From 7b25ee4d0e7617fa9baa8b1d47081ceb43e1943d Mon Sep 17 00:00:00 2001 From: erik Date: Sat, 24 Aug 2013 15:31:01 +0200 Subject: [PATCH] fixes --- scripts/robo_explorer.py | 133 ++++++++++++++++++++------------------- src/libft_adapter.cpp | 2 +- 2 files changed, 68 insertions(+), 67 deletions(-) diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py index fd26738..6cf73e6 100755 --- a/scripts/robo_explorer.py +++ b/scripts/robo_explorer.py @@ -13,30 +13,30 @@ from roboint.msg import Inputs class RoboExplorer: def __init__(self): rospy.init_node('robo_explorer') - - rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived) - rospy.Subscriber("ft/get_inputs", Inputs, self.inputsReceived) - - self.pub_motor = rospy.Publisher("ft/set_motor", Motor) - self.pub_scan = rospy.Publisher("scan", LaserScan) - self.pub_odom = rospy.Publisher("odom", Odometry) self.wheel_dist = 0.188 # 18.8cm - self.wheel_size = 0.052*0.5 # 5.1cm gear ration=0.5 + self.wheel_size = 0.052*0.5 # 5.2cm; gear ration=0.5 self.speed = (0, 0) self.x = 0 self.y = 0 self.alpha = 0 - self.last_in = [0, 0] + self.last_in = None self.tf_broadcaster = tf.TransformBroadcaster() self.last_time = rospy.Time.now() + self.pub_motor = rospy.Publisher("ft/set_motor", Motor) + self.pub_scan = rospy.Publisher("scan", LaserScan) + self.pub_odom = rospy.Publisher("odom", Odometry) + + rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived) + rospy.Subscriber("ft/get_inputs", Inputs, self.inputsReceived) + rospy.spin() def inputsReceived(self, msg): current_time = rospy.Time.now() - self.tf_broadcaster.sendTransform((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), current_time, "map", "base_link"); + self.tf_broadcaster.sendTransform((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), current_time, "odom", "map"); self.send_odometry(msg, current_time) self.send_laser_scan(msg, current_time) @@ -45,66 +45,67 @@ class RoboExplorer: def send_odometry(self, msg, current_time): dt = (current_time - self.last_time).to_sec(); in_now = msg.input[1:3] - in_diff = [abs(a - b) for a, b in zip(in_now, self.last_in)] # get changed inputs - if self.speed[0] < 0: - in_diff[0] = -in_diff[0] - if self.speed[1] < 0: - in_diff[1] = -in_diff[1] - - 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 + 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 + if self.speed[0] < 0: + in_diff[0] = -in_diff[0] + if self.speed[1] < 0: + in_diff[1] = -in_diff[1] + + 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 + + # speeds + vx = delta_x / dt + vy = delta_y / dt + valpha = delta_alpha / dt + + # 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 = vy + odom.twist.twist.angular.z = valpha + + # publish the message + self.pub_odom.publish(odom) self.last_in = in_now - - # speeds - vx = delta_x / dt - vy = delta_y / dt - valpha = delta_alpha / dt - - # first, we'll publish the transform over tf - self.tf_broadcaster.sendTransform((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), current_time, "odom", "base_link"); - - # next, we'll publish the odometry message over ROS - odom = Odometry() - odom.header.stamp = current_time - odom.header.frame_id = "/odom" - - # since all odometry is 6DOF we'll need a quaternion created from yaw - odom_quat = tf.transformations.quaternion_from_euler(0, 0, self.alpha) - - # 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 = vy - odom.twist.twist.angular.z = valpha - - # publish the message - self.pub_odom.publish(odom) def send_laser_scan(self, msg, current_time): # first, we'll publish the transform over tf - self.tf_broadcaster.sendTransform((0.06, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), current_time, "base_link", "scan"); + self.tf_broadcaster.sendTransform((0.06, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), current_time, "scan", "base_link"); # actually ultra sonic range finder scan = LaserScan() diff --git a/src/libft_adapter.cpp b/src/libft_adapter.cpp index 9247894..22c50ae 100644 --- a/src/libft_adapter.cpp +++ b/src/libft_adapter.cpp @@ -93,7 +93,7 @@ int main(int argc, char **argv) * buffer up before throwing some away. */ ros::Publisher chatter_pub = n.advertise("ft/get_inputs", 1000); - ros::Rate loop_rate(5); + ros::Rate loop_rate(100); while(ros::ok()) { roboint::Inputs msg; -- 2.39.5