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Drew Bednar 4 years ago
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205
CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(turtle_sim_nav)
## 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
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# 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 turtle_sim_nav
# CATKIN_DEPENDS geometry_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/${PROJECT_NAME}/turtle_sim_nav.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${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/turtle_sim_nav_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_turtle_sim_nav.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)

65
package.xml
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<?xml version="1.0"?>
<package format="2">
<name>turtle_sim_nav</name>
<version>0.0.0</version>
<description>The turtle_sim_nav package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="toor@todo.todo">toor</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/turtle_sim_nav</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>std_msgs</build_depend>
<build_export_depend>geometry_msgs</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>geometry_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>

241
scripts/tuturalsim_motion_pose.py
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#!/usr/bin/env python3
import math
import time
import rospy
from geometry_msgs.msg import Twist
from turtlesim.msg import Pose
# Global State
x = 0
y = 0
yaw = 0
def pose_callback(pose_msg):
global x, y, yaw
x = pose_msg.x
y = pose_msg.y
yaw = pose_msg.theta
# TODO CONVERT ALL OF THIS INTO A CLASS
# TODO ADD TYPE ANNOTATIONS TO ALL THIS SHIT
def grid_clean(velocity_publisher):
desired_pose = Pose()
desired_pose.x = 1
desired_pose.y = 1
desired_pose.theta = 0
go_to_goal(velocity_publisher, 1, 1)
set_desired_orientation(velocity_publisher, 30, math.radians(desired_pose.theta))
for i in range(5):
move(velocity_publisher, 2.0, 1.0, True)
rotate(velocity_publisher, 20, 90, False)
move(velocity_publisher, 2.0, 9.0, True)
rotate(velocity_publisher, 20, 90, True)
move(velocity_publisher, 2.0, 1.0, True)
rotate(velocity_publisher, 20, 90, True)
move(velocity_publisher, 2.0, 9.0, True)
rotate(velocity_publisher, 20, 90, False)
pass
def spiral(velocity_publisher, rk, wk):
"""
r = a + b(Theta)
"""
velocity_msg = Twist()
loop_rate = rospy.Rate(1)
while (x< 10.5) and (y < 10.5):
# At every iteration we will increase the linear velocity
# We keep constant the angular velocity though
rk = rk+1
velocity_msg.linear.x = rk
velocity_msg.angular.z = wk
velocity_publisher.publish(velocity_msg)
loop_rate.sleep()
velocity_msg.linear.x = 0
velocity_msg.angular.z = 0
velocity_publisher.publish(velocity_msg)
def set_desired_orientation(velocity_publisher, speed_in_degrees, desired_angle_degrees):
"""Set desired orientation as an absolute angle."""
relative_angle_radians = math.radians(desired_angle_degrees) - yaw
clockwise = 0
if relative_angle_radians < 0:
clockwise = 1
else:
closewise = 0
print("relative_angle_radians: ", math.degrees(relative_angle_radians))
print("desired_angle_degree: ", desired_angle_degrees)
rotate(velocity_publisher, speed_in_degrees, math.degrees(abs(relative_angle_radians)), clockwise)
# TODO YOu could update this to accept a Pose message as the
# Target, with a distance tolerance (Epsilon) used when determining
# if you have arrived at the target
def go_to_goal(velocity_publisher, x_goal, y_goal):
global x, y, yaw
velocity_message = Twist()
while True:
# TODO Make this a param
# aka Kp proportional gain for linear velocity
K_linear = 0.5
distance = abs(math.sqrt(((x_goal-x) ** 2) + ((y_goal-y) ** 2)))
# This is the P in PID Control. So we have P-Controller
# The linear speed is proportional to the distance
# K_linear is our contanst.
# So if the distance is high, the speed will be high,
# but if the distance is 0 the speed will be zero
linear_speed = distance * K_linear
# TODO Make this a param
# or Ki which is the proporional gain for the angular velocity
K_angular = 4.0
# Mathematically, atan2 gives the angle between two vectors
desired_angle_goal = math.atan2(y_goal-y, x_goal-x)
# Likewise the angular speed is proportional to the distance
# beween the desired angle and the current angle
# The larger the angle the larger the angular speed
angular_speed = (desired_angle_goal-yaw)*K_angular
velocity_message.linear.x = linear_speed
velocity_message.angular.z = angular_speed
velocity_publisher.publish(velocity_message)
print(f"x={x}, y={y}, distance to goal: {distance} ")
# With float values it is extremely hard to comare a
# distance == 0 so we want to use some kind of reasoble
# error aka epsilon
if distance < 0.01:
break
def rotate(velocity_publisher, angular_speed_degree, relative_angle_degree, clockwise):
"""
velocity_publisher: Publisher
angular_speed_degree: Degrees per second
relative_
"""
velocity_message = Twist()
# Convert to radians
angular_speed = math.radians(abs(angular_speed_degree))
if clockwise:
velocity_message.angular.z = -abs(angular_speed)
else:
velocity_message.angular.z = abs(angular_speed)
loop_rate = rospy.Rate(10)
t0 = rospy.Time.now().to_sec()
while True:
rospy.loginfo("Turtlesim rotates")
velocity_publisher.publish(velocity_message)
# Here we are calculating the rotated angle over time
t1 = rospy.Time.now().to_sec()
# This is an estimate
current_angle_degree = (t1-t0) * angular_speed_degree
loop_rate.sleep() # In CPP you would also need to call ros spinOnce to dispatch one message
if current_angle_degree > relative_angle_degree:
rospy.loginfo("Reached")
break
velocity_message.angular.z = 0
velocity_publisher.publish(velocity_message)
def move(velocity_publisher, speed, distance, is_forward):
velocity_msg = Twist()
# I don't like the global state access personally...
global x, y
# Save initial location
x0 = x
y0 = y
if is_forward:
velocity_msg.linear.x = abs(speed)
else:
velocity_msg.linear.x = -abs(speed)
distance_moved = 0.0
# NOTE if you have a lower update rate and higher velocity the
# Robot will move further than intended since it is not getting
# timely updates on if it has reached it's goal or not.
# SO the effect of the loop rate has significant impact on the postion
# achieved by the robot.
#
#[INFO] [1646232853.396795]: Turtlesim moves forward
# 4.0959999561309814
# We can see that the target of 4.0 was exceeded by 0.095~ meters
# a higher refresh rate would have detected that the target distance
# was reached sooner.
loop_rate = rospy.Rate(10) # Publish velocity message 10 times a second
while True:
rospy.loginfo("Turtlesim moves forward")
velocity_publisher.publish(velocity_msg)
loop_rate.sleep()
# Calc Distance
# Linear distance formula. (2 dimensions)
# This works because the global x and y state are updated continually by the Pose callback
# function that reports the robot's state.
#
# Alternative we could have taken the speed multipled by the difference in time (speed * (t1 - t0))
# which would have needed us to grab a t0 and t1 using time.time() since that returns a time in seconds
# This would not have required you to subscribe to the pose of the robot so there wouldn't be any global
# state to manage
#
# THE ROS WAY TO CORRECTLY CALCULATE DISTANCE WOULD HAVE BEEN TO USE tf AKA TRANSFORMS!
# That is covered in the SLAM & Nav in ROS for begginers 2
distance_moved = abs(math.sqrt(((x - x0) **2) + ((y-y0) ** 2)))
print(distance_moved)
if distance_moved > distance:
rospy.loginfo("Reached")
break
#Stop the robot when the target distance has been reached
velocity_msg.linear.x = 0
velocity_publisher.publish(velocity_msg)
# TODO Create an action for requesting a move.
if __name__ == "__main__":
try:
rospy.init_node("tuturalsim_motion_pose", anonymous=True)
#declare velocity publisher
cmd_vel_topic = '/turtle1/cmd_vel'
velocity_publisher = rospy.Publisher(cmd_vel_topic, Twist, queue_size=10)
postion_topic = "/turtle1/pose"
pose_subscriber = rospy.Subscriber(postion_topic, Pose, pose_callback)
time.sleep(2)
# Move one meter per second traveling forward for a target distance of 4 meters
# move(velocity_publisher, 1.0, 4.0, True)
# # Rotate 5 degrees a second for 45 degrees
# rotate(velocity_publisher, 5.0, 45, False)
# go_to_goal(velocity_publisher, 2 ,2)
# set_desired_orientation(velocity_publisher, 30, 45)
# spiral(velocity_publisher, 0, 2)
grid_clean(velocity_publisher)
except rospy.ROSInterruptException:
rospy.loginfo("Node Terminated")
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