added umbmark.py, tested with simulation

[ros_wild_thumper.git] / scripts / umbmark.py

diff --git a/scripts/umbmark.py b/scripts/umbmark.py
new file mode 100755 (executable)
index 0000000..d103b5c
--- /dev/null
+++ b/scripts/umbmark.py
@@ -0,0 +1,98 @@
+#!/usr/bin/env python
+# -*- coding: iso-8859-15 -*-
+#
+# Gazebo Position: rostopic echo -n 1 /gazebo/model_states
+#
+# x_err = x_real - x_odom
+# y_err = y_real - y_odom
+# phi_err = phi_real - phi_odom
+#
+# x_cg_cw/ccw: avg x_err
+# y_cg_cw/ccw: avg y_err
+#
+# r_cg_cw = sqrt(x_cg_cw**2 + y_cg_cw**2)
+# r_cg_ccw = sqrt(x_cg_ccw**2 + y_cg_ccw**2)
+#
+# L: length (2)
+# D(l/r): Wheel diameter left/right
+# b: wheelbase
+#
+# Wheel diameter correction:
+# beta = (y_cg_cw + y_cg_ccw)/(-4*L)
+# R = (L/2)/sin(beta/2)
+# Ed = Dr/Dl*(R+b/2)/(R-b/2)
+# 
+# Wheelbase correction:
+# alpha = (y_cg_cw - y_cg_ccw)/(-4*L) * 180/pi
+# Eb = (90)/(90-alpha)
+
+import sys
+import rospy
+import tf
+import actionlib
+import operator
+from time import sleep
+from math import *
+from nav_msgs.msg import Odometry
+from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
+from actionlib_msgs.msg import GoalStatus
+
+class UMBMark:
+       def __init__(self):
+               rospy.init_node('umbmark')
+               self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
+               rospy.Subscriber("odom", Odometry, self.odom_received)
+               self.odom_pose = None
+               while not self.move_base.wait_for_server(rospy.Duration(5)):
+                       rospy.loginfo("Waiting for the move_base action server to come up")
+
+       def odom_received(self, msg):
+               orientation = tf.transformations.euler_from_quaternion(msg.pose.pose.orientation.__getstate__())
+               self.odom_pose = (msg.pose.pose.position.x, msg.pose.pose.position.y, orientation[2])
+
+       def next_pos(self, x, y, angle):
+               odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
+
+               rospy.loginfo("Moving to (%.2f, %2f), %d°.." % (x, y, angle*180/pi))
+
+               goal = MoveBaseGoal()
+               goal.target_pose.header.frame_id = "base_footprint"
+               goal.target_pose.header.stamp = rospy.Time.now()
+               goal.target_pose.pose.position.x = x
+               goal.target_pose.pose.position.y = y
+               goal.target_pose.pose.orientation.x = odom_quat[0]
+               goal.target_pose.pose.orientation.y = odom_quat[1]
+               goal.target_pose.pose.orientation.z = odom_quat[2]
+               goal.target_pose.pose.orientation.w = odom_quat[3]
+               self.move_base.send_goal(goal)
+
+               self.move_base.wait_for_result()
+
+               if self.move_base.get_state() == GoalStatus.SUCCEEDED:
+                       rospy.loginfo("The base moved to (%.2f, %2f), %d°" % (x, y, angle*180/pi))
+               else:
+                       rospy.logerr("The base failed to (%.2f, %2f), %d°" % (x, y, angle*180/pi))
+                       raise
+
+       def run(self, direction=-1):
+               while self.odom_pose is None:
+                       sleep(0.1)
+               init_pose = self.odom_pose
+               for i in range(4):
+                       self.next_pos(2, 0, 0)
+                       self.next_pos(0, 0, direction*90*pi/180)
+               final_pose = map(operator.sub, self.odom_pose, init_pose)
+               print "Odom Pose: x=%.2f, y=%.2f, angle=%.2f°" % (final_pose[0], final_pose[1], final_pose[2]*180/pi)
+
+       def run_cw(self):
+               self.run(-1)
+
+       def run_ccw(self):
+               self.run(1)
+
+if __name__ == "__main__":
+       p = UMBMark()
+       if len(sys.argv) > 1 and sys.argv[1] == "ccw":
+               p.run_ccw()
+       else:
+               p.run_cw()