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Drone ROS Packages
Commit c2e326c8 authored by Larkin Heintzman's avatar Larkin Heintzman
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plaths last flight push

parent 9325d37e
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Showing with 1193 additions and 227 deletions
Onboard-SDK-ROS/include/dji_osdk_ros/bus_driver.h
View file @ c2e326c8
......@@ -111,7 +111,8 @@ ServiceAck obtainCtrlAuthority();
bool takeoff();
std::vector<float> relativePosition(float x, float y, float z, float yaw);
void relativeVelocity(float x, float y, float z, float yaw, float dt);
void relativePosition(float x, float y, float z, float yaw, float dt);
float applyRotationAngle(float targetYaw);
......@@ -136,7 +137,17 @@ bool overwatchFunction(dji_osdk_ros::Overwatch::Request &req, dji_osdk_ros::Over
void gpsPosCallback(const sensor_msgs::NavSatFix::ConstPtr& msg);
void posFeedbackCallback(const geometry_msgs::Transform::ConstPtr& msg);
void pdPositionCallback(const geometry_msgs::Transform::ConstPtr& msg);
void posTrackingCallback(const geometry_msgs::Transform::ConstPtr& msg);
void pdMaxSpeedCallback(const std_msgs::Float32::ConstPtr& msg);
void pdMaxYawSpeedCallback(const std_msgs::Float32::ConstPtr& msg);
void pdSpeedScaleCallback(const std_msgs::Float32::ConstPtr& msg);
void pdUpdateRateCallback(const std_msgs::Float32::ConstPtr& msg);
void pdDampingRateCallback(const std_msgs::Float32::ConstPtr& msg);
void pdFrequencyRateCallback(const std_msgs::Float32::ConstPtr& msg);
void pdAngleOffsetRateCallback(const std_msgs::Float32::ConstPtr& msg);
#endif // MISSION_NODE_H
Onboard-SDK-ROS/scripts/qualisysFeedback.py → Onboard-SDK-ROS/scripts/qualisysPublisher.py
View file @ c2e326c8
......@@ -14,8 +14,8 @@ def callback(data):
# we must remapp
#transform.translation = data.pose.position
transform.translation.x = data.pose.position.x
transform.translation.y = data.pose.position.z
transform.translation.z = data.pose.position.y
transform.translation.y = data.pose.position.y
transform.translation.z = data.pose.position.z
pub.publish(transform)
......
Onboard-SDK-ROS/scripts/qualisysSpoofRemote.py 0 → 100755
View file @ c2e326c8
#!/usr/bin/python3
import rospy
import numpy as np
from sensor_msgs.msg import NavSatFix
from sensor_msgs.msg import Imu
from std_msgs.msg import Float32
from geometry_msgs.msg import PointStamped
from geometry_msgs.msg import QuaternionStamped
from geometry_msgs.msg import Transform
from geometry_msgs.msg import Vector3
from geometry_msgs.msg import Quaternion
import math
from pyproj import Transformer
class QualisysSpoof():
def __init__(self):
rospy.init_node("qualisysSpoof")
# zero zero of fake qualisys frame
self.anchorPoint = rospy.get_param("~anchorPoint")
rospy.Subscriber("dji_osdk_ros/gps_position", NavSatFix, self.gpsCallback, queue_size = 1)
rospy.Subscriber("dji_osdk_ros/attitude", QuaternionStamped, self.rotCallback, queue_size = 1)
# rospy.Subscriber("dji_osdk_ros/height_above_takeoff", Float32, self.heightCallback, queue_size = 1)
# standing in for the feedback qualisys stream
self.posePublisher = rospy.Publisher("feedback", Transform, queue_size = 1)
self.quat = Quaternion()
self.transform = Transform()
self.startHeightSet = False
self.startHeight = 0.0
# self.height = 0.0
def point_rotation(self, origin, pt, ang):
# returns the pt rotated about the origin by ang (ang in degrees)
c = math.cos(math.radians(ang))
s = math.sin(math.radians(ang))
# translate to origin
pt_temp = [pt[0] - origin[0], pt[1] - origin[1]]
pt_spun = [ pt_temp[0]*c - pt_temp[1]*s, pt_temp[0]*s + pt_temp[1]*c ]
# translate back to frame
pt_spun = [pt_spun[0] + origin[0], pt_spun[1] + origin[1]]
return pt_spun
def meters2lat_lon(self, meters_point):
# returns point converted to lat lon from meters coordinate system
transformer = Transformer.from_crs(3857, 4326)
latlon_point = transformer.transform(meters_point[0], meters_point[1])
return latlon_point
def lat_lon2meters(self, latlon_point):
# returns point converted to meters from lat lon coordinate system
transformer = Transformer.from_crs(4326, 3857)
meters_point = transformer.transform(latlon_point[0], latlon_point[1])
return meters_point
def rotCallback(self, data):
self.quat = data.quaternion
def gpsCallback(self, data):
# convert and compare against home point
apMeters = self.lat_lon2meters([self.anchorPoint[0], self.anchorPoint[1]])
cpMeters = self.lat_lon2meters([data.latitude, data.longitude])
currentOffset = [cpMeters[0] - apMeters[0], cpMeters[1] - apMeters[1]]
# rotate current offset by a bit
currentOffset = self.point_rotation([0,0], currentOffset, rospy.get_param("~angleOffset"));
# save init height
if (not self.startHeightSet):
self.startHeightSet = True
self.startHeight = data.altitude
# performing dark magics
self.transform.translation.x = currentOffset[1]
self.transform.translation.y = currentOffset[0]
self.transform.translation.z = data.altitude - self.startHeight
self.transform.rotation = self.quat
self.posePublisher.publish(self.transform)
if __name__ == '__main__':
qualer = QualisysSpoof()
rospy.spin()
Onboard-SDK-ROS/src/dji_osdk_ros/dji_vehicle_node.cpp
View file @ c2e326c8
......@@ -516,7 +516,7 @@ bool VehicleNode::initDataSubscribeFromFC()
int nTopic100Hz = topicList100Hz.size();
if (ptr_wrapper_->initPackageFromTopicList(static_cast<int>(SubscribePackgeIndex::PACKAGE_ID_100HZ), nTopic100Hz,
topicList100Hz.data(), 1, 100))
topicList100Hz.data(), 1, 50))
{
ack = ptr_wrapper_->startPackage(static_cast<int>(SubscribePackgeIndex::PACKAGE_ID_100HZ), WAIT_TIMEOUT);
if (ACK::getError(ack))
......@@ -663,8 +663,10 @@ bool VehicleNode::initDataSubscribeFromFC()
topicList400Hz.push_back(Telemetry::TOPIC_HARD_SYNC);
int nTopic400Hz = topicList400Hz.size();
// if (ptr_wrapper_->initPackageFromTopicList(static_cast<int>(SubscribePackgeIndex::PACKAGE_ID_400HZ), nTopic400Hz,
// topicList400Hz.data(), 1, 400))
if (ptr_wrapper_->initPackageFromTopicList(static_cast<int>(SubscribePackgeIndex::PACKAGE_ID_400HZ), nTopic400Hz,
topicList400Hz.data(), 1, 400))
topicList400Hz.data(), 1, 50))
{
ack = ptr_wrapper_->startPackage(static_cast<int>(SubscribePackgeIndex::PACKAGE_ID_400HZ), WAIT_TIMEOUT);
if(ACK::getError(ack))
......
Onboard-SDK-ROS/src/dji_osdk_ros/samples/bus_driver.cpp
View file @ c2e326c8
......@@ -51,13 +51,17 @@ ros::ServiceClient waypoint_action_client;
ros::ServiceClient flight_control_client;
ros::ServiceClient mission_waypoint_client;
ros::ServiceClient obtain_ctrl_authority_client;
ros::Publisher syncPub; // thing to publish to sync topic "positionSync"
// need to take another look at synchronization...
// ros::Publisher syncPub; // thing to publish to sync topic "positionSync"
sensor_msgs::NavSatFix gps_pos; // gps position from drone
geometry_msgs::Transform ex_pos; // position from external source (qualisys or some such)
geometry_msgs::Transform track_pos; // position from external source (qualisys or some such)
geometry_msgs::Transform previous_ex_pos; // position from external source (qualisys or some such)
geometry_msgs::Transform previous_track_pos; // position from external source (qualisys or some such)
geometry_msgs::Transform track_pos; // target position
geometry_msgs::Transform previous_ex_pos;
geometry_msgs::Transform previous_track_pos;
geometry_msgs::Transform pd_pos; // desired pose from pd relative to qual center (only x on rotation)
std::vector<float> expectedVel; // expected position after applying relative position move
float feedbackYaw; // yaw as measured by pos ref
float feedbackPitch; // pitch as measured by pos ref
......@@ -65,7 +69,7 @@ float feedbackRoll; // roll as measured by pos ref
float trackingYaw; // yaw to track
float trackingPitch; // pitch to track
float trackingRoll; // roll to track
int calibrationWindow = 25; // the last _ position calls that are included in coordinate system calibration
int calibrationWindow = 3; // the last _ position calls that are included in coordinate system calibration
std::vector<float> calibrationWindowValues;
float angleOffset;
float controlLoopTime;
......@@ -78,12 +82,25 @@ bool rotationMatrixCalibratedFlag = false;
bool gps_home_flag = false;
bool pos_home_flag = false;
bool positionMissionFlag = false;
bool waypointMissionFlag = false;
bool positionPlaybackParam = false;
bool localMissionFlag = false; // whether running position mission currently
bool gpsMissionFlag = false; // whether running gps mission currently
string missionTypeParam;
ros::Subscriber gps_pos_subscriber;
ros::Subscriber pos_feedback_subscriber;
ros::Subscriber pos_tracking_subscriber;
ros::Subscriber pd_position_subscriber;
ros::Subscriber pd_heading_subscriber;
// temp subscribers to pick up puredata parameter information, will be removed once the right parameters are settled on
ros::Subscriber pd_parameter_MinSpeed_subscriber;
ros::Subscriber pd_parameter_MaxSpeed_subscriber;
ros::Subscriber pd_parameter_MaxYawSpeed_subscriber;
ros::Subscriber pd_parameter_SpeedScale_subscriber;
ros::Subscriber pd_parameter_UpdateRate_subscriber;
ros::Subscriber pd_parameter_Damping_subscriber;
ros::Subscriber pd_parameter_Frequency_subscriber;
ros::Subscriber pd_parameter_AngleOffset_subscriber;
int droneId; // stupid but will work for now
int waypointMissionUpdateCounter = 0; // counts iterations before we check waypoints again
......@@ -96,15 +113,14 @@ int waypointNumber;
int currentWaypoint = 0; // how many waypoints have we reached
long double initialWaypointDistance; // distance to first waypoint
long double initialPositionDistance; // distance to first position
double baseSpeedParam;
double minSpeedParam;
double waypointSpeedParam;
double positionThresholdParam;
double angleOffsetParam;
double maxSpeedParam;
double speedScalarParam;
double minYawSpeedParam;
double maxYawSpeedParam;
// inverse controller variables
ros::WallTime previousWallTime;
double dt;
double damping;
double frequency;
......@@ -119,10 +135,6 @@ double g;
// converting degrees to radians
long double toRadians(const long double degree)
{
// cmath library in C++
// defines the constant
// M_PI as the value of
// pi accurate to 1e-30
long double one_deg = (M_PI) / 180;
return (one_deg * degree);
}
......@@ -147,8 +159,6 @@ float eucDistance(std::vector<float> a, std::vector<float> b)
long double gpsDistance(long double lat1, long double long1, long double lat2, long double long2)
{
// Convert the latitudes
// and longitudes
// from degree to radians.
lat1 = toRadians(lat1);
long1 = toRadians(long1);
lat2 = toRadians(lat2);
......@@ -164,10 +174,7 @@ long double gpsDistance(long double lat1, long double long1, long double lat2, l
ans = 2 * asin(sqrt(ans));
// Radius of Earth in
// Kilometers, R = 6371
// Use R = 3956 for miles
long double R = 6371;
long double R = 6371; // radius of earth
// Calculate the result
ans = ans * R;
......@@ -194,14 +201,12 @@ std::vector<std::vector<float>> rotateAxisAngle(std::vector<float> u, float angl
return rotationMatrix;
}
// Function that return
// dot product of two vector array.
float dotProduct(std::vector<float> vect_A, std::vector<float> vect_B)
{
float product = 0;
int vectorSize = vect_A.size(); // both vectors must be of same length
// Loop for calculate cot product
for (int i = 0; i < vectorSize; i++)
product = product + vect_A[i] * vect_B[i];
......@@ -217,7 +222,6 @@ float flatAngleBetween(std::vector<float> a, std::vector<float> b)
return normalizeAngle(acosf(dotProd/(Magnitude3(a)*Magnitude3(b))));
}
// Function to find
// cross product of two vector array.
std::vector<float> crossProduct(std::vector<float> vect_A, std::vector<float> vect_B)
{
......@@ -251,10 +255,7 @@ std::vector<float> MatrixMultiply(std::vector <std::vector<float>> a, std::vecto
const int n = a.size(); // a cols
const int m = a[0].size(); // a rows
std::vector <float> c(n);
// the PAIN
// ROS_INFO(" rotation matrix calc:");
for (auto k = 0; k < m; ++k) // row loop
{
for (auto i = 0; i < n; ++i) // col loop
......@@ -267,32 +268,38 @@ std::vector<float> MatrixMultiply(std::vector <std::vector<float>> a, std::vecto
return c;
}
std::vector<std::vector<float>> rotateAlign(std::vector<float> v1, std::vector<float> v2)
{
std::vector<float> axis = normalizeVector(crossProduct(v1, v2));
float dotProd = dotProduct(normalizeVector(v1), normalizeVector(v2));
if (dotProd < -1.0)
{
dotProd = -1.0;
}
else if (dotProd > 1.0)
{
dotProd = 1.0;
}
poseRotationRadians = acosf(dotProd);
std::vector<std::vector<float>> result = rotateAxisAngle(axis, poseRotationRadians); // returns rotation matrix
// std::vector<std::vector<float>> rotateAlign(std::vector<float> v1, std::vector<float> v2)
// {
// std::vector<float> axis = normalizeVector(crossProduct(v1, v2));
// float dotProd = dotProduct(normalizeVector(v1), normalizeVector(v2));
// if (dotProd < -1.0)
// {
// dotProd = -1.0;
// }
// else if (dotProd > 1.0)
// {
// dotProd = 1.0;
// }
// poseRotationRadians = acosf(dotProd);
// std::vector<std::vector<float>> result = rotateAxisAngle(axis, poseRotationRadians); // returns rotation matrix
//
// ROS_INFO("axis of rotation: (%f, %f, %f)", axis[0], axis[1], axis[2]);
// ROS_INFO("dot product: (%f)", dotProd);
// ROS_INFO("angle rad: (%f)", poseRotationRadians);
// return result;
// }
ROS_INFO("axis of rotation: (%f, %f, %f)", axis[0], axis[1], axis[2]);
ROS_INFO("dot product: (%f)", dotProd);
ROS_INFO("angle rad: (%f)", poseRotationRadians);
return result;
void pdPositionCallback(const geometry_msgs::Transform::ConstPtr& msg)
{
pd_pos = *msg; // annnnnd thats it folks
}
// for those times where we actually fly outside lmao
void gpsPosCallback(const sensor_msgs::NavSatFix::ConstPtr& msg)
{
gps_pos = *msg;
if (!waypointMissionFlag)
if (!gpsMissionFlag)
{
return; // peace out if not running mission
}
......@@ -338,7 +345,7 @@ void gpsPosCallback(const sensor_msgs::NavSatFix::ConstPtr& msg)
// now update sync topic with progress through waypoints
std_msgs::Float32 syncUpdate;
syncUpdate.data = static_cast<float32_t>(currentWaypoint) + static_cast<float32_t>(static_cast<float32_t>(1) - progressDistance/nextWaypointDistance);
syncPub.publish(syncUpdate);
// syncPub.publish(syncUpdate);
if(progressDistance < tolerance)
{
......@@ -359,6 +366,14 @@ void posFeedbackCallback(const geometry_msgs::Transform::ConstPtr& msg)
previous_ex_pos = ex_pos;
ex_pos = *msg; // alllllways load the message
// ROS_INFO("Current feedback postion %f, %f, %f", ex_pos.translation.x, ex_pos.translation.y, ex_pos.translation.z);
//
// // for fuckin symetry i guess
// if (!localMissionFlag)
// {
// return; // peace out if not running mission
// }
// FINE ill DO it MYself all ALONE
feedbackYaw = atan2(2.0*(ex_pos.rotation.x*ex_pos.rotation.y + ex_pos.rotation.z*ex_pos.rotation.w), 1 - 2.0*(ex_pos.rotation.y*ex_pos.rotation.y + ex_pos.rotation.z*ex_pos.rotation.z));
feedbackPitch = asin(2.0*(ex_pos.rotation.x*ex_pos.rotation.z - ex_pos.rotation.w*ex_pos.rotation.y));
......@@ -367,22 +382,24 @@ void posFeedbackCallback(const geometry_msgs::Transform::ConstPtr& msg)
void posTrackingCallback(const geometry_msgs::Transform::ConstPtr& msg)
{
previous_track_pos = track_pos;
track_pos = *msg;
// FINE ill DO it MYself all ALONE
// // for fuckin symetry i guess
// if (!localMissionFlag)
// {
// return; // peace out if not running mission
// }
trackingYaw = atan2(2.0*(track_pos.rotation.x*track_pos.rotation.y + track_pos.rotation.z*track_pos.rotation.w), 1 - 2.0*(track_pos.rotation.y*track_pos.rotation.y + track_pos.rotation.z*track_pos.rotation.z));
trackingPitch = asin(2.0*(track_pos.rotation.x*track_pos.rotation.z - track_pos.rotation.w*track_pos.rotation.y));
trackingRoll = atan2(2.0*(track_pos.rotation.x*track_pos.rotation.w + track_pos.rotation.y*track_pos.rotation.z), 1 - 2.0*(track_pos.rotation.z*track_pos.rotation.z + track_pos.rotation.w*track_pos.rotation.w));
}
bool setupWaypointMission(int responseTimeout)
{
ros::spinOnce();
// ROS_INFO();
while(!ros::param::has("/robot_list/robot_"+to_string(droneId)+"/numWaypoints"))
{
ROS_INFO("waiting for waypoints to load...");
......@@ -432,8 +449,8 @@ bool runWaypointMission()
return false;
}
waypointMissionFlag = true;
positionMissionFlag = false;
gpsMissionFlag = true;
localMissionFlag = false;
return true;
}
......@@ -441,26 +458,24 @@ bool runWaypointMission()
bool runPositionMission()
{
std::vector<float> velocityCommand {0.0, 0.0, 0.0};
ros::Rate updateRate(updateRateParam); // update period for topics/commands
positionMissionFlag = true;
localMissionFlag = true;
gpsMissionFlag = false;
int currentPositionIndex = 0;
int numPositions;
ros::param::get("/robot_list/robot_" + to_string(droneId) + "/numPositions", numPositions);
while (positionMissionFlag && ros::ok())
while (localMissionFlag && ros::ok())
{
ros::Rate updateRate(updateRateParam);
// let topics update
ros::spinOnce();
dt = (ros::WallTime::now() - previousWallTime).toNSec()*1e-9;
g = 1/(1 + kd*dt + kp*dt*dt);
dt = controlLoopTime;
g = 1.0/(1.0 + kd*dt + kp*dt*dt);
ksg = kp*g;
kdg = (kd + kp*dt)*g;
previousWallTime = ros::WallTime::now();
std::vector<float> currentPos
{
......@@ -468,6 +483,7 @@ bool runPositionMission()
static_cast<float>(ex_pos.translation.y),
static_cast<float>(ex_pos.translation.z)
};
ROS_INFO("Current postion %f, %f, %f", currentPos[0], currentPos[1], currentPos[2]);
std::vector<float> currentVel
{
......@@ -480,16 +496,17 @@ bool runPositionMission()
std::vector<float> targetVel;
float targetYaw;
// wip, just align w external reference
// check expected velocity verses actual velocity
if (Magnitude3(velocityCommand) != 0.0 && Magnitude3(currentVel) != 0.0)
{
float ang = flatAngleBetween(velocityCommand, currentVel);
updateAngleScaler(ang);
ROS_INFO("new angle discrepancy!: %f", angleOffset);
}
// if (Magnitude3(velocityCommand) != 0.0 && Magnitude3(currentVel) != 0.0)
// {
// float ang = flatAngleBetween(velocityCommand, currentVel);
// updateAngleScaler(ang);
// ROS_INFO("new angle discrepancy: %f", angleOffset);
// }
// next depends on what mode we're in ------------------------------------
if (positionPlaybackParam)
if (missionTypeParam.compare("tracking") == 0)
{
targetPos = std::vector<float>
{
......@@ -507,7 +524,19 @@ bool runPositionMission()
targetYaw = trackingYaw;
}
else
else if (missionTypeParam.compare("puredata") == 0)
{
// let pure data handle positioning, we just load from topic
targetPos = std::vector<float>
{
static_cast<float>(pd_pos.translation.x),
static_cast<float>(pd_pos.translation.y),
static_cast<float>(pd_pos.translation.z)
};
targetYaw = pd_pos.rotation.x;
targetVel = std::vector<float> {0.0, 0.0, 0.0};
}
else if (missionTypeParam.compare("points") == 0)
{
std::vector<float> tempPos;
ros::param::get("/robot_list/robot_" + to_string(droneId) + "/positions/position_" + to_string(currentPositionIndex), tempPos);
......@@ -517,27 +546,26 @@ bool runPositionMission()
tempPos[2],
tempPos[3]
};
//----------------------------------
targetVel = std::vector<float> {0.0, 0.0, 0.0};
targetYaw = normalizeAngle((M_PI/180.0)*tempPos[4]);
//----------------------------------
targetYaw = normalizeAngle((M_PI/180.0)*tempPos[4]) + angleOffsetParam;
// check if we're close to position
float checkDist = eucDistance(currentPos, targetPos);
if (checkDist <= 0.2) //&& abs(currentYaw - targetYaw) <= 0.1) // close ish
if (checkDist <= positionThresholdParam) //&& abs(currentYaw - targetYaw) <= 0.1) // close ish
{
currentPositionIndex += 1; // go to next position
}
if (currentPositionIndex >= numPositions)
{
positionMissionFlag = false;
localMissionFlag = false;
}
}
float currentYaw = feedbackYaw;
ROS_INFO("Current postion %f, %f, %f", currentPos[0], currentPos[1], currentPos[2]);
ROS_INFO("Target position %f, %f, %f", targetPos[0], targetPos[1], targetPos[2]);
ROS_INFO("Target velocity %f, %f, %f", targetVel[0], targetVel[1], targetVel[2]);
ROS_INFO("Target yaw: %f", targetYaw);
ROS_INFO("Current yaw: %f", currentYaw);
ROS_INFO("Elapsed frame time: %f", static_cast<float>(dt));
......@@ -548,29 +576,136 @@ bool runPositionMission()
std::vector<float> force
{
// using commanded velocity instead of actual
static_cast<float>(((targetPos[0] - currentPos[0])*ksg + (targetVel[0] - velocityCommand[0])*kdg)*speedScalarParam),
static_cast<float>(((targetPos[1] - currentPos[1])*ksg + (targetVel[1] - velocityCommand[1])*kdg)*speedScalarParam),
static_cast<float>(((targetPos[2] - currentPos[2])*ksg + (targetVel[2] - velocityCommand[2])*kdg)*speedScalarParam)
static_cast<float>((targetPos[0] - currentPos[0])*ksg + (targetVel[0] - velocityCommand[0])*kdg),
static_cast<float>((targetPos[1] - currentPos[1])*ksg + (targetVel[1] - velocityCommand[1])*kdg),
static_cast<float>((targetPos[2] - currentPos[2])*ksg + (targetVel[2] - velocityCommand[2])*kdg)
};
ROS_INFO("target velocity: %f, %f, %f", targetVel[0], targetVel[1], targetVel[2]);
ROS_INFO("current velocity: %f, %f, %f", currentVel[0], currentVel[1], currentVel[2]);
velocityCommand = std::vector<float> {velocityCommand[0] + dt*force[0], velocityCommand[1] + dt*force[1], velocityCommand[2] + dt*force[2]};
// velocityCommand = MatrixMultiply(rotateAxisAngle(std::vector<float> {0.0, 0.0, 1.0}, angleOffset), velocityCommand);
force = MatrixMultiply(rotateAxisAngle(std::vector<float> {0.0, 0.0, 1.0}, angleOffsetParam), force);
velocityCommand = std::vector<float> {velocityCommand[0]*speedScalarParam + dt*force[0], velocityCommand[1]*speedScalarParam + dt*force[1], velocityCommand[2]*speedScalarParam + dt*force[2]};
if (Magnitude3(velocityCommand) > maxSpeedParam)
{
velocityCommand = normalizeVector(velocityCommand);
velocityCommand = std::vector<float> {maxSpeedParam*velocityCommand[0], maxSpeedParam*velocityCommand[1], maxSpeedParam*velocityCommand[2]};
ROS_INFO("normalizing velocity command...");
}
velocityCommand = MatrixMultiply(rotateAxisAngle(std::vector<float> {0.0, 0.0, 1.0}, angleOffset), velocityCommand);
ROS_INFO("calling vel command %f, %f, %f", velocityCommand[0], velocityCommand[1], velocityCommand[2]);
expectedVel = relativePosition(velocityCommand[0], velocityCommand[1], velocityCommand[2], yawCommand);
relativeVelocity(velocityCommand[0], velocityCommand[1], velocityCommand[2], yawCommand, dt);
updateRate.sleep();
}
return true;
}
void relativeVelocity(float x, float y, float z, float yaw, float dt)
{
// convert relative position to velocity command
std::vector<float> posVec {x, y, z};
float totalSpeed = Magnitude3(posVec);
float speed;
// float dt = controlLoopTime*1000.0;
if (totalSpeed > maxSpeedParam)
{
speed = maxSpeedParam;
}
else
{
speed = totalSpeed;
}
std::vector<float> velDir = normalizeVector(posVec);
std::vector<float> velVec = {velDir[0]*speed, velDir[1]*speed, velDir[2]*speed};
dji_osdk_ros::FlightTaskControl flightTaskControl;
dji_osdk_ros::JoystickParams joystickParams;
joystickParams.x = velVec[0];
joystickParams.y = velVec[1];
joystickParams.z = velVec[2];
if (abs(yaw) > maxYawSpeedParam)
{
if (yaw < 0)
{
yaw = -maxYawSpeedParam;
}
else
{
yaw = maxYawSpeedParam;
}
}
joystickParams.yaw = (180.0/M_PI)*yaw;
ROS_INFO("rel vel: (yaw rate: %fdeg/s, speed: %fm/s, over %fsec, going %fm)", joystickParams.yaw, speed, dt, totalSpeed);
ROS_INFO("---------------\n");
flightTaskControl.request.task = dji_osdk_ros::FlightTaskControl::Request::TASK_VELOCITY_AND_YAWRATE_CONTROL;
flightTaskControl.request.joystickCommand = joystickParams;
flightTaskControl.request.velocityControlTimeMs = dt;
flightTaskControl.request.posThresholdInM = 0.1;
flightTaskControl.request.yawThresholdInDeg = 1;
flight_control_client.call(flightTaskControl); // actually waits for drone to "reach" position
// return flightTaskControl.response.result;
// return std::vector<float> {(dt)*velVec[0], (dt)*velVec[1], (dt)*velVec[2]};
return;
}
void relativePosition(float x, float y, float z, float yaw, float dt)
{
// // convert relative position to velocity command
std::vector<float> posVec {x, y, z};
float totalDist = Magnitude3(posVec);
// float speed;
// // float dt = controlLoopTime*1000.0;
// if ((totalDist/dt) > maxSpeedParam)
// {
// speed = maxSpeedParam;
// }
// else
// {
// speed = totalDist/dt;
// }
//
// std::vector<float> velDir = normalizeVector(posVec);
// std::vector<float> velVec = {velDir[0]*speed, velDir[1]*speed, velDir[2]*speed};
//
dji_osdk_ros::FlightTaskControl flightTaskControl;
dji_osdk_ros::JoystickParams joystickParams;
joystickParams.x = x;
joystickParams.y = y;
joystickParams.z = z;
//
// if (abs(yaw) > maxYawSpeedParam)
// {
// if (yaw < 0)
// {
// yaw = -maxYawSpeedParam;
// }
// else
// {
// yaw = maxYawSpeedParam;
// }
// }
joystickParams.yaw = (180.0/M_PI)*yaw;
ROS_INFO("rel pos: (yaw rate: %fdeg/s, speed: %fm/s, over %fsec, going %fm)", joystickParams.yaw, totalDist/dt, dt, totalDist);
ROS_INFO("---------------\n");
flightTaskControl.request.task = dji_osdk_ros::FlightTaskControl::Request::TASK_POSITION_AND_YAW_CONTROL;
flightTaskControl.request.joystickCommand = joystickParams;
flightTaskControl.request.velocityControlTimeMs = dt;
flightTaskControl.request.posThresholdInM = 0.1;
flightTaskControl.request.yawThresholdInDeg = 1;
flight_control_client.call(flightTaskControl); // actually waits for drone to "reach" position
// return flightTaskControl.response.result;
// return std::vector<float> {(dt)*velVec[0], (dt)*velVec[1], (dt)*velVec[2]};
return;
}
void setWaypointDefaults(WayPointSettings* wp)
{
wp->damping = 0.25;
......@@ -590,8 +725,8 @@ void setWaypointDefaults(WayPointSettings* wp)
void setWaypointInitDefaults(dji_osdk_ros::MissionWaypointTask& waypointTask)
{
waypointTask.velocity_range = baseSpeedParam;
waypointTask.idle_velocity = baseSpeedParam;
waypointTask.velocity_range = waypointSpeedParam;
waypointTask.idle_velocity = waypointSpeedParam;
waypointTask.action_on_finish = dji_osdk_ros::MissionWaypointTask::FINISH_NO_ACTION;
waypointTask.mission_exec_times = 1;
waypointTask.yaw_mode = dji_osdk_ros::MissionWaypointTask::YAW_MODE_RC;
......@@ -684,10 +819,6 @@ ServiceAck missionAction(DJI::OSDK::DJI_MISSION_TYPE type,
missionWpAction.response.cmd_set,
missionWpAction.response.cmd_id,
missionWpAction.response.ack_data };
// switch (type)
// {
// case DJI::OSDK::WAYPOINT:
// }
}
bool takeoff()
......@@ -708,85 +839,19 @@ bool land()
return flightTaskControl.response.result;
}
std::vector<float> relativePosition(float x, float y, float z, float yaw)
{
// convert relative position to velocity command
std::vector<float> posVec {x, y, z};
// TESTING SMALL ANGLE ERROR IN PLACEMENT OF DRONE
// ------------------------------
// posVec = MatrixMultiply(rotateAxisAngle(std::vector<float> {0.0, 0.0, 1.0}, (M_PI/180.0)*180.0), posVec);
float totalDist = Magnitude3(posVec);
float speed;
float totalTimeMs;
// first check if we can make it in the allotted time
if ((totalDist/controlLoopTime) > maxSpeedParam)
{
speed = maxSpeedParam;
totalTimeMs = controlLoopTime*1000.0;
}
else
{
speed = max(minSpeedParam, static_cast<double>(totalDist/controlLoopTime));
totalTimeMs = (totalDist/speed)*1000.0; // convert from s to ms, aim just short of position
}
std::vector<float> velDir = normalizeVector(posVec);
std::vector<float> velVec = {velDir[0]*speed, velDir[1]*speed, velDir[2]*speed};
dji_osdk_ros::FlightTaskControl flightTaskControl;
dji_osdk_ros::JoystickParams joystickParams;
joystickParams.x = velVec[0];
joystickParams.y = velVec[1];
joystickParams.z = velVec[2];
if (abs(yaw) >= 0.05)
{
float tempYawRate = (180.0/M_PI)*yaw/(totalTimeMs/1000.0);
if (abs(tempYawRate) > maxYawSpeedParam)
{
tempYawRate = (tempYawRate/abs(tempYawRate))*maxYawSpeedParam;
// if distance is small, let yaw dictate duration
// if (totalDist <= 0.1)
// {
// totalTimeMs = (abs(yaw)/tempYawRate)*1000.0;
// }
}
joystickParams.yaw = tempYawRate;
}
else
{
joystickParams.yaw = 0.0;
}
ROS_INFO("yaw rate: %f, speed: %f, over %f sec, going %fm", joystickParams.yaw, speed, (totalTimeMs/1000.0), totalDist);
ROS_INFO("---------------\n");
flightTaskControl.request.task = dji_osdk_ros::FlightTaskControl::Request::TASK_VELOCITY_AND_YAWRATE_CONTROL;
flightTaskControl.request.joystickCommand = joystickParams;
flightTaskControl.request.velocityControlTimeMs = totalTimeMs;
flightTaskControl.request.posThresholdInM = 0.1;
flightTaskControl.request.yawThresholdInDeg = 1;
flight_control_client.call(flightTaskControl); // actually waits for drone to "reach" position
// return flightTaskControl.response.result;
return std::vector<float> {(totalTimeMs/1000.0)*velVec[0], (totalTimeMs/1000.0)*velVec[1], (totalTimeMs/1000.0)*velVec[2]};
}
bool stopMotion()
{
if (waypointMissionFlag)
if (gpsMissionFlag)
{
dji_osdk_ros::MissionWpAction waypointAction;
waypointAction.request.action = dji_osdk_ros::MissionWpAction::Request::ACTION_STOP; // stahhp
waypoint_action_client.call(waypointAction);
waypointMissionFlag = false;
gpsMissionFlag = false;
}
if (positionMissionFlag)
if (localMissionFlag)
{
positionMissionFlag = false;
localMissionFlag = false;
}
return true;
}
......@@ -800,21 +865,6 @@ bool goHome()
return flightTaskControl.response.result;
}
// void updateMagnitudeScaler(float newValue)
// {
// // remove the last value and insert new one
// calibrationWindowValues.pop_back();
// auto firstIndex = calibrationWindowValues.begin();
// calibrationWindowValues.insert(firstIndex, newValue);
// float sumer = 0.0;
// for (int i = 0; i < calibrationWindowValues.size(); i++)
// {
// sumer += calibrationWindowValues[i];
// }
// poseMagnitudeScaler = sumer/calibrationWindowValues.size();
// }
void updateAngleScaler(float newValue)
{
// remove the last value and insert new one
......@@ -826,42 +876,115 @@ void updateAngleScaler(float newValue)
{
sumer += calibrationWindowValues[i];
}
// check for first iteration, everything else is zero
// if (sumer == newValue)
// {
// // fill up with first value??
// for (int i = 0; i < calibrationWindowValues.size(); i++)
// {
// calibrationWindowValues[i] = newValue;
// }
// }
angleOffset = sumer/calibrationWindowValues.size();
// angleOffset = calibrationWindowValues[firstIndex]; // just take most recent
}
void calibratePositionReference(std::vector<float> requestedPosition, std::vector<float> actualPosition)
// WIP
void calibratePositionReference()
{
// calculate rotation matrix
poseRotationMatrix = rotateAlign(requestedPosition, actualPosition);
std::vector<float> deltaPosition = {1.0, 0.0, 0.0};
std::vector<float> startPosition
{
static_cast<float>(ex_pos.translation.x),
static_cast<float>(ex_pos.translation.y),
static_cast<float>(ex_pos.translation.z)
};
// go forward at 1m/s for 1s
relativeVelocity(deltaPosition[0], deltaPosition[1], deltaPosition[2], 0.0, 1.0);
ros::Rate(1).sleep();
ros::spinOnce(); // let topics update
std::vector<float> deltaPositionActual
{
static_cast<float>(ex_pos.translation.x) - startPosition[0],
static_cast<float>(ex_pos.translation.y) - startPosition[1],
static_cast<float>(ex_pos.translation.z) - startPosition[2]
};
relativeVelocity(-deltaPosition[0], -deltaPosition[1], -deltaPosition[2], 0.0, 1.0);
ros::Rate(1).sleep();
ros::spinOnce();
// recalculate the rotation offset
// check expected velocity verses actual velocity
ROS_INFO("calibrating angle offset");
if (Magnitude3(deltaPosition) != 0.0 && Magnitude3(deltaPositionActual) != 0.0)
{
float ang = -flatAngleBetween(deltaPositionActual, deltaPosition);
ROS_INFO("new angle offset: %f", ang);
angleOffsetParam = static_cast<double>(ang);
// updateAngleScaler(ang);
}
}
void pdMaxSpeedCallback(const std_msgs::Float32::ConstPtr& msg)
{
// update MaxSpeed parameters
maxSpeedParam = msg->data;
return;
}
// now get scaling difference between coordinate frames
float requestedPositionMag = Magnitude3(requestedPosition);
float actualPositionMag = Magnitude3(actualPosition);
void pdMaxYawSpeedCallback(const std_msgs::Float32::ConstPtr& msg)
{
// update MaxYawSpeed parameters
maxYawSpeedParam = msg->data;
return;
}
poseMagnitudeScaler = (requestedPositionMag/actualPositionMag);
void pdSpeedScaleCallback(const std_msgs::Float32::ConstPtr& msg)
{
// update SpeedScale parameters
speedScalarParam = msg->data;
return;
}
calibrationWindowValues = std::vector<float> {};
poseRotationMatrixValues = std::vector<std::vector<std::vector<float>>> {{{}}};
for(int i = 0; i < calibrationWindow; i++)
void pdDampingCallback(const std_msgs::Float32::ConstPtr& msg)
{
// update SpeedScale parameters
if (msg->data < 0.0)
{
return;
}
damping = static_cast<double>(msg->data);
kp = (6.0*frequency)*(6.0*frequency)* 0.25;
kd = 4.5*frequency*damping;
return;
}
void pdFrequencyCallback(const std_msgs::Float32::ConstPtr& msg)
{
// update SpeedScale parameters
if (msg->data < 0.0)
{
calibrationWindowValues.push_back(poseMagnitudeScaler);
poseRotationMatrixValues.push_back(poseRotationMatrix);
return;
}
frequency = static_cast<double>(msg->data);
kp = (6.0*frequency)*(6.0*frequency)* 0.25;
kd = 4.5*frequency*damping;
return;
}
void pdAngleOffsetCallback(const std_msgs::Float32::ConstPtr& msg)
{
// update SpeedScale parameters
angleOffsetParam = msg->data;
return;
}
ROS_INFO("pose magnitude scalar %f", poseMagnitudeScaler);
void pdUpdateRateCallback(const std_msgs::Float32::ConstPtr& msg)
{
// update UpdateRate parameters
if (msg->data == 0.0)
{
return;
}
updateRateParam = msg->data;
controlLoopTime = 1.0/updateRateParam;
return;
}
// bool add(beginner_tutorials::AddTwoInts::Request &req, beginner_tutorials::AddTwoInts::Response &res)
bool overwatchFunction(dji_osdk_ros::Overwatch::Request &req, dji_osdk_ros::Overwatch::Response &res)
{
......@@ -916,15 +1039,12 @@ bool overwatchFunction(dji_osdk_ros::Overwatch::Request &req, dji_osdk_ros::Over
takeoff();
break;
}
// case 7:
// {
// ROS_INFO("received overwatch: calibrate pos ref");
//
// std::vector<float> requestedPosition = {0.5, 0.0, 0.0};
// std::vector<float> actualPosition = DoCalibrationMove(requestedPosition);
// calibratePositionReference(requestedPosition, actualPosition);
// break;
// }
case 7:
{
ROS_INFO("received overwatch: calibrate pos ref");
calibratePositionReference();
break;
}
default:
break;
}
......@@ -939,13 +1059,14 @@ int main(int argc, char** argv)
ros::init(argc, argv, "mission_node");
ros::NodeHandle nh;
ros::param::get("base_speed", baseSpeedParam);
ros::param::get("min_speed", minSpeedParam);
ros::param::get("base_speed", waypointSpeedParam);
ros::param::get("max_speed", maxSpeedParam);
ros::param::get("max_yaw_speed", maxYawSpeedParam);
ros::param::get("angle_offset", angleOffsetParam);
ros::param::get("speed_scalar", speedScalarParam);
ros::param::get("drone_id", droneId);
ros::param::get("position_playback", positionPlaybackParam);
ros::param::get("mission_type", missionTypeParam);
ros::param::get("position_threshold", positionThresholdParam);
ros::param::get("loop_rate", updateRateParam);
controlLoopTime = 1.0/updateRateParam;
// additions
......@@ -960,29 +1081,38 @@ int main(int argc, char** argv)
{
calibrationWindowValues.push_back(0.0);
}
// kp = (18.0*frequency*frequency)/2.0;
// kd = (9.0/2.0)*frequency*damping;
previousWallTime = ros::WallTime::now();
// set puredata position to zero zero so it doesn't immediately fly away
pd_pos.translation.x = 0.0;
pd_pos.translation.y = 0.0;
pd_pos.translation.z = 1.5;
pd_pos.rotation.x = 0.0;
// ROS stuff
// obtain control authority?
obtain_ctrl_authority_client = nh.serviceClient<dji_osdk_ros::ObtainControlAuthority>(
"obtain_release_control_authority");
waypoint_upload_client = nh.serviceClient<dji_osdk_ros::MissionWpUpload>(
"dji_osdk_ros/mission_waypoint_upload");
waypoint_action_client = nh.serviceClient<dji_osdk_ros::MissionWpAction>(
"dji_osdk_ros/mission_waypoint_action");
flight_control_client = nh.serviceClient<dji_osdk_ros::FlightTaskControl>(
"flight_task_control");
syncPub = nh.advertise<std_msgs::Float32>("sync_signal", 1);
// syncPub = nh.advertise<std_msgs::Float32>("sync_signal", 1);
gps_pos_subscriber = nh.subscribe<sensor_msgs::NavSatFix>("dji_osdk_ros/gps_position", 1, &gpsPosCallback);
pos_feedback_subscriber = nh.subscribe<geometry_msgs::Transform>("feedback", 1, &posFeedbackCallback);
pos_tracking_subscriber = nh.subscribe<geometry_msgs::Transform>("tracking", 1, &posTrackingCallback);
pd_position_subscriber = nh.subscribe<geometry_msgs::Transform>("pd/target", 1, &pdPositionCallback);
// pd_parameter_MinSpeed_subscriber = nh.subscribe<std_msgs::Float32>("pd/parameters/minSpeed", 1, &pdMinSpeedCallback);
pd_parameter_MaxSpeed_subscriber = nh.subscribe<std_msgs::Float32>("pd/parameters/maxSpeed", 1, &pdMaxSpeedCallback);
pd_parameter_MaxYawSpeed_subscriber = nh.subscribe<std_msgs::Float32>("pd/parameters/maxYawSpeed", 1, &pdMaxYawSpeedCallback);
pd_parameter_SpeedScale_subscriber = nh.subscribe<std_msgs::Float32>("pd/parameters/speedScale", 1, &pdSpeedScaleCallback);
pd_parameter_UpdateRate_subscriber = nh.subscribe<std_msgs::Float32>("pd/parameters/updateRate", 1, &pdUpdateRateCallback);
pd_parameter_AngleOffset_subscriber = nh.subscribe<std_msgs::Float32>("pd/parameters/angleOffset", 1, &pdAngleOffsetCallback);
pd_parameter_Damping_subscriber = nh.subscribe<std_msgs::Float32>("pd/parameters/controllerDamping", 1, &pdDampingCallback);
pd_parameter_Frequency_subscriber = nh.subscribe<std_msgs::Float32>("pd/parameters/controllerFrequency", 1, &pdFrequencyCallback);
ros::ServiceServer overwatchService = nh.advertiseService("overwatch", overwatchFunction);
......
misson_controller/CMakeLists.txt 0 → 100644
View file @ c2e326c8
cmake_minimum_required(VERSION 3.0.2)
project(misson_controller)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
roscpp
rospy
sensor_msgs
std_msgs
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# geometry_msgs# sensor_msgs# std_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES misson_controller
# CATKIN_DEPENDS geometry_msgs roscpp rospy sensor_msgs std_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/misson_controller.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/misson_controller_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_misson_controller.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
misson_controller/package.xml 0 → 100644
View file @ c2e326c8
<?xml version="1.0"?>
<package format="2">
<name>misson_controller</name>
<version>0.0.0</version>
<description>The misson_controller package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="hlarkin3@vt.edu">larkin</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/misson_controller</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_export_depend>geometry_msgs</build_export_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>sensor_msgs</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
puredata/CMakeLists.txt 0 → 100644
View file @ c2e326c8
cmake_minimum_required(VERSION 3.0.2)
project(puredata)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
geometry_msgs
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
LIBRARIES puredata
CATKIN_DEPENDS roscpp rospy std_msgs geometry_msgs
DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/puredata.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/puredata_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_puredata.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
puredata/package.xml 0 → 100644
View file @ c2e326c8
<?xml version="1.0"?>
<package format="2">
<name>puredata</name>
<version>0.0.0</version>
<description>The puredata package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="hlarkin3@vt.edu">larkin</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/puredata</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>geometry_msgs</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
puredata/patches/crushedPiano.wav 0 → 100644
View file @ c2e326c8
File added
puredata/patches/drone-osc.pd 0 → 100644
View file @ c2e326c8
#N canvas 0 96 1013 984 10;
#X obj 54 73 netreceive -u -b;
#X obj 55 98 oscparse;
#X obj 210 23 loadbang;
#X obj 210 56 del 100;
#X obj 55 123 route list;
#X obj 55 159 route sound;
#X obj 121 461 dac~ 1 2;
#X msg 42 279 start;
#X obj 55 211 select 1 0;
#X obj 54 252 t b b;
#X msg 110 273 stop;
#X obj 55 185 route one;
#X obj 121 428 *~;
#X obj 170 427 *~;
#X obj 227 154 route master;
#X obj 215 264 line~;
#X msg 227 182 \$1 100;
#X msg 210 83 \; pd dsp 1;
#X obj 16 202 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144 -1
-1;
#X obj 187 21 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144 -1
-1;
#X obj 95 356 readsf~ 2;
#X obj 175 392 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144
-1 -1;
#X obj 132 160 print oscin;
#X obj 343 387 readsf~ 2;
#X obj 345 429 dac~;
#X obj 317 277 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144
-1 -1;
#X msg 305 356 start;
#X msg 358 362 stop;
#X obj 304 337 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144
-1 -1;
#X obj 355 342 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144
-1 -1;
#X msg 54 49 listen 3722;
#X text 305 261 random testing stuff;
#X floatatom 280 182 5 0 0 0 - - -;
#X obj 53 6 loadbang;
#X text 34 334 need to pick different sounds here;
#X msg 340 305 open ./crushedPiano.wav;
#X obj 54 26 del 500;
#X msg 91 309 open ~/offlinePayload1/payload2-full.aif;
#X connect 0 0 1 0;
#X connect 1 0 4 0;
#X connect 2 0 3 0;
#X connect 3 0 17 0;
#X connect 4 0 5 0;
#X connect 4 0 14 0;
#X connect 4 0 22 0;
#X connect 5 0 11 0;
#X connect 7 0 20 0;
#X connect 8 0 9 0;
#X connect 8 1 10 0;
#X connect 9 0 7 0;
#X connect 9 1 37 0;
#X connect 10 0 20 0;
#X connect 11 0 8 0;
#X connect 12 0 6 0;
#X connect 13 0 6 1;
#X connect 14 0 16 0;
#X connect 14 0 32 0;
#X connect 15 0 12 1;
#X connect 15 0 13 1;
#X connect 16 0 15 0;
#X connect 18 0 9 0;
#X connect 19 0 3 0;
#X connect 20 0 12 0;
#X connect 20 1 13 0;
#X connect 20 2 21 0;
#X connect 23 0 24 0;
#X connect 23 1 24 1;
#X connect 25 0 35 0;
#X connect 26 0 23 0;
#X connect 27 0 23 0;
#X connect 28 0 26 0;
#X connect 29 0 27 0;
#X connect 30 0 0 0;
#X connect 33 0 36 0;
#X connect 35 0 23 0;
#X connect 36 0 30 0;
#X connect 37 0 20 0;
puredata/scripts/puredataLaunch.bash 0 → 100755
View file @ c2e326c8
#!/bin/bash
# need to figure out what these audio numbers should be!!
puredata -r 48000 -nogui -audiooutdev 5 -audioindev 5 ../patches/drone-osc.pd
puredata/scripts/puredataPublisher.py 0 → 100755
View file @ c2e326c8
#! /usr/bin/python3
import rospy
import sys
# from osc4py3.as_eventloop import *
# from osc4py3.as_allthreads import *
from osc4py3.as_comthreads import *
from osc4py3 import oscmethod as osm
from geometry_msgs.msg import Transform
from std_msgs.msg import Float32
import netifaces as ni
# blah blah blah
# AHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH
class OSCTranslator():
def __init__(self):
self.positionPub = rospy.Publisher('pd/target', Transform, queue_size = 1)
self.paramMaxSpeedPub = rospy.Publisher('pd/parameters/maxSpeed', Float32, queue_size = 1)
self.paramMaxYawSpeedPub = rospy.Publisher('pd/parameters/maxYawSpeed', Float32, queue_size = 1)
self.paramSpeedScalePub = rospy.Publisher('pd/parameters/speedScale', Float32, queue_size = 1)
self.paramUpdateRatePub = rospy.Publisher('pd/parameters/updateRate', Float32, queue_size = 1)
self.paramDampingPub = rospy.Publisher('pd/parameters/damping', Float32, queue_size = 1)
self.paramFrequencyPub = rospy.Publisher('pd/parameters/frequency', Float32, queue_size = 1)
self.paramAngleOffsetPub = rospy.Publisher('pd/parameters/angleOffset', Float32, queue_size = 1)
rospy.init_node('puredata_publisher')
self.rate = rospy.Rate(100)
self.target = Transform()
rospy.loginfo("starting osc server")
# Make server channels to receive packets.
# get wifi interfaces ip
# dont listen on the wireless when wanting it through the ethernet~
# osc_udp_server(ni.ifaddresses('wlan0')[ni.AF_INET][0]['addr'], 3721, "aservername")
osc_udp_server(ni.ifaddresses('eth0')[ni.AF_INET][0]['addr'], 3721, "aservername")
osc_method("/position", self.handlerfunctionflex, argscheme=osm.OSCARG_ADDRESS + osm.OSCARG_DATAUNPACK)
osc_method("/parameters", self.handlerfunctionflex, argscheme=osm.OSCARG_ADDRESS + osm.OSCARG_DATAUNPACK)
osc_method("/sound/one", self.handlerfunctionflex, argscheme=osm.OSCARG_ADDRESS + osm.OSCARG_DATAUNPACK)
osc_method("/master", self.handlerfunctionflex, argscheme=osm.OSCARG_ADDRESS + osm.OSCARG_DATAUNPACK)
def handlerfunctionflex(self, address, *args):
# Will receive message data unpacked in s, x, y
rospy.loginfo("from: " + address + ": " + str(args))
if (address == "/position"):
# rospy.loginfo("publishing position...")
self.target.translation.x = args[0]
self.target.translation.y = args[1]
self.target.translation.z = args[2]
self.target.rotation.x = args[3]
self.positionPub.publish(self.target)
elif (address == "/parameters/maxSpeed"):
# rospy.loginfo("new maxSpeed param: " + str(args[0]))
self.paramMaxSpeedPub.publish(args[0])
elif (address == "/parameters/maxYawSpeed"):
# rospy.loginfo("new maxYawSpeed param: " + str(args[0]))
self.paramMaxYawSpeedSpeedPub.publish(args[0])
elif (address == "/parameters/speedScale"):
# rospy.loginfo("new speedScale param: " + str(args[0]))
self.paramSpeedScalePub.publish(args[0])
elif (address == "/parameters/updateRate"):
# rospy.loginfo("new updateRate param: " + str(args[0]))
self.paramUpdateRatePub.publish(args[0])
elif (address == "/parameters/damping"):
# rospy.loginfo("new damping param: " + str(args[0]))
self.paramDampingPub.publish(args[0])
elif (address == "/parameters/frequency"):
# rospy.loginfo("new frequency param: " + str(args[0]))
self.paramFrequencyPub.publish(args[0])
elif (address == "/parameters/angleOffset"):
# rospy.loginfo("new angleOffset param: " + str(args[0]))
self.paramAngleOffsetPub.publish(args[0])
elif (address == "/sound/one"):
rospy.loginfo("publishing sound...")
elif (address == "/master"):
rospy.loginfo("publishing master vol...")
# pure data will handle sounds..?
pass
if __name__ == "__main__":
osc_startup()
oscer = OSCTranslator()
rospy.loginfo("starting osc process loop")
while not rospy.is_shutdown():
# rospy.loginfo("processing osc msgs...")
osc_process()
oscer.rate.sleep()
# rospy.spin()
osc_terminate()
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