Meilleure réactivité du drone.

workspace/devel/.private/detect_targets/include/detect_targets/TriangleParamConfig.h

@@ -605,7 +605,7 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __max__.linear_z_Kp = 10.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __default__.linear_z_Kp = 0.1;
+      __default__.linear_z_Kp = 0.01;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_z_Kp", "double", 0, "linear.z controller Kp", "", &TriangleParamConfig::linear_z_Kp)));
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
@@ -615,7 +615,7 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __max__.linear_z_Ki = 10.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __default__.linear_z_Ki = 0.1;
+      __default__.linear_z_Ki = 0.01;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_z_Ki", "double", 0, "linear.z controller Ki", "", &TriangleParamConfig::linear_z_Ki)));
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
@@ -625,7 +625,7 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __max__.linear_z_Kd = 10.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __default__.linear_z_Kd = 0.1;
+      __default__.linear_z_Kd = 0.01;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_z_Kd", "double", 0, "linear.z controller Kd", "", &TriangleParamConfig::linear_z_Kd)));
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
@@ -643,7 +643,7 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __min__.angular_z_Kp = 0.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.angular_z_Kp = 1.0;
+      __max__.angular_z_Kp = 10.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __default__.angular_z_Kp = 0.01;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
@@ -653,7 +653,7 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __min__.angular_z_Ki = 0.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.angular_z_Ki = 1.0;
+      __max__.angular_z_Ki = 10.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __default__.angular_z_Ki = 0.01;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
@@ -663,7 +663,7 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __min__.angular_z_Kd = 0.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.angular_z_Kd = 1.0;
+      __max__.angular_z_Kd = 10.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __default__.angular_z_Kd = 0.01;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"

workspace/devel/.private/detect_targets/share/detect_targets/docs/TriangleParamConfig-usage.dox

@@ -14,9 +14,9 @@
   <param name="linear_y_Ki" type="double" value="0.01" />
   <param name="linear_y_Kd" type="double" value="0.01" />
   <param name="control_linear_y" type="bool" value="True" />
-  <param name="linear_z_Kp" type="double" value="0.1" />
+  <param name="linear_z_Kp" type="double" value="0.01" />
-  <param name="linear_z_Ki" type="double" value="0.1" />
+  <param name="linear_z_Ki" type="double" value="0.01" />
-  <param name="linear_z_Kd" type="double" value="0.1" />
+  <param name="linear_z_Kd" type="double" value="0.01" />
   <param name="control_linear_z" type="bool" value="True" />
   <param name="angular_z_Kp" type="double" value="0.01" />
   <param name="angular_z_Ki" type="double" value="0.01" />

workspace/devel/.private/detect_targets/share/detect_targets/docs/TriangleParamConfig.dox

@@ -15,12 +15,12 @@ Reads and maintains the following parameters on the ROS server
 - \b "~linear_y_Ki" : \b [double] linear.y controller Ki min: 0.0, default: 0.01, max: 1.0
 - \b "~linear_y_Kd" : \b [double] linear.y controller Kd min: 0.0, default: 0.01, max: 1.0
 - \b "~control_linear_y" : \b [bool] Controls the facing to target min: False, default: True, max: True
-- \b "~linear_z_Kp" : \b [double] linear.z controller Kp min: 0.0, default: 0.1, max: 10.0
+- \b "~linear_z_Kp" : \b [double] linear.z controller Kp min: 0.0, default: 0.01, max: 10.0
-- \b "~linear_z_Ki" : \b [double] linear.z controller Ki min: 0.0, default: 0.1, max: 10.0
+- \b "~linear_z_Ki" : \b [double] linear.z controller Ki min: 0.0, default: 0.01, max: 10.0
-- \b "~linear_z_Kd" : \b [double] linear.z controller Kd min: 0.0, default: 0.1, max: 10.0
+- \b "~linear_z_Kd" : \b [double] linear.z controller Kd min: 0.0, default: 0.01, max: 10.0
 - \b "~control_linear_z" : \b [bool] Controls the facing to target min: False, default: True, max: True
-- \b "~angular_z_Kp" : \b [double] angular.z controller Kp min: 0.0, default: 0.01, max: 1.0
+- \b "~angular_z_Kp" : \b [double] angular.z controller Kp min: 0.0, default: 0.01, max: 10.0
-- \b "~angular_z_Ki" : \b [double] angular.z controller Ki min: 0.0, default: 0.01, max: 1.0
+- \b "~angular_z_Ki" : \b [double] angular.z controller Ki min: 0.0, default: 0.01, max: 10.0
-- \b "~angular_z_Kd" : \b [double] angular.z controller Kd min: 0.0, default: 0.01, max: 1.0
+- \b "~angular_z_Kd" : \b [double] angular.z controller Kd min: 0.0, default: 0.01, max: 10.0
 - \b "~control_angular_z" : \b [bool] Controls the facing to target min: False, default: True, max: True
 

workspace/devel/.private/detect_targets/share/detect_targets/docs/TriangleParamConfig.wikidoc

@@ -56,15 +56,15 @@ desc=See the [[dynamic_reconfigure]] package for details on dynamically reconfig
 12.type= bool
 12.desc=Controls the facing to target 
 13.name= ~linear_z_Kp
-13.default= 0.1
+13.default= 0.01
 13.type= double
 13.desc=linear.z controller Kp Range: 0.0 to 10.0
 14.name= ~linear_z_Ki
-14.default= 0.1
+14.default= 0.01
 14.type= double
 14.desc=linear.z controller Ki Range: 0.0 to 10.0
 15.name= ~linear_z_Kd
-15.default= 0.1
+15.default= 0.01
 15.type= double
 15.desc=linear.z controller Kd Range: 0.0 to 10.0
 16.name= ~control_linear_z
@@ -74,15 +74,15 @@ desc=See the [[dynamic_reconfigure]] package for details on dynamically reconfig
 17.name= ~angular_z_Kp
 17.default= 0.01
 17.type= double
-17.desc=angular.z controller Kp Range: 0.0 to 1.0
+17.desc=angular.z controller Kp Range: 0.0 to 10.0
 18.name= ~angular_z_Ki
 18.default= 0.01
 18.type= double
-18.desc=angular.z controller Ki Range: 0.0 to 1.0
+18.desc=angular.z controller Ki Range: 0.0 to 10.0
 19.name= ~angular_z_Kd
 19.default= 0.01
 19.type= double
-19.desc=angular.z controller Kd Range: 0.0 to 1.0
+19.desc=angular.z controller Kd Range: 0.0 to 10.0
 20.name= ~control_angular_z
 20.default= True
 20.type= bool

workspace/src/detect_targets/cfg/triangle_control.cfg

@@ -22,14 +22,14 @@ gen.add("linear_y_Ki", double_t, 0, "linear.y controller Ki", .01, 0, 1)
 gen.add("linear_y_Kd", double_t, 0, "linear.y controller Kd", .01, 0, 1)
 gen.add("control_linear_y", bool_t, 0, "Controls the facing to target", True)
 
-gen.add("linear_z_Kp", double_t, 0, "linear.z controller Kp", .1, 0, 10)
+gen.add("linear_z_Kp", double_t, 0, "linear.z controller Kp", .01, 0, 10)
-gen.add("linear_z_Ki", double_t, 0, "linear.z controller Ki", .1, 0, 10)
+gen.add("linear_z_Ki", double_t, 0, "linear.z controller Ki", .01, 0, 10)
-gen.add("linear_z_Kd", double_t, 0, "linear.z controller Kd", .1, 0, 10)
+gen.add("linear_z_Kd", double_t, 0, "linear.z controller Kd", .01, 0, 10)
 gen.add("control_linear_z", bool_t, 0, "Controls the facing to target", True)
 
-gen.add("angular_z_Kp", double_t, 0, "angular.z controller Kp", .01, 0, 1)
+gen.add("angular_z_Kp", double_t, 0, "angular.z controller Kp", .01, 0, 10)
-gen.add("angular_z_Ki", double_t, 0, "angular.z controller Ki", .01, 0, 1)
+gen.add("angular_z_Ki", double_t, 0, "angular.z controller Ki", .01, 0, 10)
-gen.add("angular_z_Kd", double_t, 0, "angular.z controller Kd", .01, 0, 1)
+gen.add("angular_z_Kd", double_t, 0, "angular.z controller Kd", .01, 0, 10)
 gen.add("control_angular_z", bool_t, 0, "Controls the facing to target", True)
 
 

workspace/src/detect_targets/scripts/target_publisher.py

@@ -51,7 +51,8 @@ class Publisher:
             component_center(x=pub_R[0], y=pub_R[1], nb_vertex=1, label=3),
         ]
 
-        if self.draw_targets:
+        self.pub.publish(self.centers)
+        if self.img_pub.get_num_connections() > 0:
             for i in range(-20, 20):
                 for j in range(-20, 20):
                     try:
@@ -61,8 +62,7 @@ class Publisher:
                     except Exception:
                         pass
 
-        self.pub.publish(self.centers)
+
-        if self.img_pub.get_num_connections() > 0:
             self.img_pub.publish(self.bridge.cv2_to_imgmsg(img, "rgb8"))