        self.current_wheels_cmd = WheelsCmdStamped()
        self.old_stop_line_msg = StopLineReading()
        self.old_lane_pose_msg = LanePose()
        self.cmd_buffer = deque()  # buffer of wheel commands

        self.v_sample_msg = Vsample(
        )  # global variable because different parts of this are set in different callbacks

        ## publishers and subscribers
        self.sub_stop_line_reading = rospy.Subscriber("~stop_line_reading",
                                                      StopLineReading,
                                                      self.stopLineCB)
        self.sub_lane_pose = rospy.Subscriber("~lane_pose", LanePose,
                                              self.lanePoseCB)
        self.sub_wheels_cmd_executed = rospy.Subscriber(
            "~wheels_cmd_executed", WheelsCmdStamped, self.wheelsCmdCB)
        self.pub_v_sample = rospy.Publisher("~v_sample", Vsample, queue_size=1)
        self.pub_theta_dot_sample = rospy.Publisher("~theta_dot_sample",
                                                    ThetaDotSample,
                                                    queue_size=1)
        rospy.loginfo('[%s] Initialized' % self.node_name)
Пример #6
0
    def setUp(self):

        ## Publishers
        self.pub_stop_line_reading = rospy.Publisher(
            "odometry_training_pairs_node/stop_line_reading",
            StopLineReading,
            queue_size=1)
        self.pub_wheels_cmd_executed = rospy.Publisher(
            "odometry_training_pairs_node/wheels_cmd_executed",
            WheelsCmdStamped,
            queue_size=1)
        self.pub_lane_pose = rospy.Publisher(
            "odometry_training_pairs_node/lane_pose", LanePose, queue_size=1)

        ## Subscribers
        self.sub_theta_dot_sample = rospy.Subscriber(
            "odometry_training_pairs_node/theta_dot_sample", ThetaDotSample,
            self.theta_dot_sample_CB)
        self.sub_v_sample = rospy.Subscriber(
            "odometry_training_pairs_node/v_sample", Vsample, self.v_sample_CB)

        ## State variables
        self.theta_dot_received = ThetaDotSample()
        self.v_received = Vsample()
Пример #7
0
    def poseCallback(self, msg_pose):
        self.pose_list.append(msg_pose)
        n = 0
        # make sure we have at least two wheels commands and two poses
        while len(self.wheels_cmd_list) > 1 and len(self.pose_list) > 1 + n:
            # discard any pose messages received before the first wheel command plus timeOffset
            while len(self.pose_list) > 1 + n and (
                    self.pose_list[0].header.stamp.to_sec() + self.timeOffset <
                    self.wheels_cmd_list[0].header.stamp.to_sec()):
                del self.pose_list[0]
            # need at least two poses to calculate delta
            if len(self.pose_list) > 1 + n:
                # make sure that the second pose is not beyond the duration of the current wheel command
                if self.pose_list[1 + n].header.stamp.to_sec() < (
                        self.wheels_cmd_list[1].header.stamp.to_sec() +
                        self.timeOffset):
                    # Calculate the change in pose
                    #print 'pose', self.pose_list[1]
                    dx = self.pose_list[0].pose.position.x - self.pose_list[
                        1 + n].pose.position.x
                    dy = self.pose_list[0].pose.position.y - self.pose_list[
                        1 + n].pose.position.y
                    q = [
                        self.pose_list[1 + n].pose.orientation.x,
                        self.pose_list[1 + n].pose.orientation.y,
                        self.pose_list[1 + n].pose.orientation.z,
                        self.pose_list[1 + n].pose.orientation.w
                    ]
                    q = q / linalg.norm(q)
                    cur_phi = arctan2(2 * (q[0] * q[1] + q[2] * q[3]),
                                      1.0 - 2.0 * (q[1] * q[1] + q[2] * q[2]))
                    cur_theta = arcsin(2 * (q[0] * q[2] - q[3] * q[1]))
                    cur_psi = arctan2(2 * (q[0] * q[3] + q[1] * q[2]),
                                      1 - 2.0 * (q[2] * q[2] + q[3] * q[3]))
                    q = [
                        self.pose_list[0].pose.orientation.x,
                        self.pose_list[0].pose.orientation.y,
                        self.pose_list[0].pose.orientation.z,
                        self.pose_list[0].pose.orientation.w
                    ]
                    q = q / linalg.norm(q)
                    delta_phi = cur_phi - arctan2(
                        2 * (q[0] * q[1] + q[2] * q[3]), 1.0 - 2.0 *
                        (q[1] * q[1] + q[2] * q[2]))
                    while delta_phi > pi:
                        delta_phi = delta_phi - 2.0 * pi
                    while delta_phi <= -pi:
                        delta_phi = delta_phi + 2.0 * pi
                    # delta_theta = cur_theta - arcsin(2*(q[0]*q[2]-q[3]*q[1]))
                    # delta_psi = cur_psi - arctan2(2*(q[0]*q[3]+q[1]*q[2]), 1-2.0*(q[2]*q[2]+q[3]*q[3]))
                    # print 'delta_phi', delta_phi, 'delta_theta', delta_theta, 'delta_psi', delta_psi
                    #dw = euler_from_matrix(trans_diff)[2] #Only the z axis
                    dw = -delta_phi
                    dt = self.pose_list[1 + n].header.stamp.to_sec(
                    ) - self.pose_list[0].header.stamp.to_sec()
                    #print 'dt', dt

                    # Stuff the measurements into messages and publish
                    msg_theta_dot = ThetaDotSample()
                    msg_theta_dot.d_L = self.wheels_cmd_list[0].vel_left
                    msg_theta_dot.d_R = self.wheels_cmd_list[0].vel_right
                    msg_theta_dot.dt = dt
                    msg_theta_dot.theta_angle_pose_delta = dw
                    self.pub_theta_dot.publish(msg_theta_dot)

                    msg_v = Vsample()
                    msg_v.d_L = self.wheels_cmd_list[0].vel_left
                    msg_v.d_R = self.wheels_cmd_list[0].vel_right
                    msg_v.dt = dt
                    msg_v.x_axis_pose_delta = -dy  # The vicon frame is setup with -y facing forward on the duckiecar
                    msg_v.y_axis_pose_delta = dx
                    msg_v.theta_angle_pose_delta = dw
                    self.pub_v.publish(msg_v)
                else:
                    del self.wheels_cmd_list[0]

                del self.pose_list[0]
Пример #8
0
 def __init__(self, *args):
     super(TestViconLearningNode, self).__init__(*args)
     self.msg_v_received = False
     self.msg_theta_dot_received = False
     self.msg_theta_dot_sample = ThetaDotSample()
     self.msg_v_sample = Vsample()