Debug des nœuds de rate et triangle
This commit is contained in:
Hugo LEVY-FALK
parent
7355556ac8
commit
69cccc4615
23 changed files with 1103 additions and 38 deletions
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@ -95,12 +95,13 @@ generate_messages(
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generate_dynamic_reconfigure_options(
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cfg/DetectTargets.cfg
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cfg/triangle_control.cfg
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cfg/PIDNode.cfg
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cfg/RateNode.cfg
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cfg/ProportionalNode.cfg
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cfg/IntegralNode.cfg
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cfg/DerivativeNode.cfg
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cfg/SaturateNode.cfg
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cfg/InputNode.cfg
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cfg/Triangle.cfg
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)
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###################################
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0
cfg/RateNode.cfg
Normal file → Executable file
0
cfg/RateNode.cfg
Normal file → Executable file
12
cfg/Triangle.cfg
Executable file
12
cfg/Triangle.cfg
Executable file
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@ -0,0 +1,12 @@
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#!/usr/bin/env python
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PACKAGE = "detect_targets"
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from dynamic_reconfigure.parameter_generator_catkin import *
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gen = ParameterGenerator()
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gen.add("camera_angle", double_t, 0, "The angle corresponding to the image width", 80, 50, 180)
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gen.add("target_width", double_t, 0, "the real target width (m)", 1, 0.01, 1.5)
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gen.add("target_depth", double_t, 0, "the real target depth (m)", .2, 0.01, 0.5)
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exit(gen.generate(PACKAGE, "detect_targets", "Triangle"))
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@ -1,6 +1,12 @@
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<launch>
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<remap from="/reset" to="/bebop/reset"/>
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<node name="reconf" pkg="rqt_reconfigure" type="rqt_reconfigure"/>
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<node name="Ratex_param" pkg="dynamic_reconfigure" type="dynparam" args="load /ratex $(find detect_targets)/params/settings_test_D_rate.yaml"/>
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<node name="Ratey_param" pkg="dynamic_reconfigure" type="dynparam" args="load /ratey $(find detect_targets)/params/settings_test_D_rate.yaml"/>
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<node name="Dx_param" pkg="dynamic_reconfigure" type="dynparam" args="load /Dx $(find detect_targets)/params/settings_test_D.yaml"/>
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<node name="Dy_param" pkg="dynamic_reconfigure" type="dynparam" args="load /Dy $(find detect_targets)/params/settings_test_D.yaml"/>
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<node name="safe_param" pkg="dynamic_reconfigure" type="dynparam" args="load /safe $(find detect_targets)/params/settings_safe.yaml"/>
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<node name="targets_param" pkg="dynamic_reconfigure" type="dynparam" args="load /targets $(find detect_targets)/params/settings_blue.yaml"/>
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<include file="$(find bebop_driver)/launch/bebop_node.launch" />
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<node name="targets" pkg="detect_targets" type="target_publisher.py">
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@ -13,24 +19,21 @@
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<node name="untwist" pkg="detect_targets" type="untwist.py" output="screen">
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<remap from="input" to="/bebop/cmd_vel" />
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</node>
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<node name="Dx" pkg="detect_targets" type="control_compute.py" args="derivative" output="screen">
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<node name="ratex" pkg="detect_targets" type="control_compute.py" args="rate" output="screen">
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<remap from="input" to="linear_x" />
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<remap from="output" to="derivative_x_input" />
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</node>
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<node name="Dx" pkg="detect_targets" type="control_compute.py" args="derivative" output="screen">
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<remap from="input" to="derivative_x_input" />
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<remap from="output" to="measure_x" />
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</node>
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<node name="Dy" pkg="detect_targets" type="control_compute.py" args="derivative" output="screen">
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<node name="ratey" pkg="detect_targets" type="control_compute.py" args="rate" output="screen">
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<remap from="input" to="linear_y" />
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<remap from="output" to="measure_y" />
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<remap from="output" to="derivative_y_input" />
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</node>
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<include file="$(find detect_targets)/launch/control.launch" ns="controller_angular_z">
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<arg name="reset" value="/reset" />
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<arg name="measure" value="/angular_z" />
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</include>
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<node name="twister" pkg="detect_targets" type="twist_controls.py">
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<remap from="control_linear_z" to="controller_linear_z/output" />
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<remap from="control_angular_z" to="controller_angular_z/output" />
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<remap from="control_linear_x" to="controller_linear_x/internal_loop/output" />
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<remap from="control_linear_y" to="controller_linear_y/internal_loop/output" />
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<node name="Dy" pkg="detect_targets" type="control_compute.py" args="derivative" output="screen">
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<remap from="input" to="derivative_y_input" />
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<remap from="output" to="measure_y" />
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</node>
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<node name="safe" pkg="demo_teleop" type="safe_drone_teleop.py" output="screen" launch-prefix="xterm -e">
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@ -41,7 +44,11 @@
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</node>
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<node name="view" pkg="rqt_image_view" type="rqt_image_view" args="/bebop/image_raw"/>
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<node name="view__targets" pkg="rqt_image_view" type="rqt_image_view" args="/img_targets"/>
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<node name="view_targets" pkg="rqt_image_view" type="rqt_image_view" args="/img_targets"/>
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<node name="plot" pkg="rqt_plot" type="rqt_plot" args="/measure_x /measure_linear_x">
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</node>
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<node name="graph" pkg="rqt_graph" type="rqt_graph" output="screen"></node>
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</launch>
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@ -1,7 +1,14 @@
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<launch>
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<node name="reconf" pkg="rqt_reconfigure" type="rqt_reconfigure"/>
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<node name="D_param" pkg="dynamic_reconfigure" type="dynparam" args="load /D $(find detect_targets)/params/settings_test_D.yaml"/>
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<node name="Rate_param" pkg="dynamic_reconfigure" type="dynparam" args="load /rate $(find detect_targets)/params/settings_test_D_rate.yaml"/>
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<node name="publisher" pkg="detect_targets" type="publish_csv.py" args="$(find detect_targets)/walk.csv" output="screen">
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<node name="publisher" pkg="detect_targets" type="publish_csv.py" args="$(find detect_targets)/utils/data/walk.csv" output="screen">
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<remap from="output" to="rate_input" />
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</node>
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<node name="rate" pkg="detect_targets" type="control_compute.py" args="rate" output="screen">
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<remap from="input" to="rate_input" />
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<remap from="output" to="derivative_input" />
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</node>
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31
params/settings_blue.yaml
Normal file
31
params/settings_blue.yaml
Normal file
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@ -0,0 +1,31 @@
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!!python/object/new:dynamic_reconfigure.encoding.Config
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dictitems:
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binary: true
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blue_max: 255
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blue_min: 24
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green_max: 203
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green_min: 91
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groups: !!python/object/new:dynamic_reconfigure.encoding.Config
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dictitems:
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binary: true
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blue_max: 255
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blue_min: 24
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green_max: 203
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green_min: 91
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groups: !!python/object/new:dynamic_reconfigure.encoding.Config
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state: []
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id: 0
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name: Default
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parameters: !!python/object/new:dynamic_reconfigure.encoding.Config
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state: []
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parent: 0
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red_max: 75
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red_min: 36
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state: true
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targets: true
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type: ''
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state: []
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red_max: 75
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red_min: 36
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targets: true
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state: []
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21
params/settings_safe.yaml
Normal file
21
params/settings_safe.yaml
Normal file
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@ -0,0 +1,21 @@
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!!python/object/new:dynamic_reconfigure.encoding.Config
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dictitems:
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angular: 0.5
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delay: 2.0
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groups: !!python/object/new:dynamic_reconfigure.encoding.Config
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dictitems:
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angular: 0.5
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delay: 2.0
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groups: !!python/object/new:dynamic_reconfigure.encoding.Config
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state: []
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id: 0
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linear: 0.05
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name: Default
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parameters: !!python/object/new:dynamic_reconfigure.encoding.Config
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state: []
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parent: 0
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state: true
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type: ''
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state: []
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linear: 0.05
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state: []
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31
params/settings_targets.yaml
Normal file
31
params/settings_targets.yaml
Normal file
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@ -0,0 +1,31 @@
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!!python/object/new:dynamic_reconfigure.encoding.Config
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dictitems:
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binary: false
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blue_max: 255
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blue_min: 136
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green_max: 182
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green_min: 65
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groups: !!python/object/new:dynamic_reconfigure.encoding.Config
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dictitems:
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binary: false
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blue_max: 255
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blue_min: 136
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green_max: 182
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green_min: 65
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groups: !!python/object/new:dynamic_reconfigure.encoding.Config
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state: []
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id: 0
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name: Default
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parameters: !!python/object/new:dynamic_reconfigure.encoding.Config
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state: []
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parent: 0
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red_max: 127
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red_min: 44
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state: true
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targets: false
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type: ''
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state: []
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red_max: 127
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red_min: 44
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targets: false
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state: []
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25
params/settings_test_D.yaml
Normal file
25
params/settings_test_D.yaml
Normal file
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@ -0,0 +1,25 @@
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!!python/object/new:dynamic_reconfigure.encoding.Config
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dictitems:
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deriv: 1
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groups: !!python/object/new:dynamic_reconfigure.encoding.Config
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dictitems:
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deriv: 1
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groups: !!python/object/new:dynamic_reconfigure.encoding.Config
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state: []
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id: 0
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k: 1.0
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name: Default
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parameters: !!python/object/new:dynamic_reconfigure.encoding.Config
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state: []
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parent: 0
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poly_order: 2
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refresh_time: 0.05
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size: 19
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state: true
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type: ''
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state: []
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k: 1.0
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poly_order: 2
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refresh_time: 0.05
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size: 19
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state: []
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19
params/settings_test_D_rate.yaml
Normal file
19
params/settings_test_D_rate.yaml
Normal file
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@ -0,0 +1,19 @@
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!!python/object/new:dynamic_reconfigure.encoding.Config
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dictitems:
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groups: !!python/object/new:dynamic_reconfigure.encoding.Config
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dictitems:
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groups: !!python/object/new:dynamic_reconfigure.encoding.Config
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state: []
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id: 0
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k: 1.0
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name: Default
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parameters: !!python/object/new:dynamic_reconfigure.encoding.Config
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state: []
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parent: 0
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refresh_time: 0.05
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state: true
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type: ''
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state: []
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k: 1.0
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refresh_time: 0.05
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state: []
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31
params/settings_yellow.yaml
Normal file
31
params/settings_yellow.yaml
Normal file
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@ -0,0 +1,31 @@
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!!python/object/new:dynamic_reconfigure.encoding.Config
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dictitems:
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binary: false
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blue_max: 92
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blue_min: 30
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green_max: 201
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green_min: 109
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groups: !!python/object/new:dynamic_reconfigure.encoding.Config
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dictitems:
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binary: false
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blue_max: 92
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blue_min: 30
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green_max: 201
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green_min: 109
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groups: !!python/object/new:dynamic_reconfigure.encoding.Config
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state: []
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id: 0
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name: Default
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parameters: !!python/object/new:dynamic_reconfigure.encoding.Config
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state: []
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parent: 0
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red_max: 186
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red_min: 130
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state: true
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targets: false
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type: ''
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state: []
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red_max: 186
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red_min: 130
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targets: false
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state: []
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@ -11,12 +11,12 @@ from std_msgs.msg import Float64, Empty
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import dynamic_reconfigure.server
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from detect_targets.cfg import ProportionalNodeConfig, IntegralNodeConfig
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from detect_targets.cfg import DerivativeNodeConfig, InputNodeConfig,
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from detect_targets.cfg import DerivativeNodeConfig, InputNodeConfig
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from detect_targets.cfg import SaturateNodeConfig, RateNodeConfig
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class ControlNode(object):
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def __init__(self, refresh_time=1.0, config_class=None):
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def __init__(self, refresh_time=0.05, config_class=None):
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self.last_time = rospy.get_rostime()
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self.refresh_time = rospy.Duration.from_sec(refresh_time)
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self.output = 0.0
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@ -59,31 +59,30 @@ class InputControlNode(ControlNode):
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self.input_topics["input"] = rospy.Subscriber("input", Float64, self.on_compute)
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class RateNode(InputControlNode):
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def __init__(self, *args, **kwargs):
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self.rate = rospy.Rate(20)
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self.last_input = 0
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def __init__(self, refresh_time=0.05):
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self.lock = threading.Lock()
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super(RateNode, self).__init__(*args, **kwargs)
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super(RateNode, self).__init__(refresh_time, RateNodeConfig)
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self.rate = rospy.Rate(1.0/self.refresh_time.to_sec())
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def on_reconf(self, config, level):
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c = super(SaturateNode, self).on_reconf(config, level)
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self.rate = rospy.Rate(self.refresh_time)
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c = super(RateNode, self).on_reconf(config, level)
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self.rate = rospy.Rate(self.refresh_time.to_sec())
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return c
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def on_compute(self, value):
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self.lock.acquire()
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self.last_input = value.data
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self.output = value.data
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self.lock.release()
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def on_mainloop(self):
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while not rospy.is_shutdown():
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self.lock.acquire()
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self.output.publish(self.last_input)
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self.output_topic.publish(self.output)
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self.lock.release()
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self.rate.sleep()
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class ProportionalNode(InputControlNode):
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def __init__(self, k=1.0, refresh_time=1.0):
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def __init__(self, k=1.0, refresh_time=0.05):
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super(ProportionalNode, self).__init__(refresh_time, ProportionalNodeConfig)
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self.k = k
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@ -98,7 +97,7 @@ class ProportionalNode(InputControlNode):
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super(ProportionalNode, self).on_compute(value)
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class SaturateNode(InputControlNode):
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def __init__(self, min=None, max=None, refresh_time=1.0, config=SaturateNodeConfig):
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def __init__(self, min=None, max=None, refresh_time=0.05, config=SaturateNodeConfig):
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super(SaturateNode, self).__init__(refresh_time, config)
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self.min = min
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self.max = max
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@ -116,7 +115,7 @@ class SaturateNode(InputControlNode):
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super(SaturateNode, self).on_compute(value)
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class IntegralNode(SaturateNode):
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def __init__(self, k=1.0, min=None, max=None, refresh_time=1.0):
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def __init__(self, k=1.0, min=None, max=None, refresh_time=0.05):
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super(IntegralNode, self).__init__(min, max, refresh_time, IntegralNodeConfig)
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self.k = k
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@ -131,7 +130,7 @@ class IntegralNode(SaturateNode):
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return super(IntegralNode, self).on_compute(value)
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class DerivativeNode(InputControlNode):
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def __init__(self, k=0.05, size=9, polyorder=3, deriv=1, refresh_time=1.0):
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def __init__(self, k=0.05, size=9, polyorder=3, deriv=1, refresh_time=0.05):
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super(DerivativeNode, self).__init__(refresh_time, DerivativeNodeConfig)
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self.k = k
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self.filter = savgol_coeffs(size, polyorder, deriv, delta=refresh_time, use='dot')
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@ -183,7 +182,7 @@ class DifferenciateNode(InputControlNode):
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class InputNode(InputControlNode):
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def __init__(self):
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super(InputNode, self).__init__(refresh_time=1.0, config_class=InputNodeConfig)
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super(InputNode, self).__init__(refresh_time=0.05, config_class=InputNodeConfig)
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def on_reconf(self, config, level):
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self.output = config["value"]
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@ -196,7 +195,7 @@ class InputNode(InputControlNode):
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class SumNode(ControlNode):
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def __init__(self, nb_topics):
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super(SumNode, self).__init__(refresh_time=1.0)
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super(SumNode, self).__init__(refresh_time=0.05)
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self.nb_topics = int(nb_topics)
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self.inputs = dict()
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for i in range(self.nb_topics):
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@ -230,4 +229,4 @@ if __name__ == '__main__':
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else:
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node = node_class()
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node.on_mailoop()
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node.on_mainloop()
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@ -11,6 +11,7 @@ if __name__ == '__main__':
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rospy.init_node('publish_csv', anonymous=True)
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pub = rospy.Publisher('output', Float64, queue_size=1)
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file = sys.argv[1]
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rospy.sleep(10.)
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with open(file) as csvfile:
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reader = csv.reader(csvfile)
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r = rospy.Rate(20)
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@ -94,7 +94,7 @@ class Triangle:
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"component_centers", component_centers, self.on_comp, queue_size=1)
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self.config_srv = dynamic_reconfigure.server.Server(
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TriangleParamConfig, self.on_reconf)
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TriangleConfig, self.on_reconf)
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self.br = tf.TransformBroadcaster()
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BIN
utils/data/repind_vitesse.bag
Normal file
BIN
utils/data/repind_vitesse.bag
Normal file
Binary file not shown.
BIN
utils/results/graph_test_d.png
Normal file
BIN
utils/results/graph_test_d.png
Normal file
Binary file not shown.
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0
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833
utils/results/savgol_bode_plop.eps
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showpage
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0
utils/results/savgol_bode_quadratique.eps
Normal file
0
utils/results/savgol_bode_quadratique.eps
Normal file
47
utils/test_filter_bode.jl
Normal file
47
utils/test_filter_bode.jl
Normal file
|
|
@ -0,0 +1,47 @@
|
|||
using Plots
|
||||
using DSP
|
||||
using CSV
|
||||
|
||||
pyplot()
|
||||
|
||||
# Parameters
|
||||
filename = joinpath(@__DIR__, "data", "walk.csv") # input file
|
||||
h = 1/22 # sample time
|
||||
orders = [
|
||||
(title="quadratique", order=2, sizes=5:2:11),
|
||||
(title="cubique", order=3, sizes=5:2:11),
|
||||
(title="big_quadra", order=2, sizes=11:10:51)
|
||||
]
|
||||
|
||||
|
||||
function savgol(size::Int64, poly_order::Int64, deriv::Int64=0, delta::Float64=1.0, conv::Bool=false)
|
||||
half_size, rem = divrem(size, 2)
|
||||
if rem == 0
|
||||
throw(ArgumentError("size must be odd."))
|
||||
end
|
||||
M = [-half_size:half_size;] .^ [0:poly_order;]';
|
||||
y = zeros(poly_order+1)';
|
||||
y[deriv+1] = factorial(deriv) / delta^deriv;
|
||||
scal = y*inv(M'*M)*M'
|
||||
if conv
|
||||
scal = scal[end:-1:1]
|
||||
end
|
||||
scal
|
||||
end
|
||||
|
||||
|
||||
filter = savgol(19, 2, 1, h, true)
|
||||
H = tf(filter, [1], h)
|
||||
mag, phase, w = bode(H)
|
||||
plot(w,log.(mag[:,1]), label="mag", title="plop")
|
||||
savefig(joinpath(@__DIR__, "results", string("savgol_bode_", "plop", ".eps")))
|
||||
show()
|
||||
# for order in orders
|
||||
# for size in order.sizes
|
||||
# filter = savgol(size, order.order, 1, h, true)
|
||||
# H = tf(filter, [1], 0.05)
|
||||
# bode(H)
|
||||
# end
|
||||
# savefig(joinpath(@__DIR__, "results", string("savgol_bode_", order.title, ".eps")))
|
||||
# end
|
||||
# show()
|
||||
Loading…
Reference in a new issue