rm or comments useless files
This commit is contained in:
Louis-Guillaume DUBOIS
parent
a70483de20
commit
7103ef6277
5 changed files with 2 additions and 323 deletions
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@ -1,187 +0,0 @@
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// this code doesn’t work
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// :-(
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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 <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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#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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#include <dynamic_reconfigure/server.h>
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#include <hand_control/Commander_atanConfig.h>
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#include "data.h"
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class Run
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{
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private:
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enum FType { f_lin, f_atan, f_undef };
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class Function
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{
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private:
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virtual void set_grad(const float& grad) = 0;
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protected:
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float min, max;
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FType type;
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public:
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Function() : min(0.1f), max(0.8f) {}
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virtual float f(const float& arg) = 0;
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void set(const float& minimum, const float& maximum, const float& grad)
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{
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min = minimum;
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max = maximum;
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set_grad(grad);
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}
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FType get_type() { return type; }
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};
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class Atan : public Function
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{
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private:
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static const float demi_pi;
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float t;
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virtual void set_grad(const float& grad)
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{
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t = grad*demi_pi/max;
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}
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public:
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Atan() :t(demi_pi) { type = f_atan; }
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virtual float f(const float& arg)
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{
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float out = max * atan(t * arg) / demi_pi;
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if (fabs(out) > min)
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return out;
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else
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return 0.;
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}
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};
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class Lin : public Function
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{
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private:
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float t;
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virtual void set_grad(const float& grad)
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{
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t = grad;
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}
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public:
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Lin() { type = f_lin; }
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virtual float f(const float& arg)
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{
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float out = std::min(t * arg, max);
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if (fabs(out) > min)
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return out;
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else
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return 0.;
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}
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};
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Data<boost::shared_ptr<Function> > f;
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float neutral_z;
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float max_curv;
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uint64_t min_number;
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ros::Publisher pub;
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public:
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Run(const ros::Publisher& cmd_publisher) :
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pub(cmd_publisher) {
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f.x = boost::make_shared<Lin>();
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f.y = boost::make_shared<Lin>();
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f.z = boost::make_shared<Lin>();
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f.th = boost::make_shared<Lin>();
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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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Data<float> in, out;
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in.x = in.y = in.z = in.th = 0.;
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if (msg->curvature < max_curv && msg->number > min_number)
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{
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if(msg->normal.z > 0)
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{
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in.y = - msg->normal.x;
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in.x = msg->normal.y;
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} else
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{
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in.y = - msg->normal.x;
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in.x = msg->normal.y;
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}
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in.z = msg->altitude - neutral_z;
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in.th = msg->angle;
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}
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geometry_msgs::Twist::Ptr mvt(new geometry_msgs::Twist());
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if (fabs(in.y) > fabs(in.x))
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{
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mvt->linear.y = f.y->f(in.y);
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} else
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{
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mvt->linear.x = f.x->f(in.x);
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}
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mvt->linear.z = f.z->f(in.z);
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mvt->angular.z = f.th->f(in.th);
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pub.publish(mvt);
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ROS_INFO("cmd published");
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}
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void reconfigure(const hand_control::Commander_atanConfig& c, const uint32_t& level)
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{
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max_curv = c.max_curvature;
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neutral_z = c.neutral_alt;
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min_number = c.min_points_number;
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if (c.atan and f.x->get_type() != f_atan)
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{
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f.x = boost::make_shared<Atan>();
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f.y = boost::make_shared<Atan>();
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f.z = boost::make_shared<Atan>();
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f.th = boost::make_shared<Atan>();
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} else if (!c.atan and f.x->get_type() == f_atan)
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{
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f.x = boost::make_shared<Lin>();
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f.y = boost::make_shared<Lin>();
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f.z = boost::make_shared<Lin>();
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f.th = boost::make_shared<Lin>();
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}
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f.x->set(c.x_min, c.x_max, c.x_p);
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f.y->set(c.y_min, c.y_max, c.y_p);
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f.z->set(c.z_min, c.z_max, c.z_p);
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f.th->set(c.th_min, c.th_max, c.th_p);
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ROS_INFO("parameters reconfigured");
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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, "commander_atan");
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ros::NodeHandle node("commander_atan");
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ros::Publisher cmd_pub = node.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
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Run run(cmd_pub);
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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::Commander_atanConfig> server;
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dynamic_reconfigure::Server<hand_control::Commander_atanConfig>::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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ROS_INFO("start spinning");
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ros::spin();
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return 0;
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}
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const float Run::Atan::demi_pi = 2*atan(1);
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@ -1,9 +0,0 @@
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#ifndef DATA_H
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#define DATA_H
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template <typename T>
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struct Data
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{
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public:
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T x, y, z, th;
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};
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#endif
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@ -1,127 +0,0 @@
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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import roslib;# roslib.load_manifest('teleop_twist_keyboard')
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import rospy
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from geometry_msgs.msg import Twist
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from std_msgs.msg import Empty
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import sys, select, termios, tty
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msg = """
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---------------------
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takeoff>| t|⇑ y|↖ u|↑ i|↗ o|
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|---|---|---|---|---|----
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reset>| g|⇐ h|← j| k|→ l|⇒ m|
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|---|---|---|---|---|----
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land>| b|⇓ n|↙ ,|↓ ;|↘ :|
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---------------------
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a/w : increase/decrease max speeds by 10%
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z/x : increase/decrease only linear speed by 10%
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e/c : increase/decrease only angular speed by 10%
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anything else : stop
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CTRL-C to quit
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"""
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moveBindings = {
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# x th y z
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'i':(1,0,0,0),
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'o':(1,-1,0,0),
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'j':(0,1,0,0),
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'l':(0,-1,0,0),
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'u':(1,1,0,0),
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';':(-1,0,0,0),
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':':(-1,1,0,0),
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',':(-1,-1,0,0),
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'h':(0,0,-1,0),
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'm':(0,0,1,0),
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'y':(0,0,0,1),
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'n':(0,0,0,-1),
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}
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speedBindings={
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'a':(1.1,1.1),
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'w':(.9,.9),
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'z':(1.1,1),
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'x':(.9,1),
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'e':(1,1.1),
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'c':(1,.9),
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}
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def getKey():
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tty.setraw(sys.stdin.fileno())
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select.select([sys.stdin], [], [], 0)
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key = sys.stdin.read(1)
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termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
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return key
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speed = 0.1
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turn = 0.5
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def vels(speed,turn):
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return "currently:\tspeed %s\tturn %s " % (speed,turn)
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if __name__=="__main__":
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settings = termios.tcgetattr(sys.stdin)
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pub = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
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land = rospy.Publisher('/ardrone/land', Empty, queue_size=1)
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takeoff = rospy.Publisher('/ardrone/takeoff', Empty, queue_size=1)
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reset = rospy.Publisher('/ardrone/reset', Empty, queue_size=1)
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rospy.init_node('keyboard_azerty')
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x = 0
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th = 0
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y = 0
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z = 0
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status = 0
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try:
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print msg
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print vels(speed,turn)
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while(1):
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key = getKey()
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if (key == 't'):
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takeoff.publish(Empty())
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print "takeoff"
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elif (key == 'g'):
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reset.publish(Empty())
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print "reset"
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elif (key == 'b'):
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land.publish(Empty())
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print "land"
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else:
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if key in moveBindings.keys():
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x = moveBindings[key][0]
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th = moveBindings[key][1]
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y = moveBindings[key][2]
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z = moveBindings[key][3]
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elif key in speedBindings.keys():
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speed = speed * speedBindings[key][0]
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turn = turn * speedBindings[key][1]
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print vels(speed,turn)
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if (status == 14):
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print msg
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status = (status + 1) % 15
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else:
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x = 0
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th = 0
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y = 0
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z = 0
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if (key == '\x03'):
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break
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twist = Twist()
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twist.linear.x = x*speed
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twist.linear.y = y*speed
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twist.linear.z = z*speed
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twist.angular.x = 0; twist.angular.y = 0;
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twist.angular.z = th*turn
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pub.publish(twist)
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except:
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print e
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finally:
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twist = Twist()
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twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
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twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
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pub.publish(twist)
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termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
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@ -1,3 +1,4 @@
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// a not very useful test tool
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#include <ros/ros.h>
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#include <pcl_ros/point_cloud.h>
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#include <pcl/point_types.h>
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@ -1,3 +1,4 @@
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// a not very useful test programm
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#include <ros/ros.h>
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#include <time.h>
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#include <pcl_ros/point_cloud.h>
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