adds other command nodes for testing
This commit is contained in:
Louis-Guillaume DUBOIS
parent
7798f70f06
commit
02f2823ec7
5 changed files with 496 additions and 0 deletions
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@ -62,3 +62,9 @@ add_dependencies(normal_estimator hand_control_generate_messages_cpp)
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add_executable(commande src/commande.cpp)
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target_link_libraries(commande ${catkin_LIBRARIES})
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add_executable(commande-new src/commande-new.cpp)
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target_link_libraries(commande-new ${catkin_LIBRARIES})
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add_executable(commande-new-1d src/commande-new-1d.cpp)
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target_link_libraries(commande-new-1d ${catkin_LIBRARIES})
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34
launch/all-new-1d.launch
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34
launch/all-new-1d.launch
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@ -0,0 +1,34 @@
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<launch>
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<include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/>
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<param name="/filtre/zmax" value="1.9" type="double"/>
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<!-- hand color
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<param name="/filtre/hue" value="0.0" type="double"/>
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-->
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<param name="/filtre/hue" value="210.0" type="double"/>
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<param name="/filtre/delta_hue" value="20.0" type="double"/>
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<node name="filtre" pkg="hand_control" type="filtre">
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<remap from="/filtre/input" to="/camera/xyzrgb/points"/>
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</node>
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<node name="estimator" pkg="hand_control" type="normal_estimator">
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<remap from="/estimator/input" to="/filtre/output"/>
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</node>
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<param name="/commande/max_curv" value="0.02" type="double" />
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<param name="/commande/plan_vel" value="0.2" type="double" />
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<param name="/commande/z_vel" value="1.0" type="double" />
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<param name="/commande/min_number" value="2000" type="int" />
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<param name="/commande/x_dev_min" value="0.1" type="double" />
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<param name="/commande/y_dev_min" value="0.1" type="double" />
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<param name="/commande/y_dev_min" value="0.1" type="double" />
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<param name="/commande/dz_dev_min" value="0.05" type="double" />
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<node name="commander" pkg="hand_control" type="commande-new-1d">
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<remap from="/commande/input" to="/estimator/output"/>
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</node>
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</launch>
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34
launch/all-new.launch
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34
launch/all-new.launch
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@ -0,0 +1,34 @@
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<launch>
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<include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/>
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<param name="/filtre/zmax" value="1.9" type="double"/>
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<!-- hand color
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<param name="/filtre/hue" value="0.0" type="double"/>
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-->
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<param name="/filtre/hue" value="210.0" type="double"/>
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<param name="/filtre/delta_hue" value="20.0" type="double"/>
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<node name="filtre" pkg="hand_control" type="filtre">
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<remap from="/filtre/input" to="/camera/xyzrgb/points"/>
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</node>
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<node name="estimator" pkg="hand_control" type="normal_estimator">
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<remap from="/estimator/input" to="/filtre/output"/>
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</node>
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<param name="/commande/max_curv" value="0.02" type="double" />
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<param name="/commande/plan_vel" value="0.2" type="double" />
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<param name="/commande/z_vel" value="1.0" type="double" />
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<param name="/commande/min_number" value="2000" type="int" />
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<param name="/commande/x_dev_min" value="0.1" type="double" />
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<param name="/commande/y_dev_min" value="0.1" type="double" />
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<param name="/commande/y_dev_min" value="0.1" type="double" />
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<param name="/commande/dz_dev_min" value="0.05" type="double" />
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<node name="commander" pkg="hand_control" type="commande-new">
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<remap from="/commande/input" to="/estimator/output"/>
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</node>
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</launch>
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211
src/commande-new-1d.cpp
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211
src/commande-new-1d.cpp
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@ -0,0 +1,211 @@
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#include <ros/ros.h>
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#include <ros/time.h>
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#include <locale.h>
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#include <limits>
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#include <math.h>
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#include <pcl_ros/point_cloud.h>
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#include <pcl/point_types.h>
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#include <hand_control/Plan.h>
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#include <geometry_msgs/Twist.h>
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#include <math.h>
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class Run
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{
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private:
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float xx, yy, dz;
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// xx > 0 : forward
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// xx < 0 : backward
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// yy > 0 : right
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// yy < 0 : left
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// dz > 0 : up
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// dz < 0 : down
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float plan_vel, z_vel;
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// to calculate dz
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float z_current, z_previous;
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ros::Time t_current, t_previous;
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// conditions to publish a message
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float max_curv;
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float dz_min, x_dev_min, y_dev_min;
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uint64_t min_number;
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bool first_msg;
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ros::Publisher pub;
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void publish()
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{
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geometry_msgs::Twist::Ptr mvt(new geometry_msgs::Twist());
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if (fabs(dz) > dz_min)
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{
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mvt->linear.z = dz * z_vel;
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}
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if (fabs(yy) > fabs(xx) && fabs(yy) > y_dev_min)
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{
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mvt->linear.y = yy * plan_vel;
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}
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else if (fabs(xx) > x_dev_min)
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{
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mvt->linear.x = xx * plan_vel;
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}
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pub.publish(mvt);
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ROS_INFO("cmd published");
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}//end publish
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public:
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Run(const ros::Publisher& cmd_publisher, const float& max_curvature, const float& plan_velocity,
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const float& z_velocity, const float& x_minimal_deviation, const float& y_minimal_deviation,
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const float& dz_minimal_difference, const int& min_points_number) :
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pub(cmd_publisher),
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plan_vel(plan_velocity),
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max_curv(max_curvature),
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z_vel(z_velocity),
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xx(0),
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yy(0),
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dz(0),
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x_dev_min(x_minimal_deviation),
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y_dev_min(y_minimal_deviation),
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dz_min(dz_minimal_difference),
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first_msg(true),
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min_number(min_points_number){
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z_current = z_previous = std::numeric_limits<float>::signaling_NaN();
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t_previous.nsec = t_previous.sec =
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t_previous.nsec = t_previous.sec = std::numeric_limits<uint32_t>::signaling_NaN();
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}
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void callback(const hand_control::Plan::ConstPtr& msg)
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{
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ROS_INFO("plan received");
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if (msg->curvature < max_curv && msg->number > min_number)
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{
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t_current = msg->header.stamp;
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z_current = msg->altitude;
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if (!first_msg)
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{
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dz = (z_current - z_previous)/((t_current - t_previous).toSec());
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ROS_INFO("dz = %f", dz);
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}
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if(msg->normal.z > 0)
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{
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yy = msg->normal.x;
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xx = msg->normal.y;
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}
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else
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{
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yy = - msg->normal.x;
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xx = - msg->normal.y;
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}
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t_previous = t_current;
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z_previous = z_current;
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z_current = std::numeric_limits<float>::signaling_NaN();
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t_current.nsec = t_current.sec = std::numeric_limits<uint32_t>::signaling_NaN();
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if (first_msg)
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{
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first_msg = false;
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ROS_INFO("first msg received");
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}
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ROS_INFO("coords updated");
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} else {
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xx = yy = dz = 0.;
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}
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publish();
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};
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void run()
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{
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ros::spin();
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}
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};
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int main(int argc, char** argv)
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{
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ros::init(argc, argv, "commande");
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ros::NodeHandle node("commande");
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double max_curv(0);
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if (node.getParam("max_curv", max_curv))
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{
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ROS_INFO("max_curv : %f" , max_curv);
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} else {
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node.setParam("max_curv", 0.08);
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node.getParam("max_curv", max_curv);
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ROS_INFO("max_curv : %f (default value)", max_curv);
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}
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double plan_vel(0);
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if (node.getParam("plan_vel", plan_vel))
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{
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ROS_INFO("plan_vel : %f" , plan_vel);
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} else {
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node.setParam("plan_vel", 0.8);
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node.getParam("plan_vel", plan_vel);
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ROS_INFO("plan_vel : %f (default value)", plan_vel);
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}
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double z_vel(0);
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if (node.getParam("z_vel", z_vel))
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{
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ROS_INFO("z_vel : %f" , z_vel);
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} else {
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node.setParam("z_vel", 0.8);
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node.getParam("z_vel", z_vel);
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ROS_INFO("z_vel : %f (default value)", z_vel);
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}
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int min_number(0);
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if (node.getParam("min_number", min_number))
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{
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ROS_INFO("min_number : %d" , min_number);
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} else {
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node.setParam("min_number", 500);
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node.getParam("min_number", min_number);
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ROS_INFO("min_number : %d (default value)", min_number);
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}
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double x_dev_min(0);
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if (node.getParam("x_dev_min", x_dev_min))
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{
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ROS_INFO("x_dev_min : %f" , x_dev_min);
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} else {
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node.setParam("x_dev_min", 0.05);
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node.getParam("x_dev_min", x_dev_min);
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ROS_INFO("x_dev_min : %f (default value)", x_dev_min);
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}
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double y_dev_min(0);
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if (node.getParam("y_dev_min", y_dev_min))
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{
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ROS_INFO("y_dev_min : %f" , y_dev_min);
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} else {
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node.setParam("y_dev_min", 0.05);
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node.getParam("y_dev_min", y_dev_min);
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ROS_INFO("y_dev_min : %f (default value)", y_dev_min);
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}
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double dz_dev_min(0);
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if (node.getParam("dz_dev_min", dz_dev_min))
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{
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ROS_INFO("dz_dev_min : %f" , dz_dev_min);
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} else {
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node.setParam("dz_dev_min", 0.05);
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node.getParam("dz_dev_min", dz_dev_min);
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ROS_INFO("dz_dev_min : %f (default value)", dz_dev_min);
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}
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ros::Publisher cmd_pub = node.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
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Run run(cmd_pub, max_curv, plan_vel, z_vel, x_dev_min, y_dev_min, dz_dev_min, min_number);
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ros::Subscriber plan_sub = node.subscribe<hand_control::Plan>("input", 1, &Run::callback, &run);
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run.run();
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return 0;
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}
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211
src/commande-new.cpp
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211
src/commande-new.cpp
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@ -0,0 +1,211 @@
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#include <ros/ros.h>
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#include <ros/time.h>
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#include <locale.h>
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#include <limits>
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#include <math.h>
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#include <pcl_ros/point_cloud.h>
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#include <pcl/point_types.h>
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#include <hand_control/Plan.h>
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#include <geometry_msgs/Twist.h>
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#include <math.h>
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class Run
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{
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private:
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float xx, yy, dz;
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// xx > 0 : forward
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// xx < 0 : backward
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// yy > 0 : right
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// yy < 0 : left
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// dz > 0 : up
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// dz < 0 : down
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float plan_vel, z_vel;
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// to calculate dz
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float z_current, z_previous;
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ros::Time t_current, t_previous;
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// conditions to publish a message
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float max_curv;
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float dz_min, x_dev_min, y_dev_min;
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uint64_t min_number;
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bool first_msg;
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ros::Publisher pub;
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void publish()
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{
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geometry_msgs::Twist::Ptr mvt(new geometry_msgs::Twist());
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if (fabs(dz) > dz_min)
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{
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mvt->linear.z = dz * z_vel;
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}
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if (fabs(xx) > x_dev_min)
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{
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mvt->linear.x = xx * plan_vel;
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}
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if (fabs(yy) > y_dev_min)
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{
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mvt->linear.y = yy * plan_vel;
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}
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pub.publish(mvt);
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ROS_INFO("cmd published");
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}//end publish
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public:
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Run(const ros::Publisher& cmd_publisher, const float& max_curvature, const float& plan_velocity,
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const float& z_velocity, const float& x_minimal_deviation, const float& y_minimal_deviation,
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const float& dz_minimal_difference, const int& min_points_number) :
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pub(cmd_publisher),
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plan_vel(plan_velocity),
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max_curv(max_curvature),
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z_vel(z_velocity),
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xx(0),
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yy(0),
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dz(0),
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x_dev_min(x_minimal_deviation),
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y_dev_min(y_minimal_deviation),
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dz_min(dz_minimal_difference),
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first_msg(true),
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min_number(min_points_number){
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z_current = z_previous = std::numeric_limits<float>::signaling_NaN();
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t_previous.nsec = t_previous.sec =
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t_previous.nsec = t_previous.sec = std::numeric_limits<uint32_t>::signaling_NaN();
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}
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void callback(const hand_control::Plan::ConstPtr& msg)
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{
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ROS_INFO("plan received");
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if (msg->curvature < max_curv && msg->number > min_number)
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{
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t_current = msg->header.stamp;
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z_current = msg->altitude;
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if (!first_msg)
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{
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dz = (z_current - z_previous)/((t_current - t_previous).toSec());
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ROS_INFO("dz = %f", dz);
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}
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if(msg->normal.z > 0)
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{
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yy = msg->normal.x;
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xx = msg->normal.y;
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}
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else
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{
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yy = - msg->normal.x;
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xx = - msg->normal.y;
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}
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t_previous = t_current;
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z_previous = z_current;
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z_current = std::numeric_limits<float>::signaling_NaN();
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t_current.nsec = t_current.sec = std::numeric_limits<uint32_t>::signaling_NaN();
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if (first_msg)
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{
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first_msg = false;
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ROS_INFO("first msg received");
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}
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ROS_INFO("coords updated");
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} else {
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xx = yy = dz = 0.;
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}
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publish();
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};
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void run()
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{
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ros::spin();
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}
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};
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int main(int argc, char** argv)
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{
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ros::init(argc, argv, "commande");
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ros::NodeHandle node("commande");
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double max_curv(0);
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if (node.getParam("max_curv", max_curv))
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{
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ROS_INFO("max_curv : %f" , max_curv);
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} else {
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node.setParam("max_curv", 0.08);
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node.getParam("max_curv", max_curv);
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ROS_INFO("max_curv : %f (default value)", max_curv);
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}
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double plan_vel(0);
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if (node.getParam("plan_vel", plan_vel))
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{
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ROS_INFO("plan_vel : %f" , plan_vel);
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} else {
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node.setParam("plan_vel", 0.8);
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node.getParam("plan_vel", plan_vel);
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ROS_INFO("plan_vel : %f (default value)", plan_vel);
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}
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double z_vel(0);
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if (node.getParam("z_vel", z_vel))
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{
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ROS_INFO("z_vel : %f" , z_vel);
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} else {
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node.setParam("z_vel", 0.8);
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node.getParam("z_vel", z_vel);
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ROS_INFO("z_vel : %f (default value)", z_vel);
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}
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int min_number(0);
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if (node.getParam("min_number", min_number))
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{
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ROS_INFO("min_number : %d" , min_number);
|
||||
} else {
|
||||
node.setParam("min_number", 500);
|
||||
node.getParam("min_number", min_number);
|
||||
ROS_INFO("min_number : %d (default value)", min_number);
|
||||
}
|
||||
|
||||
double x_dev_min(0);
|
||||
if (node.getParam("x_dev_min", x_dev_min))
|
||||
{
|
||||
ROS_INFO("x_dev_min : %f" , x_dev_min);
|
||||
} else {
|
||||
node.setParam("x_dev_min", 0.05);
|
||||
node.getParam("x_dev_min", x_dev_min);
|
||||
ROS_INFO("x_dev_min : %f (default value)", x_dev_min);
|
||||
}
|
||||
|
||||
double y_dev_min(0);
|
||||
if (node.getParam("y_dev_min", y_dev_min))
|
||||
{
|
||||
ROS_INFO("y_dev_min : %f" , y_dev_min);
|
||||
} else {
|
||||
node.setParam("y_dev_min", 0.05);
|
||||
node.getParam("y_dev_min", y_dev_min);
|
||||
ROS_INFO("y_dev_min : %f (default value)", y_dev_min);
|
||||
}
|
||||
|
||||
double dz_dev_min(0);
|
||||
if (node.getParam("dz_dev_min", dz_dev_min))
|
||||
{
|
||||
ROS_INFO("dz_dev_min : %f" , dz_dev_min);
|
||||
} else {
|
||||
node.setParam("dz_dev_min", 0.05);
|
||||
node.getParam("dz_dev_min", dz_dev_min);
|
||||
ROS_INFO("dz_dev_min : %f (default value)", dz_dev_min);
|
||||
}
|
||||
|
||||
ros::Publisher cmd_pub = node.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
|
||||
Run run(cmd_pub, max_curv, plan_vel, z_vel, x_dev_min, y_dev_min, dz_dev_min, min_number);
|
||||
ros::Subscriber plan_sub = node.subscribe<hand_control::Plan>("input", 1, &Run::callback, &run);
|
||||
run.run();
|
||||
return 0;
|
||||
}
|
||||
Loading…
Reference in a new issue