X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fumbmark.py;fp=scripts%2Fumbmark.py;h=d103b5c0abf277b6afb0f0a9b544f9ce503af549;hp=0000000000000000000000000000000000000000;hb=6925d3469d5f22b6271ece74540c0a30a51942db;hpb=90c915738a5c052a4330840a8d50a2590a30ab7a

diff --git a/scripts/umbmark.py b/scripts/umbmark.py
new file mode 100755
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()