Merge branch 'master' of https://bitbucket.org/_Luc_/hand_control
This commit is contained in:
_Luc_
commit
0b4782098c
4 changed files with 113 additions and 274 deletions
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@ -52,15 +52,12 @@ target_link_libraries(keyboard_cmd display ${catkin_LIBRARIES} ${ncursesw_LIBRAR
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target_link_libraries(normal_estimator ${catkin_LIBRARIES})
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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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add_executable(commande-abs src/commande-abs.cpp)
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target_link_libraries(commande-abs ${catkin_LIBRARIES})
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#add dynamic reconfigure api
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generate_dynamic_reconfigure_options(
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cfg/Filtre.cfg
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@ -16,6 +16,7 @@ gen.add("z_minimal_deviation", double_t, 0, "Absolute vertical movement detectio
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gen.add("neutral_alt", double_t, 0, "Reference altitude for vertical movement command", 1.5, 0.)
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gen.add("min_points_number", int_t, 0, "Minimal number of plane points needed for a valid estimation", 3000, 0)
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gen.add("up_fact", double_t, 0, "Upward command amplification factor", 1.5, 1)
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gen.add("theta_minimal_deviation", double_t, 0, "Absolute angular movement detection treshold", 15., 0., 180.)
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exit(gen.generate(PACKAGE, "hand_control", "Commande"))
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@ -3,6 +3,7 @@
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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 <assert.h>
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#include <pcl_ros/point_cloud.h>
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#include <pcl/point_types.h>
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@ -11,29 +12,28 @@
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#include <geometry_msgs/Twist.h>
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#include <math.h>
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#include <dynamic_reconfigure/server.h>
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#include <hand_control/CommandeConfig.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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float xx, yy, zz, theta;
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// xx > 0 : forward
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// xx < 0 : backward
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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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// zz > 0 : up
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// zz < 0 : down
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float plan_vel, z_vel;
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float plan_vel, z_vel, angle_vel, up_factor, neutral_z;
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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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float z_dev_min, x_dev_min, y_dev_min, th_dev_min;
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uint64_t min_number;
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bool first_msg;
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@ -43,56 +43,60 @@ class Run
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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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if (fabs(zz) > z_dev_min)
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{
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mvt->linear.z = dz * z_vel;
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if (zz > 0)
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mvt->linear.z = zz * z_vel * up_factor ;
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else
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mvt->linear.z = zz * 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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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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if (fabs(theta) > th_dev_min) {
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mvt->angular.z * angle_vel;
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}
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assert(mvt->linear.x == 0. || mvt->linear.y == 0.);
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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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Run(const ros::Publisher& cmd_publisher, const float& max_curvature, const float& plan_velocity, const float& angle_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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const float& z_minimal_deviation, const float& neutral_alt, const float& theta_minimal_deviation,
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const int& min_points_number, const float& up_fact) :
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pub(cmd_publisher),
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plan_vel(plan_velocity),
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angle_vel(angle_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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zz(0),
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theta(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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z_dev_min(z_minimal_deviation),
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neutral_z(neutral_alt),
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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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min_number(min_points_number),
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up_factor(up_fact)
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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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@ -105,10 +109,10 @@ class Run
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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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zz = msg->altitude - neutral_z;
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theta = msg->angle;
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if (first_msg)
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{
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first_msg = false;
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@ -116,11 +120,22 @@ class Run
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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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xx = yy = zz = 0.;
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}
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publish();
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};
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void reconfigure(const hand_control::CommandeConfig& c, const uint32_t& level) {
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max_curv = c.max_curvature;
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x_dev_min = c.x_minimal_deviation;
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y_dev_min = c.y_minimal_deviation;
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z_dev_min = c.z_minimal_deviation;
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th_dev_min = c.theta_minimal_deviation;
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neutral_z = c.neutral_alt;
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min_number = c.min_points_number;
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up_factor = c.up_fact;
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}
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void run()
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{
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ros::spin();
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@ -163,6 +178,16 @@ int main(int argc, char** argv)
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ROS_INFO("z_vel : %f (default value)", z_vel);
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}
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double angle_vel(0);
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if (node.getParam("angle_vel", angle_vel))
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{
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ROS_INFO("angle_vel : %f" , angle_vel);
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} else {
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node.setParam("angle_vel", 10);
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node.getParam("angle_vel", angle_vel);
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ROS_INFO("angle_vel : %f (default value)", angle_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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@ -193,19 +218,55 @@ int main(int argc, char** argv)
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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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double z_dev_min(0);
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if (node.getParam("z_dev_min", z_dev_min))
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{
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ROS_INFO("dz_dev_min : %f" , dz_dev_min);
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ROS_INFO("z_dev_min : %f" , z_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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node.setParam("z_dev_min", 0.1);
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node.getParam("z_dev_min", z_dev_min);
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ROS_INFO("z_dev_min : %f (default value)", z_dev_min);
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}
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double th_dev_min(0);
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if (node.getParam("th_dev_min", th_dev_min))
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{
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ROS_INFO("th_dev_min : %f" , th_dev_min);
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} else {
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node.setParam("th_dev_min", 15);
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node.getParam("th_dev_min", th_dev_min);
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ROS_INFO("th_dev_min : %f (default value)", th_dev_min);
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}
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double neutral_z(0);
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if (node.getParam("neutral_z", neutral_z))
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{
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ROS_INFO("neutral_z : %f" , neutral_z);
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} else {
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node.setParam("neutral_z", 1.5);
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node.getParam("neutral_z", neutral_z);
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ROS_INFO("neutral_z : %f (default value)", neutral_z);
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}
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double up_fact(0);
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if (node.getParam("up_fact", up_fact))
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{
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ROS_INFO("up_fact : %f" , up_fact);
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} else {
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node.setParam("up_fact", 1.5);
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node.getParam("up_fact", up_fact);
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ROS_INFO("up_fact : %f (default value)", up_fact);
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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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Run run(cmd_pub, max_curv, plan_vel, z_vel, angle_vel, x_dev_min, y_dev_min, z_dev_min, th_dev_min, neutral_z, min_number, up_fact);
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ros::Subscriber plan_sub = node.subscribe<hand_control::Plan>("input", 1, &Run::callback, &run);
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dynamic_reconfigure::Server<hand_control::CommandeConfig> server;
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dynamic_reconfigure::Server<hand_control::CommandeConfig>::CallbackType f;
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f = boost::bind(&Run::reconfigure, &run, _1, _2);
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server.setCallback(f);
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run.run();
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return 0;
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}
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220
src/commande.cpp
220
src/commande.cpp
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@ -1,220 +0,0 @@
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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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ros::Rate loop_rate;
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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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ROS_INFO("z changed : %f, z_vel %f", mvt->linear.z, 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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loop_rate(30),
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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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};
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void run()
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{
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while(ros::ok())
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{
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publish();
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ros::spinOnce();
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loop_rate.sleep();
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}
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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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||||
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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 {
|
||||
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