From: Erik Andresen Date: Sat, 29 Apr 2017 20:45:29 +0000 (+0200) Subject: Migration to ros control (diff_drive_controller) X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=e2df79c17569d45bd959aec083c5fd6e72ca960b;p=ros_roboint.git Migration to ros control (diff_drive_controller) --- diff --git a/CMakeLists.txt b/CMakeLists.txt index 820e258..d5b4f82 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -4,7 +4,7 @@ project(roboint) ## 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 message_generation urdf) +find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation urdf controller_manager) ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) @@ -74,6 +74,7 @@ include_directories(include ## Declare a cpp executable # add_executable(roboint_node src/roboint_node.cpp) add_executable(libft_adapter src/libft_adapter.cpp) +add_executable(robo_explorer_hardware src/robo_explorer_hardware.cpp) ## Add cmake target dependencies of the executable/library ## as an example, message headers may need to be generated before nodes @@ -84,6 +85,7 @@ add_dependencies(libft_adapter roboint_gencpp) # ${catkin_LIBRARIES} # ) target_link_libraries(libft_adapter ${catkin_LIBRARIES} roboint) +target_link_libraries(robo_explorer_hardware ${catkin_LIBRARIES}) ############# ## Install ## diff --git a/config/control.yaml b/config/control.yaml new file mode 100644 index 0000000..990d411 --- /dev/null +++ b/config/control.yaml @@ -0,0 +1,11 @@ +joint_state_controller: + type: "joint_state_controller/JointStateController" + publish_rate: 10 + +diff_drive_controller: + type: "diff_drive_controller/DiffDriveController" + left_wheel: 'left_wheel_joint' + right_wheel: 'right_wheel_joint' + pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 0.03] + twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 0.03] + publish_rate: 10 diff --git a/explorer_configuration.launch b/explorer_configuration.launch deleted file mode 100644 index 4bff958..0000000 --- a/explorer_configuration.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/include/robo_explorer_hardware.h b/include/robo_explorer_hardware.h new file mode 100644 index 0000000..5c144d5 --- /dev/null +++ b/include/robo_explorer_hardware.h @@ -0,0 +1,103 @@ +#include +#include +#include +#include "roboint/Inputs.h" +#include "roboint/Motor.h" + +class RoboExplorer : public hardware_interface::RobotHW +{ + public: + RoboExplorer(ros::NodeHandle nh) { + this->nh = nh; + pub_motor = nh.advertise("ft/set_motor", 10); + sub_inputs = nh.subscribe("ft/get_inputs", 10, &RoboExplorer::cbInputs, this); + + // connect and register the joint state interface + hardware_interface::JointStateHandle state_handle_left("left_wheel_joint", &pos[0], &vel[0], &eff[0]); + jnt_state_interface.registerHandle(state_handle_left); + hardware_interface::JointStateHandle state_handle_right("right_wheel_joint", &pos[1], &vel[1], &eff[1]); + jnt_state_interface.registerHandle(state_handle_right); + registerInterface(&jnt_state_interface); + + // connect and register the joint velocity interface + hardware_interface::JointHandle joint_handle_left(state_handle_left, &cmd[0]); + jnt_velocity_interface.registerHandle(joint_handle_left); + hardware_interface::JointHandle joint_handle_right(state_handle_right, &cmd[1]); + jnt_velocity_interface.registerHandle(joint_handle_right); + registerInterface(&jnt_velocity_interface); + } + + // Converts pos_encoder from wheels to wheel angles + void read(ros::Duration period) { + static double pos_last[2]; + + pos[0] = pos_encoder[0] * M_PI/8; + pos[1] = pos_encoder[1] * M_PI/8; + vel[0] = (pos[0] - pos_last[0])/period.toSec(); + vel[1] = (pos[1] - pos_last[1])/period.toSec(); + + std::copy(std::begin(pos), std::end(pos), std::begin(pos_last)); + } + + // Writes current velocity command to hardware + void write() { + double speed_l = 0; + double speed_r = 0; + double wish_speed_left = cmd[0]; + double wish_speed_right = cmd[1]; + roboint::Motor msg; + + if (fabs(wish_speed_left) > 0) { + speed_l = 64.3*fabs(wish_speed_left) -1.7; + if (wish_speed_left < 0) speed_l*=-1; + } + if (fabs(wish_speed_right) > 0) { + speed_r = 64.3*fabs(wish_speed_right) -1.7; + if (wish_speed_right < 0) speed_r*=-1; + } + + // check limits + if (speed_l < -7) speed_l = -7; + else if (speed_l > 7) speed_l = 7; + if (speed_r < -7) speed_r = -7; + else if (speed_r > 7) speed_r = 7; + + msg.num = 0; + msg.speed = round(speed_l); + pub_motor.publish(msg); + + msg.num = 1; + msg.speed = round(speed_r); + pub_motor.publish(msg); + } + + // Reads current input state and increases pos_encoder on change + void cbInputs(const roboint::Inputs::ConstPtr& msg) { + static std::array input_last; + + if (msg->input[0] != input_last[0]) { // left input changed + // outputs have direction information + if (msg->output[0] > 0) pos_encoder[0]++; + else if (msg->output[1] > 0) pos_encoder[0]--; + } + if (msg->input[1] != input_last[1]) { // right input changed + // outputs have direction information + if (msg->output[2] > 0) pos_encoder[1]++; + else if (msg->output[3] > 0) pos_encoder[1]--; + } + + std::copy(std::begin(msg->input), std::end(msg->input), std::begin(input_last)); + } + + private: + hardware_interface::JointStateInterface jnt_state_interface; + hardware_interface::VelocityJointInterface jnt_velocity_interface; + ros::NodeHandle nh; + ros::Publisher pub_motor; + ros::Subscriber sub_inputs; + double cmd[2]; + double pos[2]; + double vel[2]; + double eff[2]; + int64_t pos_encoder[2] = {0, 0}; +}; diff --git a/launch/explorer_configuration.launch b/launch/explorer_configuration.launch new file mode 100644 index 0000000..354522b --- /dev/null +++ b/launch/explorer_configuration.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/package.xml b/package.xml index 7d43954..5918f09 100644 --- a/package.xml +++ b/package.xml @@ -53,6 +53,8 @@ tf urdf urdf + controller_manager + controller_manager diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py index bf35229..83cc48b 100755 --- a/scripts/robo_explorer.py +++ b/scripts/robo_explorer.py @@ -1,12 +1,8 @@ #!/usr/bin/env python import roslib; roslib.load_manifest('roboint') import rospy -import tf from math import * -from geometry_msgs.msg import Twist, TransformStamped, Point32, PoseWithCovarianceStamped from sensor_msgs.msg import Range -from nav_msgs.msg import Odometry -from roboint.msg import Motor from roboint.msg import Inputs @@ -14,124 +10,21 @@ class RoboExplorer: def __init__(self): rospy.init_node('robo_explorer') - self.x = 0 - self.y = 0 - self.alpha = 0 - self.last_in = None - self.tf_broadcaster = tf.broadcaster.TransformBroadcaster() self.last_time = rospy.Time.now() - self.x_last = 0 - self.y_last = 0 - self.alpha_last = 0 - - # Distance between both wheels in meter (18.55cm) - self.wheel_dist = float(rospy.get_param('~wheel_dist', "0.1855")) - # Size of wheel Diameter in meter (5.15cm) * gear ratio (0.5) = 2.575cm - self.wheel_size = float(rospy.get_param('~wheel_size', "0.02575")) - # Speed to PWM equation gradiant (The m in pwm = speed*m+b) - self.speed_gradiant = float(rospy.get_param('~speed_gradiant', "64.3")) - # Speed to PWM equation constant (The b in pwm = speed*m+b) - self.speed_constant = float(rospy.get_param('~speed_constant', "-1.7")) - - self.pub_motor = rospy.Publisher("ft/set_motor", Motor, queue_size=16) self.pub_sonar = rospy.Publisher("sonar", Range, queue_size=16) - self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16) - - rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived) rospy.Subscriber("ft/get_inputs", Inputs, self.inputsReceived) - rospy.Subscriber("initialpose", PoseWithCovarianceStamped, self.posReceived) rospy.spin() - def posReceived(self, msg): - self.x = msg.pose.pose.position.x - self.y = msg.pose.pose.position.y - orientation = msg.pose.pose.orientation - angles = tf.transformations.euler_from_quaternion([orientation.x, orientation.y, orientation.z, orientation.w]) - self.alpha = angles[2] - def inputsReceived(self, msg): current_time = rospy.Time.now() - self.update_odometry(msg, current_time) + #self.update_odometry(msg, current_time) if (current_time - self.last_time).to_nsec() > 100e6: # send every 100ms - self.send_odometry(msg, current_time) + #self.send_odometry(msg, current_time) self.send_range(msg, current_time) self.last_time = current_time - def update_odometry(self, msg, current_time): - in_now = msg.input[:2] - if self.last_in is not None: - in_diff = [abs(a - b) for a, b in zip(in_now, self.last_in)] # get changed inputs - # fix in_diff from actual motor direction - if msg.output[1] > 0: # left reverse - in_diff[0] = -in_diff[0] - elif msg.output[0] == 0 and msg.output[1] == 0: # left stop - in_diff[0] = 0 - if msg.output[3] > 0: # right reverse - in_diff[1] = -in_diff[1] - elif msg.output[2] == 0 and msg.output[3] == 0: # right stop - in_diff[1] = 0 - - dist_dir = (in_diff[1] - in_diff[0]) * self.wheel_size*pi/8 # steps_changed in different direction => m - delta_alpha = dist_dir/self.wheel_dist - - dist = (in_diff[0] + in_diff[1])/2.0 * self.wheel_size*pi/8 # steps_changed same direction => m - - delta_x = cos(self.alpha + delta_alpha/2)*dist - delta_y = sin(self.alpha + delta_alpha/2)*dist - - self.alpha += delta_alpha - if self.alpha > 2*pi: - self.alpha -= 2*pi - elif self.alpha < -2*pi: - self.alpha += 2*pi - self.x += delta_x - self.y += delta_y - - self.last_in = in_now - - def send_odometry(self, msg, current_time): - # speeds - dt = (current_time - self.last_time).to_sec() - vx = sqrt((self.x - self.x_last)**2 + (self.y - self.y_last)**2) / dt - if (msg.output[0]-msg.output[1] + msg.output[2]-msg.output[3]) < 0: - # moving backward - vx*=-1 - valpha = (self.alpha - self.alpha_last) / dt - self.x_last = self.x - self.y_last = self.y - self.alpha_last = self.alpha - - # since all odometry is 6DOF we'll need a quaternion created from yaw - odom_quat = tf.transformations.quaternion_from_euler(0, 0, self.alpha) - - # first, we'll publish the transform over tf - self.tf_broadcaster.sendTransform((self.x, self.y, 0.0), odom_quat, current_time, "base_link", "odom") - - # next, we'll publish the odometry message over ROS - odom = Odometry() - odom.header.stamp = current_time - odom.header.frame_id = "/odom" - - # set the position - odom.pose.pose.position.x = self.x - odom.pose.pose.position.y = self.y - odom.pose.pose.position.z = 0.0 - odom.pose.pose.orientation.x = odom_quat[0] - odom.pose.pose.orientation.y = odom_quat[1] - odom.pose.pose.orientation.z = odom_quat[2] - odom.pose.pose.orientation.w = odom_quat[3] - - # set the velocity - odom.child_frame_id = "base_link" - odom.twist.twist.linear.x = vx - odom.twist.twist.linear.y = 0.0 - odom.twist.twist.angular.z = valpha - - # publish the message - self.pub_odom.publish(odom) - def send_range(self, msg, current_time): # ultra sonic range finder scan = Range() @@ -144,45 +37,5 @@ class RoboExplorer: scan.range = msg.d1/100.0 self.pub_sonar.publish(scan) - # test with rostopic pub -1 cmd_vel geometry_msgs/Twist '[0, 0, 0]' '[0, 0, 0]' - def cmdVelReceived(self, msg): - trans = msg.linear.x - rot = msg.angular.z # rad/s - - # handle rotation as offset to speeds - speed_offset = (rot * self.wheel_dist)/2.0 # m/s - - # handle translation - speed_l = 0 - wish_speed_left = trans - speed_offset - if abs(wish_speed_left) > 0: - speed_l = self.speed_gradiant*abs(wish_speed_left) + self.speed_constant - if wish_speed_left < 0: - speed_l*=-1 - speed_r = 0 - wish_speed_right = trans + speed_offset - if abs(wish_speed_right) > 0: - speed_r = self.speed_gradiant*abs(wish_speed_right) + self.speed_constant - if wish_speed_right < 0: - speed_r*=-1 - - # check limits - if speed_l < -7: speed_l = -7 - elif speed_l > 7: speed_l = 7 - if speed_r < -7: speed_r = -7 - elif speed_r > 7: speed_r = 7 - - #print "Speed wanted: %.2f m/s %.2f rad/s, set: %d %d" % (trans, rot, round(speed_l), round(speed_r)) - - outmsg = Motor() - outmsg.num = 0 - outmsg.speed = round(speed_l) - self.pub_motor.publish(outmsg) - - outmsg = Motor() - outmsg.num = 1 - outmsg.speed = round(speed_r) - self.pub_motor.publish(outmsg) - if __name__ == '__main__': RoboExplorer() diff --git a/src/libft_adapter.cpp b/src/libft_adapter.cpp index 925dfd5..63d710d 100644 --- a/src/libft_adapter.cpp +++ b/src/libft_adapter.cpp @@ -8,8 +8,8 @@ static FT_TRANSFER_AREA *transfer_area = NULL; -static char pwm[8] = {0}; -static char pwm_next[8] = {0}; +static int8_t pwm[8] = {0}; +static int8_t pwm_next[8] = {0}; static pthread_mutex_t pwm_mutex = PTHREAD_MUTEX_INITIALIZER; void cb_set_output(const ::roboint::OutputConstPtr& msg) { diff --git a/src/robo_explorer_hardware.cpp b/src/robo_explorer_hardware.cpp new file mode 100644 index 0000000..457cdca --- /dev/null +++ b/src/robo_explorer_hardware.cpp @@ -0,0 +1,31 @@ +#include "ros/ros.h" +#include "robo_explorer_hardware.h" +#include "controller_manager/controller_manager.h" + +int main(int argc, char **argv) { + ros::init(argc, argv, "robo_explorer_hardware"); + + ros::NodeHandle n; + + RoboExplorer robot(n); + controller_manager::ControllerManager cm(&robot); + + ros::AsyncSpinner spinner(1); + spinner.start(); + + ros::Time prev_time = ros::Time::now(); + ros::Rate loop_rate(10); + while(ros::ok()) { + const ros::Time time = ros::Time::now(); + const ros::Duration period = time - prev_time; + + robot.read(period); + cm.update(time, period); + robot.write(); + + prev_time = time; + loop_rate.sleep(); + } + + return 0; +} diff --git a/urdf/explorer.urdf b/urdf/explorer.urdf index a32a1af..8f44ce2 100644 --- a/urdf/explorer.urdf +++ b/urdf/explorer.urdf @@ -32,6 +32,11 @@ + + + + + @@ -43,6 +48,11 @@ + + + + + @@ -97,4 +107,24 @@ + + + transmission_interface/SimpleTransmission + + VelocityJointInterface + + + 1 + + + + + transmission_interface/SimpleTransmission + + VelocityJointInterface + + + 1 + +