Initial commit

CMakeLists.txt

@@ -0,0 +1,205 @@
+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)

package.xml

@@ -0,0 +1,65 @@
+<?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>

scripts/tuturalsim_motion_pose.py

@@ -0,0 +1,241 @@
+#!/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")