diff --git a/.gitignore b/.gitignore index f3ba52fc..2f5b26af 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,8 @@ -results/ +/results/* +!/results/postProcess.py +!/results/README.md /docs/build -/docs/Manifest.toml +docs/Manifest.toml +/knitro-10.3.0-z-Linux-64/* +artelys_lic_404_umich_mecheng_mm_2017-03-27_knitro_73-34-b5-18-fc.txt +artelys_lic_897_umich_mecheng_mm_2018-02-06_knitro_1a-af-55-b8-be.txt diff --git a/Dockerfile b/Dockerfile index ad3e24f0..72019375 100644 --- a/Dockerfile +++ b/Dockerfile @@ -1,7 +1,21 @@ FROM avpg/cain:middle +RUN /bin/bash -c 'rm -rf /home/$USERNAME/MAVs/ros/devel/* /home/$USERNAME/MAVs/ros/build/*' + COPY ros /home/$USERNAME/MAVs/ros RUN /bin/bash -c 'source /opt/ros/kinetic/setup.bash; cd /home/$USERNAME/MAVs/ros/; catkin_make' +#COPY knitro-10.3.0-z-Linux-64 /home/$USERNAME/knitro-10.3.0-z-Linux-64 +#RUN echo 'export PATH="$HOME/knitro-10.3.0-z-Linux-64/knitroampl:$PATH"' >> ~/.bashrc +#RUN echo 'export LD_LIBRARY_PATH="$HOME/knitro-10.3.0-z-Linux-64/lib:$LD_LIBRARY_PATH"' >> ~/.bashrc +#RUN /bin/bash -c 'sudo chmod -R a+rX /home/mavs/knitro-10.3.0-z-Linux-64/*' + +# laptop +# COPY artelys_lic_897_umich_mecheng_mm_2018-02-06_knitro_1a-af-55-b8-be.txt /home/$USERNAME/ +#COPY artelys_lic_897_umich_mecheng_mm_2018-02-06_knitro_1a-af-55-b8-be.txt /home/$USERNAME/ + +# home +#COPY artelys_lic_404_umich_mecheng_mm_2017-03-27_knitro_73-34-b5-18-fc.txt /home/$USERNAME/ + # Default CMD CMD ["/bin/bash"] diff --git a/README.md b/README.md index 0f477860..6ad01cdc 100644 --- a/README.md +++ b/README.md @@ -15,7 +15,7 @@ Or for the develop branch ``` git clone -b develop https://github.com/JuliaMPC/MAVs ``` -Then follow the [Docker instructions](https://github.com/JuliaMPC/MAVs/tree/master/docker#mavs-docker). +Then follow the [Docker instructions](https://github.com/JuliaMPC/MAVs/tree/develop/image/cain). * Note: currently, the entire repo is cloned twice (once by the above command and once by the Docker file). * In the future this software may be configured to save space and only cloned once diff --git a/docs/make.jl b/docs/make.jl index 143a2f15..b63b18a9 100644 --- a/docs/make.jl +++ b/docs/make.jl @@ -29,7 +29,6 @@ pages = [ "system_shutdown" => "packages/system/system_shutdown.md", "data_logging" => "packages/system/data_logging.md", "chrono_position_broadcaster" => "packages/model/chrono/chrono_position_broadcaster/main.md", - "ros_chrono_msgs" => "packages/model/chrono/ros_chrono_msgs/main.md", "point_cloud_converter" => "packages/computing/perception/point_cloud_converter.md", ], "System demos" => [ diff --git a/docs/src/packages/model/chrono/ros_chrono_msgs/main.md b/docs/src/packages/model/chrono/ros_chrono_msgs/main.md deleted file mode 100644 index 493cb528..00000000 --- a/docs/src/packages/model/chrono/ros_chrono_msgs/main.md +++ /dev/null @@ -1,18 +0,0 @@ -# ros_chrono_msgs -Creates a `ROS` msg file veh_status.msg to observe vehicle states during runtime of `Chrono` model. Used by the ros_chrono package. - -## Message format -Name | Variable | Description ---- | --- -`float64` | t_chrono | simulation time -`float64` | x_pos | vehicle x position -`float64` | y_pos | vehicle y position -`float64` | x_v | vehicle velocity in x (m/s) -`float64` | x_a | vehicle acceleration in x (m/s^2) -`float64` | y_v | vehicle velocity in y -`float64` | yaw_curr | current yaw value (rad) -`float64` | yaw_rate | current yaw rate (rad/s) -`float64` | sa | steering angle (rad) -`float64` | thrt_in | throttle control input -`float64` | brk_in | brake control input -`float64` | str_in | steering control input diff --git a/results/README.md b/results/README.md index 12e7dda0..927d734c 100644 --- a/results/README.md +++ b/results/README.md @@ -1,4 +1,10 @@ # Results Directory This directory share files between local host and container -It is used to store results data -Do not delete this directory +It is used to store results data. +[bag name] should be in format of like demoK_s4_D.bag, where demoK is the demo name, s4 is the case name, and D is the planner name. + +to get .csv files with case information: python run_data.py [bag name] [csv_path_name] + [csv_path_name] is optional, the default value is ./test + +to get .csv files: python postProcess.py [bag_name1] [bagname2] [bagname3] + [bag_name1] [bagname2] [bagname3] are optional, the default value is all files in the current folder diff --git a/results/postProcess.py b/results/postProcess.py new file mode 100755 index 00000000..946c69ef --- /dev/null +++ b/results/postProcess.py @@ -0,0 +1,284 @@ +#!/usr/bin/python +import sys +import csv +import rosbag +import io +import os + +def bag2csv(bag_name): + + csv_name = bag_name.rstrip('.bag') + + # open bag file for read + print "Reading " + bag_name + bag = rosbag.Bag(bag_name) + bag_topics = bag.get_type_and_topic_info()[1].keys() + + # open csv file for write + csvfile = open(csv_name+'.csv', 'w') + #bag2csv = csv.writer(csvfile, delimiter=';', quotechar='\'', quoting=csv.QUOTE_MINIMAL) + bag2csv = csv.writer(csvfile, delimiter=',', quotechar='\'', quoting=csv.QUOTE_MINIMAL) + + for bag_topic in bag_topics: + # write topic name + print "Write " + bag_topic + " into csv file..." + bag2csv.writerow([bag_topic]) + # set title_flag to 0 + title_flag = 0 + + for topic, msg, t in bag.read_messages(topics=bag_topic): + # split msg + msg_list = str(msg).split('\n') + value_list = [] + title_list = [] + + for msg_pair in msg_list: + split_pair = msg_pair.split(':') + msg_title = split_pair[0] + msg_value = split_pair[1] + + if title_flag == 0: + title_list.append(msg_title) + value_list.append(msg_value) + + if title_flag == 0: + bag2csv.writerow(title_list) + title_flag = 1 + + bag2csv.writerow(value_list) + + # insert a row between to topics + bag2csv.writerow([]) + + + # close files + csvfile.close() + bag.close() + return csv_name+'.csv' + + +def processcsv(pathname, csvfilename): + csvfilename_full = csvfilename + statefilename_full = os.path.join(pathname, "state.csv") + tempfilename_full = os.path.join(pathname, "temp.csv") + F = open(csvfilename_full, 'r') + F_w = open(statefilename_full, 'w') + F_w1 = open(tempfilename_full, 'w') + + old = F.read() + F.seek(0,0) + old1 = F.read() + F.seek(0,0) + old2 = F.read() + # copy the whole input F file and remove all the [] and replaced that with ; for state + old = old.replace("[", "") + old = old.replace("]", "") + #old = old.replace(",", ";") + # copy the whole input F file and remove all the [] and replaced that with ; for planned + old1 = old1.replace("[", "") + old1 = old1.replace("]", "") + #old1 = old1.replace(",", ";") + # copy the whole input F file and remove all the [] and replaced that with ; for control + old2 = old2.replace("[", "") # for control information + old2 = old2.replace("]", "") + #old2 = old2.replace(",", ";") + + # Find the start position for three topics: /state, /opt, /control + result = old.find("state") + result1 = old1.find("/opt") + result2 = old1.find("/nlopcontrol_planner/control") + old = old[result+7:len(old)] + old = old.replace("tire_f", "vtffr,vtffl,vtfrr,vtfrl") + old1 = old1[result1+6:result2] + old1 = old1.replace("X0p,X0a,X0e", "x,y,v,r,psi,sa,ux,ax") + old2 = old2[result2+30:result] + + # The first step cleaned values for three topics in total are written in F_w1 for latter use + # State information is already good to go and store in F_w + F_w.truncate(0) + F_w.write(old) + F_w1.truncate(0) + F_w1.write(old1) + F_w1.seek(0,0) + F_w1.close() + + # Continue to process planned csv + F_w1 = open(tempfilename_full, 'r') + plannedfilename_full = os.path.join(pathname, "planned.csv") + F_w2 = open(plannedfilename_full, 'w') + old = "" + count = 0 + line = F_w1.readline() + cnt = 1 + se = list() + ve = list() + old = line + while line: + line = F_w1.readline() + temp = line.split(',',28) + old = old + '\n' + try: + for i in xrange(0,11): + old = old + temp[i] + ',' + old = old + temp[11] + se.append(temp[25]) + ve.append(temp[26]) + except: + pass + cnt += 1 + F_w2.truncate(0) + F_w2.write(old) + F_w1.close() + + # Continue to process control csv + controlfilename_full = os.path.join(pathname, "miscResults.csv") + F_w1 = open(tempfilename_full, 'w') + F_w1.truncate(0) + F_w1.write(old2) + F_w1.close() + F_w1 = open(tempfilename_full, 'r') + F_w3 = open(controlfilename_full, 'w') + old = "" + count = 0 + line = F_w1.readline() + cnt = 0 + vce = 0.0 # Acc control effort + sce = 0.0 # Steering control effort + vce_accum = 0.0 # accumulated value for acc control effort + sce_accum = 0.0 # accumulated value for steering control effort + old = line[0:-2] + ',ceStr' + ',ceAcc' + ',teStr' + ',teU' # se is the steering error and ve is the acc error + while line: + line = F_w1.readline() + temp = line.split(',',11*16-1) + # print temp + old = old + '\n' + try: + for i in xrange(0,11): + old = old + temp[i*16] + ', ' + sce_accum = sce_accum + abs(float(temp[6 * 16])) + vce_accum = vce_accum + abs(float(temp[8 * 16])) + sce = vce_accum/(float(temp[0]) + 0.5) # Normalize the velocity control effort by time + vce = sce_accum/(float(temp[0]) + 0.5) # Normalize the steering control effort by time + old = old + str(sce) + ' , ' # Concatenate the normalized acc control effort + old = old + str(vce) + ' , ' # Concatenate the normalized steering control effort + old = old + se[cnt] + ' , ' + old = old + ve[cnt] + + except: + pass + cnt += 1 + F_w3.truncate(0) + F_w3.write(old) + F_w1.close() + F_w3.close() + # Remove last several lines for control, because there are several redudant symbols + F_w3 = open(controlfilename_full, 'r') + lines = F_w3.readlines() + F_w3.close() + F_w3 = open(controlfilename_full, 'w') + F_w3.writelines([item for item in lines[:-3]]) + F_w3.close() + # Remove last several lines for planned, because there are several redudant symbols + F_w2 = open(plannedfilename_full, 'r') + lines = F_w2.readlines() + F_w2.close() + F_w2 = open(plannedfilename_full, 'w') + F_w2.writelines([item for item in lines[:-2]]) + F_w2.close() + os.remove(tempfilename_full) + os.remove(csvfilename_full) + + +# save sX.ymal +def readcase(demoname, casename, plannername, pathname): + configpath = "../ros/src/system/config/case/" + sxfile= configpath+casename+".yaml" + print("Reading "+casename+".yaml ...") + casefilename_full = os.path.join(pathname, "case.csv") + + F_sx = open(sxfile, 'r') + F_w = open(casefilename_full, 'w') + + line = F_sx.readline() + + name = "" + value = "" + while line: + line = str(line) + if len(line) > 1: + if line[1]!=' ': + line = line[1:-1] + line = line.split(":") + name1 = line[0] + elif line[2]!=' ': + line = line[2:] + line = line.split(":") + name2 = line[0] + if(name2[0] <= 'z' and name2[0] >= 'a'): + name2 = name2[0].upper()+name2[1:] + for char2 in name2: + if(char2 == '0'): + char2 = 'O' + if(len(line) > 1): + value2 = line[1] + value2 = value2[0:-1] + + + if(len(value2) > 0): + name = name + name1 + name2 + ',' + value = value + value2 + ',' + + elif line[3]!=' ': + line = line[3:] + line = line.split(": ") + name3 = line[0] + value3 = line[1] + + if(name3[0] <= 'z' and name3[0] >= 'a'): + name3 = name3[0].upper()+name3[1:] + for char3 in name3: + if(char3 == '0'): + char3 = 'O' + + name = name + name1 + name2 + name3 + ',' + value3 = value3.replace(",", " ") + value = value + value3[0:-1] + ',' + + + line = F_sx.readline() + value = name+'\n'+value + F_w.truncate(0) + #F_w.writelines(name) + F_w.write(value) + F_sx.close() + F_w.close() + print "Finished!" + + +if __name__ == '__main__': + # handle result information + print "Start to convert rosbag to csv: " + bag_name = sys.argv[1] + print("filename: "+bag_name) + tempname = str(sys.argv[1]).split("_") + demoname = tempname[0] + casename = tempname[1] + plannername = tempname[2] + print(demoname+" "+casename+" "+plannername) + + if len(sys.argv) == 2: + pathname = "test" + else: + pathname = str(sys.argv[2]) + + pathname = "./"+pathname+"/"+casename+plannername + print("save files to: " + pathname) + + # make dir + #dirname = os.path.dirname(filename) + if not os.path.exists(pathname): + os.makedirs(pathname) + + filename = bag2csv(bag_name) + processcsv(pathname, filename) + readcase(demoname, casename, plannername, pathname) diff --git a/results/rosbag2csv.py b/results/rosbag2csv.py deleted file mode 100755 index 5ae0954c..00000000 --- a/results/rosbag2csv.py +++ /dev/null @@ -1,54 +0,0 @@ -#!/usr/bin/python -import sys -import csv -import rosbag - -if __name__ == '__main__': - print "Start to convert rosbag to csv" - bag_name = sys.argv[1] - csv_name = bag_name.rstrip('.bag') - - # open bag file for read - print "Reading " + bag_name - bag = rosbag.Bag(bag_name) - bag_topics = bag.get_type_and_topic_info()[1].keys() - - # open csv file for write - csvfile = open(csv_name+'.csv', 'w') - bag2csv = csv.writer(csvfile, delimiter=';', quotechar='\'', quoting=csv.QUOTE_MINIMAL) - - for bag_topic in bag_topics: - # write topic name - print "Write " + bag_topic + " into csv file..." - bag2csv.writerow([bag_topic]) - # set title_flag to 0 - title_flag = 0 - - for topic, msg, t in bag.read_messages(topics=bag_topic): - # split msg - msg_list = str(msg).split('\n') - value_list = [] - title_list = [] - - for msg_pair in msg_list: - split_pair = msg_pair.split(':') - msg_title = split_pair[0] - msg_value = split_pair[1] - - if title_flag == 0: - title_list.append(msg_title) - value_list.append(msg_value) - - if title_flag == 0: - bag2csv.writerow(title_list) - title_flag = 1 - - bag2csv.writerow(value_list) - - # insert a row between to topics - bag2csv.writerow([]) - - print "Finished!" - # close files - csvfile.close() - bag.close() \ No newline at end of file diff --git a/results/rundata.py b/results/rundata.py new file mode 100755 index 00000000..4d17ab9f --- /dev/null +++ b/results/rundata.py @@ -0,0 +1,286 @@ +#!/usr/bin/python +import sys +import csv +import rosbag +import io +import os + +def bag2csv(bag_name): + + csv_name = bag_name.rstrip('.bag') + + # open bag file for read + print "Reading " + bag_name + bag = rosbag.Bag(bag_name) + bag_topics = bag.get_type_and_topic_info()[1].keys() + + # open csv file for write + csvfile = open(csv_name+'.csv', 'w') + #bag2csv = csv.writer(csvfile, delimiter=';', quotechar='\'', quoting=csv.QUOTE_MINIMAL) + bag2csv = csv.writer(csvfile, delimiter=',', quotechar='\'', quoting=csv.QUOTE_MINIMAL) + + for bag_topic in bag_topics: + # write topic name + print "Write " + bag_topic + " into csv file..." + bag2csv.writerow([bag_topic]) + # set title_flag to 0 + title_flag = 0 + + for topic, msg, t in bag.read_messages(topics=bag_topic): + # split msg + msg_list = str(msg).split('\n') + value_list = [] + title_list = [] + + for msg_pair in msg_list: + split_pair = msg_pair.split(':') + msg_title = split_pair[0] + msg_value = split_pair[1] + + if title_flag == 0: + title_list.append(msg_title) + value_list.append(msg_value) + + if title_flag == 0: + bag2csv.writerow(title_list) + title_flag = 1 + + bag2csv.writerow(value_list) + + # insert a row between to topics + bag2csv.writerow([]) + + + # close files + csvfile.close() + bag.close() + return csv_name+'.csv' + + +def processcsv(pathname, csvfilename): + csvfilename_full = csvfilename + statefilename_full = os.path.join(pathname, "state.csv") + tempfilename_full = os.path.join(pathname, "temp.csv") + F = open(csvfilename_full, 'r') + F_w = open(statefilename_full, 'w') + F_w1 = open(tempfilename_full, 'w') + + old = F.read() + F.seek(0,0) + old1 = F.read() + F.seek(0,0) + old2 = F.read() + # copy the whole input F file and remove all the [] and replaced that with ; for state + old = old.replace("[", "") + old = old.replace("]", "") + #old = old.replace(",", ";") + # copy the whole input F file and remove all the [] and replaced that with ; for planned + old1 = old1.replace("[", "") + old1 = old1.replace("]", "") + #old1 = old1.replace(",", ";") + # copy the whole input F file and remove all the [] and replaced that with ; for control + old2 = old2.replace("[", "") # for control information + old2 = old2.replace("]", "") + #old2 = old2.replace(",", ";") + + # Find the start position for three topics: /state, /opt, /control + result = old.find("state") + result1 = old1.find("/opt") + result2 = old1.find("/nlopcontrol_planner/control") + old = old[result+7:len(old)] + old = old.replace("tire_f", "vtffr,vtffl,vtfrr,vtfrl") + old1 = old1[result1+6:result2] + old1 = old1.replace("X0p,X0a,X0e", "x,y,v,r,psi,sa,ux,ax") + old2 = old2[result2+30:result] + + # The first step cleaned values for three topics in total are written in F_w1 for latter use + # State information is already good to go and store in F_w + F_w.truncate(0) + F_w.write(old) + F_w1.truncate(0) + F_w1.write(old1) + F_w1.seek(0,0) + F_w1.close() + + # Continue to process planned csv + F_w1 = open(tempfilename_full, 'r') + plannedfilename_full = os.path.join(pathname, "planned.csv") + F_w2 = open(plannedfilename_full, 'w') + old = "" + count = 0 + line = F_w1.readline() + cnt = 1 + se = list() + ve = list() + old = line + while line: + line = F_w1.readline() + temp = line.split(',',28) + old = old + '\n' + try: + for i in xrange(0,11): + old = old + temp[i] + ',' + old = old + temp[11] + se.append(temp[25]) + ve.append(temp[26]) + except: + pass + cnt += 1 + F_w2.truncate(0) + F_w2.write(old) + F_w1.close() + + # Continue to process control csv + controlfilename_full = os.path.join(pathname, "miscResults.csv") + F_w1 = open(tempfilename_full, 'w') + F_w1.truncate(0) + F_w1.write(old2) + F_w1.close() + F_w1 = open(tempfilename_full, 'r') + F_w3 = open(controlfilename_full, 'w') + old = "" + count = 0 + line = F_w1.readline() + cnt = 0 + vce = 0.0 # Acc control effort + sce = 0.0 # Steering control effort + vce_accum = 0.0 # accumulated value for acc control effort + sce_accum = 0.0 # accumulated value for steering control effort + old = line[0:-2] + ',ceStr' + ',ceAcc' + ',teStr' + ',teU' # se is the steering error and ve is the acc error + while line: + line = F_w1.readline() + temp = line.split(',',11*16-1) + # print temp + old = old + '\n' + try: + for i in xrange(0,11): + old = old + temp[i*16] + ', ' + sce_accum = sce_accum + abs(float(temp[6 * 16])) + vce_accum = vce_accum + abs(float(temp[8 * 16])) + sce = vce_accum/(float(temp[0]) + 0.5) # Normalize the acc control effort by time + vce = sce_accum/(float(temp[0]) + 0.5) # Normalize the steering control effort by time + old = old + str(sce) + ' , ' # Concatenate the normalized acc control effort + old = old + str(vce) + ' , ' # Concatenate the normalized steering control effort + old = old + se[cnt] + ' , ' + old = old + ve[cnt] + + except: + pass + cnt += 1 + F_w3.truncate(0) + F_w3.write(old) + F_w1.close() + F_w3.close() + # Remove last several lines for control, because there are several redudant symbols + F_w3 = open(controlfilename_full, 'r') + lines = F_w3.readlines() + F_w3.close() + F_w3 = open(controlfilename_full, 'w') + F_w3.writelines([item for item in lines[:-3]]) + F_w3.close() + # Remove last several lines for planned, because there are several redudant symbols + F_w2 = open(plannedfilename_full, 'r') + lines = F_w2.readlines() + F_w2.close() + F_w2 = open(plannedfilename_full, 'w') + F_w2.writelines([item for item in lines[:-2]]) + F_w2.close() + os.remove(tempfilename_full) + os.remove(csvfilename_full) + + +# save sX.ymal +def readcase(demoname, casename, plannername, pathname): + configpath = "../ros/src/system/config/case/" + sxfile= configpath+casename+".yaml" + print("Reading "+casename+".yaml ...") + casefilename_full = os.path.join(pathname, "case.csv") + + F_sx = open(sxfile, 'r') + F_w = open(casefilename_full, 'w') + + line = F_sx.readline() + + name = "" + value = "" + while line: + line = str(line) + if len(line) > 1: + if line[1]!=' ': + line = line[1:-1] + line = line.split(":") + name1 = line[0] + elif line[2]!=' ': + line = line[2:] + line = line.split(":") + name2 = line[0] + if(name2[0] <= 'z' and name2[0] >= 'a'): + name2 = name2[0].upper()+name2[1:] + for char2 in name2: + if(char2 == '0'): + char2 = 'O' + if(len(line) > 1): + value2 = line[1] + value2 = value2[0:-1] + + + if(len(value2) > 0): + name = name + name1 + name2 + ',' + value = value + value2 + ',' + + elif line[3]!=' ': + line = line[3:] + line = line.split(": ") + name3 = line[0] + value3 = line[1] + + if(name3[0] <= 'z' and name3[0] >= 'a'): + name3 = name3[0].upper()+name3[1:] + for char3 in name3: + if(char3 == '0'): + char3 = 'O' + + name = name + name1 + name2 + name3 + ',' + value3 = value3.replace(",", " ") + value = value + value3[0:-1] + ',' + + + line = F_sx.readline() + value = name+'\n'+value + F_w.truncate(0) + #F_w.writelines(name) + F_w.write(value) + F_sx.close() + F_w.close() + print "Finished!" + + +if __name__ == '__main__': + # handle result information + print "Start to convert rosbag to csv: " + bag_name = sys.argv[1] + print("filename: "+bag_name) + tempname = str(sys.argv[1]).split("_") + demoname = tempname[0] + casename = tempname[1] + plannername = tempname[2] + print(demoname+" "+casename+" "+plannername) + + if len(sys.argv) == 2: + pathname = "test" + else: + pathname = str(sys.argv[2]) + + pathname = "./"+pathname+"/"+casename+plannername + print("save files to: " + pathname) + + # make dir + #dirname = os.path.dirname(filename) + if not os.path.exists(pathname): + os.makedirs(pathname) + + filename = bag2csv(bag_name) + processcsv(pathname, filename) + readcase(demoname, casename, plannername, pathname) + + diff --git a/ros/src/computing/mavs_msgs/CMakeLists.txt b/ros/src/computing/mavs_msgs/CMakeLists.txt index e25c12ef..eb400069 100644 --- a/ros/src/computing/mavs_msgs/CMakeLists.txt +++ b/ros/src/computing/mavs_msgs/CMakeLists.txt @@ -108,7 +108,7 @@ catkin_package( # INCLUDE_DIRS include # LIBRARIES mavs_msgs CATKIN_DEPENDS roscpp rospy std_msgs message_runtime - DEPENDS system_lib + # DEPENDS system_lib ) ########### @@ -117,10 +117,10 @@ catkin_package( ## Specify additional locations of header files ## Your package locations should be listed before other locations -include_directories( +#include_directories( # include - ${catkin_INCLUDE_DIRS} -) +# ${catkin_INCLUDE_DIRS} +#) ## Declare a C++ library # add_library(${PROJECT_NAME} diff --git a/ros/src/computing/perception/detection/obstacle_detection/launch/obstacle_detector.launch b/ros/src/computing/perception/detection/obstacle_detection/launch/main_pcl.launch similarity index 59% rename from ros/src/computing/perception/detection/obstacle_detection/launch/obstacle_detector.launch rename to ros/src/computing/perception/detection/obstacle_detection/launch/main_pcl.launch index 616a984a..aa3c0c96 100644 --- a/ros/src/computing/perception/detection/obstacle_detection/launch/obstacle_detector.launch +++ b/ros/src/computing/perception/detection/obstacle_detection/launch/main_pcl.launch @@ -1,10 +1,9 @@ - + - - + @@ -12,11 +11,9 @@ - - - + @@ -40,21 +37,6 @@ - - diff --git a/ros/src/computing/perception/detection/obstacle_detection/launch/main_scan.launch b/ros/src/computing/perception/detection/obstacle_detection/launch/main_scan.launch new file mode 100644 index 00000000..14a628b6 --- /dev/null +++ b/ros/src/computing/perception/detection/obstacle_detection/launch/main_scan.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/src/computing/perception/detection/obstacle_detection/resources/display.rviz b/ros/src/computing/perception/detection/obstacle_detection/resources/display.rviz index d072e87d..7bd0f9bb 100644 --- a/ros/src/computing/perception/detection/obstacle_detection/resources/display.rviz +++ b/ros/src/computing/perception/detection/obstacle_detection/resources/display.rviz @@ -7,9 +7,8 @@ Panels: - /Global Options1 - /Status1 - /Obstacles1 - - /PointCloud1 Splitter Ratio: 0.5 - Tree Height: 344 + Tree Height: 532 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -22,13 +21,14 @@ Panels: - Class: rviz/Views Expanded: - /Current View1 + - /Orbit1 Name: Views Splitter Ratio: 0.5 - Class: rviz/Time Experimental: false Name: Time SyncMode: 0 - SyncSource: "" + SyncSource: LaserScan Visualization Manager: Class: "" Displays: @@ -91,9 +91,15 @@ Visualization Manager: All Enabled: true base_footprint: Value: true + base_footprintObs: + Value: true base_link: Value: true - velodyne_top_link: + lidar_frame: + Value: true + map: + Value: true + odomObs: Value: true Marker Scale: 1 Name: TF @@ -101,7 +107,11 @@ Visualization Manager: Show Axes: true Show Names: true Tree: - {} + map: + base_footprint: + base_link: + lidar_frame: + {} Update Interval: 0 Value: true - Alpha: 1 @@ -134,6 +144,36 @@ Visualization Manager: Use Fixed Frame: true Use rainbow: false Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Flat Squares + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true Enabled: true Global Options: Background Color: 48; 48; 48 @@ -159,25 +199,25 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 128.532318 + Distance: 28.0431156 Enable Stereo Rendering: Stereo Eye Separation: 0.0599999987 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 201.703537 - Y: 54.0564156 - Z: 6.1973114 + X: -3.71715975 + Y: -3.33859897 + Z: -0.731496096 Focal Shape Fixed Size: false Focal Shape Size: 0.0500000007 Invert Z Axis: false Name: Current View Near Clip Distance: 0.00999999978 - Pitch: 1.36979651 - Target Frame: map + Pitch: 1.04039788 + Target Frame: base_link Value: Orbit (rviz) - Yaw: 4.73318672 + Yaw: 5.20539951 Saved: - Class: rviz/Orbit Distance: 429.459717 @@ -204,8 +244,8 @@ Window Geometry: collapsed: false Height: 846 Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a000002b6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000003a000002b6000000e001000019fa000000000100000002fb0000000a005600690065007700730100000000ffffffff0000010000fffffffb000000100044006900730070006c00610079007301000000000000016a0000015600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000002fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005480000003efc0100000002fb0000000800540069006d00650100000000000005480000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000003d8000002b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd00000004000000000000016a000002b6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000003a000002b6000000e001000019fa000000010100000002fb0000000a005600690065007700730100000000ffffffff0000010000fffffffb000000100044006900730070006c00610079007301000000000000016a0000015600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000002fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005480000003efc0100000002fb0000000800540069006d00650100000000000005480000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000003d8000002b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: diff --git a/ros/src/computing/perception/detection/obstacle_detection/src/obstacle_extractor.cpp b/ros/src/computing/perception/detection/obstacle_detection/src/obstacle_extractor.cpp index 4b6627e5..91660b30 100644 --- a/ros/src/computing/perception/detection/obstacle_detection/src/obstacle_extractor.cpp +++ b/ros/src/computing/perception/detection/obstacle_detection/src/obstacle_extractor.cpp @@ -98,10 +98,10 @@ bool ObstacleExtractor::updateParams(std_srvs::Empty::Request &req, std_srvs::Em nh_local_.param("/obstacle_detector/obstacle_extractor/max_circle_radius", p_max_circle_radius_, 0.6); nh_local_.param("/obstacle_detector/obstacle_extractor/radius_enlargement", p_radius_enlargement_, 0.25); - // nh_local_.param("min_x_limit", p_min_x_limit_, -10.0); - // nh_local_.param("max_x_limit", p_max_x_limit_, 10.0); - // nh_local_.param("min_y_limit", p_min_y_limit_, -10.0); - // nh_local_.param("max_y_limit", p_max_y_limit_, 10.0); + nh_local_.param("/obstacle_detector/obstacle_extractor/p_min_x_limit", p_min_x_limit_, -10.0); + nh_local_.param("/obstacle_detector/obstacle_extractor/p_max_x_limit", p_max_x_limit_, 10.0); + nh_local_.param("/obstacle_detector/obstacle_extractor/p_min_y_limit", p_min_y_limit_, -10.0); + nh_local_.param("/obstacle_detector/obstacle_extractor/p_max_y_limit", p_max_y_limit_, 10.0); nh_local_.param("/obstacle_detector/obstacle_extractor/frame_id", p_frame_id_, "map"); @@ -448,8 +448,8 @@ void ObstacleExtractor::publishObstacles() { } for (const Circle& c : circles_) { - //if (c.center.x > p_min_x_limit_ && c.center.x < p_max_x_limit_ && - // c.center.y > p_min_y_limit_ && c.center.y < p_max_y_limit_) { + if (c.center.x > p_min_x_limit_ && c.center.x < p_max_x_limit_ && + c.center.y > p_min_y_limit_ && c.center.y < p_max_y_limit_) { CircleObstacle circle; circle.center.x = c.center.x; @@ -460,7 +460,7 @@ void ObstacleExtractor::publishObstacles() { circle.true_radius = c.radius - p_radius_enlargement_; obstacles_msg->circles.push_back(circle); - //} + } } obstacles_pub_.publish(obstacles_msg); diff --git a/ros/src/computing/planning/motion/nloptcontrol_planner/CMakeLists.txt b/ros/src/computing/planning/motion/nloptcontrol_planner/CMakeLists.txt index ec51aba9..dee9ed10 100644 --- a/ros/src/computing/planning/motion/nloptcontrol_planner/CMakeLists.txt +++ b/ros/src/computing/planning/motion/nloptcontrol_planner/CMakeLists.txt @@ -24,4 +24,5 @@ catkin_python_setup() ## Generate added messages and services with any dependencies generate_messages(DEPENDENCIES std_msgs) + catkin_package() diff --git a/ros/src/computing/tools/visualization/data_plotter.py b/ros/src/computing/tools/visualization/data_plotter.py index 002274d0..c02d83b3 100755 --- a/ros/src/computing/tools/visualization/data_plotter.py +++ b/ros/src/computing/tools/visualization/data_plotter.py @@ -14,7 +14,7 @@ def __init__(self): self.t_actual = np.array([], dtype=np.float64) self.t_traj = np.array([], dtype=np.float64) self.t_traj_last = np.array([], dtype=np.float64) - + # position data self.x_actual = np.array([], dtype=np.float64) self.y_actual = np.array([], dtype=np.float64) @@ -91,10 +91,14 @@ def __init__(self): self.line_sa_actual = Line2D([], [], color='green', linewidth=2, linestyle='-') self.line_sa_traj = Line2D([], [], color='red', linewidth=1.5, linestyle='--') self.line_sa_traj_last = Line2D([], [], color='orange', linewidth=1.5, linestyle='--') + self.line_sa_upper_limit = Line2D([], [], color='black', linestyle='--') + self.line_sa_lower_limit = Line2D([], [], color='black', linestyle='--') self.sa_subplot.add_line(self.line_sa_actual) self.sa_subplot.add_line(self.line_sa_traj) self.sa_subplot.add_line(self.line_sa_traj_last) - self.sa_subplot.legend(['actual', 'planned', 'last planned'], fontsize='x-small') + self.sa_subplot.add_line(self.line_sa_upper_limit) + self.sa_subplot.add_line(self.line_sa_lower_limit) + self.sa_subplot.legend(['actual', 'planned', 'previous planned', 'upper limit', 'lower limit'], fontsize='x-small') self.sa_subplot.set_xlabel('time (s)', fontsize='larger', verticalalignment='center') self.sa_subplot.set_ylabel('sa (rad)', fontsize='larger') self.sa_subplot.tick_params('both', labelsize='x-small') @@ -119,10 +123,14 @@ def __init__(self): self.line_ax_actual = Line2D([], [], linewidth=1.8, color='green', linestyle='-') self.line_ax_traj = Line2D([], [], color='red', linewidth=1.5, linestyle='--') self.line_ax_traj_last = Line2D([], [], color='orange', linewidth=1.5, linestyle='--') + self.line_ax_upper_limit = Line2D([], [], color='black', linestyle='--') + self.line_ax_lower_limit = Line2D([], [], color='black', linestyle='--') self.ax_subplot.add_line(self.line_ax_actual) self.ax_subplot.add_line(self.line_ax_traj) self.ax_subplot.add_line(self.line_ax_traj_last) - self.ax_subplot.legend(['actual', 'planned', 'last planned'], fontsize='x-small') + self.ax_subplot.add_line(self.line_ax_upper_limit) + self.ax_subplot.add_line(self.line_ax_lower_limit) + self.ax_subplot.legend(['actual', 'planned', 'previous planned', 'upper limit', 'lower limit'], fontsize='x-small') self.ax_subplot.set_xlabel('time (s)', fontsize='larger', verticalalignment='center') self.ax_subplot.set_ylabel('ax (m/s)', fontsize='larger') self.ax_subplot.tick_params('both', labelsize='x-small') @@ -158,6 +166,8 @@ def draw_frame(self): self.line_sa_actual.set_data(self.t_actual, self.sa_actual) self.line_sa_traj.set_data(self.t_traj, self.sa_traj) self.line_sa_traj_last.set_data(self.t_traj_last, self.sa_traj_last) + self.line_sa_upper_limit.set_data(self.t_actual, self.sa_upper_limit) + self.line_sa_lower_limit.set_data(self.t_actual, self.sa_lower_limit) self.line_ux_actual.set_data(self.t_actual, self.ux_actual) self.line_ux_traj.set_data(self.t_traj, self.ux_traj) @@ -168,6 +178,8 @@ def draw_frame(self): self.line_ax_actual.set_data(self.t_actual, self.ax_actual) self.line_ax_traj.set_data(self.t_traj, self.ax_traj) self.line_ax_traj_last.set_data(self.t_traj_last, self.ax_traj_last) + self.line_ax_upper_limit.set_data(self.t_actual, self.ax_upper_limit) + self.line_ax_lower_limit.set_data(self.t_actual, self.ax_lower_limit) self.line_solve_time.set_data(self.solve_num, self.solve_time) self.line_solve_time_pass.set_data(self.solve_num_pass, self.solve_time_pass) @@ -179,11 +191,11 @@ def draw_frame(self): self.sa_subplot.set_xlim(self.t_actual[-1]-self.t_band, self.t_actual[-1]) self.ux_subplot.set_xlim(self.t_actual[-1]-self.t_band, self.t_actual[-1]) self.ax_subplot.set_xlim(self.t_actual[-1]-self.t_band, self.t_actual[-1]) - + if (len(self.solve_num) > 0 and self.solve_num[-1] > self.solve_num_band): self.tSolve_subplot.set_xlim(self.solve_num[0], self.solve_num[-1]) - + plt.draw() plt.pause(0.001) #0.001 except: @@ -198,6 +210,10 @@ def stateCallback(msg): data_plotter.ux_actual = np.append(data_plotter.ux_actual, msg.ux) data_plotter.sa_actual_real = np.append(data_plotter.sa_actual_real, msg.sa) data_plotter.ax_actual_real = np.append(data_plotter.ax_actual_real, msg.ax) + data_plotter.sa_upper_limit = np.append(data_plotter.sa_upper_limit, rospy.get_param('/vehicle/nloptcontrol_planner/sa_max')) + data_plotter.sa_lower_limit = np.append(data_plotter.sa_lower_limit, rospy.get_param('/vehicle/nloptcontrol_planner/sa_min')) + data_plotter.ax_upper_limit = np.append(data_plotter.ax_upper_limit, rospy.get_param('/vehicle/nloptcontrol_planner/ax_max')) + data_plotter.ax_lower_limit = np.append(data_plotter.ax_lower_limit, rospy.get_param('/vehicle/nloptcontrol_planner/ax_min')) if(len(data_plotter.ax_actual_real) > num_avg): data_plotter.ax_cumsum = data_plotter.ax_cumsum + data_plotter.ax_actual_real[(len(data_plotter.ax_actual_real)-1)]-data_plotter.ax_actual_real[(len(data_plotter.ax_actual_real)-num_avg-1)] @@ -207,8 +223,8 @@ def stateCallback(msg): data_plotter.ax_cumsum = data_plotter.ax_cumsum + data_plotter.ax_actual_real[len(data_plotter.ax_actual_real)-1] temp = data_plotter.ax_cumsum/len(data_plotter.ax_actual_real) data_plotter.ax_actual = np.append(data_plotter.ax_actual, temp) - - + + if(len(data_plotter.sa_actual_real) > num_avg): data_plotter.sa_cumsum = data_plotter.sa_cumsum + data_plotter.sa_actual_real[(len(data_plotter.sa_actual_real)-1)]-data_plotter.sa_actual_real[(len(data_plotter.sa_actual_real)-num_avg-1)] temp = sum(data_plotter.sa_actual_real[(len(data_plotter.sa_actual_real)-num_avg-1):(len(data_plotter.sa_actual_real)-1)])/num_avg @@ -217,17 +233,18 @@ def stateCallback(msg): data_plotter.sa_cumsum = data_plotter.sa_cumsum + data_plotter.sa_actual_real[len(data_plotter.sa_actual_real)-1] temp = data_plotter.sa_cumsum/len(data_plotter.sa_actual_real) data_plotter.sa_actual = np.append(data_plotter.sa_actual, temp) - + + def trajectoryCallback(msg): global data_plotter # # truncate the current message and append it to the old trajectory data_plotter.t_traj_last = np.append(data_plotter.t_traj_last, data_plotter.t_traj[1:2]) - data_plotter.x_traj_last = np.append(data_plotter.x_traj_last, data_plotter.x_traj[1:2]) + data_plotter.x_traj_last = np.append(data_plotter.x_traj_last, data_plotter.x_traj[1:2]) data_plotter.y_traj_last = np.append(data_plotter.y_traj_last, data_plotter.y_traj[1:2]) data_plotter.sa_traj_last = np.append(data_plotter.sa_traj_last, data_plotter.sa_traj[1:2]) - data_plotter.ux_traj_last = np.append(data_plotter.ux_traj_last, data_plotter.ux_traj[1:2]) + data_plotter.ux_traj_last = np.append(data_plotter.ux_traj_last, data_plotter.ux_traj[1:2]) data_plotter.ax_traj_last = np.append(data_plotter.ax_traj_last, data_plotter.ax_traj[1:2]) data_plotter.t_traj = msg.t @@ -256,7 +273,7 @@ def optCallback(msg): # initialize node rospy.init_node("visualization_plotter") - + # create a data plotter instance data_plotter = DataPlotter() @@ -265,11 +282,10 @@ def optCallback(msg): rospy.Subscriber("nlopcontrol_planner/control", Trajectory, trajectoryCallback) rospy.Subscriber("nlopcontrol_planner/opt", Optimization, optCallback) - rate = rospy.Rate(30) # 50hz + rate = rospy.Rate(50) # 50hz plt.ion() plt.show() while not rospy.is_shutdown(): data_plotter.draw_frame() rate.sleep() - diff --git a/ros/src/computing/tools/visualization/playback.launch b/ros/src/computing/tools/visualization/playback.launch index 2c10a9e9..51b11905 100644 --- a/ros/src/computing/tools/visualization/playback.launch +++ b/ros/src/computing/tools/visualization/playback.launch @@ -1,5 +1,9 @@ + + + + diff --git a/ros/src/models/chrono/README.md b/ros/src/models/chrono/README.md index e7ad1243..0bb48100 100644 --- a/ros/src/models/chrono/README.md +++ b/ros/src/models/chrono/README.md @@ -8,7 +8,6 @@ the initial desired path. The vehicle's states are published in a ROS msg and al - traj_gen_chrono - ros_chrono - - ros_chrono_msgs ## How to Build ``` diff --git a/ros/src/models/chrono/chrono_position_broadcaster/CMakeLists.txt b/ros/src/models/chrono/chrono_position_broadcaster/CMakeLists.txt index a60d2b80..158bbbeb 100644 --- a/ros/src/models/chrono/chrono_position_broadcaster/CMakeLists.txt +++ b/ros/src/models/chrono/chrono_position_broadcaster/CMakeLists.txt @@ -105,7 +105,6 @@ find_package(catkin REQUIRED COMPONENTS ## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( # INCLUDE_DIRS include -# LIBRARIES ros_chrono_msgs CATKIN_DEPENDS roscpp rospy std_msgs # DEPENDS system_lib ) @@ -123,7 +122,6 @@ include_directories( ## Declare a C++ library # add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/ros_chrono_msgs.cpp # ) ## Add cmake target dependencies of the library @@ -134,7 +132,6 @@ include_directories( ## Declare a C++ executable ## With catkin_make all packages are built within a single CMake context ## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/ros_chrono_msgs_node.cpp) add_executable(chrono_position_broadcaster src/chrono_position_broadcaster.cpp) @@ -193,7 +190,6 @@ add_executable(chrono_position_broadcaster src/chrono_position_broadcaster.cpp) ############# ## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_ros_chrono_msgs.cpp) # if(TARGET ${PROJECT_NAME}-test) # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) # endif() diff --git a/ros/src/models/chrono/ros_chrono/CMakeLists.txt b/ros/src/models/chrono/ros_chrono/CMakeLists.txt index 06f0a222..b3719bc1 100644 --- a/ros/src/models/chrono/ros_chrono/CMakeLists.txt +++ b/ros/src/models/chrono/ros_chrono/CMakeLists.txt @@ -15,7 +15,6 @@ find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs - ros_chrono_msgs mavs_msgs nloptcontrol_planner ) @@ -121,14 +120,15 @@ find_package(controller REQUIRED) catkin_package( # INCLUDE_DIRS include LIBRARIES ros_chrono - CATKIN_DEPENDS roscpp rospy std_msgs message_runtime ros_chrono_msgs mavs_msgs - DEPENDS system_lib Chrono interpolation controller + CATKIN_DEPENDS roscpp rospy std_msgs message_runtime mavs_msgs + DEPENDS interpolation controller ) ########### ## Build ## ########### + ## Specify additional locations of header files ## Your package locations should be listed before other locations #SET(Irrlicht_INCLUDE_DIRS "/home/shreyas/Downloads/irrlicht-1.8.4/include") diff --git a/ros/src/models/chrono/ros_chrono/old/hmmwv_model.cpp b/ros/src/models/chrono/ros_chrono/old/hmmwv_model.cpp deleted file mode 100644 index f9d1cb4f..00000000 --- a/ros/src/models/chrono/ros_chrono/old/hmmwv_model.cpp +++ /dev/null @@ -1,1002 +0,0 @@ -// ============================================================================= -// PROJECT CHRONO - http://projectchrono.org -// -// Copyright (c) 2014 projectchrono.org -// All rights reserved. -// -// Use of this source code is governed by a BSD-style license that can be found -// in the LICENSE file at the top level of the distribution and at -// http://projectchrono.org/license-chrono.txt. -// -// ============================================================================= -// Authors: Radu Serban -// ============================================================================= -// -// Demonstration of a steering path-follower PID controller. -// -// ============================================================================= - -#include -#include -#include "boost/bind.hpp" -#include "chrono/core/ChFileutils.h" -#include "chrono/core/ChRealtimeStep.h" -#include "chrono/utils/ChFilters.h" -#include -#include -#include "ros/ros.h" -#include "std_msgs/String.h" -#include "ros_chrono_msgs/veh_status.h" -#include - -//#include "tf/tf.h" -#include -#include "chrono_vehicle/ChVehicleModelData.h" -#include "chrono_vehicle/terrain/RigidTerrain.h" -#include "chrono_vehicle/driver/ChIrrGuiDriver.h" -#include "chrono_vehicle/driver/ChPathFollowerDriver.h" -#include "chrono_vehicle/wheeled_vehicle/utils/ChWheeledVehicleIrrApp.h" -#include -#include "chrono_models/vehicle/hmmwv/HMMWV.h" -#include "chrono/physics/ChSystem.h" -#include "chrono_vehicle/wheeled_vehicle/tire/ChPacejkaTire.h" -//#include "chrono_models/vehicle/hmmwv/HMMWV_Pac02Tire.h" -#include "chrono_vehicle/wheeled_vehicle/tire/RigidTire.h" -#include "chrono_vehicle/wheeled_vehicle/tire/LugreTire.h" -#include "chrono_models/vehicle/hmmwv/HMMWV_ReissnerTire.h" -#include "chrono_vehicle/ChSubsysDefs.h" -#include "chrono_vehicle/wheeled_vehicle/vehicle/WheeledVehicle.h" -#include "chrono_vehicle/powertrain/ChShaftsPowertrain.h" -#include "chrono_vehicle/powertrain/SimplePowertrain.h" - -#include - -#include "chrono/core/ChFileutils.h" -#include "chrono/core/ChStream.h" -#include "chrono/utils/ChFilters.h" -#include "chrono/utils/ChUtilsInputOutput.h" -#include "chrono/solver/ChSolverMINRES.h" - -#include "chrono_vehicle/ChConfigVehicle.h" - -#define PI 3.1415926535 -//using veh_status.msg -using namespace chrono; -using namespace chrono::geometry; -using namespace chrono::vehicle; -using namespace chrono::vehicle::hmmwv; - - -// ============================================================================= -// Problem parameters -// Main Data Path -//std::string data_path("/home/shreyas/.julia/v0.6/MAVs/catkin_ws/data/vehicle/"); -std::string data_path("../../../src/models/chrono/ros_chrono/src/data/vehicle/"); -//std::string data_path("src/system/chrono/ros_chrono/src/data/vehicle/"); -// Contact method type -ChMaterialSurface::ContactMethod contact_method = ChMaterialSurface::NSC; - -// Type of tire model (RIGID, LUGRE, FIALA, or PACEJKA) -//TireModelType tire_model = TireModelType::RIGID; - -// Input file name for PACEJKA tires if they are selected -std::string pacejka_tire_file_left(data_path+"hmmwv/tire/HMMWV_pacejka_left.tir"); -std::string pacejka_tire_file_right(data_path+"hmmwv/tire/HMMWV_pacejka_right.tir"); -std::string lugre_tire_file(data_path+"hmmwv/tire/HMMWV_LugreTire.json"); -std::string rigid_tire_file(data_path+"hmmwv/tire/HMMWV_RigidTire.json"); -std::string reissner_tire_file(data_path+"hmmwv/tire/HMMWV_ReissnerTire.json"); - -//std::string pacejka_tire_file(data_path+"hmmwv/tire/HMMWV_RigidTire.json"); - -//std::string pacejka_tire_file("hmmwv/tire/HMMWV_pacejka.tir"); -// Type of powertrain model (SHAFTS or SIMPLE) -PowertrainModelType powertrain_model = PowertrainModelType::SHAFTS; - -// Drive type (FWD, RWD, or AWD) -DrivelineType drive_type = DrivelineType::RWD; - -// Visualization type for vehicle parts (PRIMITIVES, MESH, or NONE) -VisualizationType chassis_vis_type = VisualizationType::PRIMITIVES; -VisualizationType suspension_vis_type = VisualizationType::PRIMITIVES; -VisualizationType steering_vis_type = VisualizationType::PRIMITIVES; -VisualizationType wheel_vis_type = VisualizationType::NONE; -VisualizationType tire_vis_type = VisualizationType::PRIMITIVES; - -// Input file names for the path-follower driver model -std::string steering_controller_file(data_path+"generic/driver/SteeringController.json"); -//std::string steering_controller_file("generic/driver/SteeringController.json"); -std::string speed_controller_file(data_path+"generic/driver/SpeedController.json"); -//std::string speed_controller_file("generic/driver/SpeedController.json"); -// std::string path_file("paths/straight.txt"); -std::string path_file(data_path+"paths/my_path.txt"); -std::string simplepowertrain_file(data_path+"hmmwv/powertrain/HMMWV_ShaftsPowertrain.json"); -WheelState wheel_states[4]; - -// Rigid terrain dimensions -double terrainHeight = 0; -double terrainLength = 500.0; // size in X direction -double terrainWidth = 500.0; // size in Y direction - -// Point on chassis tracked by the chase camera -ChVector<> trackPoint(0.0, 0.0, 1.75); - -// Simulation step size -double step_size = 1e-2; -double tire_step_size = step_size; - -// Simulation end time -double t_end = 1000; - -// Render FPS -double fps = 60; - -// Debug logging -bool debug_output = false; -double debug_fps = 10; - -// Output directories -const std::string out_dir = GetChronoOutputPath() + "STEERING_CONTROLLER"; -const std::string pov_dir = out_dir + "/POVRAY"; - -// POV-Ray output -bool povray_output = false; - -// Vehicle state output (forced to true if povray output enabled) -bool state_output = false; -int filter_window_size = 20; - - -// ============================================================================= - - -// Custom Irrlicht event receiver for selecting current driver model. -class ChDriverSelector : public irr::IEventReceiver { - public: - ChDriverSelector(const ChVehicle& vehicle, ChPathFollowerDriver* driver_follower, ChIrrGuiDriver* driver_gui) - : m_vehicle(vehicle), - m_driver_follower(driver_follower), - m_driver_gui(driver_gui), - m_driver(m_driver_follower), - m_using_gui(false) {} - - ChDriver* GetDriver() { return m_driver; } - ChPathFollowerDriver* GetPathFollower() { return m_driver_follower; } - - bool UsingGUI() const { return m_using_gui; } - - void update_driver(ChPathFollowerDriver* driver_follower){ - m_driver_follower = driver_follower; - m_driver = m_driver_follower; - } - - virtual bool OnEvent(const irr::SEvent& event) { - return false; - } - - private: - bool m_using_gui; - const ChVehicle& m_vehicle; - ChPathFollowerDriver* m_driver_follower; - ChIrrGuiDriver* m_driver_gui; - ChDriver* m_driver; -}; - -struct parameters -{ - RigidTerrain terrain; - TireForces tire_forces; - WheeledVehicle my_hmmwv; - ChRealtimeStepTimer realtime_timer; - int sim_frame; - double steering_input; - double throttle_input; - double braking_input; - irr::scene::IMeshSceneNode* ballS; - irr::scene::IMeshSceneNode* ballT; - std::vector x_traj_curr; - std::vector y_traj_curr; - std::vector x_traj_prev; - std::vector y_traj_prev; - double target_speed; - int render_steps; - int render_frame; -} ; - -void waitForLoaded(ros::NodeHandle &n){ - bool planner_init = false; - std::string planner_namespace; - n.getParam("system/planner",planner_namespace); - n.getParam("system/"+planner_namespace+"/flags/initialized",planner_init); - while(!planner_init){ - usleep(500); // < my question - n.getParam("system/"+planner_namespace+"/flags/initialized",planner_init); - - } - usleep(500); //sleep another 500ms to ensure everything is loaded. - //continue on here -} - -void write_path(parameters &hmmwv_params, std::string path_file){ - double num_pts = hmmwv_params.x_traj_curr.size(); - double num_cols = 3; - double z_val = 0.5; - std::ofstream myfile; - myfile.open(path_file,std::ofstream::out | std::ofstream::trunc); - - myfile << ' ' << num_pts << ' '<< num_cols << '\n'; - - for (int pt_cnt=0; pt_cnt= 3*PI/2) yaw0 = -yaw0 + 5*PI/2; - // else yaw0 = -yaw0 + PI/2; - // yaw0 = -yaw0 + PI; - setSteeringParams(n); - setDrivelineParams(n); - setBrakingParams(n); - setChassisParams(n); - ChVector<> initLoc(x0, y0, z0); -// ChQuaternion<> initRot(q[0],q[1],q[2],q[3]); - - double t0 = std::cos(yaw0 * 0.5f); - double t1 = std::sin(yaw0 * 0.5f); - double t2 = std::cos(roll0 * 0.5f); - double t3 = std::sin(roll0 * 0.5f); - double t4 = std::cos(pitch0 * 0.5f); - double t5 = std::sin(pitch0 * 0.5f); - - double q0_0 = t0 * t2 * t4 + t1 * t3 * t5; - double q0_1 = t0 * t3 * t4 - t1 * t2 * t5; - double q0_2 = t0 * t2 * t5 + t1 * t3 * t4; - double q0_3 = t1 * t2 * t4 - t0 * t3 * t5; - - ChQuaternion<> initRot(q0_0,q0_1,q0_2,q0_3); - //ChQuaternion<> initRot(cos(PI/4), 0, 0, sin(PI/4)); //initial yaw of pi/2 - - ros::Publisher vehicleinfo_pub = n.advertise("vehicleinfo", 1); - - //ros::Rate loop_rate(5); - - // ------------------------------ - // Create the vehicle and terrain - // ------------------------------ - - // Create the HMMWV vehicle, set parameters, and initialize - // HMMWV_Reduced my_hmmwv; - std::cout << "Start reading the file" << std::endl; - WheeledVehicle my_hmmwv(data_path + "hmmwv/vehicle/HMMWV_Vehicle.json",contact_method); - my_hmmwv.Initialize(ChCoordsys<>(initLoc, initRot),0.0); - - std::cout << "Successfully read the file" << std::endl; - my_hmmwv.SetChassisVehicleCollide(false); - my_hmmwv.GetChassis()->SetVisualizationType(chassis_vis_type); -// my_hmmwv.GetChassis()->AddVisualizationAssets(chassis_vis_type); - - my_hmmwv.SetSuspensionVisualizationType(suspension_vis_type); - my_hmmwv.SetSteeringVisualizationType(steering_vis_type); - my_hmmwv.SetWheelVisualizationType(wheel_vis_type); - //my_hmmwv.SetTireVisualizationType(tire_vis_type); - RigidTire tire_front_left(rigid_tire_file); - RigidTire tire_front_right(rigid_tire_file); - RigidTire tire_rear_left(rigid_tire_file); - RigidTire tire_rear_right(rigid_tire_file); - - - TireForces tire_forces(4); - - tire_front_left.Initialize(my_hmmwv.GetWheelBody(0), LEFT); - tire_front_right.Initialize(my_hmmwv.GetWheelBody(1), LEFT); - tire_rear_left.Initialize(my_hmmwv.GetWheelBody(2), RIGHT); - tire_rear_right.Initialize(my_hmmwv.GetWheelBody(3), RIGHT); - - - tire_front_left.SetVisualizationType(tire_vis_type); - tire_front_right.SetVisualizationType(tire_vis_type); - tire_rear_left.SetVisualizationType(tire_vis_type); - tire_rear_right.SetVisualizationType(tire_vis_type); - /* wheel_states[0] = my_hmmwv.GetWheelState(0); - wheel_states[1] = my_hmmwv.GetWheelState(1); - wheel_states[2] = my_hmmwv.GetWheelState(2); - wheel_states[3] = my_hmmwv.GetWheelState(3); - - - tire_forces[0] = tire_front_left.GetTireForce(); - tire_forces[1] = tire_front_right.GetTireForce(); - tire_forces[2] = tire_rear_left.GetTireForce(); - tire_forces[3] = tire_rear_right.GetTireForce();*/ - - // Create the terrain - float frict_coeff, rest_coeff; - n.getParam("vehicle/common/frict_coeff",frict_coeff); - n.getParam("vehicle/common/rest_coeff",rest_coeff); - - RigidTerrain terrain(my_hmmwv.GetSystem()); - my_hmmwv.GetWheel(0)->SetContactFrictionCoefficient(frict_coeff); - my_hmmwv.GetWheel(0)->SetContactRestitutionCoefficient(rest_coeff); - - //terrain.SetContactFrictionCoefficient(0.9f); - //terrain.SetContactRestitutionCoefficient(0.01f); - terrain.SetContactMaterialProperties(2e7f, 0.3f); - terrain.SetColor(ChColor(1, 1, 1)); - //terrain.SetTexture(chrono::vehicle::GetDataFile("terrain/textures/tile4.jpg"), 200, 200); - terrain.SetTexture(data_path+"terrain/textures/tile4.jpg", 200, 200); - terrain.Initialize(terrainHeight, terrainLength, terrainWidth); - - //SimplePowertrain powertrain(vehicle::GetDataFile("hmmwv/powertrain/HMMWV_SimplePowertrain.json")); - HMMWV_Powertrain powertrain; - powertrain.Initialize(my_hmmwv.GetChassisBody(),my_hmmwv.GetDriveshaft()); - std::vector GearRatios; - n.getParam("vehicle/chrono/vehicle_params/gearRatios",GearRatios); - powertrain.SetGearRatios(GearRatios); - // --------------------------------------- - // Create the vehicle Irrlicht application - // --------------------------------------- - - ChVehicleIrrApp app(&my_hmmwv, &powertrain, L"Steering Controller Demo", - irr::core::dimension2d(800, 640)); - - app.SetHUDLocation(500, 20); - app.SetSkyBox(); - app.AddTypicalLogo(); - app.AddTypicalLights(irr::core::vector3df(-150.f, -150.f, 200.f), irr::core::vector3df(-150.f, 150.f, 200.f), 100, - 100); - app.AddTypicalLights(irr::core::vector3df(150.f, -150.f, 200.f), irr::core::vector3df(150.0f, 150.f, 200.f), 100, - 100); - app.EnableGrid(false); - app.SetChaseCamera(trackPoint, 6.0, 0.5); - - app.SetTimestep(step_size); - app.SetTryRealtime(true); - - // Visualization of controller points (sentinel & target) - irr::scene::IMeshSceneNode* ballS = app.GetSceneManager()->addSphereSceneNode(0.1f); - irr::scene::IMeshSceneNode* ballT = app.GetSceneManager()->addSphereSceneNode(0.1f); - ballS->getMaterial(0).EmissiveColor = irr::video::SColor(0, 255, 0, 0); - ballT->getMaterial(0).EmissiveColor = irr::video::SColor(0, 0, 255, 0); - - // ------------------------- - // Create the driver systems - // ------------------------- - - // Create both a GUI driver and a path-follower and allow switching between them - ChIrrGuiDriver driver_gui(app); - driver_gui.Initialize(); - - /* - ChPathFollowerDriver driver_follower(my_hmmwv.GetVehicle(), path, "my_path", target_speed); - driver_follower.GetSteeringController().SetLookAheadDistance(5); - driver_follower.GetSteeringController().SetGains(0.5, 0, 0); - driver_follower.GetSpeedController().SetGains(0.4, 0, 0); - */ - - // --------------- - // Simulation loop - // --------------- - - // Driver location in vehicle local frame - ChVector<> driver_pos = my_hmmwv.GetChassis()->GetLocalDriverCoordsys().pos; - // Number of simulation steps between miscellaneous events - double render_step_size = 1 / fps; - int render_steps = (int)std::ceil(render_step_size / step_size); - double debug_step_size = 1 / debug_fps; - int debug_steps = (int)std::ceil(debug_step_size / step_size); - - // Initialize simulation frame counter and simulation time - ChRealtimeStepTimer realtime_timer; - int sim_frame = 0; - int render_frame = 0; - - double throttle_input, steering_input, braking_input; - std::vector x_traj_curr, y_traj_curr,x_traj_prev,y_traj_prev; //Initialize xy trajectory vectors - parameters hmmwv_params{terrain,tire_forces,my_hmmwv,realtime_timer,sim_frame,steering_input,throttle_input,braking_input,ballS,ballT,x_traj_curr,y_traj_curr,x_traj_prev,y_traj_prev,target_speed,render_steps,render_frame}; - //Load xy parameters for the first timestep - // std::string planner_namespace; - // n.getParam("system/planner",planner_namespace); - n.getParam(planner_namespace +"/traj/x",hmmwv_params.x_traj_curr); - n.getParam(planner_namespace + "/traj/yVal",hmmwv_params.y_traj_curr); - hmmwv_params.x_traj_prev=hmmwv_params.x_traj_curr; - hmmwv_params.y_traj_prev=hmmwv_params.y_traj_curr; - - write_path(hmmwv_params, path_file); - // ---------------------- - // Create the Bezier path - // ---------------------- - - auto path = ChBezierCurve::read(path_file); - - ChPathFollowerDriver* driver_follower_p = new ChPathFollowerDriver(hmmwv_params.my_hmmwv, steering_controller_file, - speed_controller_file, path, "my_path", hmmwv_params.target_speed); - - driver_follower_p->Initialize(); - - - // Create and register a custom Irrlicht event receiver to allow selecting the - // current driver model. - ChDriverSelector selector(my_hmmwv, driver_follower_p, &driver_gui); - app.SetUserEventReceiver(&selector); - - // Finalize construction of visualization assets - app.AssetBindAll(); - app.AssetUpdateAll(); - - // ----------------- - // Initialize output - // ----------------- - - state_output = state_output || povray_output; - - if (state_output) { - if (ChFileutils::MakeDirectory(out_dir.c_str()) < 0) { - std::cout << "Error creating directory " << out_dir << std::endl; - return 1; - } - } - - if (povray_output) { - if (ChFileutils::MakeDirectory(pov_dir.c_str()) < 0) { - std::cout << "Error creating directory " << pov_dir << std::endl; - return 1; - } - driver_follower_p->ExportPathPovray(out_dir); - } -/* - utils::CSV_writer csv("\t"); - csv.stream().setf(std::ios::scientific | std::ios::showpos); - csv.stream().precision(6); -*/ - utils::ChRunningAverage fwd_acc_GC_filter(filter_window_size); - utils::ChRunningAverage lat_acc_GC_filter(filter_window_size); - - utils::ChRunningAverage fwd_acc_driver_filter(filter_window_size); - utils::ChRunningAverage lat_acc_driver_filter(filter_window_size); - - std::ofstream myfile1; - myfile1.open(data_path+"paths/position.txt",std::ofstream::out | std::ofstream::trunc); - //get mass and moment of inertia about z axis - n.setParam("vehicle/common/m",my_hmmwv.GetVehicleMass()); - const ChMatrix33<> inertia_mtx= my_hmmwv.GetChassisBody()->GetInertia(); - double Izz=inertia_mtx.GetElement(2,2); - n.setParam("vehicle/common/Izz",Izz); - // get distance to front and rear axles - // enum chrono::vehicle::VehicleSide LEFT; - // enum chrono::vehicle::VehicleSide RIGHT; - ChVector<> veh_com= my_hmmwv.GetVehicleCOMPos(); - ChVector<> la_pos=my_hmmwv.GetSuspension(0)->GetSpindlePos(chrono::vehicle::VehicleSide::RIGHT); - ChVector<> lb_pos=my_hmmwv.GetSuspension(0)->GetSpindlePos(chrono::vehicle::VehicleSide::LEFT); - double la_length, lb_length; - ChVector<> la_diff; - la_diff.Sub(veh_com,la_pos); - ChVector<> lb_diff; - lb_diff.Sub(veh_com,lb_pos); - la_length=la_diff.Length(); - lb_length=lb_diff.Length(); - n.setParam("vehicle/common/la",la_length); - n.setParam("vehicle/common/lb",lb_length); - - // get friction and restitution coefficients - // float frict_coeff, rest_coeff; - frict_coeff = my_hmmwv.GetWheel(0)->GetCoefficientFriction(); - rest_coeff = my_hmmwv.GetWheel(0)->GetCoefficientRestitution(); - n.setParam("vehicle/common/frict_coeff",frict_coeff); - n.setParam("vehicle/common/rest_coeff",rest_coeff); - - while(n.ok()){ - while (running) { - if(gui_switch) app.GetDevice()->run(); - n.setParam("system/chrono/flags/running",true); - double time = hmmwv_params.my_hmmwv.GetSystem()->GetChTime(); - // Get trajectory parameters again - n.getParam("system/"+planner_namespace+"/flags/initialized",planner_init); - if (planner_init){ - n.getParam("system/planner",planner_namespace); - n.getParam(planner_namespace+"/traj/x",hmmwv_params.x_traj_curr); - n.getParam(planner_namespace+"/traj/yVal",hmmwv_params.y_traj_curr); - - double num_pts = hmmwv_params.x_traj_curr.size(); - - if (hmmwv_params.x_traj_curr!=hmmwv_params.x_traj_prev || hmmwv_params.y_traj_curr != hmmwv_params.y_traj_prev){ - write_path(hmmwv_params, path_file); - auto path = ChBezierCurve::read(path_file); - delete driver_follower_p; - driver_follower_p = new ChPathFollowerDriver(my_hmmwv, steering_controller_file, - speed_controller_file, path, "my_path_", target_speed); - driver_follower_p->Initialize(); - selector.update_driver(driver_follower_p); - if(gui_switch) app.SetUserEventReceiver(&selector); - app.AssetBindAll(); - app.AssetUpdateAll(); - app.GetDevice()->run(); - - hmmwv_params.x_traj_prev=hmmwv_params.x_traj_curr; - hmmwv_params.y_traj_prev=hmmwv_params.y_traj_curr; - } - } - - /* - // Hack for acceleration-braking maneuver - static bool braking = false; - if (my_hmmwv.GetVehicle().GetVehicleSpeed() > target_speed) - braking = true; - if (braking) { - throttle_input = 0; - braking_input = 1; - } else { - throttle_input = 1; - braking_input = 0; - } - */ - - // ros::Subscriber sub = n.subscribe("desired_ref", 1, ¶meters::controlCallback, &hmmwv_params); - - // Render scene and output POV-Ray data - if (hmmwv_params.sim_frame % hmmwv_params.render_steps == 0 && gui_switch) { - - app.BeginScene(true, true, irr::video::SColor(255, 140, 161, 192)); - app.DrawAll(); - app.EndScene(); - - - hmmwv_params.render_frame++; - } - /* - // Debug logging - if (debug_output && sim_frame % debug_steps == 0) { - GetLog() << "driver acceleration: " << acc_driver.x() << " " << acc_driver.y() << " " << acc_driver.z() - << "\n"; - GetLog() << "CG acceleration: " << acc_CG.x() << " " << acc_CG.y() << " " << acc_CG.z() << "\n"; - GetLog() << "\n"; - }*/ - - ros_chrono_msgs::veh_status data_out; - /* - ChVector<> acc_CG = my_hmmwv.GetVehicle().GetChassisBody()->GetPos_dtdt(); - ChVector<> acc_driver = my_hmmwv.GetVehicle().GetVehicleAcceleration(driver_pos); - double fwd_acc_CG = fwd_acc_GC_filter.Add(acc_CG.x()); - double lat_acc_CG = lat_acc_GC_filter.Add(acc_CG.y()); - double fwd_acc_driver = fwd_acc_driver_filter.Add(acc_driver.x()); - double lat_acc_driver = lat_acc_driver_filter.Add(acc_driver.y());*/ - - // End simulation - if (time >= t_end) - break; - - const ChVector<> pS = selector.GetPathFollower()->GetSteeringController().GetSentinelLocation(); - const ChVector<> pT = selector.GetPathFollower()->GetSteeringController().GetTargetLocation(); - hmmwv_params.ballS->setPosition(irr::core::vector3df((irr::f32)pS.x(), (irr::f32)pS.y(), (irr::f32)pS.z())); - hmmwv_params.ballT->setPosition(irr::core::vector3df((irr::f32)pT.x(), (irr::f32)pT.y(), (irr::f32)pT.z())); - - time = hmmwv_params.my_hmmwv.GetSystem()->GetChTime(); - hmmwv_params.throttle_input = selector.GetDriver()->GetThrottle(); - hmmwv_params.steering_input = selector.GetDriver()->GetSteering(); - hmmwv_params.braking_input = selector.GetDriver()->GetBraking(); - // Update modules (process inputs from other modules) - hmmwv_params.tire_forces[0] = tire_front_left.GetTireForce(); - hmmwv_params.tire_forces[1] = tire_front_right.GetTireForce(); - hmmwv_params.tire_forces[2] = tire_rear_left.GetTireForce(); - hmmwv_params.tire_forces[3] = tire_rear_right.GetTireForce(); - - wheel_states[0] = hmmwv_params.my_hmmwv.GetWheelState(0); - wheel_states[1] = hmmwv_params.my_hmmwv.GetWheelState(1); - wheel_states[2] = hmmwv_params.my_hmmwv.GetWheelState(2); - wheel_states[3] = hmmwv_params.my_hmmwv.GetWheelState(3); - - double x, y, goal_tol; - n.getParam("state/chrono/x",x); - n.getParam("state/chrono/yVal",y); - n.getParam("system/params/goal_tol",goal_tol); - double distance = sqrt( (goal_x-x)*(goal_x-x) + (goal_y-y)*(goal_y-y) ); - if(distance < goal_tol){ - goal_attained = true; - n.setParam("system/flags/goal_attained","true"); - // n.setParam("system/chrono/flags/running","false"); - running = false; - hmmwv_params.braking_input = 1.0; - hmmwv_params.throttle_input = 0.0; - std::cout << "Goal attained!" << std::endl; - } - selector.GetPathFollower()->Synchronize(time); - driver_gui.Synchronize(time); - hmmwv_params.terrain.Synchronize(time); - // hmmwv_params.my_hmmwv.Synchronize(time, hmmwv_params.steering_input, hmmwv_params.braking_input, hmmwv_params.throttle_input, hmmwv_params.terrain); - tire_front_left.Synchronize(time, wheel_states[0], hmmwv_params.terrain); - tire_front_right.Synchronize(time, wheel_states[1], hmmwv_params.terrain); - tire_rear_left.Synchronize(time, wheel_states[2], hmmwv_params.terrain); - tire_rear_right.Synchronize(time, wheel_states[3], hmmwv_params.terrain); - - double powertrain_torque=powertrain.GetOutputTorque(); - double driveshaft_speed=my_hmmwv.GetDriveshaftSpeed(); - powertrain.Synchronize(time,hmmwv_params.throttle_input,driveshaft_speed); - - hmmwv_params.my_hmmwv.Synchronize(time, hmmwv_params.steering_input, hmmwv_params.braking_input, powertrain_torque, hmmwv_params.tire_forces); - - std::string msg = selector.UsingGUI() ? "GUI driver" : "Follower driver"; - if(gui_switch) app.Synchronize(msg, hmmwv_params.steering_input, hmmwv_params.throttle_input, hmmwv_params.braking_input); - // Advance simulation for one timestep for all modules - double step = hmmwv_params.realtime_timer.SuggestSimulationStep(step_size); - selector.GetPathFollower()->Advance(step); - driver_gui.Advance(step); - powertrain.Advance(step); - hmmwv_params.my_hmmwv.Advance(step); - hmmwv_params.terrain.Advance(step); - tire_front_right.Advance(tire_step_size); - tire_front_left.Advance(tire_step_size); - tire_rear_right.Advance(tire_step_size); - tire_rear_left.Advance(tire_step_size); - if(gui_switch) app.Advance(step); - - // Increment simulation frame number - hmmwv_params.sim_frame++; - - ChVector<> global_pos = hmmwv_params.my_hmmwv.GetVehicleCOMPos();//global location of chassis reference frame origin - ChQuaternion<> global_orntn = hmmwv_params.my_hmmwv.GetVehicleRot();//global orientation as quaternion - ChVector<> rot_dt = hmmwv_params.my_hmmwv.GetChassisBody()->GetWvel_loc();//global orientation as quaternion - ChVector<> global_velCOM = hmmwv_params.my_hmmwv.GetChassisBody()->GetPos_dt(); - ChVector<> global_accCOM = hmmwv_params.my_hmmwv.GetChassisBody()->GetPos_dtdt(); - //ChVector<> euler_ang = global_orntn.Q_to_Rotv(); //convert to euler angles - //ChPacejkaTire<> slip_angle = GetSlipAngle() - double slip_angle = tire_front_left.GetLongitudinalSlip(); - - double q0 = global_orntn[0]; - double q1 = global_orntn[1]; - double q2 = global_orntn[2]; - double q3 = global_orntn[3]; - - double yaw_val=atan2(2*(q0*q3+q1*q2),1-2*(q2*q2+q3*q3)); - double theta_val=asin(2*(q0*q2-q3*q1)); - double phi_val= atan2(2*(q0*q1+q2*q3),1-2*(q1*q1+q2*q2)); - - n.setParam("state/chrono/t",time); //time in chrono simulation - n.setParam("state/chrono/x", global_pos[0]) ; - n.setParam("state/chrono/yVal",global_pos[1]); - n.setParam("state/chrono/ux",fabs(global_velCOM[0])); //speed measured at the origin of the chassis reference frame. - n.setParam("state/chrono/v", global_velCOM[1]); - n.setParam("state/chrono/ax", global_accCOM[0]); - n.setParam("state/chrono/psi",yaw_val); //in radians - n.setParam("state/chrono/theta",theta_val); //in radians - n.setParam("state/chrono/phi",phi_val); //in radians - n.setParam("state/chrono/r",-rot_dt[2]);//yaw rate - n.setParam("state/chrono/sa",slip_angle); //slip angle - n.setParam("state/chrono/control/thr",hmmwv_params.throttle_input); //throttle input in the range [0,+1] - n.setParam("state/chrono/control/brk",hmmwv_params.braking_input); //braking input in the range [0,+1] - n.setParam("state/chrono/control/str",hmmwv_params.steering_input); //steeering input in the range [-1,+1] - - - data_out.t_chrono=time; //time in chrono simulation - data_out.x_pos= global_pos[0]; - data_out.y_pos=global_pos[1]; - data_out.x_v= fabs(global_velCOM[0]); //speed measured at the origin of the chassis reference frame. - data_out.y_v= global_velCOM[1]; - data_out.x_a= global_accCOM[0]; - data_out.yaw_curr=yaw_val; //in radians - data_out.yaw_rate=-rot_dt[2];//yaw rate - data_out.sa=slip_angle; //slip angle - data_out.thrt_in=hmmwv_params.throttle_input; //throttle input in the range [0,+1] - data_out.brk_in=hmmwv_params.braking_input; //braking input in the range [0,+1] - data_out.str_in=hmmwv_params.steering_input; //steeering input in the range [-1,+1] - - vehicleinfo_pub.publish(data_out); - // loop_rate.sleep(); - - myfile1 << ' ' << global_pos[0] << ' '<< global_pos[1] <<' ' << global_pos[2] << '\n'; - - } -/* - if (state_output){ - csv.write_to_file(out_dir + "/state.out"); - }*/ - myfile1.close(); - //ros::shutdown(); - } - return 0; -} diff --git a/ros/src/models/chrono/ros_chrono/old/hmmwv_model_callback.cpp b/ros/src/models/chrono/ros_chrono/old/hmmwv_model_callback.cpp deleted file mode 100644 index 1899bcce..00000000 --- a/ros/src/models/chrono/ros_chrono/old/hmmwv_model_callback.cpp +++ /dev/null @@ -1,730 +0,0 @@ -// ============================================================================= -// PROJECT CHRONO - http://projectchrono.org -// -// Copyright (c) 2014 projectchrono.org -// All rights reserved. -// -// Use of this source code is governed by a BSD-style license that can be found -// in the LICENSE file at the top level of the distribution and at -// http://projectchrono.org/license-chrono.txt. -// -// ============================================================================= -// Authors: Radu Serban -// ============================================================================= -// -// Demonstration of a steering path-follower PID controller. -// -// The vehicle reference frame has Z up, X towards the front of the vehicle, and -// Y pointing to the left. -// TO DO: -// Find proper yaw rate calculation -// Subsscribe to msg from obstacle_avoidance_chrono, callback to that to calculate ChBezierCurve -// ============================================================================= - -#include -#include -#include "boost/bind.hpp" -#include "chrono/core/ChFileutils.h" -#include "chrono/core/ChRealtimeStep.h" -#include "chrono/utils/ChFilters.h" -#include -#include -#include "ros/ros.h" -#include "std_msgs/String.h" -#include "ros_chrono_msgs/veh_status.h" -#include "traj_gen_chrono/Trajectory.h" -#include -#include "chrono_vehicle/ChVehicleModelData.h" -#include "chrono_vehicle/terrain/RigidTerrain.h" -#include "chrono_vehicle/driver/ChIrrGuiDriver.h" -#include "chrono_vehicle/driver/ChPathFollowerDriver.h" -#include "chrono_vehicle/wheeled_vehicle/utils/ChWheeledVehicleIrrApp.h" -#include -#include "chrono_models/vehicle/hmmwv/HMMWV.h" - -#define PI 3.1415926535 -//using veh_status.msg -using namespace chrono; -using namespace chrono::geometry; -using namespace chrono::vehicle; -using namespace chrono::vehicle::hmmwv; - - -// ============================================================================= -// Problem parameters -// Main Data Path -//std::string data_path("/home/shreyas/.julia/v0.6/MAVs/catkin_ws/data/vehicle/"); -std::string data_path("../../../src/system/chrono/ros_chrono/src/data/vehicle/"); -//std::string data_path("src/system/chrono/ros_chrono/src/data/vehicle/"); -// Contact method type -ChMaterialSurface::ContactMethod contact_method = ChMaterialSurface::SMC; - -// Type of tire model (RIGID, LUGRE, FIALA, or PACEJKA) -TireModelType tire_model = TireModelType::RIGID; - -// Input file name for PACEJKA tires if they are selected -std::string pacejka_tire_file(data_path+"hmmwv/tire/HMMWV_pacejka.tir"); -//std::string pacejka_tire_file("hmmwv/tire/HMMWV_pacejka.tir"); -// Type of powertrain model (SHAFTS or SIMPLE) -PowertrainModelType powertrain_model = PowertrainModelType::SIMPLE; - -// Drive type (FWD, RWD, or AWD) -DrivelineType drive_type = DrivelineType::RWD; - -// Visualization type for vehicle parts (PRIMITIVES, MESH, or NONE) -VisualizationType chassis_vis_type = VisualizationType::PRIMITIVES; -VisualizationType suspension_vis_type = VisualizationType::PRIMITIVES; -VisualizationType steering_vis_type = VisualizationType::PRIMITIVES; -VisualizationType wheel_vis_type = VisualizationType::NONE; -VisualizationType tire_vis_type = VisualizationType::PRIMITIVES; -//double callback_act=0; - -// Input file names for the path-follower driver model -std::string steering_controller_file(data_path+"generic/driver/SteeringController.json"); -//std::string steering_controller_file("generic/driver/SteeringController.json"); -std::string speed_controller_file(data_path+"generic/driver/SpeedController.json"); -//std::string speed_controller_file("generic/driver/SpeedController.json"); -// std::string path_file("paths/straight.txt"); -std::string path_file(data_path+"paths/my_path.txt"); - -// std::string path_file("paths/curve.txt"); -// std::string path_file("paths/NATO_double_lane_change.txt"); -//std::string path_file(data_path+"paths/ISO_double_lane_change.txt"); -//std::string path_file("paths/ISO_double_lane_change.txt"); - - - -// Rigid terrain dimensions -double terrainHeight = 0; -double terrainLength = 1000.0; // size in X direction -double terrainWidth = 1000.0; // size in Y direction - -// Point on chassis tracked by the chase camera -ChVector<> trackPoint(0.0, 0.0, 1.75); - -// Simulation step size -double step_size = 1e-2; -double tire_step_size = step_size; - -// Simulation end time -double t_end = 100; - -// Render FPS -double fps = 60; - -// Debug logging -bool debug_output = false; -double debug_fps = 10; - -// Output directories -const std::string out_dir = GetChronoOutputPath() + "STEERING_CONTROLLER"; -const std::string pov_dir = out_dir + "/POVRAY"; - -// POV-Ray output -bool povray_output = false; - -// Vehicle state output (forced to true if povray output enabled) -bool state_output = false; -int filter_window_size = 20; - - -// ============================================================================= - -// Custom Irrlicht event receiver for selecting current driver model. -class ChDriverSelector : public irr::IEventReceiver { - public: - ChDriverSelector(const ChVehicle& vehicle, ChPathFollowerDriver* driver_follower, ChIrrGuiDriver* driver_gui) - : m_vehicle(vehicle), - m_driver_follower(driver_follower), - m_driver_gui(driver_gui), - m_driver(m_driver_follower), - m_using_gui(false) {} - - ChDriver* GetDriver() { return m_driver; } - bool UsingGUI() const { return m_using_gui; } - - virtual bool OnEvent(const irr::SEvent& event) { - // Only interpret keyboard inputs. - if (event.EventType != irr::EET_KEY_INPUT_EVENT) - return false; - - // Disregard key pressed - if (event.KeyInput.PressedDown) - return false; - - switch (event.KeyInput.Key) { - case irr::KEY_COMMA: - if (m_using_gui) { - m_driver = m_driver_follower; - m_using_gui = false; - } - return true; - case irr::KEY_PERIOD: - if (!m_using_gui) { - m_driver_gui->SetThrottle(m_driver_follower->GetThrottle()); - m_driver_gui->SetSteering(m_driver_follower->GetSteering()); - m_driver_gui->SetBraking(m_driver_follower->GetBraking()); - m_driver = m_driver_gui; - m_using_gui = true; - } - return true; - case irr::KEY_HOME: - if (!m_using_gui && !m_driver_follower->GetSteeringController().IsDataCollectionEnabled()) { - std::cout << "Data collection started at t = " << m_vehicle.GetChTime() << std::endl; - m_driver_follower->GetSteeringController().StartDataCollection(); - } - return true; - case irr::KEY_END: - if (!m_using_gui && m_driver_follower->GetSteeringController().IsDataCollectionEnabled()) { - std::cout << "Data collection stopped at t = " << m_vehicle.GetChTime() << std::endl; - m_driver_follower->GetSteeringController().StopDataCollection(); - } - return true; - case irr::KEY_INSERT: - if (!m_using_gui && m_driver_follower->GetSteeringController().IsDataAvailable()) { - char filename[100]; - sprintf(filename, "controller_%.2f.out", m_vehicle.GetChTime()); - std::cout << "Data written to file " << filename << std::endl; - m_driver_follower->GetSteeringController().WriteOutputFile(std::string(filename)); - } - return true; - default: - break; - } - - return false; - } - - private: - bool m_using_gui; - const ChVehicle& m_vehicle; - ChPathFollowerDriver* m_driver_follower; - ChIrrGuiDriver* m_driver_gui; - ChDriver* m_driver; -}; - -struct parameters -{ - RigidTerrain terrain; - HMMWV_Reduced my_hmmwv; - ChRealtimeStepTimer realtime_timer; - int sim_frame; - double callback_act; - double steering_input; - double throttle_input; - double braking_input; - irr::scene::IMeshSceneNode* ballS; - irr::scene::IMeshSceneNode* ballT; -} ; -//----------------------callback - -void controlCallback(const traj_gen_chrono::Trajectory::ConstPtr &msg, parameters &hmmwv_params,ChVehicleIrrApp &app,ChIrrGuiDriver &driver_gui, -double &target_speed,double &time,ros_chrono_msgs::veh_status &data_out, ros::Publisher &vehicleinfo_pub){ - - app.SetPaused(1); - - std::vector x_vec=msg->x; - std::vector y_vec=msg->y; -// ROS_INFO("I heard: [%f]", x_vec[0]); - //ROS_INFO_STREAM(msg); - double num_pts = x_vec.size(); - double num_cols = 3; - double z_val = 0.5; - std::ofstream myfile; - myfile.open(path_file,std::ofstream::out | std::ofstream::trunc); - - myfile << ' ' << num_pts << ' '<< num_cols << '\n'; - for (int pt_cnt=0; pt_cntrun()) { - - if (sim_frame == 0) { - - app.BeginScene(true, true, irr::video::SColor(255, 140, 161, 192)); - app.DrawAll(); - app.EndScene(); - /* - if (povray_output) { - char filename[100]; - sprintf(filename, "%s/data_%03d.dat", pov_dir.c_str(), render_frame + 1); - utils::WriteShapesPovray(my_hmmwv.GetSystem(), filename); - } - - if (state_output) { - csv << time << steering_input << throttle_input << braking_input; - csv << my_hmmwv.GetVehicle().GetVehicleSpeed(); - csv << acc_CG.x() << fwd_acc_CG << acc_CG.y() << lat_acc_CG; - csv << acc_driver.x() << fwd_acc_driver << acc_driver.y() << lat_acc_driver; - csv << std::endl; - }*/ - - render_frame++; - } - const ChVector<> pS = driver_follower.GetSteeringController().GetSentinelLocation(); - const ChVector<> pT = driver_follower.GetSteeringController().GetTargetLocation(); - hmmwv_params.ballS->setPosition(irr::core::vector3df((irr::f32)pS.x(), (irr::f32)pS.y(), (irr::f32)pS.z())); - hmmwv_params.ballT->setPosition(irr::core::vector3df((irr::f32)pT.x(), (irr::f32)pT.y(), (irr::f32)pT.z())); - - time = hmmwv_params.my_hmmwv.GetSystem()->GetChTime(); - // End simulation - if (time >= t_end) - break; - hmmwv_params.throttle_input = selector.GetDriver()->GetThrottle(); - hmmwv_params.steering_input = selector.GetDriver()->GetSteering(); - hmmwv_params.braking_input = selector.GetDriver()->GetBraking(); - driver_follower.Synchronize(time); - driver_gui.Synchronize(time); - hmmwv_params.terrain.Synchronize(time); - hmmwv_params.my_hmmwv.Synchronize(time, hmmwv_params.steering_input, hmmwv_params.braking_input, hmmwv_params.throttle_input, hmmwv_params.terrain); - std::string msg1 = selector.UsingGUI() ? "GUI driver" : "Follower driver"; - app.Synchronize(msg1, hmmwv_params.steering_input, hmmwv_params.throttle_input, hmmwv_params.braking_input); - - // Advance simulation for one timestep for all modules - double step = hmmwv_params.realtime_timer.SuggestSimulationStep(step_size); - driver_follower.Advance(step); - driver_gui.Advance(step); - hmmwv_params.terrain.Advance(step); - hmmwv_params.my_hmmwv.Advance(step); - app.Advance(step); - - // Increment simulation frame number - hmmwv_params.sim_frame++; - hmmwv_params.callback_act=1; - - ChVector<> global_pos = hmmwv_params.my_hmmwv.GetVehicle().GetVehicleCOMPos();//global location of chassis reference frame origin - ChQuaternion<> global_orntn = hmmwv_params.my_hmmwv.GetVehicle().GetVehicleRot();//global orientation as quaternion - ChVector<> rot_dt = hmmwv_params.my_hmmwv.GetVehicle().GetChassisBody()->GetWvel_loc();//global orientation as quaternion - ChVector<> global_velCOM = hmmwv_params.my_hmmwv.GetVehicle().GetChassisBody()->GetPos_dt(); - ChVector<> global_accCOM = hmmwv_params.my_hmmwv.GetVehicle().GetChassisBody()->GetPos_dtdt(); - //ChVector<> euler_ang = global_orntn.Q_to_Rotv(); //convert to euler angles - double q0 = global_orntn[0]; - double q1 = global_orntn[1]; - double q2 = global_orntn[2]; - double q3 = global_orntn[3]; - double yaw_val=atan2(2*(q0*q3+q1*q2),1-2*(q2*q2+q3*q3)); - - if (yaw_val<0){ - yaw_val=-yaw_val+PI/2; - } - else if (yaw_val>=0 && yaw_val<=PI/2){ - yaw_val=PI/2-yaw_val; - } - else if (yaw_val>PI/2 && yaw_val<=PI){ - yaw_val=5*PI/2-yaw_val; - } - //ChPacejkaTire<> slip_angle = GetSlipAngle() - double slip_angle = hmmwv_params.my_hmmwv.GetTire(0)->GetLongitudinalSlip(); - - - data_out.t_chrono=time; //time in chrono simulation - data_out.x_pos= global_pos[0] ; - data_out.y_pos=global_pos[1]; - data_out.x_v= fabs(global_velCOM[0]); //speed measured at the origin of the chassis reference frame. - data_out.y_v= global_velCOM[1]; - data_out.x_a= global_accCOM[0]; - data_out.yaw_curr=yaw_val; //in radians - data_out.yaw_rate=-rot_dt[2];//(yaw_val-yaw_prev_val)/(time-t_prev_val); //in radians - data_out.sa=slip_angle; - data_out.thrt_in=hmmwv_params.throttle_input; //throttle input in the range [0,+1] - data_out.brk_in=hmmwv_params.braking_input; //braking input in the range [0,+1] - data_out.str_in=hmmwv_params.steering_input; //steeering input in the range [-1,+1] - - vehicleinfo_pub.publish(data_out); - ros::spinOnce(); - } -} - -// ============================================================================= -int main(int argc, char* argv[]) { - - -char cwd[1024]; - if (getcwd(cwd, sizeof(cwd)) != NULL) - fprintf(stdout, "Current working dir: %s\n", cwd); - else - perror("getcwd() error"); - GetLog() << "Copyright (c) 2017 projectchrono.org\nChrono version: " << CHRONO_VERSION << "\n\n"; - - SetChronoDataPath(CHRONO_DATA_DIR); - vehicle::SetDataPath("opt/chrono/chrono/data/vehicle"); - // std::cout << GetChronoDataPath() << "\n"; check path of chrono data folder - // Initialize ROS Chrono node and set node handle to n - - ros::init(argc, argv, "Chronode"); - ros::NodeHandle n; - // Desired vehicle speed (m/s) - double target_speed; - n.getParam("v_des",target_speed); - - //Initial Position - double x0, y0, z0, psi; - bool gui_switch; - n.getParam("x",x0); - n.getParam("y",y0); - n.getParam("z",z0); - n.getParam("x",x0); - n.getParam("x",x0); - n.getParam("gui_status",gui_switch); - - // Initial vehicle location and orientation - ChVector<> initLoc(x0, y0, z0); - ChQuaternion<> initRot(cos(PI/4), 0, 0, sin(PI/4)); //initial yaw of pi/2 - - ros::Publisher vehicleinfo_pub = n.advertise("vehicleinfo", 1); - //ros::Rate loop_rate(5); - - // ------------------------------ - // Create the vehicle and terrain - // ------------------------------ - - // Create the HMMWV vehicle, set parameters, and initialize - HMMWV_Reduced my_hmmwv; - my_hmmwv.SetContactMethod(contact_method); - my_hmmwv.SetChassisFixed(false); - my_hmmwv.SetInitPosition(ChCoordsys<>(initLoc, initRot)); - my_hmmwv.SetPowertrainType(powertrain_model); - my_hmmwv.SetDriveType(drive_type); - my_hmmwv.SetTireType(tire_model); - my_hmmwv.SetTireStepSize(tire_step_size); - my_hmmwv.SetPacejkaParamfile(pacejka_tire_file); - my_hmmwv.Initialize(); - - my_hmmwv.SetChassisVisualizationType(chassis_vis_type); - my_hmmwv.SetSuspensionVisualizationType(suspension_vis_type); - my_hmmwv.SetSteeringVisualizationType(steering_vis_type); - my_hmmwv.SetWheelVisualizationType(wheel_vis_type); - my_hmmwv.SetTireVisualizationType(tire_vis_type); - - // Create the terrain - RigidTerrain terrain(my_hmmwv.GetSystem()); - terrain.SetContactFrictionCoefficient(0.9f); - terrain.SetContactRestitutionCoefficient(0.01f); - terrain.SetContactMaterialProperties(2e7f, 0.3f); - terrain.SetColor(ChColor(1, 1, 1)); - //terrain.SetTexture(chrono::vehicle::GetDataFile("terrain/textures/tile4.jpg"), 200, 200); - terrain.SetTexture(data_path+"terrain/textures/tile4.jpg", 200, 200); - terrain.Initialize(terrainHeight, terrainLength, terrainWidth); - - // ---------------------- - // Create the Bezier path - // ---------------------- - - auto path = ChBezierCurve::read(path_file); - - - // --------------------------------------- - // Create the vehicle Irrlicht application - // --------------------------------------- - - ChVehicleIrrApp app(&my_hmmwv.GetVehicle(), &my_hmmwv.GetPowertrain(), L"Steering Controller Demo", - irr::core::dimension2d(800, 640)); - - app.SetHUDLocation(500, 20); - app.SetSkyBox(); - app.AddTypicalLogo(); - app.AddTypicalLights(irr::core::vector3df(-150.f, -150.f, 200.f), irr::core::vector3df(-150.f, 150.f, 200.f), 100, - 100); - app.AddTypicalLights(irr::core::vector3df(150.f, -150.f, 200.f), irr::core::vector3df(150.0f, 150.f, 200.f), 100, - 100); - app.EnableGrid(false); - app.SetChaseCamera(trackPoint, 6.0, 0.5); - - app.SetTimestep(step_size); - - // Visualization of controller points (sentinel & target) - irr::scene::IMeshSceneNode* ballS = app.GetSceneManager()->addSphereSceneNode(0.1f); - irr::scene::IMeshSceneNode* ballT = app.GetSceneManager()->addSphereSceneNode(0.1f); - ballS->getMaterial(0).EmissiveColor = irr::video::SColor(0, 255, 0, 0); - ballT->getMaterial(0).EmissiveColor = irr::video::SColor(0, 0, 255, 0); - - // ------------------------- - // Create the driver systems - // ------------------------- - - // Create both a GUI driver and a path-follower and allow switching between them - ChIrrGuiDriver driver_gui(app); - driver_gui.Initialize(); - - /*Trajectory - ChPathFollowerDriver driver_follower(my_hmmwv.GetVehicle(), path, "my_path", target_speed); - driver_follower.GetSteeringController().SetLookAheadDistance(5); - driver_follower.GetSteeringController().SetGains(0.5, 0, 0); - driver_follower.GetSpeedController().SetGains(0.4, 0, 0); - */ - ChPathFollowerDriver driver_follower(my_hmmwv.GetVehicle(), steering_controller_file, - speed_controller_file, path, "my_path", target_speed); - driver_follower.Initialize(); - - // Create and register a custom Irrlicht event receiver to allow selecting the - // current driver model. - ChDriverSelector selector(my_hmmwv.GetVehicle(), &driver_follower, &driver_gui); - app.SetUserEventReceiver(&selector); - - // Finalize construction of visualization assets - app.AssetBindAll(); - app.AssetUpdateAll(); - - // ----------------- - // Initialize output - // ----------------- - - state_output = state_output || povray_output; - - if (state_output) { - if (ChFileutils::MakeDirectory(out_dir.c_str()) < 0) { - std::cout << "Error creating directory " << out_dir << std::endl; - return 1; - } - } - - if (povray_output) { - if (ChFileutils::MakeDirectory(pov_dir.c_str()) < 0) { - std::cout << "Error creating directory " << pov_dir << std::endl; - return 1; - } - driver_follower.ExportPathPovray(out_dir); - } - - utils::CSV_writer csv("\t"); - csv.stream().setf(std::ios::scientific | std::ios::showpos); - csv.stream().precision(6); - - utils::ChRunningAverage fwd_acc_GC_filter(filter_window_size); - utils::ChRunningAverage lat_acc_GC_filter(filter_window_size); - - utils::ChRunningAverage fwd_acc_driver_filter(filter_window_size); - utils::ChRunningAverage lat_acc_driver_filter(filter_window_size); - - // --------------- - // Simulation loop - // --------------- - - // Driver location in vehicle local frame - ChVector<> driver_pos = my_hmmwv.GetChassis()->GetLocalDriverCoordsys().pos; - // Number of simulation steps between miscellaneous events - double render_step_size = 1 / fps; - int render_steps = (int)std::ceil(render_step_size / step_size); - double debug_step_size = 1 / debug_fps; - int debug_steps = (int)std::ceil(debug_step_size / step_size); - - // Initialize simulation frame counter and simulation time - ChRealtimeStepTimer realtime_timer; - int sim_frame = 0; - int render_frame = 0; - - double callback_act; - double throttle_input, steering_input, braking_input; - parameters hmmwv_params{terrain,my_hmmwv,realtime_timer,sim_frame,callback_act,steering_input,throttle_input,braking_input,ballS,ballT}; - - std::ofstream myfile1; - myfile1.open(data_path+"paths/position.txt",std::ofstream::out | std::ofstream::trunc); - // bool new_path=0; - while (app.GetDevice()->run()) { - double time = my_hmmwv.GetSystem()->GetChTime(); - - /* - // Hack for acceleration-braking maneuver - static bool braking = false; - if (my_hmmwv.GetVehicle().GetVehicleSpeed() > target_speed) - braking = true; - if (braking) { - throttle_input = 0; - braking_input = 1; - } else { - throttle_input = 1; - braking_input = 0; - } - */ - - // ros::Subscriber sub = n.subscribe("desired_ref", 1, ¶meters::controlCallback, &hmmwv_params); - - // Render scene and output POV-Ray data - if (sim_frame==-1){ //if (sim_frame % render_steps == 0) { - - app.BeginScene(true, true, irr::video::SColor(255, 140, 161, 192)); - app.DrawAll(); - app.EndScene(); - - /* if (povray_output) { - char filename[100]; - sprintf(filename, "%s/data_%03d.dat", pov_dir.c_str(), render_frame + 1); - utils::WriteShapesPovray(my_hmmwv.GetSystem(), filename); - } - - if (state_output) { - csv << time << steering_input << throttle_input << braking_input; - csv << my_hmmwv.GetVehicle().GetVehicleSpeed(); - csv << acc_CG.x() << fwd_acc_CG << acc_CG.y() << lat_acc_CG; - csv << acc_driver.x() << fwd_acc_driver << acc_driver.y() << lat_acc_driver; - csv << std::endl; - }*/ - - render_frame++; - } -/* - // Debug logging - if (debug_output && sim_frame % debug_steps == 0) { - GetLog() << "driver acceleration: " << acc_driver.x() << " " << acc_driver.y() << " " << acc_driver.z() - << "\n"; - GetLog() << "CG acceleration: " << acc_CG.x() << " " << acc_CG.y() << " " << acc_CG.z() << "\n"; - GetLog() << "\n"; - }*/ - callback_act=0; - ros_chrono_msgs::veh_status data_out; - - ros::Subscriber sub = n.subscribe("desired_ref", 10, boost::bind(controlCallback, _1, boost::ref(hmmwv_params),boost::ref(app),boost::ref(driver_gui), - boost::ref(target_speed),boost::ref(time),boost::ref(data_out),boost::ref(vehicleinfo_pub))); -// ros::Subscriber sub = n.subscribe("desired_ref", 10, boost::bind(controlCallback, _1, boost::ref(hmmwv_params),boost::ref(app))); - // if (sub){ - std::cout << callback_act; - // } - - // app.SetPaused(1); - path = ChBezierCurve::read(path_file); - - ChVector<> acc_CG = my_hmmwv.GetVehicle().GetChassisBody()->GetPos_dtdt(); - ChVector<> acc_driver = my_hmmwv.GetVehicle().GetVehicleAcceleration(driver_pos); - double fwd_acc_CG = fwd_acc_GC_filter.Add(acc_CG.x()); - double lat_acc_CG = lat_acc_GC_filter.Add(acc_CG.y()); - double fwd_acc_driver = fwd_acc_driver_filter.Add(acc_driver.x()); - double lat_acc_driver = lat_acc_driver_filter.Add(acc_driver.y()); - - - // End simulation - if (time >= t_end) - break; - - - // Update sentinel and target location markers for the path-follower controller. - // Note that we do this whether or not we are currently using the path-follower driver. - - const ChVector<> pS = driver_follower.GetSteeringController().GetSentinelLocation(); - const ChVector<> pT = driver_follower.GetSteeringController().GetTargetLocation(); - ballS->setPosition(irr::core::vector3df((irr::f32)pS.x(), (irr::f32)pS.y(), (irr::f32)pS.z())); - ballT->setPosition(irr::core::vector3df((irr::f32)pT.x(), (irr::f32)pT.y(), (irr::f32)pT.z())); - ros::spin(); - /* time = hmmwv_params.my_hmmwv.GetSystem()->GetChTime(); - hmmwv_params.throttle_input = selector.GetDriver()->GetThrottle(); - hmmwv_params.steering_input = selector.GetDriver()->GetSteering(); - hmmwv_params.braking_input = selector.GetDriver()->GetBraking(); - // Update modules (process inputs from other modules) - driver_follower.Synchronize(time); - driver_gui.Synchronize(time); - terrain.Synchronize(time); - hmmwv_params.my_hmmwv.Synchronize(time, hmmwv_params.steering_input, hmmwv_params.braking_input, hmmwv_params.throttle_input, terrain); - std::string msg = selector.UsingGUI() ? "GUI driver" : "Follower driver"; - app.Synchronize(msg, hmmwv_params.steering_input, hmmwv_params.throttle_input, hmmwv_params.braking_input); - - // Advance simulation for one timestep for all modules - double step = realtime_timer.SuggestSimulationStep(step_size); - driver_follower.Advance(step); - driver_gui.Advance(step); - terrain.Advance(step); - hmmwv_params.my_hmmwv.Advance(step); - app.Advance(step); - - // Increment simulation frame number - sim_frame++;*/ - - ChVector<> global_pos = hmmwv_params.my_hmmwv.GetVehicle().GetVehicleCOMPos();//global location of chassis reference frame origin - ChQuaternion<> global_orntn = hmmwv_params.my_hmmwv.GetVehicle().GetVehicleRot();//global orientation as quaternion - ChVector<> rot_dt = hmmwv_params.my_hmmwv.GetVehicle().GetChassisBody()->GetWvel_loc();//global orientation as quaternion - ChVector<> global_velCOM = hmmwv_params.my_hmmwv.GetVehicle().GetChassisBody()->GetPos_dt(); - ChVector<> global_accCOM = hmmwv_params.my_hmmwv.GetVehicle().GetChassisBody()->GetPos_dtdt(); - //ChVector<> euler_ang = global_orntn.Q_to_Rotv(); //convert to euler angles - double q0 = global_orntn[0]; - double q1 = global_orntn[1]; - double q2 = global_orntn[2]; - double q3 = global_orntn[3]; - double yaw_val=atan2(2*(q0*q3+q1*q2),1-2*(q2*q2+q3*q3)); - - if (yaw_val<0){ - yaw_val=-yaw_val+PI/2; - } - else if (yaw_val>=0 && yaw_val<=PI/2){ - yaw_val=PI/2-yaw_val; - } - else if (yaw_val>PI/2 && yaw_val<=PI){ - yaw_val=5*PI/2-yaw_val; - } - //ChPacejkaTire<> slip_angle = GetSlipAngle() - double slip_angle = hmmwv_params.my_hmmwv.GetTire(0)->GetLongitudinalSlip(); - - - data_out.t_chrono=time; //time in chrono simulation - data_out.x_pos= global_pos[0] ; - data_out.y_pos=global_pos[1]; - data_out.x_v= fabs(global_velCOM[0]); //speed measured at the origin of the chassis reference frame. - data_out.y_v= global_velCOM[1]; - data_out.x_a= global_accCOM[0]; - data_out.yaw_curr=yaw_val; //in radians - data_out.yaw_rate=-rot_dt[2];//(yaw_val-yaw_prev_val)/(time-t_prev_val); //in radians - data_out.sa=slip_angle; - data_out.thrt_in=throttle_input; //throttle input in the range [0,+1] - data_out.brk_in=braking_input; //braking input in the range [0,+1] - data_out.str_in=steering_input; //steeering input in the range [-1,+1] - - vehicleinfo_pub.publish(data_out); - // loop_rate.sleep(); - - - myfile1 << ' ' << global_pos[0] << ' '<< global_pos[1] <<' ' << global_pos[2] << '\n'; - } - - if (state_output){ - csv.write_to_file(out_dir + "/state.out"); - } - -//} - -myfile1.close(); - - return 0; -} diff --git a/ros/src/models/chrono/ros_chrono/old/test_1.cpp b/ros/src/models/chrono/ros_chrono/old/test_1.cpp deleted file mode 100644 index 8c3185ca..00000000 --- a/ros/src/models/chrono/ros_chrono/old/test_1.cpp +++ /dev/null @@ -1,309 +0,0 @@ -// ============================================================================= -// PROJECT CHRONO - http://projectchrono.org -// -// Copyright (c) 2014 projectchrono.org -// All rights reserved. -// -// Use of this source code is governed by a BSD-style license that can be found -// in the LICENSE file at the top level of the distribution and at -// http://projectchrono.org/license-chrono.txt. -// -// ============================================================================= -// Authors: Radu Serban, Justin Madsen -// ============================================================================= -// -// Main driver function for the HMMWV full model. -// -// The vehicle reference frame has Z up, X towards the front of the vehicle, and -// Y pointing to the left. -// -// ============================================================================= - -#include "chrono/core/ChFileutils.h" -#include "chrono/core/ChStream.h" -#include "chrono/core/ChRealtimeStep.h" -#include "chrono/utils/ChUtilsInputOutput.h" - -#include "chrono_vehicle/ChConfigVehicle.h" -#include "chrono_vehicle/ChVehicleModelData.h" -#include "chrono_vehicle/terrain/RigidTerrain.h" -#include "chrono_vehicle/driver/ChIrrGuiDriver.h" -#include "chrono_vehicle/driver/ChDataDriver.h" -#include "chrono_vehicle/wheeled_vehicle/utils/ChWheeledVehicleIrrApp.h" - -#include "chrono_models/vehicle/hmmwv/HMMWV.h" - - -// Added -#include -#include -#include "ros/ros.h" -#include "std_msgs/String.h" -#include "ros_chrono_msgs/veh_status.h" -#include "nloptcontrol_planner/Trajectory.h" -// -using namespace chrono; -using namespace chrono::irrlicht; -using namespace chrono::vehicle; -using namespace chrono::vehicle::hmmwv; - -// ============================================================================= - -// Initial vehicle location and orientation -ChVector<> initLoc(0, 0, 1.6); -ChQuaternion<> initRot(1, 0, 0, 0); -// ChQuaternion<> initRot(0.866025, 0, 0, 0.5); -// ChQuaternion<> initRot(0.7071068, 0, 0, 0.7071068); -// ChQuaternion<> initRot(0.25882, 0, 0, 0.965926); -// ChQuaternion<> initRot(0, 0, 0, 1); - -enum DriverMode { DEFAULT, RECORD, PLAYBACK }; -DriverMode driver_mode = DEFAULT; - -// Visualization type for vehicle parts (PRIMITIVES, MESH, or NONE) -VisualizationType chassis_vis_type = VisualizationType::PRIMITIVES; -VisualizationType suspension_vis_type = VisualizationType::PRIMITIVES; -VisualizationType steering_vis_type = VisualizationType::PRIMITIVES; -VisualizationType wheel_vis_type = VisualizationType::NONE; - -// Collision type for chassis (PRIMITIVES, MESH, or NONE) -ChassisCollisionType chassis_collision_type = ChassisCollisionType::NONE; - -// Type of powertrain model (SHAFTS, SIMPLE) -PowertrainModelType powertrain_model = PowertrainModelType::SHAFTS; - -// Drive type (FWD, RWD, or AWD) -DrivelineType drive_type = DrivelineType::AWD; - -// Type of tire model (RIGID, RIGID_MESH, PACEJKA, LUGRE, FIALA) -TireModelType tire_model = TireModelType::RIGID; - -// Rigid terrain -RigidTerrain::Type terrain_model = RigidTerrain::FLAT; -bool terrain_vis = true; -double terrainHeight = 0; // terrain height (FLAT terrain only) -double terrainLength = 100.0; // size in X direction -double terrainWidth = 100.0; // size in Y direction - -// Point on chassis tracked by the camera -ChVector<> trackPoint(0.0, 0.0, 1.75); - -// Contact method -ChMaterialSurface::ContactMethod contact_method = ChMaterialSurface::SMC; -bool contact_vis = false; - -// Simulation step sizes -double step_size = 1e-3; -double tire_step_size = step_size; - -// Simulation end time -double t_end = 1000; - -// Time interval between two render frames -double render_step_size = 1.0 / 50; // FPS = 50 - -// Output directories -const std::string out_dir = GetChronoOutputPath() + "HMMWV"; -const std::string pov_dir = out_dir + "/POVRAY"; - -// Debug logging -bool debug_output = false; -double debug_step_size = 1.0 / 1; // FPS = 1 - -// POV-Ray output -bool povray_output = false; - -// ============================================================================= - -int main(int argc, char* argv[]) { - GetLog() << "Copyright (c) 2017 projectchrono.org\nChrono version: " << CHRONO_VERSION << "\n\n"; - - ros::init(argc, argv, "test_1"); - ros::NodeHandle n; - - // -------------- - // Create systems - // -------------- - - // Create the HMMWV vehicle, set parameters, and initialize - HMMWV_Full my_hmmwv; - my_hmmwv.SetContactMethod(contact_method); - my_hmmwv.SetChassisCollisionType(chassis_collision_type); - my_hmmwv.SetChassisFixed(false); - my_hmmwv.SetInitPosition(ChCoordsys<>(initLoc, initRot)); - my_hmmwv.SetPowertrainType(powertrain_model); - my_hmmwv.SetDriveType(drive_type); - my_hmmwv.SetTireType(tire_model); - my_hmmwv.SetTireStepSize(tire_step_size); - my_hmmwv.SetPacejkaParamfile("data/vehicle/hmmwv/tire/HMMWV_pacejka.tir"); - my_hmmwv.Initialize(); - - VisualizationType tire_vis_type = - (tire_model == TireModelType::RIGID_MESH) ? VisualizationType::MESH : VisualizationType::PRIMITIVES; - - my_hmmwv.SetChassisVisualizationType(chassis_vis_type); - my_hmmwv.SetSuspensionVisualizationType(suspension_vis_type); - my_hmmwv.SetSteeringVisualizationType(steering_vis_type); - my_hmmwv.SetWheelVisualizationType(wheel_vis_type); - my_hmmwv.SetTireVisualizationType(tire_vis_type); - - // Create the terrain - RigidTerrain terrain(my_hmmwv.GetSystem()); - terrain.SetContactFrictionCoefficient(0.9f); - terrain.SetContactRestitutionCoefficient(0.01f); - terrain.SetContactMaterialProperties(2e7f, 0.3f); - terrain.SetColor(ChColor(0.8f, 0.8f, 0.5f)); - terrain.EnableVisualization(terrain_vis); - switch (terrain_model) { - case RigidTerrain::FLAT: - terrain.SetTexture(vehicle::GetDataFile("data/vehicle/terrain/textures/tile4.jpg"), 200, 200); - terrain.Initialize(terrainHeight, terrainLength, terrainWidth); - break; - case RigidTerrain::HEIGHT_MAP: - terrain.SetTexture(vehicle::GetDataFile("data/vehicle/terrain/textures/grass.jpg"), 16, 16); - terrain.Initialize(vehicle::GetDataFile("data/vehicle/terrain/height_maps/test64.bmp"), "test64", 128, 128, 0, 4); - break; - case RigidTerrain::MESH: - terrain.SetTexture(vehicle::GetDataFile("data/vehicle/terrain/textures/grass.jpg"), 100, 100); - terrain.Initialize(vehicle::GetDataFile("data/vehicle/terrain/meshes/test.obj"), "test_mesh"); - break; - } - - // Create the vehicle Irrlicht interface - ChWheeledVehicleIrrApp app(&my_hmmwv.GetVehicle(), &my_hmmwv.GetPowertrain(), L"HMMWV Demo"); - app.SetSkyBox(); - app.AddTypicalLights(irr::core::vector3df(30.f, -30.f, 100.f), irr::core::vector3df(30.f, 50.f, 100.f), 250, 130); - app.SetChaseCamera(trackPoint, 6.0, 0.5); - app.SetTimestep(step_size); - app.AssetBindAll(); - app.AssetUpdateAll(); - - // ----------------- - // Initialize output - // ----------------- - - if (ChFileutils::MakeDirectory(out_dir.c_str()) < 0) { - std::cout << "Error creating directory " << out_dir << std::endl; - return 1; - } - if (povray_output) { - if (ChFileutils::MakeDirectory(pov_dir.c_str()) < 0) { - std::cout << "Error creating directory " << pov_dir << std::endl; - return 1; - } - terrain.ExportMeshPovray(out_dir); - } - - std::string driver_file = out_dir + "/driver_inputs.txt"; - utils::CSV_writer driver_csv(" "); - - // ------------------------ - // Create the driver system - // ------------------------ - - // Create the interactive driver system - ChIrrGuiDriver driver(app); - - // Set the time response for steering and throttle keyboard inputs. - double steering_time = 1.0; // time to go from 0 to +1 (or from 0 to -1) - double throttle_time = 1.0; // time to go from 0 to +1 - double braking_time = 0.3; // time to go from 0 to +1 - driver.SetSteeringDelta(render_step_size / steering_time); - driver.SetThrottleDelta(render_step_size / throttle_time); - driver.SetBrakingDelta(render_step_size / braking_time); - - // If in playback mode, attach the data file to the driver system and - // force it to playback the driver inputs. - if (driver_mode == PLAYBACK) { - driver.SetInputDataFile(driver_file); - driver.SetInputMode(ChIrrGuiDriver::DATAFILE); - } - - driver.Initialize(); - - // --------------- - // Simulation loop - // --------------- - - if (debug_output) { - GetLog() << "\n\n============ System Configuration ============\n"; - my_hmmwv.LogHardpointLocations(); - } - - // Number of simulation steps between miscellaneous events - int render_steps = (int)std::ceil(render_step_size / step_size); - int debug_steps = (int)std::ceil(debug_step_size / step_size); - - // Initialize simulation frame counter and simulation time - ChRealtimeStepTimer realtime_timer; - int step_number = 0; - int render_frame = 0; - double time = 0; - - if (contact_vis) { - app.SetSymbolscale(1e-4); - app.SetContactsDrawMode(ChIrrTools::eCh_ContactsDrawMode::CONTACT_FORCES); - } - - while (app.GetDevice()->run()) { - time = my_hmmwv.GetSystem()->GetChTime(); - - // End simulation - if (time >= t_end) - break; - - // Render scene and output POV-Ray data - if (step_number % render_steps == 0) { - app.BeginScene(true, true, irr::video::SColor(255, 140, 161, 192)); - app.DrawAll(); - app.EndScene(); - - if (povray_output) { - char filename[100]; - sprintf(filename, "%s/data_%03d.dat", pov_dir.c_str(), render_frame + 1); - utils::WriteShapesPovray(my_hmmwv.GetSystem(), filename); - } - - render_frame++; - } - - // Debug logging - if (debug_output && step_number % debug_steps == 0) { - GetLog() << "\n\n============ System Information ============\n"; - GetLog() << "Time = " << time << "\n\n"; - my_hmmwv.DebugLog(OUT_SPRINGS | OUT_SHOCKS | OUT_CONSTRAINTS); - } - - // Collect output data from modules (for inter-module communication) - double throttle_input = driver.GetThrottle(); - double steering_input = driver.GetSteering(); - double braking_input = driver.GetBraking(); - - // Driver output - if (driver_mode == RECORD) { - driver_csv << time << steering_input << throttle_input << braking_input << std::endl; - } - - // Update modules (process inputs from other modules) - driver.Synchronize(time); - terrain.Synchronize(time); - my_hmmwv.Synchronize(time, steering_input, braking_input, throttle_input, terrain); - app.Synchronize(driver.GetInputModeAsString(), steering_input, throttle_input, braking_input); - - // Advance simulation for one timestep for all modules - double step = realtime_timer.SuggestSimulationStep(step_size); - driver.Advance(step); - terrain.Advance(step); - my_hmmwv.Advance(step); - app.Advance(step); - - // Increment frame number - step_number++; - } - - if (driver_mode == RECORD) { - driver_csv.write_to_file(driver_file); - } - - return 0; -} diff --git a/ros/src/models/chrono/ros_chrono/old/trajectory_follower.cpp b/ros/src/models/chrono/ros_chrono/old/trajectory_follower.cpp deleted file mode 100644 index 64cb4f68..00000000 --- a/ros/src/models/chrono/ros_chrono/old/trajectory_follower.cpp +++ /dev/null @@ -1,1019 +0,0 @@ -// ============================================================================= -// PROJECT CHRONO - http://projectchrono.org -// -// Copyright (c) 2014 projectchrono.org -// All rights reserved. -// -// Use of this source code is governed by a BSD-style license that can be found -// in the LICENSE file at the top level of the distribution and at -// http://projectchrono.org/license-chrono.txt. -// -// ============================================================================= -// Authors: Radu Serban -// ============================================================================= -// -// Demonstration of a steering path-follower PID controller. -// -// The vehicle reference frame has Z up, X towards the front of the vehicle, and -// Y pointing to the left. -// TO DO: -// Find proper yaw rate calculation -// Subsscribe to msg from obstacle_avoidance_chrono, callback to that to calculate ChBezierCurve -// ============================================================================= - -#include -#include -#include "boost/bind.hpp" -#include "chrono/core/ChFileutils.h" -#include "chrono/core/ChRealtimeStep.h" -#include "chrono/utils/ChFilters.h" -#include -#include -#include "ros/ros.h" -#include "std_msgs/String.h" -#include "ros_chrono_msgs/veh_status.h" -#include "nloptcontrol_planner/Trajectory.h" -#include -#include -#include -#include -#include -#include -//#include "tf/tf.h" -#include -#include "chrono_vehicle/ChVehicleModelData.h" -#include "chrono_vehicle/terrain/RigidTerrain.h" -#include "chrono_vehicle/driver/ChIrrGuiDriver.h" -#include "chrono_vehicle/driver/ChPathFollowerDriver.h" -#include "chrono_vehicle/wheeled_vehicle/utils/ChWheeledVehicleIrrApp.h" -#include "chrono_models/vehicle/hmmwv/HMMWV.h" -#include "chrono/physics/ChSystem.h" -#include "chrono_vehicle/wheeled_vehicle/tire/ChPacejkaTire.h" -//#include "chrono_models/vehicle/hmmwv/HMMWV_Pac02Tire.h" -#include "chrono_vehicle/wheeled_vehicle/tire/RigidTire.h" -#include "chrono_vehicle/wheeled_vehicle/tire/LugreTire.h" -#include "chrono_models/vehicle/hmmwv/HMMWV_ReissnerTire.h" -#include "chrono_vehicle/ChSubsysDefs.h" -#include "chrono_vehicle/wheeled_vehicle/vehicle/WheeledVehicle.h" -#include "chrono_vehicle/powertrain/ChShaftsPowertrain.h" -#include "chrono_vehicle/powertrain/SimplePowertrain.h" -#include "chrono_thirdparty/rapidjson/document.h" -#include "chrono_thirdparty/rapidjson/filereadstream.h" - -#include "chrono/core/ChFileutils.h" -#include "chrono/core/ChStream.h" -#include "chrono/utils/ChFilters.h" -#include "chrono/utils/ChUtilsInputOutput.h" -#include "chrono/solver/ChSolverMINRES.h" -#include "chrono_vehicle/ChConfigVehicle.h" - -#define PI 3.1415926535 -//using veh_status.msg -using namespace chrono; -using namespace chrono::geometry; -using namespace chrono::vehicle; -using namespace chrono::vehicle::hmmwv; - -using namespace alglib; - -using namespace rapidjson; -// ============================================================================= -// Problem parameters -// Main Data Path TODO fix this! should be a rosparam! -//std::string data_path("/home/shreyas/.julia/v0.6/MAVs/catkin_ws/data/vehicle/"); -//std::string data_path("../../../src/models/chrono/ros_chrono/src/data/vehicle/"); - -//std::string chrono_data("../../../src/models/chrono/ros_chrono/src/data/"); - -std::string data_path("MAVs/ros/src/models/chrono/ros_chrono/src/data/vehicle/"); - -std::string chrono_data("MAVs/ros/src/models/chrono/ros_chrono/src/data/"); - -//std::string data_path("src/system/chrono/ros_chrono/src/data/vehicle/"); -// Contact method type -ChMaterialSurface::ContactMethod contact_method = ChMaterialSurface::NSC; - -// Type of tire model (RIGID, LUGRE, FIALA, or PACEJKA) -// TireModelType tire_model = TireModelType::RIGID; - -// Input file name for PACEJKA tires if they are selected -std::string pacejka_tire_file_left(data_path+"hmmwv/tire/HMMWV_pacejka_left.tir"); -std::string pacejka_tire_file_right(data_path+"hmmwv/tire/HMMWV_pacejka_right.tir"); -std::string lugre_tire_file(data_path+"hmmwv/tire/HMMWV_LugreTire.json"); // Yes -std::string rigid_tire_file(data_path+"hmmwv/tire/HMMWV_RigidTire.json"); // Yes -std::string reissner_tire_file(data_path+"hmmwv/tire/HMMWV_ReissnerTire.json"); // Yes -//std::string pacejka_tire_file("hmmwv/tire/HMMWV_pacejka.tir"); -// Type of powertrain model (SHAFTS or SIMPLE) -PowertrainModelType powertrain_model = PowertrainModelType::SHAFTS; - -// Drive type (FWD, RWD, or AWD) -DrivelineType drive_type = DrivelineType::RWD; - -// Visualization type for vehicle parts (PRIMITIVES, MESH, or NONE) -VisualizationType chassis_vis_type = VisualizationType::PRIMITIVES; -VisualizationType suspension_vis_type = VisualizationType::PRIMITIVES; -VisualizationType steering_vis_type = VisualizationType::PRIMITIVES; -VisualizationType wheel_vis_type = VisualizationType::NONE; -VisualizationType tire_vis_type = VisualizationType::PRIMITIVES; - -std::string path_file(data_path+"paths/my_path.txt"); -std::string simplepowertrain_file(data_path+"hmmwv/powertrain/HMMWV_ShaftsPowertrain.json"); // Yes -WheelState wheel_states[4]; - - -// Rigid terrain dimensions -double terrainHeight = 0; -double terrainLength = 500.0; // size in X direction -double terrainWidth = 500.0; // size in Y direction - -// Point on chassis tracked by the chase camera -ChVector<> trackPoint(0.0, 0.0, 1.75); - -// Simulation step size -double step_size = 1e-2; -double tire_step_size = step_size; - -// Simulation end time -double t_end = 1000; - -// Render FPS -double fps = 60; - -// Debug logging -bool debug_output = false; -double debug_fps = 10; - -// Output directories -const std::string out_dir = GetChronoOutputPath() + "STEERING_CONTROLLER"; -const std::string pov_dir = out_dir + "/POVRAY"; - -// POV-Ray output -bool povray_output = false; - -// Vehicle state output (forced to true if povray output enabled) -bool state_output = false; -int filter_window_size = 20; - -// In src/data/vehicle/hmmwv/steering/HMMWV_PitmanArm.json revolution joint -double speed = 0.0; -double maximum_steering_angle; -// Controller output -double target_steering_interp = 0.0; -double target_speed_interp = 0.0; -double controller_output = 0.0; -double time_shift = 0.0; -PID controller; -std::vector traj_t(2,0); -std::vector traj_sa(2,0); -std::vector traj_ux(2,0); - -// ============================================================================= - -// Custom Irrlicht event receiver for selecting current driver model. -class ChDriverSelector : public irr::IEventReceiver { - public: - ChDriverSelector(const ChVehicle& vehicle, ChIrrGuiDriver* driver_gui) - : m_vehicle(vehicle), - m_driver_gui(driver_gui), - m_driver(m_driver_gui), - m_using_gui(true) {} - - ChDriver* GetDriver() { return m_driver; } - bool UsingGUI() const { return m_using_gui; } - - virtual bool OnEvent(const irr::SEvent& event) { - return false; - } - - private: - bool m_using_gui; - const ChVehicle& m_vehicle; - ChIrrGuiDriver* m_driver_gui; - ChDriver* m_driver; -}; - -struct parameters -{ - RigidTerrain terrain; - TerrainForces tire_forces; - WheeledVehicle my_hmmwv; - ChRealtimeStepTimer realtime_timer; - int sim_frame; - double steering_input; - double throttle_input; - double braking_input; - std::vector x_traj_curr; - std::vector y_traj_curr; - std::vector x_traj_prev; - std::vector y_traj_prev; - double target_speed; - int render_steps; - int render_frame; -} ; - -void waitForLoaded(ros::NodeHandle &n){ - bool planner_init = false; - std::string planner_namespace; - n.getParam("system/planner",planner_namespace); - n.getParam("system/"+planner_namespace+"/flags/initialized",planner_init); - while(!planner_init){ - usleep(500); // < my question - n.getParam("system/"+planner_namespace+"/flags/initialized",planner_init); - - } - usleep(500); //sleep another 500ms to ensure everything is loaded. - //continue on here -} - -void setChassisParams(ros::NodeHandle &n){ - std::ofstream myfile2; - - myfile2.open(data_path+"hmmwv/chassis/HMMWV_Chassis.json",std::ofstream::out | std::ofstream::trunc); // Yes - std::string s1 = "{ "; - std::string s2 = " \"Name\": \"HMMWV chassis\","; - std::string s3 = " \"Type\": \"Chassis\","; - std::string s4 = " \"Template\": \"RigidChassis\","; - std::string s5 = " \"Components\":"; - std::string s6 = " ["; - std::string s7 = " {"; - std::string s8 = " \"Centroidal Frame\": {"; - std::string s9 = " \"Location\": "; - std::string s10; - n.getParam("vehicle/chrono/vehicle_params/centroidLoc",s10); - std::string s11 = " \"Orientation\": "; - std::string s12; - n.getParam("/vehicle/chrono/vehicle_params/centroidOrientation",s12); - std::string s13 = " },"; - std::string s14 = " \"Mass\": "; - std::string s15; - n.getParam("/vehicle/chrono/vehicle_params/chassisMass",s15); - std::string s16 = " \"Moments of Inertia\": "; - std::string s17; - n.getParam("/vehicle/chrono/vehicle_params/chassisInertia",s17); - std::string s18 = " \"Products of Inertia\": [0, 0, 0],"; - std::string s19 = " \"Void\": false"; - std::string s20 = " }"; - std::string s21 = " ],"; - std::string s22 = " \"Driver Position\":"; - std::string s23 = " {"; - std::string s24 = " \"Location\": "; - std::string s25; - n.getParam("/vehicle/chrono/vehicle_params/driverLoc",s25); - std::string s26 = " \"Orientation\": "; - std::string s27; - n.getParam("/vehicle/chrono/vehicle_params/driverOrientation",s27); - std::string s28 = " },"; - std::string s29 = " \"Visualization\":"; - std::string s30 = " {"; - std::string s31 = " \"Mesh\":"; - std::string s32 = " {"; - std::string s33 = " \"Filename\": \"hmmwv/hmmwv_chassis.obj\","; - std::string s34 = " \"Name\": \"hmmwv_chassis_POV_geom\""; - std::string s35 = " }"; - std::string s36 = " }"; - std::string s37 = "}"; - myfile2 << s1 << '\n'; - myfile2 << s2 << '\n'; - myfile2 << s3 << '\n'; - myfile2 << s4 << '\n'; - myfile2 << '\n'; - myfile2 << s5 << '\n'; - myfile2 << s6 << '\n'; - myfile2 << s7 << '\n'; - myfile2 << s8 << '\n'; - myfile2 << s9 << s10 << '\n'; - myfile2 << s11 << s12 << '\n'; - myfile2 << s13 << '\n'; - myfile2 << s14 << s15 <<'\n'; - myfile2 << s16 << s17 << '\n'; - myfile2 << s18 << '\n'; - myfile2 << s19 << '\n'; - myfile2 << s20 << '\n'; - myfile2 << s21 << '\n'; - myfile2 << s22 << '\n'; - myfile2 << s23 << '\n'; - myfile2 << s24 << s25 << '\n'; - myfile2 << s26 << s27 << '\n'; - myfile2 << s28 << '\n'; - myfile2 << '\n'; - myfile2 << s29 << '\n'; - myfile2 << s30 << '\n'; - myfile2 << s31 << '\n'; - myfile2 << s32 << '\n'; - myfile2 << s33 << '\n'; - myfile2 << s34 << '\n'; - myfile2 << s35 << '\n'; - myfile2 << s36 << '\n'; - myfile2 << s37 << '\n'; - myfile2.close(); -} - -void setDrivelineParams(ros::NodeHandle &n){ - std::ofstream myfile2; - - myfile2.open(data_path+"hmmwv/driveline/HMMWV_Driveline2WD.json",std::ofstream::out | std::ofstream::trunc); // Yes - std::string s1 = "{ "; - std::string s2 = " \"Name\": \"HMMWV RWD Driveline\","; - std::string s3 = " \"Type\": \"Driveline\","; - std::string s4 = " \"Template\": \"ShaftsDriveline2WD\","; - std::string s5 = " \"Shaft Direction\":"; - std::string s6 = " {"; - std::string s7 = " \"Motor Block\": "; - std::string s8; - n.getParam("/vehicle/chrono/vehicle_params/motorBlockDirection",s8); - std::string s9 = " \"Axle\": "; - std::string s10; - n.getParam("/vehicle/chrono/vehicle_params/axleDirection",s10); - std::string s11 = " },"; - std::string s12 = " \"Shaft Inertia\":"; - std::string s13 = " {"; - std::string s14 = " \"Driveshaft\": "; - std::string s15; - n.getParam("/vehicle/chrono/vehicle_params/driveshaftInertia", s15); - std::string s16 = " \"Differential Box\": "; - std::string s17; - n.getParam("/vehicle/chrono/vehicle_params/differentialBoxInertia",s17); - std::string s18 = " },"; - std::string s19 = " \"Gear Ratio\":"; - std::string s20 = " {"; - std::string s21 = " \"Conical Gear\": "; - std::string s22; - n.getParam("/vehicle/chrono/vehicle_params/conicalGearRatio",s22); - std::string s23 = " \"Differential\": "; - std::string s24; - n.getParam("/vehicle/chrono/vehicle_params/differentialRatio",s24); - std::string s25 = " }"; - std::string s26 = "}"; - - myfile2 << s1 << '\n'; - myfile2 << s2 << '\n'; - myfile2 << s3 << '\n'; - myfile2 << s4 << '\n'; - myfile2 << '\n'; - myfile2 << s5 << '\n'; - myfile2 << s6 << '\n'; - myfile2 << s7 << s8 << '\n'; - myfile2 << s9 << s10 << '\n'; - myfile2 << s11 << '\n'; - myfile2 << '\n'; - myfile2 << s12 << '\n'; - myfile2 << s13 << '\n'; - myfile2 << s14 << s15 << '\n'; - myfile2 << s16 << s17 << '\n'; - myfile2 << s18 << '\n'; - myfile2 << '\n'; - myfile2 << s19 << '\n'; - myfile2 << s20 << '\n'; - myfile2 << s21 << s22 << '\n'; - myfile2 << s23 << s24 << '\n'; - myfile2 << s25 << '\n'; - myfile2 << s26 ; - myfile2.close(); -} - - -void setSteeringParams(ros::NodeHandle &n){ - std::ofstream myfile2; - - myfile2.open(data_path+"hmmwv/steering/HMMWV_RackPinion.json",std::ofstream::out | std::ofstream::trunc); // Yes - std::string s1 = "{"; - std::string s2 = " \"Name\": \"HMMWV Rack-Pinion Steering\","; - std::string s3 = " \"Type\": \"Steering\","; - std::string s4 = " \"Template\": \"RackPinion\","; - std::string s5 = " \"Steering Link\":"; - std::string s6 = " {"; - std::string s7 = " \"Mass\": "; - std::string s8 ; - n.getParam("/vehicle/chrono/vehicle_params/steeringLinkMass", s8); - std::string s9 = " \"COM\": 0,"; - std::string s10 = " \"Inertia\": "; - std::string s11; - n.getParam("/vehicle/chrono/vehicle_params/steeringLinkInertia",s11); - std::string s12 = " \"Radius\": "; - std::string s13; - n.getParam("/vehicle/chrono/vehicle_params/steeringLinkRadius",s13); - std::string s14 = " \"Length\": "; - std::string s15; - n.getParam("/vehicle/chrono/vehicle_params/steeringLinkLength",s15); - std::string s16 = " },"; - std::string s17 = " \"Pinion\":"; - std::string s18 = " \"Radius\": "; - std::string s19; - n.getParam("/vehicle/chrono/vehicle_params/pinionRadius",s19); - std::string s20 = " \"Maximum Angle\": "; - std::string s21; - n.getParam("/vehicle/chrono/vehicle_params/pinionMaxAngle",s21); - std::string s22 = " }"; - std::string s23 = "}"; - - - - myfile2 << s1 << '\n'; - myfile2 << s2 << '\n'; - myfile2 << s3 << '\n'; - myfile2 << s4 << '\n'; - myfile2 << '\n'; - myfile2 << s5 << '\n'; - myfile2 << s6 << '\n'; - myfile2 << s7 << s8 << '\n'; - myfile2 << s9 << '\n'; - myfile2 << s10 << s11 << '\n'; - myfile2 << s12 << s13 << '\n'; - myfile2 << s14 << s15 << '\n'; - myfile2 << s16 << '\n'; - myfile2 << '\n'; - myfile2 << s17 << '\n'; - myfile2 << s18 << s19 << '\n'; - myfile2 << s20 << '\n'; - myfile2 << s21 << s21 << '\n'; - myfile2 << s22 << '\n'; - myfile2 << s23 << '\n'; - - myfile2.close(); -} - -void setBrakingParams(ros::NodeHandle &n){ - std::ofstream myfile2; - std::ofstream myfile3; - - std::string s1 = "{ "; - std::string s2 = " \"Name\": \"HMMWV Brake Front\","; - std::string s3 = " \"Type\": \"Brake\","; - std::string s4 = " \"Template\": \"BrakeSimple\","; - std::string s5 = " \"Maximum Torque\": "; - std::string s6; - n.getParam("vehicle/chrono/vehicle_params/maxBrakeTorque",s6); - std::string s7 = "}"; - std::string s8 = " \"Name\": \"HMMWV Brake Rear\","; - - myfile2.open(data_path+"hmmwv/brake/HMMWV_BrakeSimple_Front.json",std::ofstream::out | std::ofstream::trunc); // Yes - myfile2 << s1 << '\n'; - myfile2 << s2 << '\n'; - myfile2 << s3 << '\n'; - myfile2 << s4 << '\n'; - myfile2 << '\n'; - myfile2 << s5 << s6 << '\n'; - myfile2 << s7 << '\n'; - myfile2.close(); - - myfile3.open(data_path+"hmmwv/brake/HMMWV_BrakeSimple_Rear.json",std::ofstream::out | std::ofstream::trunc); // Yes - myfile3 << s1 << '\n'; - myfile3 << s8 << '\n'; - myfile3 << s2 << '\n'; - myfile3 << s3 << '\n'; - myfile3 << s4 << '\n'; - myfile3 << '\n'; - myfile3 << s5 << s6 << '\n'; - myfile3 << s7 << '\n'; - myfile3.close(); -} - -void controlCallback(const nloptcontrol_planner::Trajectory::ConstPtr& control_msg){ - traj_t = control_msg->t; - traj_sa = control_msg->sa; - traj_ux = control_msg->ux; - - /* - std::cout << "Current time: "<< time << std::endl; - std::cout << "Time trajectory: " << " "; - for(int i = 0; i < traj_t.size(); i++) - std::cout << traj_t[i] << " "; - std::cout << std::endl; - - std::cout << "Speed trajectory: " << " "; - for(int i = 0; i < traj_ux.size(); i++) - std::cout << traj_ux[i] << " "; - std::cout << std::endl; - - std::cout << "Steering trajectory: " << " "; - for(int i = 0; i < traj_sa.size(); i++) - std::cout << traj_sa[i] << " "; - std::cout << std::endl; -*/ - std::cout << "Target_speed: " << target_speed_interp << " Actual speed: " << speed << std::endl; - // std::cout << "Target_steering: " << target_steering_interp << " Actual steering: " << target_steering_interp << std::endl; - // std::cout << std::endl; -} - -// ============================================================================= -int main(int argc, char* argv[]) { - - //unsigned int microseconds = 10000000; - //std::cout << "Sleeping for ten sec..." << std::endl; - //usleep(microseconds); - - char cwd[1024]; - if (getcwd(cwd, sizeof(cwd)) != NULL) - fprintf(stdout, "Current working dir: %s\n", cwd); - else - perror("getcwd() error"); - GetLog() << "Copyright (c) 2017 projectchrono.org\nChrono version: " << CHRONO_VERSION << "\n\n"; - - - //fprintf(stdout, "CHRONO_DATA_DIR: %s\n", CHRONO_DATA_DIR); - SetChronoDataPath(CHRONO_DATA_DIR); - //SetChronoDataPath(chrono_data); - vehicle::SetDataPath(data_path); - - // read maximum_steering_angle from json - std::string filename(data_path + "hmmwv/steering/HMMWV_PitmanArm.json"); // Yes - FILE* fp = fopen(filename.c_str(), "r"); - char readBuffer[65536]; - FileReadStream is(fp, readBuffer, sizeof(readBuffer)); - fclose(fp); - Document d; - d.ParseStream(is); - maximum_steering_angle = d["Revolute Joint"]["Maximum Angle"].GetDouble(); - - ros::init(argc, argv, "Traj_follower"); - ros::NodeHandle n; - n.setParam("system/chrono/flags/initialized",true); - n.getParam("system/params/step_size",step_size); - - bool planner_init; - // bool planner_init2; - - std::string planner_namespace; - n.getParam("system/planner",planner_namespace); - n.getParam("system/"+planner_namespace+"/flags/initialized",planner_init); - std::cout << "The planner state:" << planner_init << std::endl; - ros::Subscriber sub = n.subscribe(planner_namespace+"/control", 100, controlCallback); - - //planner_init2=planner_init1; - // n.getParam("system/"+planner_namespace+"/flags/initialized",planner_init2); - - if(!planner_init){ - waitForLoaded(n); - } - //std::string planner_init; - - n.getParam("system/"+planner_namespace+"/flags/initialized",planner_init); - - // Desired vehicle speed (m/s) - double target_speed; - n.getParam("state/chrono/X0/v_des",target_speed); - - //Initial Position - double x0, y0, z0, yaw0, pitch0, roll0, goal_x, goal_y;; - bool gui_switch; - n.getParam("case/actual/X0/x",x0); - n.getParam("case/actual/X0/yVal",y0); - n.getParam("state/chrono/X0/z",z0); - n.getParam("case/actual/X0/psi",yaw0); - n.getParam("state/chrono/X0/theta",pitch0); - n.getParam("state/chrono/X0/phi",roll0); - n.getParam("case/goal/x",goal_x); - n.getParam("case/goal/yVal",goal_y); - - n.getParam("system/chrono/flags/gui",gui_switch); - - bool goal_attained = false; - bool running = true; - - setSteeringParams(n); - setDrivelineParams(n); - setBrakingParams(n); - setChassisParams(n); - ChVector<> initLoc(x0, y0, z0); -// ChQuaternion<> initRot(q[0],q[1],q[2],q[3]); - - double t0 = std::cos(yaw0 * 0.5f); - double t1 = std::sin(yaw0 * 0.5f); - double t2 = std::cos(roll0 * 0.5f); - double t3 = std::sin(roll0 * 0.5f); - double t4 = std::cos(pitch0 * 0.5f); - double t5 = std::sin(pitch0 * 0.5f); - - double q0_0 = t0 * t2 * t4 + t1 * t3 * t5; - double q0_1 = t0 * t3 * t4 - t1 * t2 * t5; - double q0_2 = t0 * t2 * t5 + t1 * t3 * t4; - double q0_3 = t1 * t2 * t4 - t0 * t3 * t5; - - ChQuaternion<> initRot(q0_0,q0_1,q0_2,q0_3); - //ChQuaternion<> initRot(cos(PI/4), 0, 0, sin(PI/4)); //initial yaw of pi/2 - - ros::Publisher vehicleinfo_pub = n.advertise("vehicleinfo", 1); - - //ros::Rate loop_rate(5); - - // ------------------------------ - // Create the vehicle and terrain - // ------------------------------ - - // Create the HMMWV vehicle, set parameters, and initialize - std::cout << "Start reading the file" << std::endl; - WheeledVehicle my_hmmwv(data_path + "hmmwv/vehicle/HMMWV_Vehicle.json",contact_method); // Yes - my_hmmwv.Initialize(ChCoordsys<>(initLoc, initRot),0.0); - - std::cout << "Successfully read the file" << std::endl; - my_hmmwv.SetChassisVehicleCollide(false); - my_hmmwv.GetChassis()->SetVisualizationType(chassis_vis_type); -// my_hmmwv.GetChassis()->AddVisualizationAssets(chassis_vis_type); - - my_hmmwv.SetSuspensionVisualizationType(suspension_vis_type); - my_hmmwv.SetSteeringVisualizationType(steering_vis_type); - my_hmmwv.SetWheelVisualizationType(wheel_vis_type); - //my_hmmwv.SetTireVisualizationType(tire_vis_type); - RigidTire tire_front_left(rigid_tire_file); - RigidTire tire_front_right(rigid_tire_file); - RigidTire tire_rear_left(rigid_tire_file); - RigidTire tire_rear_right(rigid_tire_file); - - - TerrainForces tire_forces(4); - - tire_front_left.Initialize(my_hmmwv.GetWheelBody(0), LEFT); - tire_front_right.Initialize(my_hmmwv.GetWheelBody(1), LEFT); - tire_rear_left.Initialize(my_hmmwv.GetWheelBody(2), RIGHT); - tire_rear_right.Initialize(my_hmmwv.GetWheelBody(3), RIGHT); - - - tire_front_left.SetVisualizationType(tire_vis_type); - tire_front_right.SetVisualizationType(tire_vis_type); - tire_rear_left.SetVisualizationType(tire_vis_type); - tire_rear_right.SetVisualizationType(tire_vis_type); - - // Create the terrain - float frict_coeff, rest_coeff; - n.getParam("vehicle/common/frict_coeff",frict_coeff); - n.getParam("vehicle/common/rest_coeff",rest_coeff); - - RigidTerrain terrain(my_hmmwv.GetSystem()); - my_hmmwv.GetWheel(0)->SetContactFrictionCoefficient(frict_coeff); - my_hmmwv.GetWheel(0)->SetContactRestitutionCoefficient(rest_coeff); - - - /*change: 10/11/2018 */ - auto patch1 = terrain.AddPatch(ChCoordsys<>(ChVector<>(0, 0, -5), QUNIT), ChVector<>(20,20, 10)); - patch1->SetContactFrictionCoefficient(0.9f); // - patch1->SetContactRestitutionCoefficient(0.01f); // - patch1->SetContactMaterialProperties(2e7f, 0.3f); // - patch1->SetColor(ChColor(0.8f, 0.8f, 0.5f)); // - patch1->SetTexture(data_path+"terrain/textures/tile4.jpg", 200, 200); - - terrain.Initialize(); - /* - //terrain.SetContactFrictionCoefficient(0.9f); - //terrain.SetContactRestitutionCoefficient(0.01f); - terrain.SetContactMaterialProperties(2e7f, 0.3f); - terrain.SetColor(ChColor(1, 1, 1)); - //terrain.SetTexture(chrono::vehicle::GetDataFile("terrain/textures/tile4.jpg"), 200, 200); - terrain.SetTexture(data_path+"terrain/textures/tile4.jpg", 200, 200); - terrain.Initialize(terrainHeight, terrainLength, terrainWidth);*/ - /*end_change*/ - - - SimplePowertrain powertrain(vehicle::GetDataFile(data_path + "hmmwv/powertrain/HMMWV_SimplePowertrain.json")); // Yes - // HMMWV_Powertrain powertrain; - //powertrain.Initialize(my_hmmwv.GetChassisBody(),my_hmmwv.GetDriveshaft()); - //SimplePowertrain powertrain(vehicle::GetDataFile(simplepowertrain_file)); - powertrain.Initialize(my_hmmwv.GetChassisBody(), my_hmmwv.GetDriveshaft()); - //std::vector GearRatios; - //n.getParam("vehicle/chrono/vehicle_params/gearRatios",GearRatios); - //powertrain.SetGearRatios(GearRatios); - - // --------------------------------------- - // Create the vehicle Irrlicht application - // --------------------------------------- - - ChVehicleIrrApp app(&my_hmmwv, &powertrain, L"Steering Controller Demo", - irr::core::dimension2d(800, 640)); - - app.SetHUDLocation(500, 20); - app.SetSkyBox(); - app.AddTypicalLogo(); - app.AddTypicalLights(irr::core::vector3df(-150.f, -150.f, 200.f), irr::core::vector3df(-150.f, 150.f, 200.f), 100, - 100); - app.AddTypicalLights(irr::core::vector3df(150.f, -150.f, 200.f), irr::core::vector3df(150.0f, 150.f, 200.f), 100, - 100); - app.EnableGrid(false); - app.SetChaseCamera(trackPoint, 6.0, 0.5); - - app.SetTimestep(step_size); - app.SetTryRealtime(true); - - // ------------------------- - // Create the driver systems - // ------------------------- - - // Create both a GUI driver and a path-follower and allow switching between them - ChIrrGuiDriver driver_gui(app); - driver_gui.Initialize(); - - // --------------- - // Simulation loop - // --------------- - - // Driver location in vehicle local frame - ChVector<> driver_pos = my_hmmwv.GetChassis()->GetLocalDriverCoordsys().pos; - // Number of simulation steps between miscellaneous events - double render_step_size = 1 / fps; - int render_steps = (int)std::ceil(render_step_size / step_size); - double debug_step_size = 1 / debug_fps; - int debug_steps = (int)std::ceil(debug_step_size / step_size); - - // Initialize simulation frame counter and simulation time - ChRealtimeStepTimer realtime_timer; - int sim_frame = 0; - int render_frame = 0; - - double throttle_input, steering_input, braking_input; - std::vector x_traj_curr, y_traj_curr,x_traj_prev,y_traj_prev; //Initialize xy trajectory vectors - parameters hmmwv_params{terrain,tire_forces,my_hmmwv,realtime_timer,sim_frame,steering_input,throttle_input,braking_input,x_traj_curr,y_traj_curr,x_traj_prev,y_traj_prev,target_speed,render_steps,render_frame}; - //Load xy parameters for the first timestep - // std::string planner_namespace; - // n.getParam("system/planner",planner_namespace); - - // ---------------------- - // Create the Bezier path - // ---------------------- - - // Create and register a custom Irrlicht event receiver to allow selecting the - // current driver model. - ChDriverSelector selector(my_hmmwv, &driver_gui); - app.SetUserEventReceiver(&selector); - - // Finalize construction of visualization assets - app.AssetBindAll(); - app.AssetUpdateAll(); - - // ----------------- - // Initialize output - // ----------------- - - state_output = state_output || povray_output; - - if (state_output) { - if (ChFileutils::MakeDirectory(out_dir.c_str()) < 0) { - std::cout << "Error creating directory " << out_dir << std::endl; - return 1; - } - } - -/* - utils::CSV_writer csv("\t"); - csv.stream().setf(std::ios::scientific | std::ios::showpos); - csv.stream().precision(6); -*/ - utils::ChRunningAverage fwd_acc_GC_filter(filter_window_size); - utils::ChRunningAverage lat_acc_GC_filter(filter_window_size); - - utils::ChRunningAverage fwd_acc_driver_filter(filter_window_size); - utils::ChRunningAverage lat_acc_driver_filter(filter_window_size); - - std::ofstream myfile1; - myfile1.open(data_path+"paths/position.txt",std::ofstream::out | std::ofstream::trunc); - //get mass and moment of inertia about z axis - n.setParam("vehicle/common/m",my_hmmwv.GetVehicleMass()); - const ChMatrix33<> inertia_mtx= my_hmmwv.GetChassisBody()->GetInertia(); - double Izz=inertia_mtx.GetElement(2,2); - n.setParam("vehicle/common/Izz",Izz); - // get distance to front and rear axles - // enum chrono::vehicle::VehicleSide LEFT; - // enum chrono::vehicle::VehicleSide RIGHT; - ChVector<> veh_com= my_hmmwv.GetVehicleCOMPos(); - ChVector<> la_pos=my_hmmwv.GetSuspension(0)->GetSpindlePos(chrono::vehicle::VehicleSide::RIGHT); - ChVector<> lb_pos=my_hmmwv.GetSuspension(0)->GetSpindlePos(chrono::vehicle::VehicleSide::LEFT); - double la_length, lb_length; - ChVector<> la_diff; - la_diff.Sub(veh_com,la_pos); - ChVector<> lb_diff; - lb_diff.Sub(veh_com,lb_pos); - la_length=la_diff.Length(); - lb_length=lb_diff.Length(); - n.setParam("vehicle/common/la",la_length); - n.setParam("vehicle/common/lb",lb_length); - - // get friction and restitution coefficients - // float frict_coeff, rest_coeff; - frict_coeff = my_hmmwv.GetWheel(0)->GetCoefficientFriction(); - rest_coeff = my_hmmwv.GetWheel(0)->GetCoefficientRestitution(); - n.setParam("vehicle/common/frict_coeff",frict_coeff); - n.setParam("vehicle/common/rest_coeff",rest_coeff); - - // set up the controller - double Kp, Ki, Kd, Kw; - std::string windup_method; - n.getParam("controller/Kp",Kp); - n.getParam("controller/Ki",Ki); - n.getParam("controller/Kd",Kd); - n.getParam("controller/Kw",Kw); - n.getParam("controller/anti_windup",windup_method); - n.getParam("controller/time_shift", time_shift); - - controller.set_PID(Kp, Ki, Kd, Kw); - controller.set_step_size(step_size); - controller.set_output_limit(-1.0, 1.0); - controller.set_windup_metohd(windup_method); - controller.initialize(); - ae_int_t natural_bound_type = 2; - - std::cout<< "Go into the loop..." << std::endl; - - while(n.ok()){ - while (running) { - if(gui_switch) app.GetDevice()->run(); - ros::spinOnce(); - n.setParam("system/chrono/flags/running",true); - - // ros::Subscriber sub = n.subscribe("desired_ref", 1, ¶meters::controlCallback, &hmmwv_params); - - // Render scene and output POV-Ray data - if (hmmwv_params.sim_frame % hmmwv_params.render_steps == 0 && gui_switch) { - - app.BeginScene(true, true, irr::video::SColor(255, 140, 161, 192)); - app.DrawAll(); - app.EndScene(); - - hmmwv_params.render_frame++; - } - - ros_chrono_msgs::veh_status data_out; - /* - ChVector<> acc_CG = my_hmmwv.GetVehicle().GetChassisBody()->GetPos_dtdt(); - ChVector<> acc_driver = my_hmmwv.GetVehicle().GetVehicleAcceleration(driver_pos); - double fwd_acc_CG = fwd_acc_GC_filter.Add(acc_CG.x()); - double lat_acc_CG = lat_acc_GC_filter.Add(acc_CG.y()); - double fwd_acc_driver = fwd_acc_driver_filter.Add(acc_driver.x()); - double lat_acc_driver = lat_acc_driver_filter.Add(acc_driver.y());*/ - double time = hmmwv_params.my_hmmwv.GetSystem()->GetChTime(); - - // End simulation - if (time >= t_end) - break; - - real_1d_array t_array; - real_1d_array steering_array; - real_1d_array speed_array; - - t_array.setcontent(traj_t); - steering_array.setcontent(traj_sa); - speed_array.setcontent(traj_ux); - spline1dinterpolant s_ux; - spline1dinterpolant s_sa; - spline1dbuildcubic(t_array, speed_array, s_ux); - target_speed_interp = spline1dcalc(s_ux, time + time_shift); - spline1dbuildcubic(t_array, steering_array, s_sa); - target_steering_interp = spline1dcalc(s_sa, time); - - double speed_error = target_speed_interp - speed; - controller_output = controller.control(speed_error); - - target_steering_interp = target_steering_interp / PI * 180.0 / maximum_steering_angle * 2; - - hmmwv_params.target_speed = target_speed_interp; - - // Hack for acceleration-braking maneuver - /* // on-off controller - bool braking = false; - if (my_hmmwv.GetVehicle().GetVehicleSpeed() > hmmwv_params.target_speed) - braking = true; - if (braking) { - hmmwv_params.throttle_input = 0; - hmmwv_params.braking_input = 1; - } - else { - hmmwv_params.throttle_input = 1; - hmmwv_params.braking_input = 0; - } - */ - // pid controller - if (controller_output > 0){ - hmmwv_params.throttle_input = controller_output; - hmmwv_params.braking_input = 0; - } - else{ - hmmwv_params.throttle_input = 0; - hmmwv_params.braking_input = -controller_output; - } - - // Hack for steering maneuver - hmmwv_params.steering_input = target_steering_interp; - - - // std::cout << "Chrono steering input: " << hmmwv_params.steering_input < global_pos = hmmwv_params.my_hmmwv.GetVehicleCOMPos();//global location of chassis reference frame origin - ChQuaternion<> global_orntn = hmmwv_params.my_hmmwv.GetVehicleRot();//global orientation as quaternion - ChVector<> rot_dt = hmmwv_params.my_hmmwv.GetChassisBody()->GetWvel_loc();//global orientation as quaternion - ChVector<> global_velCOM = hmmwv_params.my_hmmwv.GetChassisBody()->GetPos_dt(); - ChVector<> global_accCOM = hmmwv_params.my_hmmwv.GetChassisBody()->GetPos_dtdt(); - //ChVector<> euler_ang = global_orntn.Q_to_Rotv(); //convert to euler angles - //ChPacejkaTire<> slip_angle = GetSlipAngle() - double slip_angle = tire_front_left.GetLongitudinalSlip(); - speed = hmmwv_params.my_hmmwv.GetVehicleSpeedCOM(); - - double q0 = global_orntn[0]; - double q1 = global_orntn[1]; - double q2 = global_orntn[2]; - double q3 = global_orntn[3]; - - double yaw_val=atan2(2*(q0*q3+q1*q2),1-2*(q2*q2+q3*q3)); - double theta_val=asin(2*(q0*q2-q3*q1)); - double phi_val= atan2(2*(q0*q1+q2*q3),1-2*(q1*q1+q2*q2)); - - n.setParam("state/chrono/t",time); //time in chrono simulation - n.setParam("state/chrono/x", global_pos[0]) ; - n.setParam("state/chrono/yVal",global_pos[1]); - n.setParam("state/chrono/ux",fabs(global_velCOM[0])); //speed measured at the origin of the chassis reference frame. - n.setParam("state/chrono/v", global_velCOM[1]); - n.setParam("state/chrono/ax", global_accCOM[0]); - n.setParam("state/chrono/psi",yaw_val); //in radians - n.setParam("state/chrono/theta",theta_val); //in radians - n.setParam("state/chrono/phi",phi_val); //in radians - n.setParam("state/chrono/r",-rot_dt[2]);//yaw rate - n.setParam("state/chrono/sa",slip_angle); //slip angle - n.setParam("state/chrono/control/thr",hmmwv_params.throttle_input); //throttle input in the range [0,+1] - n.setParam("state/chrono/control/brk",hmmwv_params.braking_input); //braking input in the range [0,+1] - n.setParam("state/chrono/control/str",hmmwv_params.steering_input); //steeering input in the range [-1,+1] - - n.setParam("system/simulation_time", time); - - data_out.t_chrono=time; //time in chrono simulation - data_out.x_pos= global_pos[0]; - data_out.y_pos=global_pos[1]; - data_out.x_v= fabs(global_velCOM[0]); //speed measured at the origin of the chassis reference frame. - data_out.y_v= global_velCOM[1]; - data_out.x_a= global_accCOM[0]; - data_out.yaw_curr=yaw_val; //in radians - data_out.yaw_rate=-rot_dt[2];//yaw rate - data_out.sa=slip_angle; //slip angle - data_out.thrt_in=hmmwv_params.throttle_input; //throttle input in the range [0,+1] - data_out.brk_in=hmmwv_params.braking_input; //braking input in the range [0,+1] - data_out.str_in=hmmwv_params.steering_input; //steeering input in the range [-1,+1] - - vehicleinfo_pub.publish(data_out); - // loop_rate.sleep(); - - myfile1 << ' ' << global_pos[0] << ' '<< global_pos[1] <<' ' << global_pos[2] << '\n'; - n.getParam("system/" + planner_namespace + "/flags/goal_attained",goal_attained); - if(goal_attained){ - n.setParam("system/goal_attained","true"); - n.setParam("system/chrono/flags/running","false"); - running = false; - } - } - } -/* - if (state_output){ - csv.write_to_file(out_dir + "/state.out"); - }*/ -myfile1.close(); - - return 0; -} diff --git a/ros/src/models/chrono/ros_chrono/old/trajectory_follower2.cpp b/ros/src/models/chrono/ros_chrono/old/trajectory_follower2.cpp deleted file mode 100644 index a0ea1076..00000000 --- a/ros/src/models/chrono/ros_chrono/old/trajectory_follower2.cpp +++ /dev/null @@ -1,993 +0,0 @@ -// ============================================================================= -// PROJECT CHRONO - http://projectchrono.org -// -// Copyright (c) 2014 projectchrono.org -// All rights reserved. -// -// Use of this source code is governed by a BSD-style license that can be found -// in the LICENSE file at the top level of the distribution and at -// http://projectchrono.org/license-chrono.txt. -// -// ============================================================================= -// Authors: Radu Serban -// ============================================================================= -// -// Demonstration of a steering path-follower PID controller. -// -// The vehicle reference frame has Z up, X towards the front of the vehicle, and -// Y pointing to the left. -// TO DO: -// Find proper yaw rate calculation -// Subsscribe to msg from obstacle_avoidance_chrono, callback to that to calculate ChBezierCurve -// ============================================================================= - -#include -#include -#include "boost/bind.hpp" -#include "chrono/core/ChFileutils.h" -#include "chrono/core/ChRealtimeStep.h" -#include "chrono/utils/ChFilters.h" -#include -#include -#include "ros/ros.h" -#include "std_msgs/String.h" -#include "ros_chrono_msgs/veh_status.h" -#include "nloptcontrol_planner/Trajectory.h" -#include -#include -#include -#include -#include -#include -//#include "tf/tf.h" -#include -#include "chrono_vehicle/ChVehicleModelData.h" -#include "chrono_vehicle/terrain/RigidTerrain.h" -#include "chrono_vehicle/driver/ChIrrGuiDriver.h" -#include "chrono_vehicle/driver/ChPathFollowerDriver.h" -#include "chrono_vehicle/wheeled_vehicle/utils/ChWheeledVehicleIrrApp.h" -#include "chrono_models/vehicle/hmmwv/HMMWV.h" -#include "chrono/physics/ChSystem.h" -#include "chrono_vehicle/wheeled_vehicle/tire/ChPacejkaTire.h" -//#include "chrono_models/vehicle/hmmwv/HMMWV_Pac02Tire.h" -#include "chrono_vehicle/wheeled_vehicle/tire/RigidTire.h" -#include "chrono_vehicle/wheeled_vehicle/tire/LugreTire.h" -#include "chrono_models/vehicle/hmmwv/HMMWV_ReissnerTire.h" -#include "chrono_vehicle/ChSubsysDefs.h" -#include "chrono_vehicle/wheeled_vehicle/vehicle/WheeledVehicle.h" -#include "chrono_vehicle/powertrain/ChShaftsPowertrain.h" -#include "chrono_vehicle/powertrain/SimplePowertrain.h" -#include "chrono_thirdparty/rapidjson/document.h" -#include "chrono_thirdparty/rapidjson/filereadstream.h" - -#include "chrono/core/ChFileutils.h" -#include "chrono/core/ChStream.h" -#include "chrono/utils/ChFilters.h" -#include "chrono/utils/ChUtilsInputOutput.h" -#include "chrono/solver/ChSolverMINRES.h" -#include "chrono_vehicle/ChConfigVehicle.h" - -#define PI 3.1415926535 -//using veh_status.msg -using namespace chrono; -using namespace chrono::geometry; -using namespace chrono::vehicle; -using namespace chrono::vehicle::hmmwv; - -using namespace alglib; - -using namespace rapidjson; -// ============================================================================= -// Problem parameters -// Main Data Path -//std::string data_path("/home/shreyas/.julia/v0.6/MAVs/catkin_ws/data/vehicle/"); -std::string data_path("../../../src/models/chrono/ros_chrono/src/data/vehicle/"); -//std::string data_path("src/system/chrono/ros_chrono/src/data/vehicle/"); -// Contact method type -ChMaterialSurface::ContactMethod contact_method = ChMaterialSurface::NSC; - -// Type of tire model (RIGID, LUGRE, FIALA, or PACEJKA) -// TireModelType tire_model = TireModelType::RIGID; - -// Input file name for PACEJKA tires if they are selected -std::string pacejka_tire_file_left(data_path+"hmmwv/tire/HMMWV_pacejka_left.tir"); -std::string pacejka_tire_file_right(data_path+"hmmwv/tire/HMMWV_pacejka_right.tir"); -std::string lugre_tire_file(data_path+"hmmwv/tire/HMMWV_LugreTire.json"); -std::string rigid_tire_file(data_path+"hmmwv/tire/HMMWV_RigidTire.json"); -std::string reissner_tire_file(data_path+"hmmwv/tire/HMMWV_ReissnerTire.json"); -//std::string pacejka_tire_file("hmmwv/tire/HMMWV_pacejka.tir"); -// Type of powertrain model (SHAFTS or SIMPLE) -PowertrainModelType powertrain_model = PowertrainModelType::SHAFTS; - -// Drive type (FWD, RWD, or AWD) -DrivelineType drive_type = DrivelineType::RWD; - -// Visualization type for vehicle parts (PRIMITIVES, MESH, or NONE) -VisualizationType chassis_vis_type = VisualizationType::PRIMITIVES; -VisualizationType suspension_vis_type = VisualizationType::PRIMITIVES; -VisualizationType steering_vis_type = VisualizationType::PRIMITIVES; -VisualizationType wheel_vis_type = VisualizationType::NONE; -VisualizationType tire_vis_type = VisualizationType::PRIMITIVES; - -std::string path_file(data_path+"paths/my_path.txt"); -std::string simplepowertrain_file(data_path+"hmmwv/powertrain/HMMWV_ShaftsPowertrain.json"); -WheelState wheel_states[4]; - - -// Rigid terrain dimensions -double terrainHeight = 0; -double terrainLength = 500.0; // size in X direction -double terrainWidth = 500.0; // size in Y direction - -// Point on chassis tracked by the chase camera -ChVector<> trackPoint(0.0, 0.0, 1.75); - -// Simulation step size -double step_size = 1e-2; -double tire_step_size = step_size; - -// Simulation end time -double t_end = 1000; - -// Render FPS -double fps = 60; - -// Debug logging -bool debug_output = false; -double debug_fps = 10; - -// Output directories -const std::string out_dir = GetChronoOutputPath() + "STEERING_CONTROLLER"; -const std::string pov_dir = out_dir + "/POVRAY"; - -// POV-Ray output -bool povray_output = false; - -// Vehicle state output (forced to true if povray output enabled) -bool state_output = false; -int filter_window_size = 20; - -// In src/data/vehicle/hmmwv/steering/HMMWV_PitmanArm.json revolution joint -double speed = 0.0; -double maximum_steering_angle; -// Controller output -double target_steering_interp = 0.0; -double target_speed_interp = 0.0; -double controller_output = 0.0; -double time_shift = 0.0; -PID controller; -std::vector traj_t(2,0); -std::vector traj_sa(2,0); -std::vector traj_ux(2,0); - -// ============================================================================= - -// Custom Irrlicht event receiver for selecting current driver model. -class ChDriverSelector : public irr::IEventReceiver { - public: - ChDriverSelector(const ChVehicle& vehicle, ChIrrGuiDriver* driver_gui) - : m_vehicle(vehicle), - m_driver_gui(driver_gui), - m_driver(m_driver_gui), - m_using_gui(true) {} - - ChDriver* GetDriver() { return m_driver; } - bool UsingGUI() const { return m_using_gui; } - - virtual bool OnEvent(const irr::SEvent& event) { - return false; - } - - private: - bool m_using_gui; - const ChVehicle& m_vehicle; - ChIrrGuiDriver* m_driver_gui; - ChDriver* m_driver; -}; - -struct parameters -{ - RigidTerrain terrain; - TireForces tire_forces; - WheeledVehicle my_hmmwv; - ChRealtimeStepTimer realtime_timer; - int sim_frame; - double steering_input; - double throttle_input; - double braking_input; - std::vector x_traj_curr; - std::vector y_traj_curr; - std::vector x_traj_prev; - std::vector y_traj_prev; - double target_speed; - int render_steps; - int render_frame; -} ; - -void waitForLoaded(ros::NodeHandle &n){ - bool planner_init = false; - std::string planner_namespace; - n.getParam("system/planner",planner_namespace); - n.getParam("system/"+planner_namespace+"/flags/initialized",planner_init); - while(!planner_init){ - usleep(500); // < my question - n.getParam("system/"+planner_namespace+"/flags/initialized",planner_init); - - } - usleep(500); //sleep another 500ms to ensure everything is loaded. - //continue on here -} - -void setChassisParams(ros::NodeHandle &n){ - std::ofstream myfile2; - - myfile2.open(data_path+"hmmwv/chassis/HMMWV_Chassis.json",std::ofstream::out | std::ofstream::trunc); - std::string s1 = "{ "; - std::string s2 = " \"Name\": \"HMMWV chassis\","; - std::string s3 = " \"Type\": \"Chassis\","; - std::string s4 = " \"Template\": \"RigidChassis\","; - std::string s5 = " \"Components\":"; - std::string s6 = " ["; - std::string s7 = " {"; - std::string s8 = " \"Centroidal Frame\": {"; - std::string s9 = " \"Location\": "; - std::string s10; - n.getParam("vehicle/chrono/vehicle_params/centroidLoc",s10); - std::string s11 = " \"Orientation\": "; - std::string s12; - n.getParam("/vehicle/chrono/vehicle_params/centroidOrientation",s12); - std::string s13 = " },"; - std::string s14 = " \"Mass\": "; - std::string s15; - n.getParam("/vehicle/chrono/vehicle_params/chassisMass",s15); - std::string s16 = " \"Moments of Inertia\": "; - std::string s17; - n.getParam("/vehicle/chrono/vehicle_params/chassisInertia",s17); - std::string s18 = " \"Products of Inertia\": [0, 0, 0],"; - std::string s19 = " \"Void\": false"; - std::string s20 = " }"; - std::string s21 = " ],"; - std::string s22 = " \"Driver Position\":"; - std::string s23 = " {"; - std::string s24 = " \"Location\": "; - std::string s25; - n.getParam("/vehicle/chrono/vehicle_params/driverLoc",s25); - std::string s26 = " \"Orientation\": "; - std::string s27; - n.getParam("/vehicle/chrono/vehicle_params/driverOrientation",s27); - std::string s28 = " },"; - std::string s29 = " \"Visualization\":"; - std::string s30 = " {"; - std::string s31 = " \"Mesh\":"; - std::string s32 = " {"; - std::string s33 = " \"Filename\": \"hmmwv/hmmwv_chassis.obj\","; - std::string s34 = " \"Name\": \"hmmwv_chassis_POV_geom\""; - std::string s35 = " }"; - std::string s36 = " }"; - std::string s37 = "}"; - myfile2 << s1 << '\n'; - myfile2 << s2 << '\n'; - myfile2 << s3 << '\n'; - myfile2 << s4 << '\n'; - myfile2 << '\n'; - myfile2 << s5 << '\n'; - myfile2 << s6 << '\n'; - myfile2 << s7 << '\n'; - myfile2 << s8 << '\n'; - myfile2 << s9 << s10 << '\n'; - myfile2 << s11 << s12 << '\n'; - myfile2 << s13 << '\n'; - myfile2 << s14 << s15 <<'\n'; - myfile2 << s16 << s17 << '\n'; - myfile2 << s18 << '\n'; - myfile2 << s19 << '\n'; - myfile2 << s20 << '\n'; - myfile2 << s21 << '\n'; - myfile2 << s22 << '\n'; - myfile2 << s23 << '\n'; - myfile2 << s24 << s25 << '\n'; - myfile2 << s26 << s27 << '\n'; - myfile2 << s28 << '\n'; - myfile2 << '\n'; - myfile2 << s29 << '\n'; - myfile2 << s30 << '\n'; - myfile2 << s31 << '\n'; - myfile2 << s32 << '\n'; - myfile2 << s33 << '\n'; - myfile2 << s34 << '\n'; - myfile2 << s35 << '\n'; - myfile2 << s36 << '\n'; - myfile2 << s37 << '\n'; - myfile2.close(); -} - -void setDrivelineParams(ros::NodeHandle &n){ - std::ofstream myfile2; - - myfile2.open(data_path+"hmmwv/driveline/HMMWV_Driveline2WD.json",std::ofstream::out | std::ofstream::trunc); - std::string s1 = "{ "; - std::string s2 = " \"Name\": \"HMMWV RWD Driveline\","; - std::string s3 = " \"Type\": \"Driveline\","; - std::string s4 = " \"Template\": \"ShaftsDriveline2WD\","; - std::string s5 = " \"Shaft Direction\":"; - std::string s6 = " {"; - std::string s7 = " \"Motor Block\": "; - std::string s8; - n.getParam("/vehicle/chrono/vehicle_params/motorBlockDirection",s8); - std::string s9 = " \"Axle\": "; - std::string s10; - n.getParam("/vehicle/chrono/vehicle_params/axleDirection",s10); - std::string s11 = " },"; - std::string s12 = " \"Shaft Inertia\":"; - std::string s13 = " {"; - std::string s14 = " \"Driveshaft\": "; - std::string s15; - n.getParam("/vehicle/chrono/vehicle_params/driveshaftInertia", s15); - std::string s16 = " \"Differential Box\": "; - std::string s17; - n.getParam("/vehicle/chrono/vehicle_params/differentialBoxInertia",s17); - std::string s18 = " },"; - std::string s19 = " \"Gear Ratio\":"; - std::string s20 = " {"; - std::string s21 = " \"Conical Gear\": "; - std::string s22; - n.getParam("/vehicle/chrono/vehicle_params/conicalGearRatio",s22); - std::string s23 = " \"Differential\": "; - std::string s24; - n.getParam("/vehicle/chrono/vehicle_params/differentialRatio",s24); - std::string s25 = " }"; - std::string s26 = "}"; - - myfile2 << s1 << '\n'; - myfile2 << s2 << '\n'; - myfile2 << s3 << '\n'; - myfile2 << s4 << '\n'; - myfile2 << '\n'; - myfile2 << s5 << '\n'; - myfile2 << s6 << '\n'; - myfile2 << s7 << s8 << '\n'; - myfile2 << s9 << s10 << '\n'; - myfile2 << s11 << '\n'; - myfile2 << '\n'; - myfile2 << s12 << '\n'; - myfile2 << s13 << '\n'; - myfile2 << s14 << s15 << '\n'; - myfile2 << s16 << s17 << '\n'; - myfile2 << s18 << '\n'; - myfile2 << '\n'; - myfile2 << s19 << '\n'; - myfile2 << s20 << '\n'; - myfile2 << s21 << s22 << '\n'; - myfile2 << s23 << s24 << '\n'; - myfile2 << s25 << '\n'; - myfile2 << s26 ; - myfile2.close(); -} - - -void setSteeringParams(ros::NodeHandle &n){ - std::ofstream myfile2; - - myfile2.open(data_path+"hmmwv/steering/HMMWV_RackPinion.json",std::ofstream::out | std::ofstream::trunc); - std::string s1 = "{"; - std::string s2 = " \"Name\": \"HMMWV Rack-Pinion Steering\","; - std::string s3 = " \"Type\": \"Steering\","; - std::string s4 = " \"Template\": \"RackPinion\","; - std::string s5 = " \"Steering Link\":"; - std::string s6 = " {"; - std::string s7 = " \"Mass\": "; - std::string s8 ; - n.getParam("/vehicle/chrono/vehicle_params/steeringLinkMass", s8); - std::string s9 = " \"COM\": 0,"; - std::string s10 = " \"Inertia\": "; - std::string s11; - n.getParam("/vehicle/chrono/vehicle_params/steeringLinkInertia",s11); - std::string s12 = " \"Radius\": "; - std::string s13; - n.getParam("/vehicle/chrono/vehicle_params/steeringLinkRadius",s13); - std::string s14 = " \"Length\": "; - std::string s15; - n.getParam("/vehicle/chrono/vehicle_params/steeringLinkLength",s15); - std::string s16 = " },"; - std::string s17 = " \"Pinion\":"; - std::string s18 = " \"Radius\": "; - std::string s19; - n.getParam("/vehicle/chrono/vehicle_params/pinionRadius",s19); - std::string s20 = " \"Maximum Angle\": "; - std::string s21; - n.getParam("/vehicle/chrono/vehicle_params/pinionMaxAngle",s21); - std::string s22 = " }"; - std::string s23 = "}"; - - - - myfile2 << s1 << '\n'; - myfile2 << s2 << '\n'; - myfile2 << s3 << '\n'; - myfile2 << s4 << '\n'; - myfile2 << '\n'; - myfile2 << s5 << '\n'; - myfile2 << s6 << '\n'; - myfile2 << s7 << s8 << '\n'; - myfile2 << s9 << '\n'; - myfile2 << s10 << s11 << '\n'; - myfile2 << s12 << s13 << '\n'; - myfile2 << s14 << s15 << '\n'; - myfile2 << s16 << '\n'; - myfile2 << '\n'; - myfile2 << s17 << '\n'; - myfile2 << s18 << s19 << '\n'; - myfile2 << s20 << '\n'; - myfile2 << s21 << s21 << '\n'; - myfile2 << s22 << '\n'; - myfile2 << s23 << '\n'; - - myfile2.close(); -} - -void setBrakingParams(ros::NodeHandle &n){ - std::ofstream myfile2; - std::ofstream myfile3; - - std::string s1 = "{ "; - std::string s2 = " \"Name\": \"HMMWV Brake Front\","; - std::string s3 = " \"Type\": \"Brake\","; - std::string s4 = " \"Template\": \"BrakeSimple\","; - std::string s5 = " \"Maximum Torque\": "; - std::string s6; - n.getParam("vehicle/chrono/vehicle_params/maxBrakeTorque",s6); - std::string s7 = "}"; - std::string s8 = " \"Name\": \"HMMWV Brake Rear\","; - - myfile2.open(data_path+"hmmwv/brake/HMMWV_BrakeSimple_Front.json",std::ofstream::out | std::ofstream::trunc); - myfile2 << s1 << '\n'; - myfile2 << s2 << '\n'; - myfile2 << s3 << '\n'; - myfile2 << s4 << '\n'; - myfile2 << '\n'; - myfile2 << s5 << s6 << '\n'; - myfile2 << s7 << '\n'; - myfile2.close(); - - myfile3.open(data_path+"hmmwv/brake/HMMWV_BrakeSimple_Rear.json",std::ofstream::out | std::ofstream::trunc); - myfile3 << s1 << '\n'; - myfile3 << s8 << '\n'; - myfile3 << s2 << '\n'; - myfile3 << s3 << '\n'; - myfile3 << s4 << '\n'; - myfile3 << '\n'; - myfile3 << s5 << s6 << '\n'; - myfile3 << s7 << '\n'; - myfile3.close(); -} - -void controlCallback(const nloptcontrol_planner::Trajectory::ConstPtr& control_msg){ - traj_t = control_msg->t; - traj_sa = control_msg->sa; - traj_ux = control_msg->ux; - - /* - std::cout << "Current time: "<< time << std::endl; - std::cout << "Time trajectory: " << " "; - for(int i = 0; i < traj_t.size(); i++) - std::cout << traj_t[i] << " "; - std::cout << std::endl; - - std::cout << "Speed trajectory: " << " "; - for(int i = 0; i < traj_ux.size(); i++) - std::cout << traj_ux[i] << " "; - std::cout << std::endl; - - std::cout << "Steering trajectory: " << " "; - for(int i = 0; i < traj_sa.size(); i++) - std::cout << traj_sa[i] << " "; - std::cout << std::endl; -*/ - std::cout << "Target_speed: " << target_speed_interp << " Actual speed: " << speed << std::endl; - // std::cout << "Target_steering: " << target_steering_interp << " Actual steering: " << target_steering_interp << std::endl; - // std::cout << std::endl; -} - -// ============================================================================= -int main(int argc, char* argv[]) { - - //unsigned int microseconds = 10000000; - //std::cout << "Sleeping for ten sec..." << std::endl; - //usleep(microseconds); - - char cwd[1024]; - if (getcwd(cwd, sizeof(cwd)) != NULL) - fprintf(stdout, "Current working dir: %s\n", cwd); - else - perror("getcwd() error"); - GetLog() << "Copyright (c) 2017 projectchrono.org\nChrono version: " << CHRONO_VERSION << "\n\n"; - - SetChronoDataPath(CHRONO_DATA_DIR); - vehicle::SetDataPath(data_path); - - // read maximum_steering_angle from json - std::string filename(data_path + "hmmwv/steering/HMMWV_PitmanArm.json"); - FILE* fp = fopen(filename.c_str(), "r"); - char readBuffer[65536]; - FileReadStream is(fp, readBuffer, sizeof(readBuffer)); - fclose(fp); - Document d; - d.ParseStream(is); - maximum_steering_angle = d["Revolute Joint"]["Maximum Angle"].GetDouble(); - - ros::init(argc, argv, "Traj_follower"); - ros::NodeHandle n; - n.setParam("system/chrono/flags/initialized",true); - n.getParam("system/params/step_size",step_size); - - bool planner_init; - // bool planner_init2; - - std::string planner_namespace; - n.getParam("system/planner",planner_namespace); - n.getParam("system/"+planner_namespace+"/flags/initialized",planner_init); - std::cout << "The planner state:" << planner_init << std::endl; - ros::Subscriber sub = n.subscribe(planner_namespace+"/control", 100, controlCallback); - - //planner_init2=planner_init1; - // n.getParam("system/"+planner_namespace+"/flags/initialized",planner_init2); - - if(!planner_init){ - waitForLoaded(n); - } - //std::string planner_init; - - n.getParam("system/"+planner_namespace+"/flags/initialized",planner_init); - - // Desired vehicle speed (m/s) - double target_speed; - n.getParam("state/chrono/X0/v_des",target_speed); - - //Initial Position - double x0, y0, z0, yaw0, pitch0, roll0, goal_x, goal_y;; - bool gui_switch; - n.getParam("case/actual/X0/x",x0); - n.getParam("case/actual/X0/yVal",y0); - n.getParam("state/chrono/X0/z",z0); - n.getParam("case/actual/X0/psi",yaw0); - n.getParam("state/chrono/X0/theta",pitch0); - n.getParam("state/chrono/X0/phi",roll0); - n.getParam("case/goal/x",goal_x); - n.getParam("case/goal/yVal",goal_y); - - n.getParam("system/chrono/flags/gui",gui_switch); - - bool goal_attained = false; - bool running = true; - - setSteeringParams(n); - setDrivelineParams(n); - setBrakingParams(n); - setChassisParams(n); - ChVector<> initLoc(x0, y0, z0); -// ChQuaternion<> initRot(q[0],q[1],q[2],q[3]); - - double t0 = std::cos(yaw0 * 0.5f); - double t1 = std::sin(yaw0 * 0.5f); - double t2 = std::cos(roll0 * 0.5f); - double t3 = std::sin(roll0 * 0.5f); - double t4 = std::cos(pitch0 * 0.5f); - double t5 = std::sin(pitch0 * 0.5f); - - double q0_0 = t0 * t2 * t4 + t1 * t3 * t5; - double q0_1 = t0 * t3 * t4 - t1 * t2 * t5; - double q0_2 = t0 * t2 * t5 + t1 * t3 * t4; - double q0_3 = t1 * t2 * t4 - t0 * t3 * t5; - - ChQuaternion<> initRot(q0_0,q0_1,q0_2,q0_3); - //ChQuaternion<> initRot(cos(PI/4), 0, 0, sin(PI/4)); //initial yaw of pi/2 - - ros::Publisher vehicleinfo_pub = n.advertise("vehicleinfo", 1); - - //ros::Rate loop_rate(5); - - // ------------------------------ - // Create the vehicle and terrain - // ------------------------------ - - // Create the HMMWV vehicle, set parameters, and initialize - std::cout << "Start reading the file" << std::endl; - WheeledVehicle my_hmmwv(data_path + "hmmwv/vehicle/HMMWV_Vehicle.json",contact_method); - my_hmmwv.Initialize(ChCoordsys<>(initLoc, initRot),0.0); - - std::cout << "Successfully read the file" << std::endl; - my_hmmwv.SetChassisVehicleCollide(false); - my_hmmwv.GetChassis()->SetVisualizationType(chassis_vis_type); -// my_hmmwv.GetChassis()->AddVisualizationAssets(chassis_vis_type); - - my_hmmwv.SetSuspensionVisualizationType(suspension_vis_type); - my_hmmwv.SetSteeringVisualizationType(steering_vis_type); - my_hmmwv.SetWheelVisualizationType(wheel_vis_type); - //my_hmmwv.SetTireVisualizationType(tire_vis_type); - RigidTire tire_front_left(rigid_tire_file); - RigidTire tire_front_right(rigid_tire_file); - RigidTire tire_rear_left(rigid_tire_file); - RigidTire tire_rear_right(rigid_tire_file); - - - TireForces tire_forces(4); - - tire_front_left.Initialize(my_hmmwv.GetWheelBody(0), LEFT); - tire_front_right.Initialize(my_hmmwv.GetWheelBody(1), LEFT); - tire_rear_left.Initialize(my_hmmwv.GetWheelBody(2), RIGHT); - tire_rear_right.Initialize(my_hmmwv.GetWheelBody(3), RIGHT); - - - tire_front_left.SetVisualizationType(tire_vis_type); - tire_front_right.SetVisualizationType(tire_vis_type); - tire_rear_left.SetVisualizationType(tire_vis_type); - tire_rear_right.SetVisualizationType(tire_vis_type); - - // Create the terrain - float frict_coeff, rest_coeff; - n.getParam("vehicle/common/frict_coeff",frict_coeff); - n.getParam("vehicle/common/rest_coeff",rest_coeff); - - RigidTerrain terrain(my_hmmwv.GetSystem()); - my_hmmwv.GetWheel(0)->SetContactFrictionCoefficient(frict_coeff); - my_hmmwv.GetWheel(0)->SetContactRestitutionCoefficient(rest_coeff); - - //terrain.SetContactFrictionCoefficient(0.9f); - //terrain.SetContactRestitutionCoefficient(0.01f); - terrain.SetContactMaterialProperties(2e7f, 0.3f); - terrain.SetColor(ChColor(1, 1, 1)); - //terrain.SetTexture(chrono::vehicle::GetDataFile("terrain/textures/tile4.jpg"), 200, 200); - terrain.SetTexture(data_path+"terrain/textures/tile4.jpg", 200, 200); - terrain.Initialize(terrainHeight, terrainLength, terrainWidth); - - //SimplePowertrain powertrain(vehicle::GetDataFile("hmmwv/powertrain/HMMWV_SimplePowertrain.json")); - HMMWV_Powertrain powertrain; - powertrain.Initialize(my_hmmwv.GetChassisBody(),my_hmmwv.GetDriveshaft()); - std::vector GearRatios; - n.getParam("vehicle/chrono/vehicle_params/gearRatios",GearRatios); - powertrain.SetGearRatios(GearRatios); - // --------------------------------------- - // Create the vehicle Irrlicht application - // --------------------------------------- - - ChVehicleIrrApp app(&my_hmmwv, &powertrain, L"Steering Controller Demo", - irr::core::dimension2d(800, 640)); - - app.SetHUDLocation(500, 20); - app.SetSkyBox(); - app.AddTypicalLogo(); - app.AddTypicalLights(irr::core::vector3df(-150.f, -150.f, 200.f), irr::core::vector3df(-150.f, 150.f, 200.f), 100, - 100); - app.AddTypicalLights(irr::core::vector3df(150.f, -150.f, 200.f), irr::core::vector3df(150.0f, 150.f, 200.f), 100, - 100); - app.EnableGrid(false); - app.SetChaseCamera(trackPoint, 6.0, 0.5); - - app.SetTimestep(step_size); - app.SetTryRealtime(true); - - // ------------------------- - // Create the driver systems - // ------------------------- - - // Create both a GUI driver and a path-follower and allow switching between them - ChIrrGuiDriver driver_gui(app); - driver_gui.Initialize(); - - // --------------- - // Simulation loop - // --------------- - - // Driver location in vehicle local frame - ChVector<> driver_pos = my_hmmwv.GetChassis()->GetLocalDriverCoordsys().pos; - // Number of simulation steps between miscellaneous events - double render_step_size = 1 / fps; - int render_steps = (int)std::ceil(render_step_size / step_size); - double debug_step_size = 1 / debug_fps; - int debug_steps = (int)std::ceil(debug_step_size / step_size); - - // Initialize simulation frame counter and simulation time - ChRealtimeStepTimer realtime_timer; - int sim_frame = 0; - int render_frame = 0; - - double throttle_input, steering_input, braking_input; - std::vector x_traj_curr, y_traj_curr,x_traj_prev,y_traj_prev; //Initialize xy trajectory vectors - parameters hmmwv_params{terrain,tire_forces,my_hmmwv,realtime_timer,sim_frame,steering_input,throttle_input,braking_input,x_traj_curr,y_traj_curr,x_traj_prev,y_traj_prev,target_speed,render_steps,render_frame}; - //Load xy parameters for the first timestep - // std::string planner_namespace; - // n.getParam("system/planner",planner_namespace); - - // ---------------------- - // Create the Bezier path - // ---------------------- - - // Create and register a custom Irrlicht event receiver to allow selecting the - // current driver model. - ChDriverSelector selector(my_hmmwv, &driver_gui); - app.SetUserEventReceiver(&selector); - - // Finalize construction of visualization assets - app.AssetBindAll(); - app.AssetUpdateAll(); - - // ----------------- - // Initialize output - // ----------------- - - state_output = state_output || povray_output; - - if (state_output) { - if (ChFileutils::MakeDirectory(out_dir.c_str()) < 0) { - std::cout << "Error creating directory " << out_dir << std::endl; - return 1; - } - } - -/* - utils::CSV_writer csv("\t"); - csv.stream().setf(std::ios::scientific | std::ios::showpos); - csv.stream().precision(6); -*/ - utils::ChRunningAverage fwd_acc_GC_filter(filter_window_size); - utils::ChRunningAverage lat_acc_GC_filter(filter_window_size); - - utils::ChRunningAverage fwd_acc_driver_filter(filter_window_size); - utils::ChRunningAverage lat_acc_driver_filter(filter_window_size); - - std::ofstream myfile1; - myfile1.open(data_path+"paths/position.txt",std::ofstream::out | std::ofstream::trunc); - //get mass and moment of inertia about z axis - n.setParam("vehicle/common/m",my_hmmwv.GetVehicleMass()); - const ChMatrix33<> inertia_mtx= my_hmmwv.GetChassisBody()->GetInertia(); - double Izz=inertia_mtx.GetElement(2,2); - n.setParam("vehicle/common/Izz",Izz); - // get distance to front and rear axles - // enum chrono::vehicle::VehicleSide LEFT; - // enum chrono::vehicle::VehicleSide RIGHT; - ChVector<> veh_com= my_hmmwv.GetVehicleCOMPos(); - ChVector<> la_pos=my_hmmwv.GetSuspension(0)->GetSpindlePos(chrono::vehicle::VehicleSide::RIGHT); - ChVector<> lb_pos=my_hmmwv.GetSuspension(0)->GetSpindlePos(chrono::vehicle::VehicleSide::LEFT); - double la_length, lb_length; - ChVector<> la_diff; - la_diff.Sub(veh_com,la_pos); - ChVector<> lb_diff; - lb_diff.Sub(veh_com,lb_pos); - la_length=la_diff.Length(); - lb_length=lb_diff.Length(); - n.setParam("vehicle/common/la",la_length); - n.setParam("vehicle/common/lb",lb_length); - - // get friction and restitution coefficients - // float frict_coeff, rest_coeff; - frict_coeff = my_hmmwv.GetWheel(0)->GetCoefficientFriction(); - rest_coeff = my_hmmwv.GetWheel(0)->GetCoefficientRestitution(); - n.setParam("vehicle/common/frict_coeff",frict_coeff); - n.setParam("vehicle/common/rest_coeff",rest_coeff); - - // set up the controller - double Kp, Ki, Kd, Kw; - std::string windup_method; - n.getParam("controller/Kp",Kp); - n.getParam("controller/Ki",Ki); - n.getParam("controller/Kd",Kd); - n.getParam("controller/Kw",Kw); - n.getParam("controller/anti_windup",windup_method); - n.getParam("controller/time_shift", time_shift); - - controller.set_PID(Kp, Ki, Kd, Kw); - controller.set_step_size(step_size); - controller.set_output_limit(-1.0, 1.0); - controller.set_windup_metohd(windup_method); - controller.initialize(); - ae_int_t natural_bound_type = 2; - - std::cout<< "Go into the loop..." << std::endl; - - while(n.ok()){ - while (running) { - if(gui_switch) app.GetDevice()->run(); - ros::spinOnce(); - n.setParam("system/chrono/flags/running",true); - - // ros::Subscriber sub = n.subscribe("desired_ref", 1, ¶meters::controlCallback, &hmmwv_params); - - // Render scene and output POV-Ray data - if (hmmwv_params.sim_frame % hmmwv_params.render_steps == 0 && gui_switch) { - - app.BeginScene(true, true, irr::video::SColor(255, 140, 161, 192)); - app.DrawAll(); - app.EndScene(); - - hmmwv_params.render_frame++; - } - - ros_chrono_msgs::veh_status data_out; - /* - ChVector<> acc_CG = my_hmmwv.GetVehicle().GetChassisBody()->GetPos_dtdt(); - ChVector<> acc_driver = my_hmmwv.GetVehicle().GetVehicleAcceleration(driver_pos); - double fwd_acc_CG = fwd_acc_GC_filter.Add(acc_CG.x()); - double lat_acc_CG = lat_acc_GC_filter.Add(acc_CG.y()); - double fwd_acc_driver = fwd_acc_driver_filter.Add(acc_driver.x()); - double lat_acc_driver = lat_acc_driver_filter.Add(acc_driver.y());*/ - double time = hmmwv_params.my_hmmwv.GetSystem()->GetChTime(); - - // End simulation - if (time >= t_end) - break; - - real_1d_array t_array; - real_1d_array steering_array; - real_1d_array speed_array; - - t_array.setcontent(traj_t); - steering_array.setcontent(traj_sa); - speed_array.setcontent(traj_ux); - spline1dinterpolant s_ux; - spline1dinterpolant s_sa; - spline1dbuildcubic(t_array, speed_array, s_ux); - target_speed_interp = spline1dcalc(s_ux, time + time_shift); - spline1dbuildcubic(t_array, steering_array, s_sa); - target_steering_interp = spline1dcalc(s_sa, time); - - double speed_error = target_speed_interp - speed; - controller_output = controller.control(speed_error); - - target_steering_interp = target_steering_interp / PI * 180.0 / maximum_steering_angle * 2; - - hmmwv_params.target_speed = target_speed_interp; - - // Hack for acceleration-braking maneuver - /* // on-off controller - bool braking = false; - if (my_hmmwv.GetVehicle().GetVehicleSpeed() > hmmwv_params.target_speed) - braking = true; - if (braking) { - hmmwv_params.throttle_input = 0; - hmmwv_params.braking_input = 1; - } - else { - hmmwv_params.throttle_input = 1; - hmmwv_params.braking_input = 0; - } - */ - // pid controller - if (controller_output > 0){ - hmmwv_params.throttle_input = controller_output; - hmmwv_params.braking_input = 0; - } - else{ - hmmwv_params.throttle_input = 0; - hmmwv_params.braking_input = -controller_output; - } - - // Hack for steering maneuver - hmmwv_params.steering_input = target_steering_interp; - - - // std::cout << "Chrono steering input: " << hmmwv_params.steering_input < global_pos = hmmwv_params.my_hmmwv.GetVehicleCOMPos();//global location of chassis reference frame origin - ChQuaternion<> global_orntn = hmmwv_params.my_hmmwv.GetVehicleRot();//global orientation as quaternion - ChVector<> rot_dt = hmmwv_params.my_hmmwv.GetChassisBody()->GetWvel_loc();//global orientation as quaternion - ChVector<> global_velCOM = hmmwv_params.my_hmmwv.GetChassisBody()->GetPos_dt(); - ChVector<> global_accCOM = hmmwv_params.my_hmmwv.GetChassisBody()->GetPos_dtdt(); - //ChVector<> euler_ang = global_orntn.Q_to_Rotv(); //convert to euler angles - //ChPacejkaTire<> slip_angle = GetSlipAngle() - double slip_angle = tire_front_left.GetLongitudinalSlip(); - speed = hmmwv_params.my_hmmwv.GetVehicleSpeedCOM(); - - double q0 = global_orntn[0]; - double q1 = global_orntn[1]; - double q2 = global_orntn[2]; - double q3 = global_orntn[3]; - - double yaw_val=atan2(2*(q0*q3+q1*q2),1-2*(q2*q2+q3*q3)); - double theta_val=asin(2*(q0*q2-q3*q1)); - double phi_val= atan2(2*(q0*q1+q2*q3),1-2*(q1*q1+q2*q2)); - - n.setParam("state/chrono/t",time); //time in chrono simulation - n.setParam("state/chrono/x", global_pos[0]) ; - n.setParam("state/chrono/yVal",global_pos[1]); - n.setParam("state/chrono/ux",fabs(global_velCOM[0])); //speed measured at the origin of the chassis reference frame. - n.setParam("state/chrono/v", global_velCOM[1]); - n.setParam("state/chrono/ax", global_accCOM[0]); - n.setParam("state/chrono/psi",yaw_val); //in radians - n.setParam("state/chrono/theta",theta_val); //in radians - n.setParam("state/chrono/phi",phi_val); //in radians - n.setParam("state/chrono/r",-rot_dt[2]);//yaw rate - n.setParam("state/chrono/sa",slip_angle); //slip angle - n.setParam("state/chrono/control/thr",hmmwv_params.throttle_input); //throttle input in the range [0,+1] - n.setParam("state/chrono/control/brk",hmmwv_params.braking_input); //braking input in the range [0,+1] - n.setParam("state/chrono/control/str",hmmwv_params.steering_input); //steeering input in the range [-1,+1] - - n.setParam("system/simulation_time", time); - - data_out.t_chrono=time; //time in chrono simulation - data_out.x_pos= global_pos[0]; - data_out.y_pos=global_pos[1]; - data_out.x_v= fabs(global_velCOM[0]); //speed measured at the origin of the chassis reference frame. - data_out.y_v= global_velCOM[1]; - data_out.x_a= global_accCOM[0]; - data_out.yaw_curr=yaw_val; //in radians - data_out.yaw_rate=-rot_dt[2];//yaw rate - data_out.sa=slip_angle; //slip angle - data_out.thrt_in=hmmwv_params.throttle_input; //throttle input in the range [0,+1] - data_out.brk_in=hmmwv_params.braking_input; //braking input in the range [0,+1] - data_out.str_in=hmmwv_params.steering_input; //steeering input in the range [-1,+1] - - vehicleinfo_pub.publish(data_out); - // loop_rate.sleep(); - - myfile1 << ' ' << global_pos[0] << ' '<< global_pos[1] <<' ' << global_pos[2] << '\n'; - n.getParam("system/" + planner_namespace + "/flags/goal_attained",goal_attained); - if(goal_attained){ - n.setParam("system/goal_attained","true"); - n.setParam("system/chrono/flags/running","false"); - running = false; - } - } - } -/* - if (state_output){ - csv.write_to_file(out_dir + "/state.out"); - }*/ -myfile1.close(); - - return 0; -} diff --git a/ros/src/models/chrono/ros_chrono/old/trajectory_follower_origin.cpp b/ros/src/models/chrono/ros_chrono/old/trajectory_follower_origin.cpp deleted file mode 100644 index 3e54fde5..00000000 --- a/ros/src/models/chrono/ros_chrono/old/trajectory_follower_origin.cpp +++ /dev/null @@ -1,651 +0,0 @@ -// ============================================================================= -// PROJECT CHRONO - http://projectchrono.org -// -// Copyright (c) 2014 projectchrono.org -// All rights reserved. -// -// Use of this source code is governed by a BSD-style license that can be found -// in the LICENSE file at the top level of the distribution and at -// http://projectchrono.org/license-chrono.txt. -// -// ============================================================================= -// Authors: Radu Serban -// ============================================================================= -// -// Demonstration of a steering path-follower PID controller. -// -// The vehicle reference frame has Z up, X towards the front of the vehicle, and -// Y pointing to the left. -// TO DO: -// Find proper yaw rate calculation -// Subsscribe to msg from obstacle_avoidance_chrono, callback to that to calculate ChBezierCurve -// ============================================================================= - -#include -#include -#include "boost/bind.hpp" -#include "chrono/core/ChFileutils.h" -#include "chrono/core/ChRealtimeStep.h" -#include "chrono/utils/ChFilters.h" -#include -#include -#include "ros/ros.h" -#include "std_msgs/String.h" -#include "ros_chrono_msgs/veh_status.h" -#include "nloptcontrol_planner/Trajectory.h" -#include -#include -#include -#include -//#include "tf/tf.h" -#include -#include "chrono_vehicle/ChVehicleModelData.h" -#include "chrono_vehicle/terrain/RigidTerrain.h" -#include "chrono_vehicle/driver/ChIrrGuiDriver.h" -#include "chrono_vehicle/driver/ChPathFollowerDriver.h" -#include "chrono_vehicle/wheeled_vehicle/utils/ChWheeledVehicleIrrApp.h" -#include -#include "chrono_models/vehicle/hmmwv/HMMWV.h" - -#include "chrono_thirdparty/rapidjson/document.h" -#include "chrono_thirdparty/rapidjson/filereadstream.h" - -#define PI 3.1415926535 -//using veh_status.msg -using namespace chrono; -using namespace chrono::geometry; -using namespace chrono::vehicle; -using namespace chrono::vehicle::hmmwv; - -using namespace alglib; - -using namespace rapidjson; -// ============================================================================= -// Problem parameters -// Main Data Path -//std::string data_path("/home/shreyas/.julia/v0.6/MAVs/catkin_ws/data/vehicle/"); -std::string data_path("../../../src/models/chrono/ros_chrono/src/data/vehicle/"); -//std::string data_path("src/system/chrono/ros_chrono/src/data/vehicle/"); -// Contact method type -ChMaterialSurface::ContactMethod contact_method = ChMaterialSurface::SMC; - -// Type of tire model (RIGID, LUGRE, FIALA, or PACEJKA) -TireModelType tire_model = TireModelType::RIGID; - -// Input file name for PACEJKA tires if they are selected -std::string pacejka_tire_file(data_path+"hmmwv/tire/HMMWV_pacejka.tir"); -//std::string pacejka_tire_file("hmmwv/tire/HMMWV_pacejka.tir"); -// Type of powertrain model (SHAFTS or SIMPLE) -PowertrainModelType powertrain_model = PowertrainModelType::SIMPLE; - -// Drive type (FWD, RWD, or AWD) -DrivelineType drive_type = DrivelineType::RWD; - -// Visualization type for vehicle parts (PRIMITIVES, MESH, or NONE) -VisualizationType chassis_vis_type = VisualizationType::PRIMITIVES; -VisualizationType suspension_vis_type = VisualizationType::PRIMITIVES; -VisualizationType steering_vis_type = VisualizationType::PRIMITIVES; -VisualizationType wheel_vis_type = VisualizationType::NONE; -VisualizationType tire_vis_type = VisualizationType::PRIMITIVES; - -// Input file names for the path-follower driver model -std::string steering_controller_file(data_path+"generic/driver/SteeringController.json"); -//std::string steering_controller_file("generic/driver/SteeringController.json"); -std::string speed_controller_file(data_path+"generic/driver/SpeedController.json"); -//std::string speed_controller_file("generic/driver/SpeedController.json"); -// std::string path_file("paths/straight.txt"); -std::string path_file(data_path+"paths/my_path.txt"); - -// Rigid terrain dimensions -double terrainHeight = 0; -double terrainLength = 500.0; // size in X direction -double terrainWidth = 500.0; // size in Y direction - -// Point on chassis tracked by the chase camera -ChVector<> trackPoint(0.0, 0.0, 1.75); - -// Simulation step size -double step_size = 1e-2; -double tire_step_size = step_size; - -// Simulation end time -double t_end = 1000; - -// Render FPS -double fps = 60; - -// Debug logging -bool debug_output = false; -double debug_fps = 10; - -// Output directories -const std::string out_dir = GetChronoOutputPath() + "STEERING_CONTROLLER"; -const std::string pov_dir = out_dir + "/POVRAY"; - -// POV-Ray output -bool povray_output = false; - -// Vehicle state output (forced to true if povray output enabled) -bool state_output = false; -int filter_window_size = 20; - -// In src/data/vehicle/hmmwv/steering/HMMWV_PitmanArm.json revolution joint -double speed = 0.0; -double maximum_steering_angle = 50.0; -// Controller output -double target_steering_interp = 0.0; -double target_speed_interp = 0.0; -double controller_output = 0.0; -PID controller; - -// ============================================================================= - -// Custom Irrlicht event receiver for selecting current driver model. -class ChDriverSelector : public irr::IEventReceiver { - public: - ChDriverSelector(const ChVehicle& vehicle, ChIrrGuiDriver* driver_gui) - : m_vehicle(vehicle), - m_driver_gui(driver_gui), - m_driver(m_driver_gui), - m_using_gui(true) {} - - ChDriver* GetDriver() { return m_driver; } - bool UsingGUI() const { return m_using_gui; } - - virtual bool OnEvent(const irr::SEvent& event) { - return false; - } - - private: - bool m_using_gui; - const ChVehicle& m_vehicle; - ChIrrGuiDriver* m_driver_gui; - ChDriver* m_driver; -}; - -struct parameters -{ - RigidTerrain terrain; - HMMWV_Reduced my_hmmwv; - ChRealtimeStepTimer realtime_timer; - int sim_frame; - double steering_input; - double throttle_input; - double braking_input; - std::vector x_traj_curr; - std::vector y_traj_curr; - std::vector x_traj_prev; - std::vector y_traj_prev; - double target_speed; - int render_steps; - int render_frame; -} ; - -void waitForLoaded(ros::NodeHandle &n){ - bool planner_init = false; - std::string planner_namespace; - n.getParam("system/planner",planner_namespace); - n.getParam("system/"+planner_namespace+"/flags/initialized",planner_init); - while(!planner_init){ - usleep(500); // < my question - n.getParam("system/"+planner_namespace+"/flags/initialized",planner_init); - - } - usleep(500); //sleep another 500ms to ensure everything is loaded. - //continue on here -} - -void controlCallback(const nloptcontrol_planner::Trajectory::ConstPtr& control_msg){ - double time = ros::Time::now().toSec(); - std::vector traj_t = control_msg->t; - std::vector traj_sa = control_msg->sa; - std::vector traj_ux = control_msg->ux; - std::cout << "Current time: "<< time << " "; - - std::cout << "Time trajectory: " << " "; - for(int i = 0; i < traj_t.size(); i++) - std::cout << traj_t[i] << " "; - std::cout << std::endl; - - std::cout << "Speed trajectory: " << " "; - for(int i = 0; i < traj_ux.size(); i++) - std::cout << traj_ux[i] << " "; - std::cout << std::endl; - - std::cout << "Steering trajectory: " << " "; - for(int i = 0; i < traj_sa.size(); i++) - std::cout << traj_sa[i] << " "; - std::cout << std::endl; - - real_1d_array t_array; - real_1d_array steering_array; - real_1d_array speed_array; - - t_array.setcontent(traj_t); - steering_array.setcontent(traj_sa); - speed_array.setcontent(traj_ux); - spline1dinterpolant s; - ae_int_t natural_bound_type = 2; - spline1dbuildcubic(t_array, speed_array, s); - target_speed_interp = spline1dcalc(s, time); - spline1dbuildcubic(t_array, steering_array, s); - target_steering_interp = spline1dcalc(s, time); - - double speed_error = target_speed_interp - speed; - controller_output = controller.control(speed_error); - - target_steering_interp = target_steering_interp / PI * 180.0 / maximum_steering_angle; - // steering = steering * (-1); - // std::cout << "Target_speed: " << target_speed_interp << " Actual speed: " << speed << std::endl; - std::cout << "Target_steering: " << target_steering_interp << " Actual steering: " << target_steering_interp << std::endl; - std::cout << std::endl; -} - -// ============================================================================= -int main(int argc, char* argv[]) { - - unsigned int microseconds = 10000000; - std::cout << "Sleeping for ten sec..." << std::endl; - usleep(microseconds); - - char cwd[1024]; - if (getcwd(cwd, sizeof(cwd)) != NULL) - fprintf(stdout, "Current working dir: %s\n", cwd); - else - perror("getcwd() error"); - GetLog() << "Copyright (c) 2017 projectchrono.org\nChrono version: " << CHRONO_VERSION << "\n\n"; - - // read maximum_steering_angle from json - std::string filename("PitmanArm.json"); - FILE* fp = fopen(filename.c_str(), "r"); - char readBuffer[65536]; - FileReadStream is(fp, readBuffer, sizeof(readBuffer)); - fclose(fp); - Document d; - d.ParseStream(is); - maximum_steering_angle = d["Revolute Joint"]["Maximum Angle"].GetDouble(); - - SetChronoDataPath(CHRONO_DATA_DIR); - vehicle::SetDataPath("opt/chrono/chrono/data/vehicle"); - // std::cout << GetChronoDataPath() << "\n"; check path of chrono data folder - // Initialize ROS Chrono node and set node handle to n - - ros::init(argc, argv, "Traj_follower"); - ros::NodeHandle n; - n.setParam("system/chrono/flags/initialized",true); - n.getParam("system/params/step_size",step_size); - - bool planner_init; - // bool planner_init2; - - std::string planner_namespace; - n.getParam("system/planner",planner_namespace); - n.getParam("system/"+planner_namespace+"/flags/initialized",planner_init); - std::cout << "The planner state:" << planner_init << std::endl; - ros::Subscriber sub = n.subscribe(planner_namespace+"/control", 100, controlCallback); - - //planner_init2=planner_init1; - // n.getParam("system/"+planner_namespace+"/flags/initialized",planner_init2); - - if(!planner_init){ - waitForLoaded(n); - } - //std::string planner_init; - - n.getParam("system/"+planner_namespace+"/flags/initialized",planner_init); - - // Desired vehicle speed (m/s) - double target_speed; - n.getParam("hmmwv_chrono/X0/v_des",target_speed); - - //Initial Position - double x0, y0, z0, yaw0, pitch0, roll0; - bool gui_switch; - n.getParam("case/actual/X0/x",x0); - n.getParam("case/actual/X0/yVal",y0); - n.getParam("hmmwv_chrono/X0/z",z0); - n.getParam("case/actual/X0/psi",yaw0); - n.getParam("hmmwv_chrono/X0/theta",pitch0); - n.getParam("hmmwv_chrono/X0/phi",roll0); - n.getParam("system/chrono/flags/gui",gui_switch); - - bool goal_attained = false; - bool running = true; - - ChVector<> initLoc(x0, y0, z0); -// ChQuaternion<> initRot(q[0],q[1],q[2],q[3]); - - double t0 = std::cos(yaw0 * 0.5f); - double t1 = std::sin(yaw0 * 0.5f); - double t2 = std::cos(roll0 * 0.5f); - double t3 = std::sin(roll0 * 0.5f); - double t4 = std::cos(pitch0 * 0.5f); - double t5 = std::sin(pitch0 * 0.5f); - - double q0_0 = t0 * t2 * t4 + t1 * t3 * t5; - double q0_1 = t0 * t3 * t4 - t1 * t2 * t5; - double q0_2 = t0 * t2 * t5 + t1 * t3 * t4; - double q0_3 = t1 * t2 * t4 - t0 * t3 * t5; - - ChQuaternion<> initRot(q0_0,q0_1,q0_2,q0_3); - //ChQuaternion<> initRot(cos(PI/4), 0, 0, sin(PI/4)); //initial yaw of pi/2 - - ros::Publisher vehicleinfo_pub = n.advertise("vehicleinfo", 1); - - //ros::Rate loop_rate(5); - - // ------------------------------ - // Create the vehicle and terrain - // ------------------------------ - - // Create the HMMWV vehicle, set parameters, and initialize - HMMWV_Reduced my_hmmwv; - my_hmmwv.SetContactMethod(contact_method); - my_hmmwv.SetChassisFixed(false); - my_hmmwv.SetInitPosition(ChCoordsys<>(initLoc, initRot)); - my_hmmwv.SetPowertrainType(powertrain_model); - my_hmmwv.SetDriveType(drive_type); - my_hmmwv.SetTireType(tire_model); - my_hmmwv.SetTireStepSize(tire_step_size); - my_hmmwv.SetPacejkaParamfile(pacejka_tire_file); - my_hmmwv.Initialize(); - - my_hmmwv.SetChassisVisualizationType(chassis_vis_type); - my_hmmwv.SetSuspensionVisualizationType(suspension_vis_type); - my_hmmwv.SetSteeringVisualizationType(steering_vis_type); - my_hmmwv.SetWheelVisualizationType(wheel_vis_type); - my_hmmwv.SetTireVisualizationType(tire_vis_type); - - // Create the terrain - float frict_coeff, rest_coeff; - n.getParam("vehicle/common/frict_coeff",frict_coeff); - n.getParam("vehicle/common/rest_coeff",rest_coeff); - - RigidTerrain terrain(my_hmmwv.GetSystem()); - my_hmmwv.GetVehicle().GetWheel(0)->SetContactFrictionCoefficient(frict_coeff); - my_hmmwv.GetVehicle().GetWheel(0)->SetContactRestitutionCoefficient(rest_coeff); - - //terrain.SetContactFrictionCoefficient(0.9f); - //terrain.SetContactRestitutionCoefficient(0.01f); - terrain.SetContactMaterialProperties(2e7f, 0.3f); - terrain.SetColor(ChColor(1, 1, 1)); - //terrain.SetTexture(chrono::vehicle::GetDataFile("terrain/textures/tile4.jpg"), 200, 200); - terrain.SetTexture(data_path+"terrain/textures/tile4.jpg", 200, 200); - terrain.Initialize(terrainHeight, terrainLength, terrainWidth); - // --------------------------------------- - // Create the vehicle Irrlicht application - // --------------------------------------- - - ChVehicleIrrApp app(&my_hmmwv.GetVehicle(), &my_hmmwv.GetPowertrain(), L"Steering Controller Demo", - irr::core::dimension2d(800, 640)); - - app.SetHUDLocation(500, 20); - app.SetSkyBox(); - app.AddTypicalLogo(); - app.AddTypicalLights(irr::core::vector3df(-150.f, -150.f, 200.f), irr::core::vector3df(-150.f, 150.f, 200.f), 100, - 100); - app.AddTypicalLights(irr::core::vector3df(150.f, -150.f, 200.f), irr::core::vector3df(150.0f, 150.f, 200.f), 100, - 100); - app.EnableGrid(false); - app.SetChaseCamera(trackPoint, 6.0, 0.5); - - app.SetTimestep(step_size); - app.SetTryRealtime(true); - - // ------------------------- - // Create the driver systems - // ------------------------- - - // Create both a GUI driver and a path-follower and allow switching between them - ChIrrGuiDriver driver_gui(app); - driver_gui.Initialize(); - - // --------------- - // Simulation loop - // --------------- - - // Driver location in vehicle local frame - ChVector<> driver_pos = my_hmmwv.GetChassis()->GetLocalDriverCoordsys().pos; - // Number of simulation steps between miscellaneous events - double render_step_size = 1 / fps; - int render_steps = (int)std::ceil(render_step_size / step_size); - double debug_step_size = 1 / debug_fps; - int debug_steps = (int)std::ceil(debug_step_size / step_size); - - // Initialize simulation frame counter and simulation time - ChRealtimeStepTimer realtime_timer; - int sim_frame = 0; - int render_frame = 0; - - double throttle_input, steering_input, braking_input; - std::vector x_traj_curr, y_traj_curr,x_traj_prev,y_traj_prev; //Initialize xy trajectory vectors - parameters hmmwv_params{terrain,my_hmmwv,realtime_timer,sim_frame,steering_input,throttle_input,braking_input,x_traj_curr,y_traj_curr,x_traj_prev,y_traj_prev,target_speed,render_steps,render_frame}; - //Load xy parameters for the first timestep - // std::string planner_namespace; - // n.getParam("system/planner",planner_namespace); - - // ---------------------- - // Create the Bezier path - // ---------------------- - - // Create and register a custom Irrlicht event receiver to allow selecting the - // current driver model. - ChDriverSelector selector(my_hmmwv.GetVehicle(), &driver_gui); - app.SetUserEventReceiver(&selector); - - // Finalize construction of visualization assets - app.AssetBindAll(); - app.AssetUpdateAll(); - - // ----------------- - // Initialize output - // ----------------- - - state_output = state_output || povray_output; - - if (state_output) { - if (ChFileutils::MakeDirectory(out_dir.c_str()) < 0) { - std::cout << "Error creating directory " << out_dir << std::endl; - return 1; - } - } - -/* - utils::CSV_writer csv("\t"); - csv.stream().setf(std::ios::scientific | std::ios::showpos); - csv.stream().precision(6); -*/ - utils::ChRunningAverage fwd_acc_GC_filter(filter_window_size); - utils::ChRunningAverage lat_acc_GC_filter(filter_window_size); - - utils::ChRunningAverage fwd_acc_driver_filter(filter_window_size); - utils::ChRunningAverage lat_acc_driver_filter(filter_window_size); - - std::ofstream myfile1; - myfile1.open(data_path+"paths/position.txt",std::ofstream::out | std::ofstream::trunc); - //get mass and moment of inertia about z axis - n.setParam("vehicle/common/m",my_hmmwv.GetVehicle().GetVehicleMass()); - const ChMatrix33<> inertia_mtx= my_hmmwv.GetChassisBody()->GetInertia(); - double Izz=inertia_mtx.GetElement(2,2); - n.setParam("vehicle/common/Izz",Izz); - // get distance to front and rear axles - // enum chrono::vehicle::VehicleSide LEFT; - // enum chrono::vehicle::VehicleSide RIGHT; - ChVector<> veh_com= my_hmmwv.GetVehicle().GetVehicleCOMPos(); - ChVector<> la_pos=my_hmmwv.GetVehicle().GetSuspension(0)->GetSpindlePos(chrono::vehicle::VehicleSide::RIGHT); - ChVector<> lb_pos=my_hmmwv.GetVehicle().GetSuspension(0)->GetSpindlePos(chrono::vehicle::VehicleSide::LEFT); - double la_length, lb_length; - ChVector<> la_diff; - la_diff.Sub(veh_com,la_pos); - ChVector<> lb_diff; - lb_diff.Sub(veh_com,lb_pos); - la_length=la_diff.Length(); - lb_length=lb_diff.Length(); - n.setParam("vehicle/common/la",la_length); - n.setParam("vehicle/common/lb",lb_length); - - // get friction and restitution coefficients - // float frict_coeff, rest_coeff; - frict_coeff = my_hmmwv.GetVehicle().GetWheel(0)->GetCoefficientFriction(); - rest_coeff = my_hmmwv.GetVehicle().GetWheel(0)->GetCoefficientRestitution(); - n.setParam("vehicle/common/frict_coeff",frict_coeff); - n.setParam("vehicle/common/rest_coeff",rest_coeff); - - // set up the controller - controller.set_PID(0.3, 0.04, 0.001); - controller.set_step_size(step_size); - controller.set_output_limit(-1.0, 1.0); - controller.initialize(); - - std::cout<< "Go into the loop..." << std::endl; - - while(n.ok()){ - while (running) { - if(gui_switch) app.GetDevice()->run(); - hmmwv_params.target_speed = target_speed_interp; - - // Hack for acceleration-braking maneuver - /* // on-off controller - bool braking = false; - if (my_hmmwv.GetVehicle().GetVehicleSpeed() > hmmwv_params.target_speed) - braking = true; - if (braking) { - hmmwv_params.throttle_input = 0; - hmmwv_params.braking_input = 1; - } - else { - hmmwv_params.throttle_input = 1; - hmmwv_params.braking_input = 0; - } - */ - // pid controller - if (controller_output > 0){ - hmmwv_params.throttle_input = controller_output; - hmmwv_params.braking_input = 0; - } - else{ - hmmwv_params.throttle_input = 0; - hmmwv_params.braking_input = -controller_output; - } - - // Hack for steering maneuver - hmmwv_params.steering_input = target_steering_interp; - - // ros::Subscriber sub = n.subscribe("desired_ref", 1, ¶meters::controlCallback, &hmmwv_params); - - // Render scene and output POV-Ray data - if (hmmwv_params.sim_frame % hmmwv_params.render_steps == 0 && gui_switch) { - - app.BeginScene(true, true, irr::video::SColor(255, 140, 161, 192)); - app.DrawAll(); - app.EndScene(); - - - hmmwv_params.render_frame++; - } - - ros_chrono_msgs::veh_status data_out; - /* - ChVector<> acc_CG = my_hmmwv.GetVehicle().GetChassisBody()->GetPos_dtdt(); - ChVector<> acc_driver = my_hmmwv.GetVehicle().GetVehicleAcceleration(driver_pos); - double fwd_acc_CG = fwd_acc_GC_filter.Add(acc_CG.x()); - double lat_acc_CG = lat_acc_GC_filter.Add(acc_CG.y()); - double fwd_acc_driver = fwd_acc_driver_filter.Add(acc_driver.x()); - double lat_acc_driver = lat_acc_driver_filter.Add(acc_driver.y());*/ - double time = hmmwv_params.my_hmmwv.GetSystem()->GetChTime(); - - // End simulation - if (time >= t_end) - break; - - // hmmwv_params.throttle_input = selector_p->GetDriver()->GetThrottle(); - // hmmwv_params.steering_input = selector_p->GetDriver()->GetSteering(); - // hmmwv_params.braking_input = selector_p->GetDriver()->GetBraking(); - // Update modules (process inputs from other modules) - - // std::cout << "Chrono steering input: " << hmmwv_params.steering_input < global_pos = hmmwv_params.my_hmmwv.GetVehicle().GetVehicleCOMPos();//global location of chassis reference frame origin - ChQuaternion<> global_orntn = hmmwv_params.my_hmmwv.GetVehicle().GetVehicleRot();//global orientation as quaternion - ChVector<> rot_dt = hmmwv_params.my_hmmwv.GetVehicle().GetChassisBody()->GetWvel_loc();//global orientation as quaternion - ChVector<> global_velCOM = hmmwv_params.my_hmmwv.GetVehicle().GetChassisBody()->GetPos_dt(); - ChVector<> global_accCOM = hmmwv_params.my_hmmwv.GetVehicle().GetChassisBody()->GetPos_dtdt(); - //ChVector<> euler_ang = global_orntn.Q_to_Rotv(); //convert to euler angles - //ChPacejkaTire<> slip_angle = GetSlipAngle() - double slip_angle = hmmwv_params.my_hmmwv.GetTire(0)->GetLongitudinalSlip(); - speed = hmmwv_params.my_hmmwv.GetVehicle().GetVehicleSpeedCOM(); - - double q0 = global_orntn[0]; - double q1 = global_orntn[1]; - double q2 = global_orntn[2]; - double q3 = global_orntn[3]; - - double yaw_val=atan2(2*(q0*q3+q1*q2),1-2*(q2*q2+q3*q3)); - double theta_val=asin(2*(q0*q2-q3*q1)); - double phi_val= atan2(2*(q0*q1+q2*q3),1-2*(q1*q1+q2*q2)); - - n.setParam("state/chrono/state/t",time); //time in chrono simulation - n.setParam("state/chrono/state/x", global_pos[0]) ; - n.setParam("state/chrono/state/yVal",global_pos[1]); - n.setParam("state/chrono/state/ux",fabs(global_velCOM[0])); //speed measured at the origin of the chassis reference frame. - n.setParam("state/chrono/state/v", global_velCOM[1]); - n.setParam("state/chrono/state/ax", global_accCOM[0]); - n.setParam("state/chrono/state/psi",yaw_val); //in radians - n.setParam("state/chrono/state/theta",theta_val); //in radians - n.setParam("state/chrono/state/phi",phi_val); //in radians - n.setParam("state/chrono/state/r",-rot_dt[2]);//yaw rate - n.setParam("state/chrono/state/sa",slip_angle); //slip angle - n.setParam("state/chrono/control/thr",hmmwv_params.throttle_input); //throttle input in the range [0,+1] - n.setParam("state/chrono/control/brk",hmmwv_params.braking_input); //braking input in the range [0,+1] - n.setParam("state/chrono/control/str",hmmwv_params.steering_input); //steeering input in the range [-1,+1] - - data_out.t_chrono=time; //time in chrono simulation - data_out.x_pos= global_pos[0]; - data_out.y_pos=global_pos[1]; - data_out.x_v= fabs(global_velCOM[0]); //speed measured at the origin of the chassis reference frame. - data_out.y_v= global_velCOM[1]; - data_out.x_a= global_accCOM[0]; - data_out.yaw_curr=yaw_val; //in radians - data_out.yaw_rate=-rot_dt[2];//yaw rate - data_out.sa=slip_angle; //slip angle - data_out.thrt_in=hmmwv_params.throttle_input; //throttle input in the range [0,+1] - data_out.brk_in=hmmwv_params.braking_input; //braking input in the range [0,+1] - data_out.str_in=hmmwv_params.steering_input; //steeering input in the range [-1,+1] - - vehicleinfo_pub.publish(data_out); - // loop_rate.sleep(); - - myfile1 << ' ' << global_pos[0] << ' '<< global_pos[1] <<' ' << global_pos[2] << '\n'; - ros::spinOnce(); - n.getParam("system/" + planner_namespace + "/flags/goal_attained",goal_attained); - if(goal_attained){ - n.setParam("system/goal_attained","true"); - n.setParam("system/chrono/flags/running","false"); - running = false; - } - } - } -/* - if (state_output){ - csv.write_to_file(out_dir + "/state.out"); - }*/ -myfile1.close(); - - return 0; -} diff --git a/ros/src/models/chrono/ros_chrono/old/velocity_controller.cpp b/ros/src/models/chrono/ros_chrono/old/velocity_controller.cpp deleted file mode 100755 index 2722148a..00000000 --- a/ros/src/models/chrono/ros_chrono/old/velocity_controller.cpp +++ /dev/null @@ -1,410 +0,0 @@ -// ============================================================================= -// PROJECT CHRONO - http://projectchrono.org -// -// Copyright (c) 2014 projectchrono.org -// All rights reserved. -// -// Use of this source code is governed by a BSD-style license that can be found -// in the LICENSE file at the top level of the distribution and at -// http://projectchrono.org/license-chrono.txt. -// -// ============================================================================= -// Authors: Radu Serban -// ============================================================================= -// -// Demonstration of a steering path-follower PID controller. -// -// The vehicle reference frame has Z up, X towards the front of the vehicle, and -// Y pointing to the left. -// -// ============================================================================= - -// C/C++ library -#include -#include -#include -#include -#include - -// Computing tool library -#include "interpolation.h" -#include "PID.h" - -// ROS include library -#include "ros/ros.h" -#include "std_msgs/Float64.h" -#include "nloptcontrol_planner/Trajectory.h" -#include "ros_chrono_msgs/veh_status.h" - -// Chrono include library -#include "chrono/core/ChFileutils.h" -#include "chrono/core/ChRealtimeStep.h" -#include "chrono/utils/ChFilters.h" - -#include "chrono_vehicle/ChVehicleModelData.h" -#include "chrono_vehicle/terrain/RigidTerrain.h" -#include "chrono_vehicle/driver/ChIrrGuiDriver.h" -#include "chrono_vehicle/driver/ChPathFollowerDriver.h" -#include "chrono_vehicle/utils/ChVehiclePath.h" -#include "chrono_vehicle/wheeled_vehicle/utils/ChWheeledVehicleIrrApp.h" -#include "chrono_models/vehicle/hmmwv/HMMWV.h" - -using namespace chrono; -using namespace chrono::geometry; -using namespace chrono::vehicle; -using namespace chrono::vehicle::hmmwv; -using namespace alglib; - -// Default Chrono vehicle model parameters data path -std::string data_path("/opt/chrono/chrono_build/data/vehicle/"); - -// Rigid terrain dimensions -double terrainHeight = 0; -double terrainLength = 500.0; // size in X direction -double terrainWidth = 500.0; // size in Y direction - -// ROS Control Input (Topic) -std::vector traj_t(2,0); -std::vector traj_x(2,0); -std::vector traj_y(2,0); -std::vector traj_psi(2,0); -std::vector traj_sa(2,0); -std::vector traj_ux(2,0); - -// Interpolator -double traj_sa_interp = 0.0; -double traj_ux_interp = 0.0; - -// ------ -// Chrono -// ------ -// Contact method type -ChMaterialSurface::ContactMethod contact_method = ChMaterialSurface::SMC; - -// Type of tire model (RIGID, LUGRE, FIALA, PACEJKA, or TMEASY) -TireModelType tire_model = TireModelType::RIGID; - -// Type of powertrain model (SHAFTS or SIMPLE) -PowertrainModelType powertrain_model = PowertrainModelType::SHAFTS; - -// Drive type (FWD, RWD, or AWD) -DrivelineType drive_type = DrivelineType::RWD; - -// Steering type (PITMAN_ARM or PITMAN_ARM_SHAFTS) -// Note: Compliant steering requires higher PID gains. -SteeringType steering_type = SteeringType::PITMAN_ARM; - -// Visualization type for vehicle parts (PRIMITIVES, MESH, or NONE) -VisualizationType chassis_vis_type = VisualizationType::PRIMITIVES; -VisualizationType suspension_vis_type = VisualizationType::PRIMITIVES; -VisualizationType steering_vis_type = VisualizationType::PRIMITIVES; -VisualizationType wheel_vis_type = VisualizationType::PRIMITIVES; -VisualizationType tire_vis_type = VisualizationType::NONE; - -// Point on chassis tracked by the chase camera -ChVector<> trackPoint(0.0, 0.0, 1.75); - -// ============================================================================= - -void plannerCallback(const nloptcontrol_planner::Trajectory::ConstPtr& control_msgs) { - traj_t = control_msgs->t; - traj_x = control_msgs->x; - traj_y = control_msgs->y; - traj_psi = control_msgs->psi; - traj_sa = control_msgs->sa; - traj_ux = control_msgs->ux; -} - -// ============================================================================= - -int main(int argc, char* argv[]) { - - // ------------------------------ - // Initialize ROS node handle - // ------------------------------ - ros::init(argc, argv, "velocity_controller"); - ros::NodeHandle node; - - // Declare ROS subscriber to subscribe planner topic - std::string planner_namespace; - node.getParam("system/planner", planner_namespace); - ros::Subscriber planner_sub = node.subscribe(planner_namespace+"/control", 100, plannerCallback); - - // Declare ROS publisher to advertise vehicleinfo topic - std::string chrono_namespace; - node.getParam("system/chrono/namespace", chrono_namespace); - ros::Publisher vehicleinfo_pub = node.advertise(chrono_namespace+"/vehicleinfo", 1); - ros_chrono_msgs::veh_status vehicleinfo_data; - - // Load system parameters - double goal_tol = 0.1; // Path following tolerance - double target_speed = 0.0; // Desired velocity - double x0 = 0.0, y0 = 0.0, z0 = 0.5; // Initial global position - double roll0 = 0.0, pitch0 = 0.0, yaw0 = 0.0; // Initial global orientation - double x = 0, y = 0; - double goal_x = 0, goal_y = 0; // Goal position - double step_size = 5e-3; // Simulation step size - double tire_step_size = step_size / 2.0; - - node.getParam("system/params/step_size", step_size); // ROS loop rate and Chrono step size - node.getParam("system/params/goal_tol",goal_tol); - - node.getParam("state/chrono/X0/v_des", target_speed); // desired velocity - node.getParam("state/chrono/X0/theta", pitch0); // initial pitch - node.getParam("state/chrono/X0/phi", roll0); // initial roll - node.getParam("state/chrono/X0/z", z0); // initial z - node.getParam("state/chrono/x", x); // global x position - node.getParam("state/chrono/yVal", y); // global y position - - node.getParam("case/actual/X0/psi",yaw0); // initial yaw - node.getParam("case/actual/X0/x",x0); // initial x - node.getParam("case/actual/X0/yVal",y0); // initial y - - node.getParam("case/goal/x",goal_x); - node.getParam("case/goal/yVal",goal_y); - - // Load chrono vehicle_params - double frict_coeff, rest_coeff, gear_ratios; - std::vector centroidLoc, centroidOrientation; - double chassisMass; - std::vector chassisInertia; - std::vector driverLoc, driverOrientation; - std::vector motorBlockDirection, axleDirection; - double driveshaftInertia, differentialBoxInertia, conicalGearRatio, differentialRatio; - std::vector gearRatios; - double steeringLinkMass, steeringLinkRadius, steeringLinkLength; - std::vector steeringLinkInertia; - double pinionRadius, pinionMaxAngle, maxBrakeTorque; - node.getParam("vehicle/chrono/vehicle_params/frict_coeff", frict_coeff); - node.getParam("vehicle/chrono/vehicle_params/rest_coeff", rest_coeff); - node.getParam("vehicle/chrono/vehicle_params/gearRatios", gear_ratios); - node.getParam("vehicle/chrono/vehicle_params/centroidLoc", centroidLoc); - node.getParam("vehicle/chrono/vehicle_params/centroidOrientation", centroidOrientation); - node.getParam("vehicle/chrono/vehicle_params/chassisMass", chassisMass); - node.getParam("vehicle/chrono/vehicle_params/chassisInertia", chassisInertia); - node.getParam("vehicle/chrono/vehicle_params/driverLoc", driverLoc); - node.getParam("vehicle/chrono/vehicle_params/driverOrientation", driverOrientation); - node.getParam("vehicle/chrono/vehicle_params/motorBlockDirection", motorBlockDirection); - node.getParam("vehicle/chrono/vehicle_params/axleDirection", axleDirection); - node.getParam("vehicle/chrono/vehicle_params/driveshaftInertia", driveshaftInertia); - node.getParam("vehicle/chrono/vehicle_params/differentialBoxInertia", differentialBoxInertia); - node.getParam("vehicle/chrono/vehicle_params/conicalGearRatio", conicalGearRatio); - node.getParam("vehicle/chrono/vehicle_params/differentialRatio", differentialRatio); - node.getParam("vehicle/chrono/vehicle_params/gearRatios", gearRatios); - node.getParam("vehicle/chrono/vehicle_params/steeringLinkMass", steeringLinkMass); - node.getParam("vehicle/chrono/vehicle_params/steeringLinkInertia", steeringLinkInertia); - node.getParam("vehicle/chrono/vehicle_params/steeringLinkRadius", steeringLinkRadius); - node.getParam("vehicle/chrono/vehicle_params/steeringLinkLength", steeringLinkLength); - node.getParam("vehicle/chrono/vehicle_params/pinionRadius", pinionRadius); - node.getParam("vehicle/chrono/vehicle_params/pinionMaxAngle", pinionMaxAngle); - node.getParam("vehicle/chrono/vehicle_params/maxBrakeTorque", maxBrakeTorque); - - // Load PID controller parameters and set up PID controller - double Kp = 0.5, Ki = 0.0, Kd = 0.0, Kw = 0.0, time_shift = 3.0; // PID controller parameter - std::string windup_method("clamping"); // Anti-windup method - double controller_output = 0.0; - PID controller; - node.getParam("controller/Kp",Kp); - node.getParam("controller/Ki",Ki); - node.getParam("controller/Kd",Kd); - node.getParam("controller/Kw",Kw); - node.getParam("controller/anti_windup", windup_method); - node.getParam("controller/time_shift", time_shift); - - controller.set_PID(Kp, Ki, Kd, Kw); - controller.set_step_size(step_size); - controller.set_output_limit(-1.0, 1.0); - controller.set_windup_metohd(windup_method); - controller.initialize(); - - // Declare loop rate - ros::Rate loop_rate(int(1.0/step_size)); - - // Set initial vehicle location and orientation - ChVector<> initLoc(x0, y0, z0); - - // convert yaw pitch roll to quaternion - double t0 = std::cos(yaw0 * 0.5f); - double t1 = std::sin(yaw0 * 0.5f); - double t2 = std::cos(roll0 * 0.5f); - double t3 = std::sin(roll0 * 0.5f); - double t4 = std::cos(pitch0 * 0.5f); - double t5 = std::sin(pitch0 * 0.5f); - - double q0_0 = t0 * t2 * t4 + t1 * t3 * t5; - double q0_1 = t0 * t3 * t4 - t1 * t2 * t5; - double q0_2 = t0 * t2 * t5 + t1 * t3 * t4; - double q0_3 = t1 * t2 * t4 - t0 * t3 * t5; - - ChQuaternion<> initRot(q0_0,q0_1,q0_2,q0_3); - - // ------------------------------ - // Create the vehicle and terrain - // ------------------------------ - - // Create the HMMWV vehicle, set parameters, and initialize - HMMWV_Full my_hmmwv; - my_hmmwv.SetContactMethod(contact_method); - my_hmmwv.SetChassisFixed(false); - my_hmmwv.SetInitPosition(ChCoordsys<>(initLoc, initRot)); - my_hmmwv.SetPowertrainType(powertrain_model); - my_hmmwv.SetDriveType(drive_type); - my_hmmwv.SetSteeringType(steering_type); - my_hmmwv.SetTireType(tire_model); - my_hmmwv.SetTireStepSize(tire_step_size); - my_hmmwv.SetVehicleStepSize(step_size); - my_hmmwv.Initialize(); - - my_hmmwv.SetChassisVisualizationType(chassis_vis_type); - my_hmmwv.SetSuspensionVisualizationType(suspension_vis_type); - my_hmmwv.SetSteeringVisualizationType(steering_vis_type); - my_hmmwv.SetWheelVisualizationType(wheel_vis_type); - my_hmmwv.SetTireVisualizationType(tire_vis_type); - - double maximum_steering_angle = my_hmmwv.GetVehicle().GetMaxSteeringAngle(); - - // Create the terrain - RigidTerrain terrain(my_hmmwv.GetSystem()); - auto patch = terrain.AddPatch(ChCoordsys<>(ChVector<>(0, 0, terrainHeight - 5), QUNIT), - ChVector<>(terrainLength, terrainWidth, 10)); - patch->SetContactFrictionCoefficient(frict_coeff); - patch->SetContactRestitutionCoefficient(rest_coeff); - patch->SetContactMaterialProperties(2e7f, 0.3f); - patch->SetColor(ChColor(1, 1, 1)); - patch->SetTexture(data_path+"terrain/textures/tile4.jpg", 200, 200); - terrain.Initialize(); - - // --------------------------------------- - // Create the vehicle Irrlicht application - // --------------------------------------- - - ChVehicleIrrApp app(&my_hmmwv.GetVehicle(), &my_hmmwv.GetPowertrain(), L"velocity_controller demo", - irr::core::dimension2d(800, 640)); - - app.SetHUDLocation(500, 20); - app.AddTypicalLights(irr::core::vector3df(-150.f, -150.f, 200.f), irr::core::vector3df(-150.f, 150.f, 200.f), 100, - 100); - app.AddTypicalLights(irr::core::vector3df(150.f, -150.f, 200.f), irr::core::vector3df(150.0f, 150.f, 200.f), 100, - 100); - app.EnableGrid(false); - app.SetChaseCamera(trackPoint, 6.0, 0.5); - - app.SetTimestep(step_size); - - // Finalize construction of visualization assets - app.AssetBindAll(); - app.AssetUpdateAll(); - - // --------------- - // Simulation loop - // --------------- - - // Driver location in vehicle local frame - ChVector<> driver_pos = my_hmmwv.GetChassis()->GetLocalDriverCoordsys().pos; - - // Initialize simulation frame counter and simulation time - ChRealtimeStepTimer realtime_timer; - - // Vehicle velocity - double speed = 0.0; - // Collect controller output data from modules (for inter-module communication) - double throttle_input = 0; - double steering_input = 0; - double braking_input = 0; - - while (ros::ok()) { - - // Extract system state - double time = my_hmmwv.GetSystem()->GetChTime(); - - // -------------------------- - // interpolation using ALGLIB - // -------------------------- - // real_1d_array t_array; - // real_1d_array sa_array; - // real_1d_array ux_array; - - // t_array.setcontent(traj_t); - // sa_array.setcontent(traj_sa); - // ux_array.setcontent(traj_ux); - // spline1dinterpolant s_ux; - // spline1dinterpolant s_sa; - // spline1dbuildcubic(t_array, ux_array, s_ux); - // traj_ux_interp = spline1dcalc(s_ux, time + time_shift); - // spline1dbuildcubic(t_array, sa_array, s_sa); - // traj_sa_interp = spline1dcalc(s_sa, time); - - // PID controller output for throttle or brake - // double ux_err = traj_ux_interp - speed; - double ux_err = traj_ux[0] - speed; - controller_output = controller.control(ux_err); - if (controller_output > 0){ - throttle_input = controller_output; - braking_input = 0; - } - else { - throttle_input = 0; - braking_input = -controller_output; - } - - // Steering angle output - // traj_sa_interp = traj_sa_interp; - steering_input = traj_sa[0] / M_PI * 180.0 / maximum_steering_angle; - - app.BeginScene(true, true, irr::video::SColor(255, 140, 161, 192)); - app.DrawAll(); - - // Update modules (process inputs from other modules) - terrain.Synchronize(time); - my_hmmwv.Synchronize(time, steering_input, braking_input, throttle_input, terrain); - app.Synchronize("", steering_input, throttle_input, braking_input); - - // Advance simulation for one timestep for all modules - double step = realtime_timer.SuggestSimulationStep(step_size); - terrain.Advance(step); - my_hmmwv.Advance(step); - app.Advance(step); - - // Get vehicle information from Chrono vehicle model - ChVector<> pos_global = my_hmmwv.GetVehicle().GetVehicleCOMPos(); - ChVector<> spd_global = my_hmmwv.GetChassisBody()->GetPos_dt(); - ChVector<> acc_global = my_hmmwv.GetChassisBody()->GetPos_dtdt(); - ChQuaternion<> rot_global = my_hmmwv.GetVehicle().GetVehicleRot(); // global orientation as quaternion - ChVector<> rot_dt = my_hmmwv.GetChassisBody()->GetWvel_loc(); //global orientation as quaternion - - double slip_angle = my_hmmwv.GetTire(0)->GetSlipAngle(); - speed = my_hmmwv.GetVehicle().GetVehicleSpeedCOM(); - - double q0 = rot_global[0]; - double q1 = rot_global[1]; - double q2 = rot_global[2]; - double q3 = rot_global[3]; - - double yaw_val=atan2(2*(q0*q3+q1*q2),1-2*(q2*q2+q3*q3)); - double theta_val=asin(2*(q0*q2-q3*q1)); - double phi_val= atan2(2*(q0*q1+q2*q3),1-2*(q1*q1+q2*q2)); - - // Update vehicleinfo_data - vehicleinfo_data.t_chrono = time; // time in chrono simulation - vehicleinfo_data.x_pos = pos_global[0]; - vehicleinfo_data.y_pos = pos_global[1]; - vehicleinfo_data.x_v = spd_global[0]; // speed measured at the origin of the chassis reference frame. - vehicleinfo_data.y_v = spd_global[1]; - vehicleinfo_data.x_a = acc_global[0]; - vehicleinfo_data.yaw_curr = yaw_val; // in radians - vehicleinfo_data.yaw_rate = -rot_dt[2];// yaw rate - vehicleinfo_data.sa = slip_angle; // slip angle - vehicleinfo_data.thrt_in = throttle_input; // throttle input in the range [0,+1] - vehicleinfo_data.brk_in = braking_input; // braking input in the range [0,+1] - vehicleinfo_data.str_in = steering_input; // steeering input in the range [-1,+1] - - // Publish current vehicle information - vehicleinfo_pub.publish(vehicleinfo_data); - - app.EndScene(); - ros::spinOnce(); - loop_rate.sleep(); - } - - return 0; -} diff --git a/ros/src/models/chrono/ros_chrono/package.xml b/ros/src/models/chrono/ros_chrono/package.xml index e30ceb7c..6685cf27 100644 --- a/ros/src/models/chrono/ros_chrono/package.xml +++ b/ros/src/models/chrono/ros_chrono/package.xml @@ -58,7 +58,6 @@ rospy std_msgs message_generation - ros_chrono_msgs mavs_msgs nloptcontrol_planner interpolation @@ -68,14 +67,12 @@ roscpp rospy std_msgs - ros_chrono_msgs mavs_msgs Chrono roscpp rospy std_msgs message_runtime - ros_chrono_msgs mavs_msgs Chrono interpolation diff --git a/ros/src/models/chrono/ros_chrono/src/path_follower.cpp b/ros/src/models/chrono/ros_chrono/src/path_follower.cpp index d2446868..977b2934 100644 --- a/ros/src/models/chrono/ros_chrono/src/path_follower.cpp +++ b/ros/src/models/chrono/ros_chrono/src/path_follower.cpp @@ -41,6 +41,7 @@ #include "chrono/utils/ChFilters.h" #include "chrono_vehicle/ChVehicleModelData.h" #include "chrono_vehicle/terrain/RigidTerrain.h" +#include "chrono_vehicle/terrain/FlatTerrain.h" #include "chrono_vehicle/driver/ChIrrGuiDriver.h" #include "chrono_vehicle/driver/ChPathFollowerDriver.h" #include "chrono_vehicle/utils/ChVehiclePath.h" @@ -68,6 +69,7 @@ double traj_sa_interp = 0.0; double traj_ux_interp = 0.0; double traj_x_interp = 0.0; double traj_y_interp = 0.0; +int current_index = 0; // ------ // Chrono @@ -96,526 +98,545 @@ VisualizationType wheel_vis_type = VisualizationType::PRIMITIVES; VisualizationType tire_vis_type = VisualizationType::NONE; // ============================================================================= -void waitForLoaded(ros::NodeHandle &node){ - bool is_init; - node.setParam("system/chrono/flags/initialized", true); - node.getParam("system/flags/initialized", is_init); - - while (!is_init) { - node.getParam("system/flags/initialized", is_init); - } +void waitForLoaded(ros::NodeHandle &node) { + bool is_init; + node.setParam("system/chrono/flags/initialized", true); + node.getParam("system/flags/initialized", is_init); + + while (!is_init) { + node.getParam("system/flags/initialized", is_init); + } } ChVector<> global2veh(double yaw_angle, ChVector<> ChVector_global) { - // Construct rotation matrix - ChVector<> R1(std::cos(yaw_angle), std::sin(yaw_angle), 0.0); - ChVector<> R2(-std::sin(yaw_angle), std::cos(yaw_angle), 0.0); - ChVector<> R3(0.0, 0.0, 1.0); + // Construct rotation matrix + ChVector<> R1(std::cos(yaw_angle), std::sin(yaw_angle), 0.0); + ChVector<> R2(-std::sin(yaw_angle), std::cos(yaw_angle), 0.0); + ChVector<> R3(0.0, 0.0, 1.0); - auto veh_x = R1 ^ ChVector_global; // dot product in chrono - auto veh_y = R2 ^ ChVector_global; // dot product in chrono - auto veh_z = R3 ^ ChVector_global; // dot product in chrono + auto veh_x = R1 ^ ChVector_global; // dot product in chrono + auto veh_y = R2 ^ ChVector_global; // dot product in chrono + auto veh_z = R3 ^ ChVector_global; // dot product in chrono - return ChVector<> (veh_x, veh_y, veh_z); + return ChVector<>(veh_x, veh_y, veh_z); } -bool receive_flag = false; - void plannerCallback(const nloptcontrol_planner::Trajectory::ConstPtr& control_msgs) { - traj_t = control_msgs->t; - traj_x = control_msgs->x; - traj_y = control_msgs->y; - traj_psi = control_msgs->psi; - traj_sa = control_msgs->sa; - traj_ux = control_msgs->ux; - receive_flag = true; - - if (traj_ux.empty() || traj_x.empty() || traj_x.size() <= 1) { - ROS_INFO("Error: Trajectory only has one point or less!"); - } - + traj_t = control_msgs->t; + traj_x = control_msgs->x; + traj_y = control_msgs->y; + traj_psi = control_msgs->psi; + traj_sa = control_msgs->sa; + traj_ux = control_msgs->ux; + + if (traj_ux.empty() || traj_x.empty() || traj_x.size() <= 1) { + ROS_INFO("Error: Trajectory only has one point or less!"); + } + } int get_nearest_index(const ChVector<>& pos_global, - const std::vector& traj_x, - const std::vector& traj_y) { - - if (traj_x.empty() || traj_x.size() == 1) { - return 0; - } - - int index = 0; - double min_dist_sqr = pow(pos_global[0] - traj_x[0], 2) + pow(pos_global[1] - traj_x[0], 2); - - for (int i = 1; i < traj_x.size() - 1; i++) { - double dist_sqr = pow(pos_global[0] - traj_x[i], 2) + pow(pos_global[1] - traj_x[i], 2); - if (dist_sqr < min_dist_sqr) { - min_dist_sqr = dist_sqr; - index = i; - } - } - return index; + const std::vector& traj_x, + const std::vector& traj_y) { + + if (traj_x.empty() || traj_x.size() == 1) { + return 0; + } + + int index = 0; + double min_dist_sqr = pow(pos_global[0] - traj_x[0], 2) + pow(pos_global[1] - traj_y[0], 2); + + for (int i = 1; i < traj_x.size() - 1; i++) { + double dist_sqr = pow(pos_global[0] - traj_x[i], 2) + pow(pos_global[1] - traj_y[i], 2); + if (dist_sqr < min_dist_sqr) { + min_dist_sqr = dist_sqr; + index = i; + } + } + return index; } -double get_PosError(const ChVector<>& pos_global, - const std::vector& traj_x, - const std::vector& traj_y, - int index) { - - if (traj_x.empty() || traj_x.size() == 1) { - return 0; - } - - double traj_dir_x = traj_x[index + 1] - traj_x[index]; - double traj_dir_y = traj_y[index + 1] - traj_y[index]; - double traj_len = std::sqrt(traj_dir_x * traj_dir_x + traj_dir_y * traj_dir_y); - if (traj_len < 0.01) return 0; - traj_dir_x /= traj_len; - traj_dir_y /= traj_len; - - double car2traj_x = traj_x[index] - pos_global[0]; - double car2traj_y = traj_y[index] - pos_global[1]; - double PosError = car2traj_y * traj_dir_x - car2traj_x * traj_dir_y; - - return PosError; +unsigned int getTargetPos(const ChVector<>& pos_global, const std::vector& traj_x, const std::vector& traj_y, const std::vector& traj_ux, + double& target_speed, double cur_speed, double& x_target, double& y_target) { + unsigned int index_closest = get_nearest_index(pos_global, traj_x, traj_y); + double dist_target = std::min(40.0, std::max(30.0, 1.5*cur_speed)); //double dist_target = std::min(40.0, std::max(30.0, 1.5*cur_speed)); + double index_target = index_closest; + double dist_last; + double dist_cur = sqrt(pow(pos_global[0] - traj_x[index_closest], 2) + pow(pos_global[1] - traj_y[index_closest], 2)); + double div_min = DBL_MAX; + for (int i = index_closest + 1; i < traj_x.size(); i++) { + dist_last = dist_cur; + dist_cur = sqrt(pow(pos_global[0] - traj_x[i], 2) + pow(pos_global[1] - traj_y[i], 2)); + if ((dist_last < dist_target) && (dist_cur > dist_target)) { + // linear interpolation to find the target position + index_target = i; + double xa = traj_x[i - 1] - pos_global[0]; + double ya = traj_y[i - 1] - pos_global[1]; + double xb = traj_x[i] - pos_global[0]; + double yb = traj_y[i] - pos_global[1]; + double ta = (xa - xb)*(xa - xb) + (ya - yb)*(ya - yb); + double tb = -2 * xa*xa + 2 * xa*xb - 2 * ya*ya + 2 * ya*yb; + double tc = xa * xa + ya * ya; + double insqrt = tb * tb - 4 * ta*(tc - dist_target * dist_target); + if (insqrt < 0) { + std::cout << "no solution" << std::endl; + x_target = xb + pos_global[0]; //x_target = xb + pos_global[0]; + y_target = yb + pos_global[1]; // y_target = yb + pos_global[1]; + target_speed = traj_ux[i]; + } + else { + insqrt = sqrt(insqrt); + double t1 = (-tb + insqrt) / (2.0*ta); + double t2 = (-tb - insqrt) / (2.0*ta); + if (t1 >= 0.0 && t1 <= 1.0) { + x_target = (1 - t1)*xa + t1 * xb + pos_global[0]; + y_target = (1 - t1)*ya + t1 * yb + pos_global[1]; + target_speed = traj_ux[i - 1] * (1 - t1) + traj_ux[i] * t1; + } + else if (t2 >= 0.0 && t2 <= 1.0) { + x_target = (1 - t2)*xa + t2 * xb + pos_global[0]; + y_target = (1 - t2)*ya + t2 * yb + pos_global[1]; + target_speed = traj_ux[i - 1] * (1 - t2) + traj_ux[i] * t2; + } + else { + std::cout << "no right solution" << std::endl; + x_target = xb + pos_global[0]; + y_target = yb + pos_global[1]; + target_speed = traj_ux[i]; + } + double temp = sqrt((x_target - pos_global[0])*(x_target - pos_global[0]) + (y_target - pos_global[1])*(y_target - pos_global[1])); + } + break; + } + } + + + return index_target; } -double get_AnglError(double yaw_angle, - const std::vector& traj_x, - const std::vector& traj_y, - int index) { - - if (traj_x.empty() || traj_x.size() == 1) { - return 0; - } - - double yaw_err = atan2(traj_y[index + 1] - traj_y[index], traj_x[index + 1] - traj_x[index]) - yaw_angle; - yaw_err = std::fmod(yaw_err + M_PI, 2*M_PI) - M_PI; +double getTargetAngle(const ChVector<>& pos_global, const std::vector& traj_x, const std::vector& traj_y, + const std::vector& traj_ux, double& target_speed, double cur_speed, double l, double yaw) { + double x_target; + double y_target; + unsigned int index_target = getTargetPos(pos_global, traj_x, traj_y, traj_ux, target_speed, cur_speed, x_target, y_target); + double x_target_COM = cos(yaw)*(x_target - pos_global[0]) + sin(yaw)*(y_target - pos_global[1]); + double y_target_COM = -sin(yaw)*(x_target - pos_global[0]) + cos(yaw)*(y_target - pos_global[1]); + double angle_target = atan(2 * y_target_COM*l / (x_target_COM*x_target_COM + y_target_COM * y_target_COM)); - return yaw_err; + return angle_target; } // ============================================================================= int main(int argc, char* argv[]) { - // ------------------------------ - // Initialize ROS node handle - // ------------------------------ - ros::init(argc, argv, "path_follower"); - ros::NodeHandle node; - - // Declare ROS subscriber to subscribe planner topic - std::string planner_namespace; - node.getParam("system/planner",planner_namespace); - ros::Subscriber planner_sub = node.subscribe(planner_namespace + "/control", 100, plannerCallback); - - std::string chrono_namespace; - node.getParam("system/chrono/namespace", chrono_namespace); - //veh_status message is depricated, use state and control topics and its publishers in future version - ros::Publisher state_pub = node.advertise("/state", 1); - ros::Publisher control_pub = node.advertise("/control", 1); - mavs_msgs::state state_data; - mavs_msgs::control control_data; - - bool gui; - node.getParam("system/chrono/flags/gui", gui); - - // Define variables for ROS parameters server - double step_size; - double tire_step_size; - double x0, y0, z0; // Initial global position - double roll0, pitch0, yaw0, ux0, ax0, sa0; // Initial global orientation - double terrainHeight; - double terrainLength; // size in X direction - double terrainWidth; // size in Y direction - - // Get parameters from ROS Parameter Server - node.getParam("system/params/step_size", step_size); // ROS loop rate and Chrono step size - node.getParam("system/params/tire_step_size", tire_step_size); - // Rigid terrain dimensions - node.getParam("system/chrono/field/h", terrainHeight); - node.getParam("system/chrono/field/l", terrainLength); - node.getParam("system/chrono/field/w", terrainWidth); - - - node.getParam("case/actual/X0/x", x0); // initial x - node.getParam("case/actual/X0/yVal", y0); // initial y - node.getParam("case/actual/X0/z", z0); // initial z - //node.getParam("case/actual/X0/v", v); // lateral velocity - //node.getParam("case/actual/X0/r", r); // lateral velocity - node.getParam("case/actual/X0/theta", pitch0); // initial pitch - node.getParam("case/actual/X0/phi", roll0); // initial roll - node.getParam("case/actual/X0/psi", yaw0); // initial yaw angle - node.getParam("case/actual/X0/sa", sa0); - node.getParam("case/actual/X0/ux", ux0); - node.getParam("case/actual/X0/ax", ax0); - - - // Load chrono vehicle_params - double frict_coeff, rest_coeff; - std::vector centroidLoc, centroidOrientation; - double chassisMass; - std::vector chassisInertia; - std::vector driverLoc, driverOrientation; - std::vector motorBlockDirection, axleDirection; - double driveshaftInertia, differentialBoxInertia, conicalGearRatio, differentialRatio; - std::vector gearRatios; - double steeringLinkMass, steeringLinkRadius, steeringLinkLength; - std::vector steeringLinkInertia; - double pinionRadius, pinionMaxAngle, maxBrakeTorque; - node.getParam("vehicle/chrono/vehicle_params/frict_coeff", frict_coeff); - node.getParam("vehicle/chrono/vehicle_params/rest_coeff", rest_coeff); - node.getParam("vehicle/chrono/vehicle_params/centroidLoc", centroidLoc); - node.getParam("vehicle/chrono/vehicle_params/centroidOrientation", centroidOrientation); - node.getParam("vehicle/chrono/vehicle_params/chassisMass", chassisMass); - node.getParam("vehicle/chrono/vehicle_params/chassisInertia", chassisInertia); - node.getParam("vehicle/chrono/vehicle_params/driverLoc", driverLoc); - node.getParam("vehicle/chrono/vehicle_params/driverOrientation", driverOrientation); - node.getParam("vehicle/chrono/vehicle_params/motorBlockDirection", motorBlockDirection); - node.getParam("vehicle/chrono/vehicle_params/axleDirection", axleDirection); - node.getParam("vehicle/chrono/vehicle_params/driveshaftInertia", driveshaftInertia); - node.getParam("vehicle/chrono/vehicle_params/differentialBoxInertia", differentialBoxInertia); - node.getParam("vehicle/chrono/vehicle_params/conicalGearRatio", conicalGearRatio); - node.getParam("vehicle/chrono/vehicle_params/differentialRatio", differentialRatio); - node.getParam("vehicle/chrono/vehicle_params/gearRatios", gearRatios); - node.getParam("vehicle/chrono/vehicle_params/steeringLinkMass", steeringLinkMass); - node.getParam("vehicle/chrono/vehicle_params/steeringLinkInertia", steeringLinkInertia); - node.getParam("vehicle/chrono/vehicle_params/steeringLinkRadius", steeringLinkRadius); - node.getParam("vehicle/chrono/vehicle_params/steeringLinkLength", steeringLinkLength); - node.getParam("vehicle/chrono/vehicle_params/pinionRadius", pinionRadius); - node.getParam("vehicle/chrono/vehicle_params/pinionMaxAngle", pinionMaxAngle); - node.getParam("vehicle/chrono/vehicle_params/maxBrakeTorque", maxBrakeTorque); - - // Load interpolation parameter - double time_shift; - node.getParam("planner/nloptcontrol_planner/misc/tex", time_shift); - - // --------------------- - // Set up PID controller - // --------------------- - // Velocity PID controller - double Kp_vel, Ki_vel, Kd_vel, Kw_vel, upper_lim_vel, lower_lim_vel; - std::string windup_method_vel; // Anti-windup method - PID vel_controller; - - node.getParam("vehicle/chrono/controller/velocity/Kp", Kp_vel); - node.getParam("vehicle/chrono/controller/velocity/Ki", Ki_vel); - node.getParam("vehicle/chrono/controller/velocity/Kd", Kd_vel); - node.getParam("vehicle/chrono/controller/velocity/Kw", Kw_vel); - node.getParam("vehicle/chrono/controller/velocity/upper_limit", upper_lim_vel); - node.getParam("vehicle/chrono/controller/velocity/lower_limit", lower_lim_vel); - node.getParam("vehicle/chrono/controller/velocity/anti_windup", windup_method_vel); - vel_controller.set_PID(Kp_vel, Ki_vel, Kd_vel, Kw_vel); - vel_controller.set_step_size(step_size); - vel_controller.set_output_limit(lower_lim_vel, upper_lim_vel); - vel_controller.set_windup_metohd(windup_method_vel); - vel_controller.initialize(); - - // Steering PID controller due to distance error - double Kp_str_dist, Ki_str_dist, Kd_str_dist, Kw_str_dist, upper_lim_str_dist, lower_lim_str_dist; - std::string windup_method_str_dist; // Anti-windup method - PID str_controller_dist; - - node.getParam("vehicle/chrono/controller/steering/dist_error/Kp", Kp_str_dist); - node.getParam("vehicle/chrono/controller/steering/dist_error/Ki", Ki_str_dist); - node.getParam("vehicle/chrono/controller/steering/dist_error/Kd", Kd_str_dist); - node.getParam("vehicle/chrono/controller/steering/dist_error/Kw", Kw_str_dist); - node.getParam("vehicle/chrono/controller/steering/dist_error/upper_limit", upper_lim_str_dist); - node.getParam("vehicle/chrono/controller/steering/dist_error/lower_limit", lower_lim_str_dist); - node.getParam("vehicle/chrono/controller/steering/dist_error/anti_windup", windup_method_str_dist); - str_controller_dist.set_PID(Kp_str_dist, Ki_str_dist, Kd_str_dist, Kw_str_dist); - str_controller_dist.set_step_size(step_size); - str_controller_dist.set_output_limit(lower_lim_str_dist, upper_lim_str_dist); - str_controller_dist.set_windup_metohd(windup_method_str_dist); - str_controller_dist.initialize(); - - // Steering PID controller due to distance error - double Kp_str_angl, Ki_str_angl, Kd_str_angl, Kw_str_angl, upper_lim_str_angl, lower_lim_str_angl; - std::string windup_method_str_angl; // Anti-windup method - PID str_controller_angl; - - node.getParam("vehicle/chrono/controller/steering/angle_error/Kp", Kp_str_angl); - node.getParam("vehicle/chrono/controller/steering/angle_error/Ki", Ki_str_angl); - node.getParam("vehicle/chrono/controller/steering/angle_error/Kd", Kd_str_angl); - node.getParam("vehicle/chrono/controller/steering/angle_error/Kw", Kw_str_angl); - node.getParam("vehicle/chrono/controller/steering/angle_error/upper_limit", upper_lim_str_angl); - node.getParam("vehicle/chrono/controller/steering/angle_error/lower_limit", lower_lim_str_angl); - node.getParam("vehicle/chrono/controller/steering/angle_error/anti_windup", windup_method_str_angl); - str_controller_angl.set_PID(Kp_str_angl, Ki_str_angl, Kd_str_angl, Kw_str_angl); - str_controller_angl.set_step_size(step_size); - str_controller_angl.set_output_limit(lower_lim_str_angl, upper_lim_str_angl); - str_controller_angl.set_windup_metohd(windup_method_str_angl); - str_controller_angl.initialize(); - - - // Declare loop rate - ros::Rate loop_rate(1.0/step_size); - - // Set initial vehicle location and orientation - ChVector<> initLoc(x0, y0, z0); - - double t0 = std::cos(yaw0 * 0.5f); - double t1 = std::sin(yaw0 * 0.5f); - double t2 = std::cos(roll0 * 0.5f); - double t3 = std::sin(roll0 * 0.5f); - double t4 = std::cos(pitch0 * 0.5f); - double t5 = std::sin(pitch0 * 0.5f); - - double q0_0 = t0 * t2 * t4 + t1 * t3 * t5; - double q0_1 = t0 * t3 * t4 - t1 * t2 * t5; - double q0_2 = t0 * t2 * t5 + t1 * t3 * t4; - double q0_3 = t1 * t2 * t4 - t0 * t3 * t5; - - ChQuaternion<> initRot(q0_0,q0_1,q0_2,q0_3); - - // wait system loaded - waitForLoaded(node); - - // ------------------------------ - // Create the vehicle and terrain - // ------------------------------ - - // Create the HMMWV vehicle, set parameters, and initialize - HMMWV_Full my_hmmwv; - my_hmmwv.SetContactMethod(contact_method); - my_hmmwv.SetChassisFixed(false); - my_hmmwv.SetInitPosition(ChCoordsys<>(initLoc, initRot)); - my_hmmwv.SetInitFwdVel(ux0); - my_hmmwv.SetPowertrainType(powertrain_model); - my_hmmwv.SetDriveType(drive_type); - my_hmmwv.SetSteeringType(steering_type); - my_hmmwv.SetTireType(tire_model); - my_hmmwv.SetTireStepSize(tire_step_size); - my_hmmwv.SetVehicleStepSize(step_size); - my_hmmwv.Initialize(); - - my_hmmwv.SetChassisVisualizationType(chassis_vis_type); - my_hmmwv.SetSuspensionVisualizationType(suspension_vis_type); - my_hmmwv.SetSteeringVisualizationType(steering_vis_type); - my_hmmwv.SetWheelVisualizationType(wheel_vis_type); - my_hmmwv.SetTireVisualizationType(tire_vis_type); - - // read maximum_steering_angle - double maximum_steering_angle = my_hmmwv.GetVehicle().GetMaxSteeringAngle(); - - // Create the terrain - RigidTerrain terrain(my_hmmwv.GetSystem()); - auto patch = terrain.AddPatch(ChCoordsys<>(ChVector<>(0, 0, terrainHeight - 5), QUNIT), - ChVector<>(terrainLength, terrainWidth, 10)); - patch->SetContactFrictionCoefficient(frict_coeff); - patch->SetContactRestitutionCoefficient(rest_coeff); - patch->SetContactMaterialProperties(2e7f, 0.3f); - patch->SetColor(ChColor(1, 1, 1)); - patch->SetTexture(data_path+"terrain/textures/tile4.jpg", 200, 200); - terrain.Initialize(); - - - // --------------------------------------- - // Create the vehicle Irrlicht application - // --------------------------------------- - - ChVehicleIrrApp app(&my_hmmwv.GetVehicle(), &my_hmmwv.GetPowertrain(), L"Path Follower", - irr::core::dimension2d(800, 640)); - - app.SetHUDLocation(500, 20); - app.AddTypicalLights(irr::core::vector3df(-150.f, -150.f, 200.f), irr::core::vector3df(-150.f, 150.f, 200.f), 100, - 100); - app.AddTypicalLights(irr::core::vector3df(150.f, -150.f, 200.f), irr::core::vector3df(150.0f, 150.f, 200.f), 100, - 100); - app.EnableGrid(false); - app.SetTimestep(step_size); - - // Finalize construction of visualization assets - app.AssetBindAll(); - app.AssetUpdateAll(); - // --------------- - // Simulation loop - // --------------- - - // Initialize simulation frame counter and simulation time - ChRealtimeStepTimer realtime_timer; - - // Vehicle steering angle - double long_velocity = 0.0; - ChVector<> VehicleCOMPos = my_hmmwv.GetVehicle().GetVehicleCOMPos(); - ChQuaternion<> VehicleRot = my_hmmwv.GetVehicle().GetVehicleRot();//global orientation as quaternion - - double q0 = VehicleRot[0]; - double q1 = VehicleRot[1]; - double q2 = VehicleRot[2]; - double q3 = VehicleRot[3]; - double yaw_angle = atan2(2*(q0*q3+q1*q2),1-2*(q2*q2+q3*q3)); - long_velocity = ux0; - // Collect controller output data from modules (for inter-module communication) - double throttle_input = 0; - double steering_input = 0; - double braking_input = 0; - - // to calculate control error: - std::vector x_cal(3, VehicleCOMPos[0]); - std::vector y_cal(3, VehicleCOMPos[1]); - double steering_angle; - - - while (ros::ok()) { - // Get chrono time - double chrono_time = my_hmmwv.GetSystem()->GetChTime(); - - // steering control - if (traj_x.empty() || traj_x.size() == 1) { - steering_angle = 0; - steering_input = 0; - } - else { - int nearest_index = get_nearest_index(VehicleCOMPos, traj_x, traj_y); - double pos_err = get_PosError(VehicleCOMPos, traj_x, traj_y, nearest_index); - double yaw_err = get_AnglError(yaw_angle, traj_x, traj_y, nearest_index); - - steering_angle = str_controller_dist.control(pos_err) + - str_controller_angl.control(yaw_err); - - steering_input = steering_angle / maximum_steering_angle; - steering_input = std::max(-1.0, std::min(1.0, steering_input)); - steering_angle = steering_input * maximum_steering_angle; // steering angle (rad) - } - - // Speed control - // -------------------------- - // interpolation using ALGLIB - // -------------------------- - if (traj_t.size() > 1) { - real_1d_array t_arr, sa_arr, ux_arr; - - t_arr.setcontent(traj_t.size(), &(traj_t[0])); - sa_arr.setcontent(traj_sa.size(), &(traj_sa[0])); - ux_arr.setcontent(traj_ux.size(), &(traj_ux[0])); - - spline1dinterpolant s_ux; - spline1dinterpolant s_sa; - - spline1dbuildlinear(t_arr, ux_arr, s_ux); - traj_ux_interp = spline1dcalc(s_ux, chrono_time+time_shift); - spline1dbuildcubic(t_arr, sa_arr, s_sa); - traj_sa_interp = spline1dcalc(s_sa, chrono_time+time_shift); - } - else if (traj_t.size() == 1) { - std::cout << "traj_size = 0" << std::endl; - traj_ux_interp = traj_ux[0]; - traj_sa_interp = traj_sa[0]; - - } - - - - // Control speed - double ux_err = traj_ux_interp - long_velocity; - double vel_controller_output = vel_controller.control(ux_err); - if (vel_controller_output > 0){ - throttle_input = vel_controller_output; - braking_input = 0; - } - else { - throttle_input = 0; - braking_input = -vel_controller_output; - } - - - - - if(gui) { - app.BeginScene(true, true, irr::video::SColor(255, 140, 161, 192)); - app.DrawAll(); - } - - // Update modules (process inputs from other modules) - terrain.Synchronize(chrono_time); - my_hmmwv.Synchronize(chrono_time, steering_input, braking_input, throttle_input, terrain); - - if(gui) { - app.Synchronize("", steering_input, throttle_input, braking_input); - } - - // Advance simulation for one timestep for all modules - double step = realtime_timer.SuggestSimulationStep(step_size); - terrain.Advance(step); - my_hmmwv.Advance(step); - - if(gui) { - app.Advance(step); - } - - VehicleCOMPos = my_hmmwv.GetVehicle().GetVehicleCOMPos(); - VehicleRot = my_hmmwv.GetVehicle().GetVehicleRot();//global orientation as quaternion - ChVector<> rot_dt = my_hmmwv.GetChassisBody()->GetWvel_loc(); // actual angular speed (expressed in local coords) - ChVector<> VehiclePos = my_hmmwv.GetVehicle().GetVehiclePos(); // gloabal vehicle frame origin location - - // Compute yaw angle - double q0 = VehicleRot[0]; - double q1 = VehicleRot[1]; - double q2 = VehicleRot[2]; - double q3 = VehicleRot[3]; - double yaw_angle = atan2(2*(q0*q3+q1*q2),1-2*(q2*q2+q3*q3)); - - ChVector<> ORI2COM = global2veh(yaw_angle, VehicleCOMPos - VehiclePos); - - ChVector<> VehicleRot_dt = my_hmmwv.GetChassisBody()->GetWvel_loc(); // actual angular speed (expressed in local coords) - ChVector<> VehicleCOMVel_global = my_hmmwv.GetVehicle().GetVehiclePointVelocity(ORI2COM); // vehicle COM velocity (m/s) - ChVector<> VehicleCOMAcc = my_hmmwv.GetVehicle().GetVehicleAcceleration(ORI2COM); // vehicle COM acceleration (m/s^2) - VehicleCOMAcc[0] = std::max(-1.5, std::min(1.5, VehicleCOMAcc[0])); // let vehicle acceleration bounded in [-1.5, 1.5] (temporary solution) - - ChVector<> VehicleCOMVel = global2veh(yaw_angle, VehicleCOMVel_global); - - // Get vertical tire force - std::vector TireForceVertical; - for (int i = 0; i < 4; i++) { - ChVector<> TireForce = my_hmmwv.GetTire(i)->ReportTireForce(&terrain).force; - TireForceVertical.push_back(TireForce[2]); - } - long_velocity = VehicleCOMVel[0]; - // Update vehicle state - node.setParam("/state/t", chrono_time); - node.setParam("/state/x", VehicleCOMPos[0]); // global x position (m) - node.setParam("/state/y", VehicleCOMPos[1]); // global y position (m) - node.setParam("/state/v", VehicleCOMVel[1]); //// lateral velocity (m/s) - node.setParam("/state/r", VehicleRot_dt[2]); //// yaw rate (rad/s) - node.setParam("/state/psi", yaw_angle); // global heading angle (yaw angle) (rad) - node.setParam("/state/sa", steering_angle); // steering angle at the tire (rad) - node.setParam("/state/ux", VehicleCOMVel[0]); //// longitudinal velocity (vehicle frame) (m/s) - node.setParam("/state/ax", VehicleCOMAcc[0]); //// longitudinal acceleration (vehicle frame) (m/s^2) - node.setParam("/control/thr", throttle_input); - node.setParam("/control/brk", braking_input); - node.setParam("/control/str", steering_input); - - // In future we will shift to state and control variables - // Update state and control data - state_data.t = chrono_time; // time in chrono simulation - state_data.x = VehicleCOMPos[0]; - state_data.y = VehicleCOMPos[1]; - state_data.ux = VehicleCOMVel[0]; - state_data.v = VehicleCOMVel[1]; - state_data.ax = VehicleCOMAcc[0]; - state_data.psi = yaw_angle; // yaw angle (rad) - state_data.r = VehicleRot_dt[2];// yaw rate (rad/s) - state_data.sa = steering_angle; // steering angle at the tire (rad) - control_data.t = chrono_time; - control_data.thrt_in = throttle_input; // throttle input in the range [0,+1] - control_data.brk_in = braking_input; // braking input in the range [0,+1] - control_data.str_in = steering_input; // steeering input in the range [-1,+1] - - state_pub.publish(state_data); - control_pub.publish(control_data); - if(gui) { - app.EndScene(); - } - - ros::spinOnce(); - // loop_rate.sleep(); - } - - return 0; + // ------------------------------ + // Initialize ROS node handle + // ------------------------------ + ros::init(argc, argv, "path_follower"); + ros::NodeHandle node; + + // Declare ROS subscriber to subscribe planner topic + std::string planner_namespace; + node.getParam("system/planner", planner_namespace); + ros::Subscriber planner_sub = node.subscribe(planner_namespace + "/control", 100, plannerCallback); + + std::string chrono_namespace; + node.getParam("system/chrono/namespace", chrono_namespace); + //veh_status message is depricated, use state and control topics and its publishers in future version + ros::Publisher state_pub = node.advertise("/state", 1); + ros::Publisher control_pub = node.advertise("/control", 1); + mavs_msgs::state state_data; + mavs_msgs::control control_data; + + bool gui; + node.getParam("system/chrono/flags/gui", gui); + + // Define variables for ROS parameters server + double step_size; + double tire_step_size; + double x0, y0, z0; // Initial global position + double roll0, pitch0, yaw0, ux0, ax0, sa0; // Initial global orientation + double terrainHeight; + double terrainLength; // size in X direction + double terrainWidth; // size in Y direction + + // Get parameters from ROS Parameter Server + node.getParam("system/params/step_size", step_size); // ROS loop rate and Chrono step size + node.getParam("system/params/tire_step_size", tire_step_size); + // Rigid terrain dimensions + node.getParam("system/chrono/field/h", terrainHeight); + node.getParam("system/chrono/field/l", terrainLength); + node.getParam("system/chrono/field/w", terrainWidth); + + + node.getParam("case/actual/X0/x", x0); // initial x + node.getParam("case/actual/X0/yVal", y0); // initial y + node.getParam("case/actual/X0/z", z0); // initial z + //node.getParam("case/actual/X0/v", v); // lateral velocity + //node.getParam("case/actual/X0/r", r); // lateral velocity + node.getParam("case/actual/X0/theta", pitch0); // initial pitch + node.getParam("case/actual/X0/phi", roll0); // initial roll + node.getParam("case/actual/X0/psi", yaw0); // initial yaw angle + node.getParam("case/actual/X0/sa", sa0); + node.getParam("case/actual/X0/ux", ux0); + node.getParam("case/actual/X0/ax", ax0); + + + // Load chrono vehicle_params + double frict_coeff, rest_coeff; + std::vector centroidLoc, centroidOrientation; + double chassisMass; + std::vector chassisInertia; + std::vector driverLoc, driverOrientation; + std::vector motorBlockDirection, axleDirection; + double driveshaftInertia, differentialBoxInertia, conicalGearRatio, differentialRatio; + std::vector gearRatios; + double steeringLinkMass, steeringLinkRadius, steeringLinkLength; + std::vector steeringLinkInertia; + double pinionRadius, pinionMaxAngle, maxBrakeTorque; + node.getParam("vehicle/chrono/vehicle_params/frict_coeff", frict_coeff); + node.getParam("vehicle/chrono/vehicle_params/rest_coeff", rest_coeff); + node.getParam("vehicle/chrono/vehicle_params/centroidLoc", centroidLoc); + node.getParam("vehicle/chrono/vehicle_params/centroidOrientation", centroidOrientation); + node.getParam("vehicle/chrono/vehicle_params/chassisMass", chassisMass); + node.getParam("vehicle/chrono/vehicle_params/chassisInertia", chassisInertia); + node.getParam("vehicle/chrono/vehicle_params/driverLoc", driverLoc); + node.getParam("vehicle/chrono/vehicle_params/driverOrientation", driverOrientation); + node.getParam("vehicle/chrono/vehicle_params/motorBlockDirection", motorBlockDirection); + node.getParam("vehicle/chrono/vehicle_params/axleDirection", axleDirection); + node.getParam("vehicle/chrono/vehicle_params/driveshaftInertia", driveshaftInertia); + node.getParam("vehicle/chrono/vehicle_params/differentialBoxInertia", differentialBoxInertia); + node.getParam("vehicle/chrono/vehicle_params/conicalGearRatio", conicalGearRatio); + node.getParam("vehicle/chrono/vehicle_params/differentialRatio", differentialRatio); + node.getParam("vehicle/chrono/vehicle_params/gearRatios", gearRatios); + node.getParam("vehicle/chrono/vehicle_params/steeringLinkMass", steeringLinkMass); + node.getParam("vehicle/chrono/vehicle_params/steeringLinkInertia", steeringLinkInertia); + node.getParam("vehicle/chrono/vehicle_params/steeringLinkRadius", steeringLinkRadius); + node.getParam("vehicle/chrono/vehicle_params/steeringLinkLength", steeringLinkLength); + node.getParam("vehicle/chrono/vehicle_params/pinionRadius", pinionRadius); + node.getParam("vehicle/chrono/vehicle_params/pinionMaxAngle", pinionMaxAngle); + node.getParam("vehicle/chrono/vehicle_params/maxBrakeTorque", maxBrakeTorque); + + // Load interpolation parameter + double time_shift; + node.getParam("planner/nloptcontrol_planner/misc/tex", time_shift); + time_shift = 0.1; + + // --------------------- + // Set up PID controller + // --------------------- + // Velocity PID controller + double Kp_vel, Ki_vel, Kd_vel, Kw_vel, upper_lim_vel, lower_lim_vel; + std::string windup_method_vel; // Anti-windup method + PID vel_controller; + + node.getParam("vehicle/chrono/controller/velocity/Kp", Kp_vel); + node.getParam("vehicle/chrono/controller/velocity/Ki", Ki_vel); + node.getParam("vehicle/chrono/controller/velocity/Kd", Kd_vel); + node.getParam("vehicle/chrono/controller/velocity/Kw", Kw_vel); + node.getParam("vehicle/chrono/controller/velocity/upper_limit", upper_lim_vel); + node.getParam("vehicle/chrono/controller/velocity/lower_limit", lower_lim_vel); + node.getParam("vehicle/chrono/controller/velocity/anti_windup", windup_method_vel); + vel_controller.set_PID(Kp_vel, Ki_vel, Kd_vel, Kw_vel); + vel_controller.set_step_size(step_size); + vel_controller.set_output_limit(lower_lim_vel, upper_lim_vel); + vel_controller.set_windup_metohd(windup_method_vel); + vel_controller.initialize(); + + // Steering PID controller due to distance error + double Kp_str_dist, Ki_str_dist, Kd_str_dist, Kw_str_dist, upper_lim_str_dist, lower_lim_str_dist; + std::string windup_method_str_dist; // Anti-windup method + PID str_controller_dist; + + node.getParam("vehicle/chrono/controller/steering/dist_error/Kp", Kp_str_dist); + node.getParam("vehicle/chrono/controller/steering/dist_error/Ki", Ki_str_dist); + node.getParam("vehicle/chrono/controller/steering/dist_error/Kd", Kd_str_dist); + node.getParam("vehicle/chrono/controller/steering/dist_error/Kw", Kw_str_dist); + node.getParam("vehicle/chrono/controller/steering/dist_error/upper_limit", upper_lim_str_dist); + node.getParam("vehicle/chrono/controller/steering/dist_error/lower_limit", lower_lim_str_dist); + node.getParam("vehicle/chrono/controller/steering/dist_error/anti_windup", windup_method_str_dist); + str_controller_dist.set_PID(Kp_str_dist, Ki_str_dist, Kd_str_dist, Kw_str_dist); + str_controller_dist.set_step_size(step_size); + str_controller_dist.set_output_limit(lower_lim_str_dist, upper_lim_str_dist); + str_controller_dist.set_windup_metohd(windup_method_str_dist); + str_controller_dist.initialize(); + + // Steering PID controller due to distance error + double Kp_str_angl, Ki_str_angl, Kd_str_angl, Kw_str_angl, upper_lim_str_angl, lower_lim_str_angl; + std::string windup_method_str_angl; // Anti-windup method + PID str_controller_angl; + + node.getParam("vehicle/chrono/controller/steering/angle_error/Kp", Kp_str_angl); + node.getParam("vehicle/chrono/controller/steering/angle_error/Ki", Ki_str_angl); + node.getParam("vehicle/chrono/controller/steering/angle_error/Kd", Kd_str_angl); + node.getParam("vehicle/chrono/controller/steering/angle_error/Kw", Kw_str_angl); + node.getParam("vehicle/chrono/controller/steering/angle_error/upper_limit", upper_lim_str_angl); + node.getParam("vehicle/chrono/controller/steering/angle_error/lower_limit", lower_lim_str_angl); + node.getParam("vehicle/chrono/controller/steering/angle_error/anti_windup", windup_method_str_angl); + str_controller_angl.set_PID(Kp_str_angl, Ki_str_angl, Kd_str_angl, Kw_str_angl); + str_controller_angl.set_step_size(step_size); + str_controller_angl.set_output_limit(lower_lim_str_angl, upper_lim_str_angl); + str_controller_angl.set_windup_metohd(windup_method_str_angl); + str_controller_angl.initialize(); + + + // Declare loop rate + ros::Rate loop_rate(1.0 / step_size); + + // Set initial vehicle location and orientation + ChVector<> initLoc(x0, y0, z0); + + double t0 = std::cos(yaw0 * 0.5f); + double t1 = std::sin(yaw0 * 0.5f); + double t2 = std::cos(roll0 * 0.5f); + double t3 = std::sin(roll0 * 0.5f); + double t4 = std::cos(pitch0 * 0.5f); + double t5 = std::sin(pitch0 * 0.5f); + + double q0_0 = t0 * t2 * t4 + t1 * t3 * t5; + double q0_1 = t0 * t3 * t4 - t1 * t2 * t5; + double q0_2 = t0 * t2 * t5 + t1 * t3 * t4; + double q0_3 = t1 * t2 * t4 - t0 * t3 * t5; + + ChQuaternion<> initRot(q0_0, q0_1, q0_2, q0_3); + + // ------------------------------ + // Create the vehicle and terrain + // ------------------------------ + + // Create the HMMWV vehicle, set parameters, and initialize + HMMWV_Full my_hmmwv; + my_hmmwv.SetContactMethod(contact_method); + my_hmmwv.SetChassisFixed(false); + my_hmmwv.SetInitPosition(ChCoordsys<>(initLoc, initRot)); + my_hmmwv.SetInitFwdVel(ux0); + my_hmmwv.SetPowertrainType(powertrain_model); + my_hmmwv.SetDriveType(drive_type); + my_hmmwv.SetSteeringType(steering_type); + my_hmmwv.SetTireType(tire_model); + my_hmmwv.SetTireStepSize(tire_step_size); + my_hmmwv.SetVehicleStepSize(step_size); + my_hmmwv.Initialize(); + + my_hmmwv.SetChassisVisualizationType(chassis_vis_type); + my_hmmwv.SetSuspensionVisualizationType(suspension_vis_type); + my_hmmwv.SetSteeringVisualizationType(steering_vis_type); + my_hmmwv.SetWheelVisualizationType(wheel_vis_type); + my_hmmwv.SetTireVisualizationType(tire_vis_type); + + // read maximum_steering_angle + double maximum_steering_angle = my_hmmwv.GetVehicle().GetMaxSteeringAngle(); + + // Create the terrain + //RigidTerrain terrain(terrainHeight - 5, frict_coeff); + RigidTerrain terrain(my_hmmwv.GetSystem()); + auto patch = terrain.AddPatch(ChCoordsys<>(ChVector<>(0, 0, terrainHeight - 5), QUNIT), + ChVector<>(terrainLength, terrainWidth, 10)); + patch->SetContactFrictionCoefficient(frict_coeff); + patch->SetContactRestitutionCoefficient(rest_coeff); + patch->SetContactMaterialProperties(2e7f, 0.3f); + patch->SetColor(ChColor(1, 1, 1)); + patch->SetTexture(data_path + "terrain/textures/tile4.jpg", 200, 200); + terrain.Initialize(); + + + // --------------------------------------- + // Create the vehicle Irrlicht application + // --------------------------------------- + + ChVehicleIrrApp app(&my_hmmwv.GetVehicle(), &my_hmmwv.GetPowertrain(), L"Path Follower", + irr::core::dimension2d(800, 640)); + + app.SetHUDLocation(500, 20); + app.AddTypicalLights(irr::core::vector3df(-150.f, -150.f, 200.f), irr::core::vector3df(-150.f, 150.f, 200.f), 100, + 100); + app.AddTypicalLights(irr::core::vector3df(150.f, -150.f, 200.f), irr::core::vector3df(150.0f, 150.f, 200.f), 100, + 100); + app.EnableGrid(false); + app.SetTimestep(step_size); + + // Finalize construction of visualization assets + app.AssetBindAll(); + app.AssetUpdateAll(); + // --------------- + // Simulation loop + // --------------- + + // Initialize simulation frame counter and simulation time + ChRealtimeStepTimer realtime_timer; + + // Vehicle steering angle + double long_velocity = 0.0; + ChVector<> VehicleCOMPos = my_hmmwv.GetVehicle().GetVehicleCOMPos(); + ChQuaternion<> VehicleRot = my_hmmwv.GetVehicle().GetVehicleRot();//global orientation as quaternion + long_velocity = my_hmmwv.GetVehicle().GetVehicleSpeedCOM(); + double yaw_angle = VehicleRot.Q_to_Euler123()[2]; + + + + // Collect controller output data from modules (for inter-module communication) + double throttle_input = 0; + double steering_input = 0; + double braking_input = 0; + + // to calculate control error: + std::vector x_cal(3, VehicleCOMPos[0]); + std::vector y_cal(3, VehicleCOMPos[1]); + double steering_angle; + + + // find lr and lf + ChVector<> front_pos1 = my_hmmwv.GetVehicle().GetWheelPos(0); + ChVector<> front_pos2 = my_hmmwv.GetVehicle().GetWheelPos(1); + ChVector<> rear_pos1 = my_hmmwv.GetVehicle().GetWheelPos(2); + ChVector<> rear_pos2 = my_hmmwv.GetVehicle().GetWheelPos(3); + double front_x = (front_pos1[0] + front_pos2[0]) / 2.; + double front_y = (front_pos1[1] + front_pos2[1]) / 2.; + double rear_x = (rear_pos1[0] + rear_pos2[0]) / 2.; + double rear_y = (rear_pos1[1] + rear_pos2[1]) / 2.; + double front2rear = sqrt(pow(rear_x - front_x, 2) + pow(rear_y - front_y, 2)); + + // wait system loaded + waitForLoaded(node); + while (ros::ok()) { + // Get chrono time + double chrono_time = my_hmmwv.GetSystem()->GetChTime(); + + // steering control + if (traj_x.empty() || traj_x.size() == 1) { + steering_angle = 0; + steering_input = 0; + } + else { + front_pos1 = my_hmmwv.GetVehicle().GetWheelPos(0); + front_pos2 = my_hmmwv.GetVehicle().GetWheelPos(1); + rear_pos1 = my_hmmwv.GetVehicle().GetWheelPos(2); + rear_pos2 = my_hmmwv.GetVehicle().GetWheelPos(3); + front_x = (front_pos1[0] + front_pos2[0]) / 2.; + front_y = (front_pos1[1] + front_pos2[1]) / 2.; + rear_x = (rear_pos1[0] + rear_pos2[0]) / 2.; + rear_y = (rear_pos1[1] + rear_pos2[1]) / 2.; + front2rear = sqrt(pow(rear_x - front_x, 2) + pow(rear_y - front_y, 2)); + traj_sa_interp = 1.0*getTargetAngle(VehicleCOMPos, traj_x, traj_y, traj_ux, traj_ux_interp, long_velocity, front2rear, yaw_angle); + traj_ux_interp = std::max(0.0, traj_ux_interp); + + // steering rate saturation + /*if (((traj_sa_interp - steering_input*maximum_steering_angle) / step_size) > 1.5) { + traj_sa_interp = (steering_input*maximum_steering_angle + 1.5*step_size); + } + else if (((steering_input*maximum_steering_angle - traj_sa_interp) / step_size) < -1.5) { + traj_sa_interp = (steering_input*maximum_steering_angle - 1.5*step_size); + }*/ + // simple low pass filter + double alpha = 1.0; + steering_input = (1.0 - alpha) * steering_input + alpha * traj_sa_interp / maximum_steering_angle; + steering_input = std::max(-1.0, std::min(1.0, steering_input)); + steering_angle = steering_input * maximum_steering_angle; // steering angle (rad) + } + + + // Control speed + double ux_err = traj_ux_interp - long_velocity; + double vel_controller_output = vel_controller.control(ux_err); + if (vel_controller_output > 0) { + throttle_input = vel_controller_output; + braking_input = 0; + } + else { + throttle_input = 0; + braking_input = -vel_controller_output; + } + + + if (gui) { + app.BeginScene(true, true, irr::video::SColor(255, 140, 161, 192)); + app.DrawAll(); + } + + // Update modules (process inputs from other modules) + terrain.Synchronize(chrono_time); + my_hmmwv.Synchronize(chrono_time, steering_input, braking_input, throttle_input, terrain); + + if (gui) { + app.Synchronize("", steering_input, throttle_input, braking_input); + } + + // Advance simulation for one timestep for all modules + double step = realtime_timer.SuggestSimulationStep(step_size); + terrain.Advance(step); + my_hmmwv.Advance(step); + + if (gui) { + app.Advance(step); + } + + VehicleCOMPos = my_hmmwv.GetVehicle().GetVehicleCOMPos(); + VehicleRot = my_hmmwv.GetVehicle().GetVehicleRot();//global orientation as quaternion + ChVector<> rot_dt = my_hmmwv.GetChassisBody()->GetWvel_loc(); // actual angular speed (expressed in local coords) + ChVector<> VehiclePos = my_hmmwv.GetVehicle().GetVehiclePos(); // gloabal vehicle frame origin location + + // Compute yaw angle + yaw_angle = VehicleRot.Q_to_Euler123()[2]; + + ChVector<> ORI2COM = global2veh(yaw_angle, VehicleCOMPos - VehiclePos); + + ChVector<> VehicleRot_dt = my_hmmwv.GetChassisBody()->GetWvel_loc(); // actual angular speed (expressed in local coords) + ChVector<> VehicleCOMVel_global = my_hmmwv.GetVehicle().GetVehiclePointVelocity(ORI2COM); // vehicle COM velocity (m/s) + ChVector<> VehicleCOMAcc = my_hmmwv.GetVehicle().GetVehicleAcceleration(ORI2COM); // vehicle COM acceleration (m/s^2) + VehicleCOMAcc[0] = std::max(-1.5, std::min(1.5, VehicleCOMAcc[0])); // let vehicle acceleration bounded in [-1.5, 1.5] (temporary solution) + + ChVector<> VehicleCOMVel = global2veh(yaw_angle, VehicleCOMVel_global); + + // Get vertical tire force + std::vector TireForceVertical; + for (int i = 0; i < 4; i++) { + ChVector<> TireForce = my_hmmwv.GetTire(i)->ReportTireForce(&terrain).force; + TireForceVertical.push_back(TireForce[2]); + } + + // Update vehicle state + node.setParam("/state/t", chrono_time); + node.setParam("/state/x", VehicleCOMPos[0]); // global x position (m) + node.setParam("/state/y", VehicleCOMPos[1]); // global y position (m) + node.setParam("/state/v", VehicleCOMVel[1]); //// lateral velocity (m/s) + node.setParam("/state/r", VehicleRot_dt[2]); //// yaw rate (rad/s) + node.setParam("/state/psi", yaw_angle); // global heading angle (yaw angle) (rad) + node.setParam("/state/sa", steering_angle); // steering angle at the tire (rad) + node.setParam("/state/ux", VehicleCOMVel[0]); //// longitudinal velocity (vehicle frame) (m/s) + node.setParam("/state/ax", VehicleCOMAcc[0]); //// longitudinal acceleration (vehicle frame) (m/s^2) + node.setParam("/control/thr", throttle_input); + node.setParam("/control/brk", braking_input); + node.setParam("/control/str", steering_input); + + // In future we will shift to state and control variables + // Update state and control data + state_data.t = chrono_time; // time in chrono simulation + state_data.x = VehicleCOMPos[0]; + state_data.y = VehicleCOMPos[1]; + state_data.ux = VehicleCOMVel[0]; + state_data.v = VehicleCOMVel[1]; + state_data.ax = VehicleCOMAcc[0]; + state_data.psi = yaw_angle; // yaw angle (rad) + state_data.r = VehicleRot_dt[2];// yaw rate (rad/s) + state_data.sa = steering_angle; // steering angle at the tire (rad) + control_data.thrt_in = throttle_input; // throttle input in the range [0,+1] + control_data.brk_in = braking_input; // braking input in the range [0,+1] + control_data.str_in = steering_input; // steeering input in the range [-1,+1] + + state_pub.publish(state_data); + control_pub.publish(control_data); + if (gui) { + app.EndScene(); + } + + ros::spinOnce(); + // loop_rate.sleep(); + } + + return 0; } diff --git a/ros/src/models/chrono/ros_chrono/src/trajectory_follower.cpp b/ros/src/models/chrono/ros_chrono/src/trajectory_follower.cpp index b0967e89..b4c58aec 100755 --- a/ros/src/models/chrono/ros_chrono/src/trajectory_follower.cpp +++ b/ros/src/models/chrono/ros_chrono/src/trajectory_follower.cpp @@ -222,7 +222,7 @@ int main(int argc, char* argv[]) { // Load interpolation parameter double time_shift; node.getParam("planner/nloptcontrol_planner/misc/tex", time_shift); - + //time_shift = 0.1; // --------------------- // Set up PID controller // --------------------- @@ -276,6 +276,8 @@ int main(int argc, char* argv[]) { HMMWV_Full my_hmmwv; my_hmmwv.SetContactMethod(contact_method); my_hmmwv.SetChassisFixed(false); + my_hmmwv.SetInitPosition(ChCoordsys<>(initLoc, initRot)); + my_hmmwv.SetInitFwdVel(ux0); my_hmmwv.SetPowertrainType(powertrain_model); my_hmmwv.SetDriveType(drive_type); my_hmmwv.SetSteeringType(steering_type); @@ -367,10 +369,10 @@ int main(int argc, char* argv[]) { // steering input // steering rate saturation if (((traj_sa_interp - steering_input*maximum_steering_angle) / step_size) > 1.5) { - traj_sa_interp = (traj_sa_interp - 1.5*step_size); + traj_sa_interp = (steering_input*maximum_steering_angle + 1.5*step_size); } else if (((steering_input*maximum_steering_angle - traj_sa_interp) / step_size) < -1.5) { - traj_sa_interp = (traj_sa_interp + 1.5*step_size); + traj_sa_interp = (steering_input*maximum_steering_angle - 1.5*step_size); } // simple low pass filter double alpha = 0.4; @@ -423,12 +425,7 @@ int main(int argc, char* argv[]) { double steering_angle = steering_input * maximum_steering_angle; // steering angle (rad) // Compute yaw angle - double q0 = VehicleRot[0]; - double q1 = VehicleRot[1]; - double q2 = VehicleRot[2]; - double q3 = VehicleRot[3]; - double yaw_angle = atan2(2*(q0*q3+q1*q2),1-2*(q2*q2+q3*q3)); - + double yaw_angle = VehicleRot.Q_to_Euler123()[2]; ChVector<> ORI2COM = global2veh(yaw_angle, VehicleCOMPos - VehiclePos); ChVector<> VehicleRot_dt = my_hmmwv.GetChassisBody()->GetWvel_loc(); // actual angular speed (expressed in local coords) diff --git a/ros/src/models/chrono/traj_gen_chrono/CMakeLists.txt b/ros/src/models/chrono/traj_gen_chrono/CMakeLists.txt index af3ebbe2..2e63dd0f 100644 --- a/ros/src/models/chrono/traj_gen_chrono/CMakeLists.txt +++ b/ros/src/models/chrono/traj_gen_chrono/CMakeLists.txt @@ -79,10 +79,10 @@ find_package( # ) ## Generate added messages and services with any dependencies listed here -generate_messages( - DEPENDENCIES - std_msgs -) +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) ################################################ ## Declare ROS dynamic reconfigure parameters ## @@ -115,9 +115,7 @@ generate_messages( ## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( # INCLUDE_DIRS include -# LIBRARIES ros_chrono_msgs CATKIN_DEPENDS roscpp rospy std_msgs -# DEPENDS system_lib ) ########### @@ -145,7 +143,6 @@ endif() ## Declare a C++ library # add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/ros_chrono_msgs.cpp # ) ## Add cmake target dependencies of the library @@ -156,7 +153,6 @@ endif() ## Declare a C++ executable ## With catkin_make all packages are built within a single CMake context ## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/ros_chrono_msgs_node.cpp) add_executable(traj_gen_chrono src/traj_gen_chrono.cpp) add_executable(path_gen_chrono src/path_gen_chrono.cpp) add_executable(vel_gen_chrono src/vel_gen_chrono.cpp) @@ -235,7 +231,6 @@ target_link_libraries(vel_gen_chrono ############# ## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_ros_chrono_msgs.cpp) # if(TARGET ${PROJECT_NAME}-test) # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) # endif() diff --git a/ros/src/models/gazebo/vehicle_description/meshes/hokuyo.dae b/ros/src/models/gazebo/vehicle_description/meshes/hokuyo.dae new file mode 100644 index 00000000..aad99509 --- /dev/null +++ b/ros/src/models/gazebo/vehicle_description/meshes/hokuyo.dae @@ -0,0 +1,276 @@ + + + +Blender User +Blender 2.64.0 r51232 + +2013-03-22T08:19:53 +2013-03-22T08:19:53 + +Z_UP + + + + + + +49.13434 +1.777778 +0.1 +100 + + + + + + + + + +1 1 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+ + + + +1 + + + + + + + +7.481132 -6.50764 5.343665 +0 0 1 46.69194 +0 1 0 0.619768 +1 0 0 63.5593 +1 1 1 + + + +4.076245 1.005454 5.903862 +0 0 1 106.9363 +0 1 0 3.163707 +1 0 0 37.26105 +1 1 1 + + + +0 0 0 +0 0 1 0 +0 1 0 0 +1 0 0 90.00001 +1 1 1 + + + + + + + + + + + + + + + diff --git a/ros/src/models/gazebo/vehicle_description/move_obstacles.jl b/ros/src/models/gazebo/vehicle_description/move_obstacles.jl index 46d4b0bf..73fee199 100755 --- a/ros/src/models/gazebo/vehicle_description/move_obstacles.jl +++ b/ros/src/models/gazebo/vehicle_description/move_obstacles.jl @@ -24,6 +24,7 @@ function loop(pub) end while !is_shutdown() + for i in 1:obs_num cmd = Twist() cmd.linear.x = RobotOS.get_param("/case/actual/obstacle/vx")[i] @@ -48,7 +49,7 @@ function main() pub = Array{Publisher{Twist}}(obs_num) for i in 1:obs_num - pub[i] = Publisher{Twist}(string("Obstacle",i,"/cmd_vel"), queue_size = 10) + pub[i] = Publisher{Twist}(string("Obstacle",i-1,"/cmd_vel"), queue_size = 10) end loop(pub) diff --git a/ros/src/models/gazebo/vehicle_description/scripts/spawn_obstacles.sh b/ros/src/models/gazebo/vehicle_description/scripts/spawn_obstacles.sh index 6d3d2c01..72ac9e8a 100755 --- a/ros/src/models/gazebo/vehicle_description/scripts/spawn_obstacles.sh +++ b/ros/src/models/gazebo/vehicle_description/scripts/spawn_obstacles.sh @@ -6,3 +6,4 @@ for ((idx=0; idx<$num_of_obstacles; idx++)) do roslaunch vehicle_description obstacles.launch case_params_path:=$case_params_path obstacle_idx:=$idx done +rosparam set system/vehicle_description/flags/obstacles_spawned true diff --git a/ros/src/models/gazebo/vehicle_description/src/frame_tf_broadcaster.cpp b/ros/src/models/gazebo/vehicle_description/src/frame_tf_broadcaster.cpp index 67a9c12f..4239e9a4 100644 --- a/ros/src/models/gazebo/vehicle_description/src/frame_tf_broadcaster.cpp +++ b/ros/src/models/gazebo/vehicle_description/src/frame_tf_broadcaster.cpp @@ -28,7 +28,7 @@ int main(int argc, char** argv){ double q2 = cy * cr * sp + sy * sr * cp; double q3 = sy * cr * cp - cy * sr * sp; */ - +// TODO get these parameters dynamically broadcaster1.sendTransform( tf::StampedTransform( tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.0, 0.0, 0.5)), @@ -37,7 +37,7 @@ int main(int argc, char** argv){ broadcaster2.sendTransform( tf::StampedTransform( tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(1.55, 0.0, 0.738)), - ros::Time::now(),"base_link", "velodyne_top_link")); + ros::Time::now(),"base_link", "lidar_frame")); r.sleep(); } } diff --git a/ros/src/models/gazebo/vehicle_description/urdf/hokuyo_laser.xacro b/ros/src/models/gazebo/vehicle_description/urdf/hokuyo_laser.xacro index 9d43ee9a..026394b1 100644 --- a/ros/src/models/gazebo/vehicle_description/urdf/hokuyo_laser.xacro +++ b/ros/src/models/gazebo/vehicle_description/urdf/hokuyo_laser.xacro @@ -1,17 +1,17 @@ - + - - + + - + - + @@ -22,7 +22,7 @@ - + @@ -37,15 +37,15 @@ - /bot + ${robotNamespace} gazebo_ros_control/DefaultRobotHWSim - /bot/control + /${robotNamespace}/control gazebo_control - + 0 0 0 0 0 0 false @@ -53,7 +53,7 @@ - 720 + 1875 1 -1.570796 1.570796 @@ -61,7 +61,7 @@ 0.10 - 30.0 + 100.0 0.01 @@ -75,8 +75,9 @@ - /rrbot/laser/scan - hokuyo_link + + ${lidar_topic} + ${lidar_frame} diff --git a/ros/src/models/gazebo/vehicle_description/urdf/mavs.urdf.xacro b/ros/src/models/gazebo/vehicle_description/urdf/mavs.urdf.xacro index e0eed01e..51be902a 100644 --- a/ros/src/models/gazebo/vehicle_description/urdf/mavs.urdf.xacro +++ b/ros/src/models/gazebo/vehicle_description/urdf/mavs.urdf.xacro @@ -19,6 +19,7 @@ + @@ -50,14 +51,21 @@ - + + + - - - + + + + + + + + diff --git a/ros/src/models/gazebo/vehicle_description/urdf/velodyne_16.xacro b/ros/src/models/gazebo/vehicle_description/urdf/velodyne_16.xacro index 0cb027e3..0372a34c 100644 --- a/ros/src/models/gazebo/vehicle_description/urdf/velodyne_16.xacro +++ b/ros/src/models/gazebo/vehicle_description/urdf/velodyne_16.xacro @@ -1,7 +1,7 @@ - + @@ -37,10 +37,10 @@ - + - + @@ -55,7 +55,7 @@ - + 0 0 0 0 0 0 false @@ -87,8 +87,8 @@ - ${topic} - /velodyne_top_link + ${lidar_topic} + /${lidar_frame} 0.9 130.0 0.008 diff --git a/ros/src/system/CMakeLists.txt b/ros/src/system/CMakeLists.txt index 18062c39..a86bf02e 100644 --- a/ros/src/system/CMakeLists.txt +++ b/ros/src/system/CMakeLists.txt @@ -4,16 +4,30 @@ project(system) find_package(catkin REQUIRED COMPONENTS roscpp rospy + std_msgs + mavs_msgs + nloptcontrol_planner ) catkin_metapackage() include_directories(${catkin_INCLUDE_DIRS}) +## Generate added messages and services with any dependencies listed here + generate_messages( + DEPENDENCIES + std_msgs + mavs_msgs + nloptcontrol_planner + ) + catkin_package( CATKIN_DEPENDS roscpp + rospy + std_msgs ) + add_executable(system_shutdown src/system_shutdown.cpp) target_link_libraries(system_shutdown ${catkin_LIBRARIES}) diff --git a/ros/src/system/README.md b/ros/src/system/README.md new file mode 100644 index 00000000..82653a8a --- /dev/null +++ b/ros/src/system/README.md @@ -0,0 +1,6 @@ +To load parameters from a yaml file into a running ros server: + +`rosparam load "path to yaml file"` + +Example: +`rosparam load $(rospack find system)/config/case/s5.yaml` diff --git a/ros/src/system/bootstrap.jl b/ros/src/system/bootstrap.jl index 0afa3ac4..7909b593 100755 --- a/ros/src/system/bootstrap.jl +++ b/ros/src/system/bootstrap.jl @@ -22,6 +22,12 @@ function main() println("waiting on move_obstacles.jl in vehicle_description ...") sleep(2) end + if RobotOS.has_param("system/vehicle_description/flags/obstacles_spawned") + while(!RobotOS.get_param("system/vehicle_description/flags/obstacles_spawned")) + println("waiting on creating obstacles in vehicle_description ...") + sleep(2) + end + end end end @@ -61,6 +67,15 @@ function main() end end + if RobotOS.has_param("system/result_store/flags/running") + if RobotOS.get_param("system/result_store/flags/running") + while(!RobotOS.get_param("system/result_store/flags/initialized")) + println("waiting on result store node to initialize in system ...") + sleep(5) + end + end + end + if RobotOS.has_param("system/sim_time/flags/running") if RobotOS.get_param("system/sim_time/flags/running") while(!RobotOS.get_param("system/sim_time/flags/initialized")) diff --git a/ros/src/system/config/case/s1.yaml b/ros/src/system/config/case/s1.yaml index e50975d0..ca1ad763 100644 --- a/ros/src/system/config/case/s1.yaml +++ b/ros/src/system/config/case/s1.yaml @@ -1,4 +1,5 @@ case: + id: Case1 goal: x: 0. yVal: 125. @@ -26,13 +27,13 @@ case: y0: [50] vx: [0] vy: [0] - + assumed: obstacle: num: 10 radius: [1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0] length: [4.0,4.0,4.0,4.0,4.0,4.0,4.0,4.0,4.0,4.0] x0: [-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0] - y0: [0,2,4,6,8,10,12,14,16,18] - vx: [0,0,0,0,0,0,0,0,0,0] - vy: [0,0,0,0,0,0,0,0,0,0] + y0: [0.,2.,4.,6.,8.,10.,12.,14.,16.,18.] + vx: [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.] + vy: [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.] diff --git a/ros/src/system/config/case/s3.yaml b/ros/src/system/config/case/s3.yaml index 3fafa3e9..d684164e 100644 --- a/ros/src/system/config/case/s3.yaml +++ b/ros/src/system/config/case/s3.yaml @@ -1,9 +1,10 @@ case: + id: Case2 goal: x: 0. yVal: 125. psi: 1.5701 - tol: 4 + tol: 15. actual: X0: @@ -33,6 +34,6 @@ case: radius: [1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0] length: [4.0,4.0,4.0,4.0,4.0,4.0,4.0,4.0,4.0,4.0] x0: [-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0] - y0: [0,2,4,6,8,10,12,14,16,18] - vx: [0,0,0,0,0,0,0,0,0,0] - vy: [0,0,0,0,0,0,0,0,0,0] + y0: [0.,2.,4.,6.,8.,10.,12.,14.,16.,18.] + vx: [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.] + vy: [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.] diff --git a/ros/src/system/config/case/s4.yaml b/ros/src/system/config/case/s4.yaml index 7e3eeeb8..88991c0b 100644 --- a/ros/src/system/config/case/s4.yaml +++ b/ros/src/system/config/case/s4.yaml @@ -1,13 +1,14 @@ case: + id: Case3 goal: - x: 200. + x: 0. yVal: 125. psi: 1.5701 tol: 15. actual: X0: - x: 200.0 + x: 0.0 yVal: 0.0 z: 0.5 v: 0.0 @@ -16,22 +17,23 @@ case: theta: 0.0 psi: 1.57079632679 sa: 0.0 - ux: 17.0 + ux: 0.0 ax: 0.0 obstacle: num: 3 radius: [5.,4.,2.] length: [5.,5.,5.] - x0: [205,180,200] - y0: [57,75,63] - vx: [-2,-1,-0.5] - vy: [0,1,6.] + x0: [5.,-20.,0.] + y0: [57.,75.,63.] + vx: [-2.,-1.,-0.5] + vy: [0.,1.,6.] + assumed: obstacle: num: 10 radius: [1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0] length: [4.0,4.0,4.0,4.0,4.0,4.0,4.0,4.0,4.0,4.0] x0: [-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0] - y0: [0,2,4,6,8,10,12,14,16,18] - vx: [0,0,0,0,0,0,0,0,0,0] - vy: [0,0,0,0,0,0,0,0,0,0] + y0: [0.,2.,4.,6.,8.,10.,12.,14.,16.,18.] + vx: [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.] + vy: [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.] diff --git a/ros/src/system/config/case/s5.yaml b/ros/src/system/config/case/s5.yaml new file mode 100644 index 00000000..c609b282 --- /dev/null +++ b/ros/src/system/config/case/s5.yaml @@ -0,0 +1,39 @@ +case: + id: Case5 + goal: + x: 0. + yVal: 200. + psi: 1.5701 + tol: 15. + + actual: + X0: + x: 0.0 + yVal: 0.0 + z: 0.5 + v: 0.0 + r: 0.0 + phi: 0.0 + theta: 0.0 + psi: 1.57079632679 + sa: 0.0 + ux: 0.0 + ax: 0.0 + obstacle: + num: 1 + radius: [10.] + length: [5.] + x0: [0.0] + y0: [150.] + vx: [0.0] + vy: [0.0] + + assumed: + obstacle: + num: 10 + radius: [1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0] + length: [4.0,4.0,4.0,4.0,4.0,4.0,4.0,4.0,4.0,4.0] + x0: [-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0] + y0: [0.,2.,4.,6.,8.,10.,12.,14.,16.,18.] + vx: [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.] + vy: [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.] diff --git a/ros/src/system/config/case/s6.yaml b/ros/src/system/config/case/s6.yaml new file mode 100644 index 00000000..865653e8 --- /dev/null +++ b/ros/src/system/config/case/s6.yaml @@ -0,0 +1,39 @@ +case: + id: Case6 + goal: + x: 0. + yVal: 200. + psi: 1.5701 + tol: 15. + + actual: + X0: + x: 0.0 + yVal: 0.0 + z: 0.5 + v: 0.0 + r: 0.0 + phi: 0.0 + theta: 0.0 + psi: 1.57079632679 + sa: 0.0 + ux: 0.0 + ax: 0.0 + obstacle: + num: 1 + radius: [10.] + length: [5.] + x0: [0.0] + y0: [250.] + vx: [0.0] + vy: [-3.0] + + assumed: + obstacle: + num: 10 + radius: [1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0] + length: [4.0,4.0,4.0,4.0,4.0,4.0,4.0,4.0,4.0,4.0] + x0: [-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0] + y0: [0.,2.,4.,6.,8.,10.,12.,14.,16.,18.] + vx: [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.] + vy: [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.] diff --git a/ros/src/system/config/case/s9.yaml b/ros/src/system/config/case/s9.yaml index 2b168e60..ec359913 100644 --- a/ros/src/system/config/case/s9.yaml +++ b/ros/src/system/config/case/s9.yaml @@ -1,4 +1,5 @@ case: + id: Case9 goal: x: 18. yVal: 700. @@ -26,13 +27,13 @@ case: y0: [281.,393.,0.,5.,10.,15.,20.,25.,30.,35.,40.,45.,50.,55.,60.,65.,70.,75.,80.,85.,90.,95.,100.,105.,110.,115.,120.,125.,130.,135.,140.,145.,150.,155.,160.,165.,170.,175.] vx: [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0] vy: [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0] - + assumed: obstacle: num: 10 radius: [1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0] length: [4.0,4.0,4.0,4.0,4.0,4.0,4.0,4.0,4.0,4.0] x0: [-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0,-100.0] - y0: [0,2,4,6,8,10,12,14,16,18] - vx: [0,0,0,0,0,0,0,0,0,0] - vy: [0,0,0,0,0,0,0,0,0,0] + y0: [0.,2.,4.,6.,8.,10.,12.,14.,16.,18.] + vx: [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.] + vy: [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.] diff --git a/ros/src/system/config/detection/obstacle_detector.yaml b/ros/src/system/config/detection/obstacle_detector_pcl.yaml similarity index 62% rename from ros/src/system/config/detection/obstacle_detector.yaml rename to ros/src/system/config/detection/obstacle_detector_pcl.yaml index 3fe38dcc..dce889bc 100644 --- a/ros/src/system/config/detection/obstacle_detector.yaml +++ b/ros/src/system/config/detection/obstacle_detector_pcl.yaml @@ -1,24 +1,28 @@ obstacle_detector: obstacle_extractor: - active: 'true' - use_pcl: 'true' - use_scan: 'false' - use_split_and_merge: 'true' - circles_from_visibles: 'true' - discard_converted_segments: 'false' - transform_coordinates: 'true' + active: true + use_pcl: true + use_scan: false + use_split_and_merge: true + circles_from_visibles: true + discard_converted_segments: false + transform_coordinates: true min_group_points: 5 max_group_distance: 0.5 distance_proportion: 0.001 max_split_distance: 5 max_merge_separation: 3 max_merge_spread: 2 - max_circle_radius: 4 + max_circle_radius: 15 radius_enlargement: 0.3 frame_id: 'map' + p_min_x_limit: -1000. + p_max_x_limit: 1000. + p_min_y_limit: -1000. + p_max_y_limit: 1000. obstacle_tracker: - active: 'true' + active: true loop_rate: 100.0 tracking_duration: 1 min_correspondence_cost: 0.6 @@ -32,5 +36,5 @@ voxel_grid: filter_field_name: 'z' filter_limit_min: 0.01 filter_limit_max: 3.5 - filter_limit_negative: 'false' + filter_limit_negative: false leaf_size: 0.01 diff --git a/ros/src/system/config/detection/obstacle_detector_scan.yaml b/ros/src/system/config/detection/obstacle_detector_scan.yaml new file mode 100644 index 00000000..d2d98cde --- /dev/null +++ b/ros/src/system/config/detection/obstacle_detector_scan.yaml @@ -0,0 +1,33 @@ +obstacle_detector: + obstacle_extractor: + active: true + use_pcl: false + use_scan: true + use_split_and_merge: true + circles_from_visibles: false + discard_converted_segments: false + transform_coordinates: true + min_group_points: 5 + max_group_distance: 0.5 + distance_proportion: 0.001 + max_split_distance: 5 + max_merge_separation: 3 + max_merge_spread: 2 + max_circle_radius: 15 + radius_enlargement: 0.3 + frame_id: 'map' + p_min_x_limit: -1000. + p_max_x_limit: 1000. + p_min_y_limit: -1000. + p_max_y_limit: 1000. + + obstacle_tracker: + active: true + loop_rate: 100.0 + tracking_duration: 1 + min_correspondence_cost: 0.6 + std_correspondence_dev: 0.15 + process_variance: 0.1 + process_rate_variance: 0.1 + measurement_variance: 1.0 + frame_id: 'map' diff --git a/ros/src/system/config/planner/nloptcontrol_planner/default.yaml b/ros/src/system/config/planner/nloptcontrol_planner/default.yaml index 44ed40e7..80a243f4 100644 --- a/ros/src/system/config/planner/nloptcontrol_planner/default.yaml +++ b/ros/src/system/config/planner/nloptcontrol_planner/default.yaml @@ -35,7 +35,7 @@ planner: xFslackVariables: true movingObstacles: true onlyOptimal: false - evalConstraints: true + evalConstraints: false ocpSave: true weights: diff --git a/ros/src/system/config/planner/nloptcontrol_planner/new.yaml b/ros/src/system/config/planner/nloptcontrol_planner/new.yaml new file mode 100644 index 00000000..f0baf5e3 --- /dev/null +++ b/ros/src/system/config/planner/nloptcontrol_planner/new.yaml @@ -0,0 +1,119 @@ +planner: + nloptcontrol_planner: + misc: + mode: OCP + IPplant: ThreeDOFv1 + model: ThreeDOFv2 # function name + Xlims: NaN # N/A plotting limit for x + Ylims: NaN # N/A plotting limit for y + Xmin: NaN # min limit for x in OCP + Xmax: NaN # max limit for x in OCP + Ymin: NaN # min limit for y in OCP + Ymax: NaN # max limit for y in OCP + tp: NaN # N/A prediction horizon (s) + tex: 0.5 # execution horizon (s) + sm: 2. # (m) distance to see if obstacle was hit (for crash checking) + sm1: 2.5 # (m) distance 1 to make sure we don't hit obstacle (for optimization) + sm2: 4.0 # (m) distance 2 to make sure we don't hit obstacle (for optimization) + Lr: 90. # LiDAR range (m) + L_rd: 10. # relaxation distance to LiDAR range + Nck: NaN # number of points per interval + N: 20 # number of points in :tm methods + solver: Ipopt # either Ipopt of KNITRO + mpc_max_iter: 1000 # an MPC parameter + PredictX0: false # if the state that the vehicle will be at when the optimization is finished is to be predicted + FixedTp: true # fixed final time for predicting X0 + finalTimeDV: true # bool to indicate if the final time is a variable + activeSafety: NaN # a bool if the system is only used to avoid collisions with obstacles + followDriver: NaN # a bool to try and follow the driver + followPath: NaN # a bool to follow the path + NF: NaN # number to subtract off the constraint check vector-> used for activeSafety mode so driver sees obstacle before autonomy + integrationScheme: trapezoidal + tfMax: 20.0 # maximum final time in MPC + EP: 0.01 # small number to avoid singularities TODO move this from VehicleModels.jl + x0slackVariables: true + xFslackVariables: true + movingObstacles: false + onlyOptimal: true + evalConstraints: false + ocpSave: false + + weights: + ic: 100.0 + x0: 50. #0.1 + y0: 50. #0.1 + v0: 10.0 #10. + r0: 10.0 #10. + psi0: 10.0 #1. + sa0: 2. #2. + ux0: 0.1 #0.1 + ax0: 0.1 #0.1 + xf: 100. + goal: 10. # 100. + psi: 0.01 + time: 50. + haf: 1. + Fz: 0.5 # 0.1 + ce: 1. + sa: 0.1 + sr: 1. + ax: 0.1 + jx: 0.01 + path: 1.0 + driver: 1.0 + + tolerances: + ix: 10.0 # 0.5 #0.05 + iy: 10.0 #0.5 #0.05 + iv: 10.0 # 0.5 #0.05 + ir: 10.0 # 0.05 #0.15 + ipsi: 10.0 #0.5 #0.07 + isa: 10.0 #0.025 #0.0025 + iu: 1.0 #0.5 #0.25 + iax: 10.0 #0.5 # 0.05 + fx: 10.0 #5.0 # 5.0 + fy: 10.0 #5.0 # 5.0 + fv: NaN # NOTE YAML file turns these into strings + fr: NaN + fpsi: NaN + fsa: NaN + fu: NaN + fax: NaN + + solver: + # settings for both KNITRO and IPOPT + outlev: 0 # (c.m.solver==:Ipopt) ? :print_level : :outlev # print level + feastol_abs: 7e-1 #7e-2 # (c.m.solver==:Ipopt) ? :constr_viol_tol : :feastol_abs + maxit: 500 # (c.m.solver==:Ipopt) ? :max_iter : :maxit + maxtime_cpu: 30. # (c.m.solver==:Ipopt) ? :max_cpu_time : :maxtime_cpu + + # settings for KNITRO + ftol: 1e-15 # relative change in the objective function is less than ftol for ftol_iters consecutive iterations + feastol: 1.0e20 # relative stopping tolerance for the feasibility error + ftol_iters: 5 # number of iters to stop after if change in obj fun is less than + infeastol: 1e-2 # (relative) tolerance used for declaring infeasibility of a model + maxfevals: -1 # maximum number of function evaluations before termination + maxtime_real: 30. # in seconds, the maximum allowable real time before termination + opttol: 1e20 # final relative stopping tolerance for the KKT (optimality) error + opttol_abs: 5e-1 # final absolute stopping tolerance for the KKT (optimality) error + xtol: 1e-12 # optimization process will terminate if the relative change in all components of the solution point estimate is less than xtol for xtol_iters + algorithm: 1 + bar_murule: 1 + linsolver: 4 + cg_pmem: 0 + bar_initpt: 3 + bar_penaltycons: 1 + bar_penaltyrule: 2 + bar_switchrule: 2 + linesearch: 1 + + # settings for Ipopt + warm_start_init_point: yes # + dual_inf_tol: 5. # Absolute tolerance on the dual infeasibility + compl_inf_tol: 1e-1 # Absolute tolerance on the complementarity. + acceptable_tol: 1e-2 # Determines which (scaled) overall optimality error is considered to be "acceptable. + acceptable_constr_viol_tol: 0.01 # Absolute tolerance on the constraint violation. "Acceptable" termination requires that the max-norm of the (unscaled) constraint violation is less than this threshold + acceptable_dual_inf_tol: 1e10 # Acceptable" termination requires that the (max-norm of the unscaled) dual infeasibility is less than this threshold + acceptable_compl_inf_tol: 0.01 # "Acceptable" termination requires that the max-norm of the (unscaled) complementarity is less than this threshold + acceptable_obj_change_tol: 1e20 # If the relative change of the objective function (scaled by Max(1,|f(x)|)) is less than this value, this part of the acceptable tolerance termination is satisfied + diverging_iterates_tol: 1e20 diff --git a/ros/src/system/config/planner/nloptcontrol_planner/plannerA.yaml b/ros/src/system/config/planner/nloptcontrol_planner/plannerA.yaml index e5de23cc..bd272d20 100644 --- a/ros/src/system/config/planner/nloptcontrol_planner/plannerA.yaml +++ b/ros/src/system/config/planner/nloptcontrol_planner/plannerA.yaml @@ -34,9 +34,9 @@ planner: x0slackVariables: true xFslackVariables: true movingObstacles: false - onlyOptimal: false - evalConstraints: true - ocpSave: true + onlyOptimal: true + evalConstraints: false + ocpSave: false weights: ic: 100.0 diff --git a/ros/src/system/config/planner/nloptcontrol_planner/plannerB.yaml b/ros/src/system/config/planner/nloptcontrol_planner/plannerB.yaml index d8724726..79c09584 100644 --- a/ros/src/system/config/planner/nloptcontrol_planner/plannerB.yaml +++ b/ros/src/system/config/planner/nloptcontrol_planner/plannerB.yaml @@ -34,9 +34,9 @@ planner: x0slackVariables: true xFslackVariables: true movingObstacles: false - onlyOptimal: false - evalConstraints: true - ocpSave: true + onlyOptimal: true + evalConstraints: false + ocpSave: false weights: ic: 100.0 diff --git a/ros/src/system/config/planner/nloptcontrol_planner/plannerC.yaml b/ros/src/system/config/planner/nloptcontrol_planner/plannerC.yaml index 1dc9be5c..83545756 100644 --- a/ros/src/system/config/planner/nloptcontrol_planner/plannerC.yaml +++ b/ros/src/system/config/planner/nloptcontrol_planner/plannerC.yaml @@ -34,9 +34,10 @@ planner: x0slackVariables: true xFslackVariables: true movingObstacles: false - onlyOptimal: false - evalConstraints: true - ocpSave: true + onlyOptimal: true + evalConstraints: false + ocpSave: false + weights: ic: 100.0 diff --git a/ros/src/system/config/planner/nloptcontrol_planner/plannerD.yaml b/ros/src/system/config/planner/nloptcontrol_planner/plannerD.yaml index 44ed40e7..618bd7aa 100644 --- a/ros/src/system/config/planner/nloptcontrol_planner/plannerD.yaml +++ b/ros/src/system/config/planner/nloptcontrol_planner/plannerD.yaml @@ -34,9 +34,9 @@ planner: x0slackVariables: true xFslackVariables: true movingObstacles: true - onlyOptimal: false - evalConstraints: true - ocpSave: true + onlyOptimal: true + evalConstraints: false + ocpSave: false weights: ic: 100.0 diff --git a/ros/src/system/config/system/demos/demoA.yaml b/ros/src/system/config/system/demos/demoA.yaml index e7e14a00..954fdc8f 100644 --- a/ros/src/system/config/system/demos/demoA.yaml +++ b/ros/src/system/config/system/demos/demoA.yaml @@ -7,7 +7,7 @@ system: flags: initialized: false paused: true - + shutdown: flags: running: true @@ -22,9 +22,10 @@ system: running: true lidar_initialized: false obstacles_initialized: false + obstacles_spawned: false postion_update_external: false params: - step_distance: 0.5 + step_distance: 0.0 obstacle_detector: flags: diff --git a/ros/src/system/config/system/demos/demoB.yaml b/ros/src/system/config/system/demos/demoB.yaml index 2f13be40..0757c9f5 100644 --- a/ros/src/system/config/system/demos/demoB.yaml +++ b/ros/src/system/config/system/demos/demoB.yaml @@ -20,6 +20,7 @@ system: running: true lidar_initialized: false obstacles_initialized: false + obstacles_spawned: false postion_update_external: true nloptcontrol_planner: diff --git a/ros/src/system/config/system/demos/demoI.yaml b/ros/src/system/config/system/demos/demoI.yaml index 073fbfae..97947af5 100644 --- a/ros/src/system/config/system/demos/demoI.yaml +++ b/ros/src/system/config/system/demos/demoI.yaml @@ -3,9 +3,9 @@ system: plant: chrono params: - step_size: 0.01 + step_size: 0.005 goal_tol: 0.1 - tire_step_size: 0.005 + tire_step_size: 0.00025 flags: goal_attained: false @@ -43,6 +43,7 @@ system: running: true lidar_initialized: false obstacles_initialized: false + obstacles_spawned: false postion_update_external: true sim_time: diff --git a/ros/src/system/config/system/demos/demoK.yaml b/ros/src/system/config/system/demos/demoK.yaml index 12dd115f..acaa980b 100644 --- a/ros/src/system/config/system/demos/demoK.yaml +++ b/ros/src/system/config/system/demos/demoK.yaml @@ -3,9 +3,9 @@ system: plant: chrono params: - step_size: 0.01 + step_size: 0.005 goal_tol: 0.1 - tire_step_size: 0.005 + tire_step_size: 0.00025 flags: goal_attained: false @@ -43,6 +43,7 @@ system: running: true lidar_initialized: false obstacles_initialized: false + obstacles_spawned: false postion_update_external: true sim_time: @@ -52,4 +53,3 @@ system: control_initial_size: 2 receive_flag: false - diff --git a/ros/src/system/config/system/demos/demoM.yaml b/ros/src/system/config/system/demos/demoM.yaml index 78364807..5297d71b 100644 --- a/ros/src/system/config/system/demos/demoM.yaml +++ b/ros/src/system/config/system/demos/demoM.yaml @@ -3,9 +3,9 @@ system: plant: chrono params: - step_size: 0.01 + step_size: 0.005 goal_tol: 0.1 - tire_step_size: 0.005 + tire_step_size: 0.00025 flags: goal_attained: false @@ -35,21 +35,22 @@ system: gui: true field: h: 0 - l: 500.0 - w: 500.0 + l: 1000.0 + w: 1000.0 vehicle_description: flags: running: true lidar_initialized: false obstacles_initialized: false + obstacles_spawned: false postion_update_external: true obstacle_detector: flags: running: true initialized: false - + sim_time: flags: initialized: false diff --git a/ros/src/system/config/system/demos/demoZ.yaml b/ros/src/system/config/system/demos/demoZ.yaml new file mode 100644 index 00000000..659b3ce3 --- /dev/null +++ b/ros/src/system/config/system/demos/demoZ.yaml @@ -0,0 +1,63 @@ +system: + planner: nlopcontrol_planner + plant: chrono + + params: + step_size: 0.005 + goal_tol: 0.1 + tire_step_size: 0.00025 + + flags: + goal_attained: false + initialized: false + paused: true + + result_store: + flags: + running: true + initialized: false + shutdown: false + + shutdown: + flags: + running: true + initialized: false + params: + shutdown_initiation_flags: ["result_store/flags/shutdown"] + shutdown_completion_flags: [] + + nloptcontrol_planner: + namespace: nlopcontrol_planner + flags: + running: true + initialized: false + known_environment: false + + chrono: + namespace: chrono + flags: + initialized: false + running: true + gui: true + field: + h: 0 + l: 1000.0 + w: 1000.0 + + vehicle_description: + flags: + running: true + lidar_initialized: false + obstacles_initialized: false + obstacles_spawned: false + postion_update_external: true + + obstacle_detector: + flags: + running: true + initialized: false + + sim_time: + flags: + initialized: false + running: true diff --git a/ros/src/system/config/system/pkgs/vehicle_description.yaml b/ros/src/system/config/system/pkgs/vehicle_description.yaml index 0d6ec6fa..e1fc0220 100644 --- a/ros/src/system/config/system/pkgs/vehicle_description.yaml +++ b/ros/src/system/config/system/pkgs/vehicle_description.yaml @@ -9,4 +9,4 @@ system: obstacles_initialized: false postion_update_external: false params: - step_distance: 0.5 + step_distance: 0.0 diff --git a/ros/src/system/config/system/result_model.json b/ros/src/system/config/system/result_model.json new file mode 100644 index 00000000..a1daf5c5 --- /dev/null +++ b/ros/src/system/config/system/result_model.json @@ -0,0 +1,60 @@ +{ + "model_id": "model1", + "add_description": true, + "description_header": "Description", + "default_description": "Shutdown was caused by some unmonitored external phenomenon.", + "model": [ + { + "key": "Case Id", + "val": "/case/id", + "ros_msg_type": "parameter", + "save": true + }, + { + "key": "Vehicle Collided", + "val": "/vehicle_collided", + "ros_msg_type": "parameter", + "save": true, + "stopping_criteria": { + "logical_op": "OR", + "conditions": [ + { + "op": "eq", + "val": true + } + ], + "description": "Vehicle has collided." + } + }, + { + "key": "Goal attained", + "val": "/system/flags/goal_attained", + "ros_msg_type": "parameter", + "save": true, + "stopping_criteria": { + "logical_op": "OR", + "conditions": [ + { + "op": "eq", + "val": true + } + ], + "description": "Goal is attained." + } + }, + { + "key": "Steering Angle", + "val": "/state", + "sub_val": "sa", + "ros_msg_type": "topic", + "dataType": "state", + "save": true + }, + { + "key": "Asumed obstacle X coord", + "val": "/case/assumed/obstacle/x0", + "ros_msg_type": "parameter", + "save": true + } + ] +} diff --git a/ros/src/system/config/vehicle/hmmwv.yaml b/ros/src/system/config/vehicle/hmmwv.yaml index 2694050a..2839b959 100644 --- a/ros/src/system/config/vehicle/hmmwv.yaml +++ b/ros/src/system/config/vehicle/hmmwv.yaml @@ -10,6 +10,9 @@ vehicle: robotName: hmmwv # NOTE cannot change, will break vehicle.launch because this is hardcoded in frameName: map ground_truth_topic: base_pose_ground_truth + lidar_model: 2 # 1: velodyne VLP16; 2: hokuyo_laser + lidar_frame: lidar_frame # NOTE cannot change until frame_tf_broadcaster.cpp does not hardcode in the lidar_frame!! + lidar_topic: scan # mesh parameters scale_factor: 0.2 diff --git a/ros/src/system/launch/demoA.launch b/ros/src/system/launch/demoA.launch index 04725a66..db8aac5d 100644 --- a/ros/src/system/launch/demoA.launch +++ b/ros/src/system/launch/demoA.launch @@ -3,14 +3,13 @@ - - + - + @@ -27,13 +26,10 @@ - - - - - - - + + + + diff --git a/ros/src/system/launch/demoI.launch b/ros/src/system/launch/demoI.launch index 4c58602b..b9f66b94 100644 --- a/ros/src/system/launch/demoI.launch +++ b/ros/src/system/launch/demoI.launch @@ -6,13 +6,13 @@ - + - + @@ -22,7 +22,7 @@ - + @@ -65,7 +65,8 @@ + /state + /control"/> diff --git a/ros/src/system/launch/demoK.launch b/ros/src/system/launch/demoK.launch index c3a40d66..b258d0d3 100644 --- a/ros/src/system/launch/demoK.launch +++ b/ros/src/system/launch/demoK.launch @@ -6,13 +6,13 @@ - + - + @@ -22,12 +22,10 @@ - - + - @@ -42,7 +40,6 @@ - @@ -67,10 +64,11 @@ - + /state + /control"/> diff --git a/ros/src/system/launch/demoM.launch b/ros/src/system/launch/demoM.launch index 9ee69e0b..06c7d5e2 100644 --- a/ros/src/system/launch/demoM.launch +++ b/ros/src/system/launch/demoM.launch @@ -6,15 +6,11 @@ - + - - - - @@ -24,7 +20,8 @@ - + + @@ -44,13 +41,7 @@ - - - - - - - + @@ -76,10 +67,11 @@ - + /state + /control"/> diff --git a/ros/src/system/launch/demoZ.launch b/ros/src/system/launch/demoZ.launch new file mode 100644 index 00000000..0f24b856 --- /dev/null +++ b/ros/src/system/launch/demoZ.launch @@ -0,0 +1,85 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + results_file: /home/mavs/MAVs/results/report.csv + model_filename_path: $(find system)/config/system/result_model.json + + + + + + + + + + + + + + + diff --git a/ros/src/system/package.xml b/ros/src/system/package.xml index 7c64b1a3..64ab8b90 100644 --- a/ros/src/system/package.xml +++ b/ros/src/system/package.xml @@ -17,21 +17,24 @@ catkin - + roscpp rospy - rostest + rostest genmsg std_msgs + mavs_msgs + nloptcontrol_planner - nloptcontrol_planner vehicle_description obstacle_detector ros_base_planner + + diff --git a/ros/src/system/scripts/result_store.py b/ros/src/system/scripts/result_store.py new file mode 100755 index 00000000..db893428 --- /dev/null +++ b/ros/src/system/scripts/result_store.py @@ -0,0 +1,247 @@ +#!/usr/bin/env python +import numpy as np +import rospy +import json +import csv +from std_msgs.msg import String, Float64, Int64, Bool +from mavs_msgs.msg import state, control +from nloptcontrol_planner.msg import Trajectory + +def do_shutdown_preprocess(): + record_data_row() + close_file() + +def set_ros_param_shutdown_flag(): + rospy.set_param("result_store/flags/shutdown", True) + +def get_csv_file_writer(file_path): + global csv_file + global csv_writer + try: + fh = open(file_path, 'r') + fh.close() + csv_file = open(file_path, 'a+') # create a new handle in append mode and return + csv_writer = csv.writer(csv_file, delimiter=',', quotechar='|', quoting=csv.QUOTE_MINIMAL) + + except Exception: + # create a new file, add header and return get_file_handle + csv_file = open(file_path, 'w+') + csv_writer = csv.writer(csv_file, delimiter=',', quotechar='|', quoting=csv.QUOTE_MINIMAL) + add_file_headers() + +def add_file_headers(): + global model + global csv_writer + headers = [] + for obj in model["model"]: + if "save" in obj and obj["save"] == True: + k = "PLEASE_PROVIDE_KEY" + if "key" in obj: + k = obj["key"] + headers.append(k) + if model["add_description"] == True: + d_header = "Description" + if "description_header" in model: + d_header = model["description_header"] + headers.append(d_header) + csv_writer.writerow(headers) + +def close_file(): + global csv_file + try: + csv_file.close() + except Exception: + pass + +def record_data_row(): + global model + global csv_writer + row=[] + desc = "" + for obj in model["model"]: + if "save" in obj and obj["save"] == True: + row.append(obj["__VAL__"]) + if obj["__CAUSED_SHUTDOWN__"] == True: + if "description" in obj["stopping_criteria"]: + desc = desc + obj["stopping_criteria"]["description"] + if model["add_description"] == True: + if len(desc) == 0 and "default_description" in model: + desc = model["default_description"] + row.append(desc) + csv_writer.writerow(row) + +def check_if_object_causes_shutdown(key): + global shutdown_flag + global model + global key_map + caused_shutdown = False + ob = model["model"][key_map[key]] + if not ("stopping_criteria" in ob) or not ("conditions" in ob["stopping_criteria"]): + return False + else: + conditons = ob["stopping_criteria"]["conditions"] + op = "None" + if "logical_op" in ob["stopping_criteria"]: + op = ob["stopping_criteria"]["logical_op"] + caused_shutdown = evaluate_shutdown_conditions_for_object(ob["__VAL__"], conditons, op) + model["model"][key_map[key]]["__CAUSED_SHUTDOWN__"] = caused_shutdown + return caused_shutdown + +def evaluate_shutdown_conditions_for_object(val, conditions, logical_op="None"): + #default logical connector for conditions + if logical_op is None: + logical_op = "OR" + logical_op = logical_op.upper() + if logical_op == "AND": + shutdown_criteria_met = True and len(conditions) > 0 + for c in conditions: + shutdown_criteria_met = shutdown_criteria_met and eval_single_condition(val, c, logical_op) + if shutdown_criteria_met == False: + break + return shutdown_criteria_met + else: + shutdown_criteria_met = False + for c in conditions: + shutdown_criteria_met = shutdown_criteria_met or eval_single_shutdown_condition(val, c, logical_op) + if shutdown_criteria_met == True: + break + return shutdown_criteria_met + +def eval_single_shutdown_condition(val, condition, logical_op): + conditional_op = condition["op"] + target = condition["val"] + if not isinstance(val, list): + return check_single_conditional_equality(val, target, conditional_op) + else: # if value is a list then all element should satisfy conditions + if logical_op == "AND": + shutdown_criteria_met = True + for v in val: + shutdown_criteria_met = shutdown_criteria_met and check_single_conditional_equality(v, target, conditional_op) + if shutdown_criteria_met == False: + break + return shutdown_criteria_met + else: + shutdown_criteria_met = False + for v in val: + shutdown_criteria_met = shutdown_criteria_met or check_single_conditional_equality(v, target, conditional_op) + if shutdown_criteria_met == True: + break + return shutdown_criteria_met + +def check_single_conditional_equality(val, target, conditional_op): + conditional_op = conditional_op.lower() + if conditional_op == "lt": + return val < target + elif conditional_op == "lte": + return val <= target + elif conditional_op == "gt": + return val > target + elif conditional_op == "gte": + return val >= target + elif conditional_op == "eq": + return val == target + elif conditional_op == "neq": + return val != target + + +def add_dataval_and_caused_shutdown_variable_in_model_objects(): + global model + for obj in model["model"]: + obj["__VAL__"] = None + obj["__CAUSED_SHUTDOWN__"] = False + +# store a map of index of each object to save +def update_key_map(): + global key_map + global model + for i in range(len(model["model"])): + key_map[model["model"][i]["key"]] = i + +def update_object_val(msg, args): + global model + global key_map + global shutdown_flag + if shutdown_flag == False: + key = args[0] + sub_val = args[1] + val = msg + if sub_val is not None: + child_arr = sub_val.split("/") + for ch in child_arr: + val=getattr(val, ch) + model["model"][key_map[key]]["__VAL__"] = val + shutdown_flag = check_if_object_causes_shutdown(key) + +def update_ros_parameters_in_model(): + global model + for obj in model["model"]: + if obj["ros_msg_type"].lower() == "parameter": + key = obj["key"] + if rospy.has_param(obj["val"]): + val = rospy.get_param(obj["val"]) + update_object_val(val, (key, None)) + +def subscribe_to_topics_in_model(): + global model + global subscribers + for obj in model["model"]: + if obj["ros_msg_type"].lower() == "topic": + _key = obj["key"] + topic_name = obj["val"] + sub_val = None + if "sub_val" in obj: + sub_val = obj["sub_val"] + _dtype = obj["dataType"] + if _dtype == "Bool": + sub = rospy.Subscriber(topic_name, Bool, update_object_val, (_key, None)) + elif _dtype == "String": + sub = rospy.Subscriber(topic_name, String, update_object_val, (_key, None)) + elif _dtype == "Int64": + sub = rospy.Subscriber(topic_name, Int64, update_object_val, (_key, None)) + elif _dtype == "Float64": + sub = rospy.Subscriber(topic_name, Float64, update_object_val, (_key, None)) + elif _dtype == "state": + sub = rospy.Subscriber(topic_name, state, update_object_val, (_key, sub_val)) + elif _dtype == "control": + sub = rospy.Subscriber(topic_name, control, update_object_val, (_key, sub_val)) + elif _dtype == "Trajectory": + sub = rospy.Subscriber(topic_name, Trajectory, update_object_val, (_key, sub_val)) + subscribers.append(sub) + +def update_shutdown_flag_for_future_enhancements(): + # In future you can call your own functions here to set the global shutdown_flag + # It will automatically trigger shutdown with parameter saving + pass + +if __name__ == '__main__': + rospy.init_node("result_store") + csv_file = "" + csv_writer = None + model = {} + key_map = {} + shutdown_flag = False + subscribers=[] + + file_path = rospy.get_param("/result_store/results_file") + model_path = rospy.get_param("/result_store/model_filename_path") + # load data model to save + with open(model_path) as f: + model = json.load(f) + update_key_map() + get_csv_file_writer(file_path) + + # Add a __VAL__ and __CAUSED_SHUTDOWN__ to all model objects + add_dataval_and_caused_shutdown_variable_in_model_objects() + + # subscribe to topics in a loop and update them with new data continuously + subscribe_to_topics_in_model() + # Set shutdown callback for saving file, etc + rospy.on_shutdown(do_shutdown_preprocess) + rospy.set_param("system/result_store/flags/initialized", True) + rate = rospy.Rate(10) # 50hz + while not rospy.is_shutdown() and not shutdown_flag: + update_ros_parameters_in_model() + update_shutdown_flag_for_future_enhancements() + rate.sleep() + if shutdown_flag == True: + set_ros_param_shutdown_flag() diff --git a/ros/src/system/src/system_shutdown.cpp b/ros/src/system/src/system_shutdown.cpp index 413d1139..4728d7a4 100644 --- a/ros/src/system/src/system_shutdown.cpp +++ b/ros/src/system/src/system_shutdown.cpp @@ -71,11 +71,12 @@ void checkForShutdownRequest() { bool initiate_shutdown; ros::param::get(shutdown_initiation_flags[i], initiate_shutdown); if (initiate_shutdown) { + ROS_INFO("Shutdown initiation flag triggered!!!! = %s\n", shutdown_initiation_flags[i].c_str()); g_request_shutdown = 1; break; } } else { - // for debug purposes + // for debug purposes // ROS_WARN("Following parameter is expected for shutdown initiation but not found: %s.\n", shutdown_initiation_flags[i].c_str()); } }