diff --git a/.gitignore b/.gitignore
index 259148f..5915957 100644
--- a/.gitignore
+++ b/.gitignore
@@ -30,3 +30,7 @@
*.exe
*.out
*.app
+
+# rosbags and g2o files
+/data/g2o/*.g2o
+/data/rosbag/*.bag
diff --git a/GraphSLAM/bag2graph.ipynb b/GraphSLAM/bag2graph.ipynb
new file mode 100644
index 0000000..4286970
--- /dev/null
+++ b/GraphSLAM/bag2graph.ipynb
@@ -0,0 +1,182 @@
+{
+ "cells": [
+ {
+ "cell_type": "code",
+ "execution_count": 12,
+ "id": "4a7fa10c",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "import pcl\n",
+ "import rosbag\n",
+ "import numpy as np\n",
+ "import gtsam as gt\n",
+ "import ros_numpy\n",
+ "import sensor_msgs\n",
+ "import time\n",
+ "from tqdm import tqdm"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 13,
+ "id": "eea4933c",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "bag = rosbag.Bag('./data/2022-04-04-18-44-50.bag')"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 14,
+ "id": "b270ecb8",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "vertex = {} # {time: [i, gt.Pose2]}\n",
+ "i = int(0)\n",
+ "for vertex_str, vertex_msg, vertex_time in bag.read_messages(topics=['/vertex_odom']):\n",
+ " temp = vertex_msg.data.split(' ')\n",
+ " t,x,y,theta = np.array(temp[1:]).astype(np.float64)\n",
+ " temp_pose = gt.Pose2(x, y, theta)\n",
+ " vertex[t] = [i,temp_pose]\n",
+ " i = int(i+1)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 15,
+ "id": "62e97dee",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "edges = [] # i,j,x,y,theta,noiseModel\n",
+ "for edge_str, edge_msg, edge_time in bag.read_messages(topics=['/edge_odom']):\n",
+ " data = edge_msg.data.split(' ')\n",
+ " st,ct,x,y,theta = np.array(data[1:6]).astype(np.float64)\n",
+ " q11, q12, q13, q22, q23, q33 = np.array(data[6:]).astype(np.float64)\n",
+ " info = np.array([q11, q12, q13, q12, q22, q23, q13, q23, q33]).reshape([3,3])\n",
+ " noiseModel = gt.noiseModel.Gaussian.Information(info)\n",
+ " if vertex.get(st) is not None and vertex.get(ct) is not None:\n",
+ " i = vertex.get(st)[0]\n",
+ " j = vertex.get(ct)[0]\n",
+ " edges.append([i,j,x,y,theta,noiseModel])"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 16,
+ "id": "7ce2bf51",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "def convert2PCL(pc_msg):\n",
+ " pc_msg.__class__ = sensor_msgs.msg._PointCloud2.PointCloud2\n",
+ " offset_sorted = {f.offset: f for f in pc_msg.fields}\n",
+ " pc_msg.fields = [f for (_, f) in sorted(offset_sorted.items())]\n",
+ " pc_np = ros_numpy.point_cloud2.pointcloud2_to_xyz_array(pc_msg, remove_nans=True)\n",
+ " pc_pcl = pcl.PointCloud(np.array(pc_np, dtype=np.float32))\n",
+ " return pc_pcl"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 17,
+ "id": "0c5005cb",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "pc_dict = {} # {id: ros::pc2}\n",
+ "for pc_str, pc_msg, pc_time in bag.read_messages(topics=['/currentFeatureInWorld']):\n",
+ " ct = pc_msg.header.stamp.to_sec()\n",
+ " idx = vertex.get(ct, vertex[min(vertex.keys(), key=lambda k: abs(k-ct))])[0] #Find closest index\n",
+ " pc_dict[idx] = convert2PCL(pc_msg)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 19,
+ "id": "0e110b13",
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stderr",
+ "output_type": "stream",
+ "text": [
+ " 0%| | 1/2879 [00:00<00:06, 468.90it/s]\n",
+ " 0%| | 0/2879 [00:00\u001b[0;34m()\u001b[0m\n\u001b[1;32m 8\u001b[0m \u001b[39mfor\u001b[39;00m i, targetCloud \u001b[39min\u001b[39;00m tqdm(pc_dict\u001b[39m.\u001b[39mitems()):\n\u001b[1;32m 9\u001b[0m \u001b[39mif\u001b[39;00m i \u001b[39m!=\u001b[39m idx:\n\u001b[0;32m---> 10\u001b[0m boolCoverge, T, estimate, fitnessScore \u001b[39m=\u001b[39m icp\u001b[39m.\u001b[39;49micp(inputCloud, targetCloud)\n\u001b[1;32m 11\u001b[0m matchMatrix\u001b[39m.\u001b[39mappend([i,fitnessScore,T])\n\u001b[1;32m 12\u001b[0m matchMatrix \u001b[39m=\u001b[39m np\u001b[39m.\u001b[39marray(matchMatrix)\n",
+ "File \u001b[0;32mpcl/pxi/registration/IterativeClosestPoint_180.pxi:105\u001b[0m, in \u001b[0;36mpcl._pcl.IterativeClosestPoint.icp\u001b[0;34m()\u001b[0m\n",
+ "File \u001b[0;32mpcl/pxi/registration/IterativeClosestPoint_180.pxi:72\u001b[0m, in \u001b[0;36mpcl._pcl.IterativeClosestPoint.run\u001b[0;34m()\u001b[0m\n",
+ "\u001b[0;31mValueError\u001b[0m: order must be one of 'C', 'F', 'A', or 'K' (got 'fortran')"
+ ]
+ }
+ ],
+ "source": [
+ "#https://github.com/strawlab/python-pcl/blob/master/examples/official/Registration/iterative_closest_point.py\n",
+ "fitnessThreshold =1.8\n",
+ "interEdges = [] # [i,j,T] \n",
+ "for idx, inputCloud in tqdm(pc_dict.items()):\n",
+ " icp = inputCloud.make_IterativeClosestPoint()\n",
+ " matchMatrix = [] #[i,fitnessScore,T]\n",
+ " for i, targetCloud in tqdm(pc_dict.items()):\n",
+ " if i != idx:\n",
+ " boolCoverge, T, estimate, fitnessScore = icp.icp(inputCloud, targetCloud)\n",
+ " matchMatrix.append([i,fitnessScore,T])\n",
+ " matchMatrix = np.array(matchMatrix)\n",
+ " bestMatches = matchMatrix[matchMatrix[:,1]>fitnessThreshold]\n",
+ " for bM in bestMatches:\n",
+ " interEdges.append([idx, bM[0], bM[2]]) # [i,j,T] "
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "d011f984",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "np.savez('processedData.npz', vertex=**vertex, edges=np.array(edges), interEdges=np.array(interEdges))"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "a0332989",
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ }
+ ],
+ "metadata": {
+ "kernelspec": {
+ "display_name": "Python 3 (ipykernel)",
+ "language": "python",
+ "name": "python3"
+ },
+ "language_info": {
+ "codemirror_mode": {
+ "name": "ipython",
+ "version": 3
+ },
+ "file_extension": ".py",
+ "mimetype": "text/x-python",
+ "name": "python",
+ "nbconvert_exporter": "python",
+ "pygments_lexer": "ipython3",
+ "version": "3.8.10"
+ }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}
diff --git a/avp_slam_plus/CMakeLists.txt b/avp_slam_plus/CMakeLists.txt
index 920d466..7186525 100644
--- a/avp_slam_plus/CMakeLists.txt
+++ b/avp_slam_plus/CMakeLists.txt
@@ -1,10 +1,12 @@
cmake_minimum_required(VERSION 2.8.3)
project(avp_slam_plus)
+set(CMAKE_SOURCE_DIR "/home/devin/catkin_ws/src")
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
+
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
nav_msgs
@@ -45,4 +47,12 @@ add_executable(mapping src/mapping.cpp)
target_link_libraries(mapping ${catkin_LIBRARIES} ${OpenCV_LIBS} ${PCL_LIBRARIES})
add_executable(localization src/localization.cpp)
-target_link_libraries(localization ${catkin_LIBRARIES} ${OpenCV_LIBS} ${PCL_LIBRARIES})
\ No newline at end of file
+target_link_libraries(localization ${catkin_LIBRARIES} ${OpenCV_LIBS} ${PCL_LIBRARIES})
+
+catkin_install_python(PROGRAMS scripts/Odometry.py
+ DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+catkin_install_python(PROGRAMS scripts/talker.py
+ DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
\ No newline at end of file
diff --git a/avp_slam_plus/config/configFile.yaml b/avp_slam_plus/config/configFile.yaml
index edb7ee7..282cdc5 100644
--- a/avp_slam_plus/config/configFile.yaml
+++ b/avp_slam_plus/config/configFile.yaml
@@ -22,7 +22,7 @@ farPointThresh: 20
closePointThresh: 0.1
mapSave: true
-mapSaveLocation: "/home/lgt/catkin_ws/src/AVP-SLAM-PLUS/avp_slam_plus/data/laserCloudMap.pcd"
+mapSaveLocation: "/home/catkin_ws/src/AVP-SLAM-PLUS/avp_slam_plus/data/laserCloudMap.pcd"
odomKeyFramDisThresh: 1.0
InvalidColorThresh: 60
useICP: false
@@ -37,4 +37,3 @@ ndtResolution: 1.0
ndtFitnessScoreThresh: 0.3
-
diff --git a/avp_slam_plus/data/laserCloudMap.pcd b/avp_slam_plus/data/laserCloudMap.pcd
index c48bb7d..15ca74a 100644
--- a/avp_slam_plus/data/laserCloudMap.pcd
+++ b/avp_slam_plus/data/laserCloudMap.pcd
@@ -4,33912 +4,5604 @@ FIELDS x y z rgb
SIZE 4 4 4 4
TYPE F F F U
COUNT 1 1 1 1
-WIDTH 33904
+WIDTH 5596
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
-POINTS 33904
+POINTS 5596
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diff --git a/avp_slam_plus/data/laserCloudMap_origin.pcd b/avp_slam_plus/data/laserCloudMap_origin.pcd
new file mode 100644
index 0000000..c48bb7d
--- /dev/null
+++ b/avp_slam_plus/data/laserCloudMap_origin.pcd
@@ -0,0 +1,33915 @@
+# .PCD v0.7 - Point Cloud Data file format
+VERSION 0.7
+FIELDS x y z rgb
+SIZE 4 4 4 4
+TYPE F F F U
+COUNT 1 1 1 1
+WIDTH 33904
+HEIGHT 1
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+3.2296357 45.608768 0 4287006342
diff --git a/avp_slam_plus/launch/localizationRGB.launch b/avp_slam_plus/launch/localizationRGB.launch
index be1a072..4bb192a 100644
--- a/avp_slam_plus/launch/localizationRGB.launch
+++ b/avp_slam_plus/launch/localizationRGB.launch
@@ -10,8 +10,21 @@
-　 　
+
+ -->
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/avp_slam_plus/scripts/Odometry.py b/avp_slam_plus/scripts/Odometry.py
new file mode 100755
index 0000000..fdbb984
--- /dev/null
+++ b/avp_slam_plus/scripts/Odometry.py
@@ -0,0 +1,120 @@
+#!/usr/bin/env python
+import rospy
+from geometry_msgs.msg import Twist
+from std_msgs.msg import String
+import numpy as np
+from math import sin, cos
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import Point, Pose, Quaternion, Twist, Vector3
+
+def odom_callback(data):
+ global vertex_pub
+ global edge_pub
+ global cmd_pub
+ v = data.linear.x
+ w = data.angular.z
+
+ ######################################################################
+ #################### calculate vel cmd for gazebo ####################
+ ######################################################################
+
+ gazebo_vel_cmd = Twist()
+ g_R = np.array([[(gazebo_c1* abs(v)+gazebo_c2*abs(w))**2, 0], [0, (gazebo_c3* abs(v)+gazebo_c4*abs(w))**2]])
+ g_rand = np.random.multivariate_normal([v, w], g_R)
+ v_actual = g_rand[0]
+ w_actual = g_rand[1]
+ # print("actual: ", v_actual, w_actual)
+ gazebo_vel_cmd.linear.x = v_actual
+ gazebo_vel_cmd.angular.z = w_actual
+ cmd_pub.publish(gazebo_vel_cmd)
+
+ ######################################################################
+ ################## ready to publish as noisy input ###################
+ ######################################################################
+ global previous_pose
+ global id
+ global pre_id
+ global pre_time
+ now = rospy.get_time()
+
+ dt = now - pre_time
+ pre_time = now
+ theta = previous_pose[2]
+
+ v = v_actual
+ w = w_actual
+ o_R = np.array([[(odom_c1* abs(v)+odom_c2*abs(w))**2, 0], [0, (odom_c3* abs(v)+odom_c4*abs(w))**2]]) + 1e-10
+ o_rand = np.random.multivariate_normal([v, w], o_R)
+ v_odom = o_rand[0]
+ w_odom = o_rand[1]
+
+ #Vt = np.array([[ (-sin(theta)+sin(theta+w_odom*dt))/w_odom, v_odom*(sin(theta)-sin(theta+w_odom*dt))/(w_odom**2) + (v_odom*cos(theta+w_odom*dt)*dt)/w_odom ],
+ # [ (cos(theta)-cos(theta+w_odom*dt))/w_odom, -v_odom*(cos(theta)-cos(theta+w_odom*dt))/(w_odom**2) + (v_odom*sin(theta+w_odom*dt)*dt)/w_odom ],
+ # [0, dt]])
+
+ #cov = np.matmul(np.matmul(Vt, o_R), Vt.T)
+ cov = np.array([[0.03, 0, 0],[0, 0.03, 0],[0, 0, 0.01]])
+
+ delta_v = v_odom*dt
+ delta_x = v_odom*dt*np.cos(theta + w_odom*dt)
+ delta_y = v_odom*dt*np.sin(theta + w_odom*dt)
+ delta_theta = -w_odom * dt
+ delta_pose = np.array([delta_x, delta_y, delta_theta])
+ new_pose = previous_pose + delta_pose
+ if(new_pose[2]>np.pi):
+ new_pose[2] -= 2*np.pi
+ if(new_pose[2]<-np.pi):
+ new_pose[2] += 2*np.pi
+ # odom = Odometry()
+ # odom.header.stamp = now
+ # odom.header.frame_id = "odom"
+
+ # # set the position
+ # odom.pose.pose = Pose(Point(x, y, 0.), Quaternion(*odom_quat))
+
+ # # set the velocity
+ # odom.child_frame_id = "base_link"
+ # odom.twist.twist = Twist(Vector3(vx, vy, 0), Vector3(0, 0, vth))
+ vertex_output = "VERTEX_SE2" + " " + str(now) + " " + str(new_pose[0]) + " " + str(new_pose[1]) + " " + str(new_pose[2])
+ edge_output = "EDGE_SE2" + " " + str(pre_time) + " " + str(now) + " " + str(delta_v) + " " + str(0) + " " + str(delta_theta) \
+ + " " + str(cov[0, 0]) + " " + str(cov[0, 1]) + " " + str(cov[0, 2]) + " " + str(cov[1, 1]) + " " + str(cov[1, 2]) + " " + str(cov[2, 2])
+ # print(vertex_output)
+ # print(edge_output)
+ previous_pose = new_pose
+ if(id>0):
+ edge_pub.publish(edge_output)
+ vertex_pub.publish(vertex_output)
+ else:
+ vertex_pub.publish(vertex_output)
+
+ id += 1
+ pre_id += 1
+
+if __name__ == '__main__':
+
+ gazebo_c1 = 0.001
+ gazebo_c2 = 0.001
+ gazebo_c3 = 0.001
+ gazebo_c4 = 0.001
+
+ odom_c1 = 0.001
+ odom_c2 = 0.001
+ odom_c3 = 0.001
+ odom_c4 = 0.001
+ id = 0
+ pre_id = -1
+
+ previous_pose = np.array([0, 0, 0])
+
+ try:
+ rospy.init_node('Odometry', anonymous=True)
+ vertex_pub = rospy.Publisher('/vertex_odom', String, queue_size=10)
+ edge_pub = rospy.Publisher('/edge_odom', String, queue_size=10)
+ cmd_pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
+ pre_time = rospy.get_time()
+ # subscribe ctrl_cmd
+ #rospy.Subscriber("/cmd_vel", Twist, odom_callback)
+ rospy.Subscriber("/ideal_cmd_vel", Twist, odom_callback)
+ rospy.spin()
+ except rospy.ROSInterruptException:
+ pass
\ No newline at end of file
diff --git a/avp_slam_plus/scripts/talker.py b/avp_slam_plus/scripts/talker.py
new file mode 100755
index 0000000..033dc44
--- /dev/null
+++ b/avp_slam_plus/scripts/talker.py
@@ -0,0 +1,56 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of Willow Garage, Inc. nor the names of its
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Revision $Id$
+
+## Simple talker demo that published std_msgs/Strings messages
+## to the 'chatter' topic
+
+import rospy
+from std_msgs.msg import String
+
+def talker():
+ pub = rospy.Publisher('chatter', String, queue_size=10)
+ rospy.init_node('talker', anonymous=True)
+ rate = rospy.Rate(10) # 10hz
+ while not rospy.is_shutdown():
+ hello_str = "hello world %s" % rospy.get_time()
+ rospy.loginfo(hello_str)
+ pub.publish(hello_str)
+ rate.sleep()
+
+if __name__ == '__main__':
+ try:
+ talker()
+ except rospy.ROSInterruptException:
+ pass
diff --git a/avp_slam_plus/src/localization.cpp b/avp_slam_plus/src/localization.cpp
index a9afbc2..db260a9 100644
--- a/avp_slam_plus/src/localization.cpp
+++ b/avp_slam_plus/src/localization.cpp
@@ -113,7 +113,7 @@ pcl::PointCloud::Ptr transformPointCloud(pcl::PointCloud::
// feature extration
// feature registration
-// compute robot's pose
+// compute robot's poses
void cameraCloudHandler(const sensor_msgs::PointCloud2ConstPtr &cameraCloudMsg)
{
pcl::PointCloud cameraCloudIn;
@@ -182,7 +182,7 @@ void cameraCloudHandler(const sensor_msgs::PointCloud2ConstPtr &cameraCloudMsg)
initPose=true;
}
if (ndt.hasConverged() == false || ndt.getFitnessScore() > ndtFitnessScoreThresh) {
- std::cout << "ndt locolization failed the score is " << ndt.getFitnessScore() << std::endl;
+ std::cout << "ndt localization failed the score is " << ndt.getFitnessScore() << std::endl;
return ;
}
else
@@ -257,7 +257,7 @@ void cameraCloudHandler(const sensor_msgs::PointCloud2ConstPtr &cameraCloudMsg)
cameraCloudCurrentInWorldMsg.header.frame_id = "/map";
pubCurrentFeatureInWorld.publish(cameraCloudCurrentInWorldMsg);
-
+
}
@@ -274,12 +274,13 @@ void systemInit(){
// load prior global map
void loadMap(){
- globalFeatureCloud->clear();
- std::cout<<"load map begin ******************"<clear();
+ std::cout<<"load map begin ******************"<pose.pose.orientation.w;
+ double tempx = initpose->pose.pose.orientation.x;
+ double tempy= initpose->pose.pose.orientation.y;
+ double tempz = initpose->pose.pose.orientation.z;
+
+ double x = initpose->pose.pose.position.x;
+ double y = initpose->pose.pose.position.y;
+ double z = initpose->pose.pose.position.z;
+
+ double rol,pit,yaw;
+ tf::Matrix3x3(tf::Quaternion(tempx, tempy, tempz, tempw)).getRPY(rol, pit,yaw);
+
+ transWorldCurrent=pcl::getTransformation(x,y,z,rol,pit,yaw);
+
+ pcl::getTranslationAndEulerAngles(transWorldCurrent,currentX,currentY,currentZ,currentRoll,currentPitch,currentYaw);
+ std::cout << "saved new pose" << std::endl;
+}
+
+
// save map for relocation
void saveMap_callback(const geometry_msgs::PoseStamped::ConstPtr &msg)
@@ -304,6 +326,7 @@ int main(int argc, char *argv[]){
ros::Subscriber subcameraCloud = nh.subscribe("/cameraCloudFrame", 100, cameraCloudHandler);
ros::Subscriber subSaveMap = nh.subscribe("/move_base_simple/goal", 10, saveMap_callback);
+ // ros::Subscriber subInitpose = nh.subscribe("/GT", 1, gtPoseHandler);
pubCurrentFeature = nh.advertise("/currentFeature", 100);
pubCurrentFeatureInWorld= nh.advertise("/currentFeatureInWorld", 100);
diff --git a/avp_slam_plus/src/pointCloudFromRGB.cpp b/avp_slam_plus/src/pointCloudFromRGB.cpp
index 8d1782b..c4bda46 100644
--- a/avp_slam_plus/src/pointCloudFromRGB.cpp
+++ b/avp_slam_plus/src/pointCloudFromRGB.cpp
@@ -387,19 +387,6 @@ void systemInit(){
}
-void transformToFrame(PointType const *const pi, PointType *const po, Eigen::Quaterniond q, Eigen::Vector3d t)
-{
- Eigen::Vector3d point_curr(pi->x, pi->y, pi->z);
- Eigen::Vector3d point_w = q * point_curr + t;
- po->x = point_w.x();
- po->y = point_w.y();
- po->z = point_w.z();
- po->r=pi->r;
- po->g=pi->g;
- po->b=pi->b;
-
-}
-
// synchronism images of all camera
void removeUnsynData(double& timeMax,double& timeCameraImage,std::queue& cameraImageBuf){
@@ -414,6 +401,8 @@ void removeUnsynData(double& timeMax,double& timeCameraImage,std::queue::Ptr& cameraCloud){
+ // std::cout << "flipped" << std::endl;
+
Eigen::Matrix3d KInv=K.inverse();
Eigen::Matrix3d RTInv=RT.inverse();
int row=image.rows;
@@ -429,7 +418,7 @@ void calCloudFromImage(Eigen::Matrix3d& K, Eigen::Matrix3d& RT,const cv::Mat& i
int r=p[3*j+2];
// there,for simplicity,just according to color,detect invalid area like sky area;
// for real scene,should adapt machine learning method or other method detecting invalid area
- if(b==skyColor ){
+ if(b==skyColor || b==skyColor+1 || b==skyColor-1){
break;
}
@@ -449,8 +438,8 @@ void calCloudFromImage(Eigen::Matrix3d& K, Eigen::Matrix3d& RT,const cv::Mat& i
continue;
PointType po;
- po.x = u1.x();
- po.y = u1.y();
+ po.x = u1(0);
+ po.y = -u1(1);
po.z = 0;
po.r=r;
po.g=g;
diff --git a/avp_slam_plus/src/pointCloudFromRGBD.cpp b/avp_slam_plus/src/pointCloudFromRGBD.cpp
index 24dc79f..a9b2a98 100644
--- a/avp_slam_plus/src/pointCloudFromRGBD.cpp
+++ b/avp_slam_plus/src/pointCloudFromRGBD.cpp
@@ -49,6 +49,9 @@ std::queue camera5CloudBuf;
std::mutex mBuf;
+Eigen::Matrix3d R0;
+Eigen::Vector3d T0;
+
double timeCamera0Points=0;
double timeCamera1Points=0;
double timeCamera2Points=0;
@@ -59,6 +62,7 @@ double timeCamera5Points=0;
float closePointThresh=0.1;
float farPointThresh=20;
float pointCloudLeafSize=0.1;
+double cameraRealiableDis=15.0;
// delete close point
@@ -171,25 +175,28 @@ void camera5CloudHandler(const sensor_msgs::PointCloud2ConstPtr &cameraCloudMsg)
- Eigen::Quaterniond q_c0c1(1,0,0,0);
- Eigen::Vector3d t_c0c1(0, 0, 0);
+ Eigen::Quaterniond q_c0(1,0,0,0);
+ Eigen::Vector3d t_c0(0, 0, 0);
+
+ Eigen::Quaterniond q_c1(1,0,0,0);
+ Eigen::Vector3d t_c1(0, 0, 0);
- Eigen::Quaterniond q_c0c2(1,0,0,0);
- Eigen::Vector3d t_c0c2(0, 0, 0);
+ Eigen::Quaterniond q_c2(1,0,0,0);
+ Eigen::Vector3d t_c2(0, 0, 0);
- Eigen::Quaterniond q_c0c3(1,0,0,0);
- Eigen::Vector3d t_c0c3(0, 0, 0);
+ Eigen::Quaterniond q_c3(1,0,0,0);
+ Eigen::Vector3d t_c3(0, 0, 0);
- Eigen::Quaterniond q_c0c4(1,0,0,0);
- Eigen::Vector3d t_c0c4(0, 0, 0);
+ Eigen::Quaterniond q_c4(1,0,0,0);
+ Eigen::Vector3d t_c4(0, 0, 0);
- Eigen::Quaterniond q_c0c5(1,0,0,0);
- Eigen::Vector3d t_c0c5(0, 0, 0);
+ Eigen::Quaterniond q_c5(1,0,0,0);
+ Eigen::Vector3d t_c5(0, 0, 0);
// transform degree to quaternion
void degToQuan(double& rotateDeg,Eigen::Quaterniond& q){
- geometry_msgs::Quaternion camera0xQuat=tf::createQuaternionMsgFromRollPitchYaw(0,rotateDeg, 0);
+ geometry_msgs::Quaternion camera0xQuat=tf::createQuaternionMsgFromRollPitchYaw(0,-rotateDeg, 0);
q.w()=camera0xQuat.w;
q.x()=camera0xQuat.x;
q.y()=camera0xQuat.y;
@@ -203,7 +210,7 @@ void transformToFrame(PointType const *const pi, PointType *const po, Eigen::Qua
Eigen::Vector3d point_curr(pi->x, pi->y, pi->z);
Eigen::Vector3d point_w = q * point_curr + t;
po->x = point_w.x();
- po->y = point_w.y();
+ po->y = -point_w.y();
po->z = point_w.z();
po->r=pi->r;
po->g=pi->g;
@@ -240,12 +247,38 @@ int main(int argc, char *argv[]){
nh.param("pointCloudLeafSize", pointCloudLeafSize, 0.1);
nh.param("farPointThresh", farPointThresh, 20);
nh.param("closePointThresh", closePointThresh, 0.1);
-
- degToQuan(rotateDeg1,q_c0c1);
- degToQuan(rotateDeg2,q_c0c2);
- degToQuan(rotateDeg3,q_c0c3);
- degToQuan(rotateDeg4,q_c0c4);
- degToQuan(rotateDeg5,q_c0c5);
+
+ std::vector R0Double,T0Double;
+ nh.param>("R0", R0Double, std::vector());
+ nh.param>("T0", T0Double, std::vector());
+ R0 = Eigen::Map>(R0Double.data(), 3, 3);
+ T0 = Eigen::Map>(T0Double.data(), 3, 1);
+ R0 = Eigen::Quaterniond(R0);
+
+ degToQuan(rotateDeg1,q_c1);
+ degToQuan(rotateDeg2,q_c2);
+ degToQuan(rotateDeg3,q_c3);
+ degToQuan(rotateDeg4,q_c4);
+ degToQuan(rotateDeg5,q_c5);
+
+ //TODO change C and T to use R and T
+ q_c0 = R0.inverse();
+ t_c0 = -R0.inverse()*T0;
+
+ q_c1 = (q_c1*R0).inverse();
+ t_c1 = -R0.inverse()*T0;
+
+ q_c2 = (q_c2*R0).inverse();
+ t_c2 = -R0.inverse()*T0;
+
+ q_c3 = (q_c3*R0).inverse();
+ t_c3 = -R0.inverse()*T0;
+
+ q_c4 = (q_c4*R0).inverse();
+ t_c4 = -R0.inverse()*T0;
+
+ q_c5 = (q_c5*R0).inverse();
+ t_c5 = -R0.inverse()*T0;
ros::Subscriber subcamera0Cloud = nh.subscribe("/camera0/depth/color/points", 100, camera0CloudHandler);
ros::Subscriber subcamera1Cloud = nh.subscribe("/camera1/depth/color/points", 100, camera1CloudHandler);
@@ -365,35 +398,39 @@ int main(int argc, char *argv[]){
*camera5Cloud=camera5CloudDS;
// accumulate point cloud of every camera
+ int camera0PointSize=camera0Cloud->points.size();
int camera1PointSize=camera1Cloud->points.size();
int camera2PointSize=camera2Cloud->points.size();
int camera3PointSize=camera3Cloud->points.size();
int camera4PointSize=camera4Cloud->points.size();
int camera5PointSize=camera5Cloud->points.size();
+ for(int i=0;ipoints[i],&camera0Cloud->points[i],q_c0,t_c0);
+ }
+
for(int i=0;ipoints[i],&camera1Cloud->points[i],q_c0c1,t_c0c1);
+ transformToFrame(&camera1Cloud->points[i],&camera1Cloud->points[i],q_c1,t_c1);
}
for(int i=0;ipoints[i],&camera2Cloud->points[i],q_c0c2,t_c0c2);
+ transformToFrame(&camera2Cloud->points[i],&camera2Cloud->points[i],q_c2,t_c2);
}
for(int i=0;ipoints[i],&camera3Cloud->points[i],q_c0c3,t_c0c3);
+ transformToFrame(&camera3Cloud->points[i],&camera3Cloud->points[i],q_c3,t_c3);
}
for(int i=0;ipoints[i],&camera4Cloud->points[i],q_c0c4,t_c0c4);
+ transformToFrame(&camera4Cloud->points[i],&camera4Cloud->points[i],q_c4,t_c4);
}
for(int i=0;ipoints[i],&camera5Cloud->points[i],q_c0c5,t_c0c5);
+ transformToFrame(&camera5Cloud->points[i],&camera5Cloud->points[i],q_c5,t_c5);
}
-
*cameraFrameCloud=*cameraFrameCloud+*camera0Cloud;
*cameraFrameCloud=*cameraFrameCloud+*camera1Cloud;
*cameraFrameCloud=*cameraFrameCloud+*camera2Cloud;
@@ -412,7 +449,6 @@ int main(int argc, char *argv[]){
cameraCloudFrameMsg.header.stamp = ros::Time::now();
cameraCloudFrameMsg.header.frame_id = "/camera0_link";
pubCameraCloudFrame.publish(cameraCloudFrameMsg);
-
}
rate.sleep();
diff --git a/controller/CMakeLists.txt b/controller/CMakeLists.txt
new file mode 100644
index 0000000..d24a01f
--- /dev/null
+++ b/controller/CMakeLists.txt
@@ -0,0 +1,206 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(controller)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ rospy
+ std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES controller
+# CATKIN_DEPENDS roscpp rospy std_msgs
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/controller.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/controller_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_controller.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/controller/package.xml b/controller/package.xml
new file mode 100644
index 0000000..bb077b4
--- /dev/null
+++ b/controller/package.xml
@@ -0,0 +1,68 @@
+
+
+ controller
+ 0.0.0
+ The controller package
+
+
+
+
+ jacklee
+
+
+
+
+
+ TODO
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ catkin
+ roscpp
+ rospy
+ std_msgs
+ roscpp
+ rospy
+ std_msgs
+ roscpp
+ rospy
+ std_msgs
+
+
+
+
+
+
+
+
diff --git a/controller/scripts/amcl_controller.py b/controller/scripts/amcl_controller.py
new file mode 100755
index 0000000..af89cce
--- /dev/null
+++ b/controller/scripts/amcl_controller.py
@@ -0,0 +1,142 @@
+#!/usr/bin/env python
+import rospy
+import math
+from geometry_msgs.msg import PoseStamped
+from geometry_msgs.msg import Twist
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import PoseWithCovarianceStamped
+pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
+pub_Angle = rospy.Publisher('/Angle', Twist, queue_size=10)
+# initialize pose
+x = 0.0
+y = 0.0
+yaw_angle = 0.0
+rho = 10.0
+Ang_Dif = 10.0
+# parameters
+# goal_x = [1.0, 0.0, 1.0, 0.0]
+# goal_y = [0.0, 1.0, 0.0, 1.0]
+goal_x = [0.5, 3.5, 3.5, 0.5]
+goal_x = goal_x + goal_x + goal_x
+goal_x.append(0.5)
+goal_y = [-1.0, -1.0, 2.0, 2.0]
+goal_y = goal_y + goal_y + goal_y
+goal_y.append(-1.0)
+goal_theta = [0, 180, 0, -180]
+k_rho = 0.2
+k_alpha = 1.5 #1.0
+k_beta = -0.3
+Dist_tolerance = 0.05
+Ang_tolerance = 1.0
+
+Stop = Twist()
+Stop.linear.x = 0
+Stop.angular.z = 0
+VelLimit = 0.15
+phase_flag = 0
+
+# def Shortest_Ang():
+
+def Pose_callback(Pose):
+ global x
+ global y
+ x = Pose.pose.pose.position.x
+ y = Pose.pose.pose.position.y
+ # print("Now is at: ", x, y)
+
+def imu_callback(orientation):
+ global yaw_angle
+ yaw_angle = orientation.pose.position.z
+ # print(yaw_angle)
+
+def vel_limit(vel_x):
+ if vel_x > VelLimit:
+ # print("Limited")
+ return VelLimit
+ else:
+ return vel_x
+
+def control_command(point_index):
+ delta_x = (goal_x[point_index] - x)
+ delta_y = (goal_y[point_index] - y)
+ theta = yaw_angle
+ global Ang_Dif
+ # Ang_Dif = goal_theta[point_index] - theta
+ global rho
+ rho = math.sqrt(delta_x**2 + delta_y**2)
+ goal_angle = math.atan2(delta_y, delta_x)*180/math.pi
+ alpha = -theta + goal_angle
+
+ Angle = Twist()
+ Angle.linear.x = goal_angle
+ Angle.linear.y = alpha
+ global pub_Angle
+ pub_Angle.publish(Angle)
+
+ # beta = goal_theta[point_index] -theta - alpha
+ if abs(alpha) > abs(alpha + 360):
+ alpha = alpha + 360
+ elif abs(alpha - 360) < abs(alpha):
+ alpha = alpha - 360
+ else:
+ pass
+ print("X: %f, Y: %f, Yaw: %f" %(x, y, theta))
+
+ # print("atan2(delta_y, delta_x)", math.atan2(delta_y, delta_x)*180/math.pi)
+ # print("theta", theta)
+ print("alpha", alpha)
+ # Alpha = alpha
+ alpha = alpha * math.pi/180
+ # beta = beta * math.pi/180
+ global phase_flag
+ vel = Twist()
+ # if abs(Alpha) >= 2 and phase_flag == 0:
+ # print("Phase 0")
+ # vel.linear.x = 0
+ # vel.angular.z = k_alpha * alpha
+ # else:
+ # print("Phase 1")
+ # phase_flag = 1
+ vel_x = math.cos(alpha) * k_rho * rho
+ vel.linear.x = vel_limit(vel_x)
+ # print("vel.linear.x", vel.linear.x)
+ vel.angular.z = k_alpha * alpha
+
+ global pub
+ pub.publish(vel)
+
+def ReachedGoal():
+ rospy.loginfo("Reached Goal!!!")
+ global pub
+ pub.publish(Stop)
+
+
+def start():
+ rospy.Subscriber("/amcl_pose", PoseWithCovarianceStamped, Pose_callback)
+ rospy.Subscriber("/amcl_yaw", PoseStamped, imu_callback)
+
+ rospy.init_node('robot_loc_controller')
+ rate = rospy.Rate(100) # 10hz
+ point_index = 0
+ goal_flag = 0
+ global phase_flag
+ while not rospy.is_shutdown():
+ # print(goal_x)
+ if goal_flag == 1:
+ ReachedGoal()
+ break
+ # rospy.signal_shutdown("Reached Goal!!!")
+ # elif rho <= Dist_tolerance and Ang_Dif <= Ang_tolerance:
+ elif rho <= Dist_tolerance and goal_flag == 0:
+ point_index += 1
+ phase_flag = 0
+ if point_index == len(goal_x):
+ goal_flag = 1
+ continue
+ control_command(point_index)
+ else:
+ control_command(point_index)
+ rate.sleep()
+
+if __name__ == '__main__':
+ start()
\ No newline at end of file
diff --git a/controller/scripts/new_controller.py b/controller/scripts/new_controller.py
new file mode 100755
index 0000000..e4e741b
--- /dev/null
+++ b/controller/scripts/new_controller.py
@@ -0,0 +1,116 @@
+#!/usr/bin/env python
+import rospy
+import math
+from geometry_msgs.msg import PoseStamped
+from geometry_msgs.msg import Twist
+from nav_msgs.msg import Odometry
+pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
+
+Stop = Twist()
+Stop.linear.x = 0
+Stop.angular.z = 0
+VelLimit = 0.2 # 5s -> 1m
+AngVelLimit = math.pi/6 # 3s -> pi/2
+
+square_length = 1.5
+square_width = 1
+
+def vel_limit(vel_x):
+ if vel_x > VelLimit:
+ # print("Limited")
+ return VelLimit
+ else:
+ return vel_x
+
+# def control_command(point_index):
+# t0 = rospy.Time.now().to_sec()
+# print(t0)
+
+def MoveStraight(length, direction):
+ travel_time = length/VelLimit
+ vel = Twist()
+ stop_flag = 0
+ t0_flag = 0
+ while (t0_flag == 0):
+ if rospy.Time.now().to_sec() != 0:
+ t0 = rospy.Time.now().to_sec()
+ t0_flag =1
+ vel.linear.x = VelLimit * direction
+ global pub
+ print("publish cmd_vel")
+ while(stop_flag == 0):
+ pub.publish(vel)
+ # print(t0)
+ # print("waiting")
+ t1 = rospy.Time.now().to_sec()
+ duration = t1 - t0
+ print(duration)
+ if (duration) >= travel_time:
+ stop_flag = 1
+ print("stop")
+ pub.publish(Stop)
+
+def Turn(turning_angle):
+ travel_time = abs(turning_angle)/AngVelLimit
+ if turning_angle > 0:
+ direction = 1
+ else:
+ direction = -1
+ vel = Twist()
+ stop_flag = 0
+ t0_flag = 0
+ while (t0_flag == 0):
+ if rospy.Time.now().to_sec() != 0:
+ t0 = rospy.Time.now().to_sec()
+ t0_flag =1
+ vel.angular.z = AngVelLimit * direction
+ global pub
+ print("publish cmd_vel")
+ while(stop_flag == 0):
+ pub.publish(vel)
+ # print(t0)
+ # print("waiting")
+ t1 = rospy.Time.now().to_sec()
+ duration = t1 - t0
+ print(duration)
+ if (duration) >= travel_time:
+ stop_flag = 1
+ print("stop")
+ pub.publish(Stop)
+
+def start():
+ # rospy.Subscriber("/odom_filtered_map", Odometry, Pose_callback)
+ # rospy.Subscriber("/yaw_filtered_map", PoseStamped, imu_callback)
+
+ rospy.init_node('new_controller')
+ rate = rospy.Rate(100) # 10hz
+ # point_index = 0
+ # goal_flag = 0
+ # global phase_flag
+ while not rospy.is_shutdown():
+ # print(goal_x)
+ # if goal_flag == 1:
+ # ReachedGoal()
+ # break
+ # rospy.signal_shutdown("Reached Goal!!!")
+ # elif rho <= Dist_tolerance and Ang_Dif <= Ang_tolerance:
+ # elif rho <= Dist_tolerance and goal_flag == 0:
+ # point_index += 1
+ # phase_flag = 0
+ # if point_index == len(goal_x):
+ # goal_flag = 1
+ # continue
+ # control_command(point_index)
+ # else:
+ # control_command(point_index)
+ # t0 = rospy.Time.now().to_sec()
+ # t1 = rospy.Time.now().to_sec()
+ # print(t0)
+ MoveStraight(square_length, 1)
+ Turn(math.pi/2)
+ MoveStraight(square_width, 1)
+ rate.sleep()
+ break
+
+if __name__ == '__main__':
+ start()
\ No newline at end of file
diff --git a/controller/scripts/odom_controller.py b/controller/scripts/odom_controller.py
new file mode 100755
index 0000000..ba9b358
--- /dev/null
+++ b/controller/scripts/odom_controller.py
@@ -0,0 +1,189 @@
+#!/usr/bin/env python
+import rospy
+import math
+from geometry_msgs.msg import PoseStamped
+from geometry_msgs.msg import Twist
+from nav_msgs.msg import Odometry
+pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
+pub_Angle = rospy.Publisher('/Angle', Twist, queue_size=10)
+# pub_GoalAngle = rospy.Publisher('/GoalAngle', Twist, queue_size=10)
+# initialize pose
+x = 0.0
+y = 0.0
+yaw_angle = 0.0
+rho = 10.0
+Ang_Dif = 10.0
+# parameters
+# goal_x = [1.0, 0.0, 1.0, 0.0]
+# goal_y = [0.0, 1.0, 0.0, 1.0]
+goal_x = [5, 5, 0, 0]
+# goal_x = goal_x + goal_x + goal_x
+# goal_x.append(0.5)
+goal_y = [0, -5, -5, 0]
+# goal_y = goal_y + goal_y + goal_y
+# goal_y.append(-1.0)
+goal_theta = [0, 180, 0, -180]
+k_rho = 0.3
+k_alpha = -1.0 #1.0
+k_beta = -0.3
+Dist_tolerance = 0.1
+Ang_tolerance = 2.0
+
+Stop = Twist()
+Stop.linear.x = 0
+Stop.angular.z = 0
+VelLimit = 0.4
+rotLimit = math.pi/20.0
+phase_flag = 0
+
+x_0 = 0
+y_0 = 0
+first_flag = 0
+# def Shortest_Ang():
+
+def Pose_callback(Odometry):
+ global x
+ global y
+ global first_flag
+ global x_0, y_0
+ # global
+
+ if first_flag == 0:
+ x_0 = Odometry.pose.pose.position.x
+ y_0 = Odometry.pose.pose.position.y
+ first_flag = 1
+
+ x = Odometry.pose.pose.position.x - x_0
+ y = Odometry.pose.pose.position.y - y_0
+
+def imu_callback(orientation):
+ global yaw_angle
+ yaw_angle = orientation.pose.position.z
+ # print(yaw_angle)
+
+def vel_limit(vel_x):
+ if vel_x > VelLimit:
+ # print("Limited")
+ return VelLimit
+ else:
+ return vel_x
+
+def rot_limit(vel_z):
+ if vel_z < 0 and abs(vel_z) > rotLimit:
+ # print("Limited")
+ return -rotLimit
+ elif vel_z > 0 and abs(vel_z) > rotLimit:
+ return rotLimit
+ else:
+ return vel_z
+
+
+def pureRot(point_index):
+ delta_x = (goal_x[point_index] - x)
+ delta_y = (goal_y[point_index] - y)
+ theta = yaw_angle
+ goal_angle = math.atan2(delta_y, delta_x)*180/math.pi
+
+ alpha = -theta + goal_angle
+
+ if abs(alpha) > abs(alpha + 360):
+ alpha = alpha + 360
+ elif abs(alpha - 360) < abs(alpha):
+ alpha = alpha - 360
+ else:
+ pass
+
+ alpha = alpha * math.pi/180
+ vel = Twist()
+ vel.angular.z = rot_limit(k_alpha * alpha)
+ global pub
+ pub.publish(vel)
+
+def control_command(point_index):
+ # print("Goal: ", goal_x, goal_y)
+ delta_x = (goal_x[point_index] - x)
+ delta_y = (goal_y[point_index] - y)
+ theta = yaw_angle
+ global Ang_Dif
+ # Ang_Dif = goal_theta[point_index] - theta
+ global rho
+ rho = math.sqrt(delta_x**2 + delta_y**2)
+ goal_angle = math.atan2(delta_y, delta_x)*180/math.pi
+ alpha = -theta + goal_angle
+ # print(goal_angle)
+ Angle = Twist()
+ Angle.linear.x = goal_angle
+ Angle.linear.y = alpha
+ Angle.linear.z = rho
+ global pub_Angle
+ pub_Angle.publish(Angle)
+
+ # beta = goal_theta[point_index] -theta - alpha
+ if abs(alpha) > abs(alpha + 360):
+ alpha = alpha + 360
+ elif abs(alpha - 360) < abs(alpha):
+ alpha = alpha - 360
+ else:
+ pass
+ print("X: %f, Y: %f, Theta: %f" %(x, y, theta))
+
+ # print("atan2(delta_y, delta_x)", math.atan2(delta_y, delta_x)*180/math.pi)
+ # print("theta", theta)
+ # print("alpha", alpha)
+ Alpha = alpha
+ alpha = alpha * math.pi/180
+ # beta = beta * math.pi/180
+ global phase_flag
+ vel = Twist()
+ if abs(Alpha) >= Ang_tolerance and phase_flag == 0:
+ print("Phase 0")
+ vel.linear.x = 0
+ vel.angular.z = rot_limit(k_alpha * alpha)
+ else:
+ print("Phase 1")
+ phase_flag = 1
+ vel_x = k_rho * rho
+ vel_x = vel_limit(vel_x)
+ vel_x = math.cos(alpha) * vel_x
+ vel.linear.x = vel_x
+ vel.angular.z = rot_limit(k_alpha * alpha)
+
+ global pub
+ pub.publish(vel)
+
+def ReachedGoal():
+ rospy.loginfo("Reached Goal!!!")
+ global pub
+ pub.publish(Stop)
+
+
+def start():
+ rospy.Subscriber("/odom", Odometry, Pose_callback)
+ rospy.Subscriber("/yaw_odom", PoseStamped, imu_callback)
+
+ rospy.init_node('odom_controller')
+ rate = rospy.Rate(100) # 10hz
+ point_index = 0
+ goal_flag = 0
+ # rot_flag = 0
+ global phase_flag
+ while not rospy.is_shutdown():
+ # print(goal_x)
+ if goal_flag == 1:
+ ReachedGoal()
+ break
+ # rospy.signal_shutdown("Reached Goal!!!")
+ # elif rho <= Dist_tolerance and Ang_Dif <= Ang_tolerance:
+ elif rho <= Dist_tolerance and goal_flag == 0:
+ point_index += 1
+ phase_flag = 0
+ if point_index == len(goal_x):
+ goal_flag = 1
+ continue
+ control_command(point_index)
+ else:
+ control_command(point_index)
+ rate.sleep()
+
+if __name__ == '__main__':
+ start()
\ No newline at end of file
diff --git a/controller/scripts/robot_loc_controller.py b/controller/scripts/robot_loc_controller.py
new file mode 100755
index 0000000..75d0816
--- /dev/null
+++ b/controller/scripts/robot_loc_controller.py
@@ -0,0 +1,144 @@
+#!/usr/bin/env python
+import rospy
+import math
+from geometry_msgs.msg import PoseStamped
+from geometry_msgs.msg import Twist
+from nav_msgs.msg import Odometry
+pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
+pub_Angle = rospy.Publisher('/Angle', Twist, queue_size=10)
+# pub_GoalAngle = rospy.Publisher('/GoalAngle', Twist, queue_size=10)
+# initialize pose
+x = 0.0
+y = 0.0
+yaw_angle = 0.0
+rho = 10.0
+Ang_Dif = 10.0
+# parameters
+# goal_x = [1.0, 0.0, 1.0, 0.0]
+# goal_y = [0.0, 1.0, 0.0, 1.0]
+goal_x = [0.5, 3.5, 3.5, 0.5]
+goal_x = goal_x + goal_x + goal_x
+goal_x.append(0.5)
+goal_y = [-1.0, -1.0, 2.0, 2.0]
+goal_y = goal_y + goal_y + goal_y
+goal_y.append(-1.0)
+goal_theta = [0, 180, 0, -180]
+k_rho = 0.2
+k_alpha = 1.5 #1.0
+k_beta = -0.3
+Dist_tolerance = 0.05
+Ang_tolerance = 1.0
+
+Stop = Twist()
+Stop.linear.x = 0
+Stop.angular.z = 0
+VelLimit = 0.2
+phase_flag = 0
+
+# def Shortest_Ang():
+
+def Pose_callback(Odometry):
+ global x
+ global y
+ x = Odometry.pose.pose.position.x
+ y = Odometry.pose.pose.position.y
+ # print("Now is at: ", x, y)
+
+def imu_callback(orientation):
+ global yaw_angle
+ yaw_angle = orientation.pose.position.z
+ # print(yaw_angle)
+
+def vel_limit(vel_x):
+ if vel_x > VelLimit:
+ # print("Limited")
+ return VelLimit
+ else:
+ return vel_x
+
+def control_command(point_index):
+ delta_x = (goal_x[point_index] - x)
+ delta_y = (goal_y[point_index] - y)
+ theta = yaw_angle
+ global Ang_Dif
+ # Ang_Dif = goal_theta[point_index] - theta
+ global rho
+ rho = math.sqrt(delta_x**2 + delta_y**2)
+ goal_angle = math.atan2(delta_y, delta_x)*180/math.pi
+ alpha = -theta + goal_angle
+
+ Angle = Twist()
+ Angle.linear.x = goal_angle
+ Angle.linear.y = alpha
+ Angle.linear.z = rho
+ global pub_Angle
+ pub_Angle.publish(Angle)
+
+ # beta = goal_theta[point_index] -theta - alpha
+ if abs(alpha) > abs(alpha + 360):
+ alpha = alpha + 360
+ elif abs(alpha - 360) < abs(alpha):
+ alpha = alpha - 360
+ else:
+ pass
+ print("X: %f, Y: %f, Yaw Angle: %f" %(x, y, theta))
+
+ # print("atan2(delta_y, delta_x)", math.atan2(delta_y, delta_x)*180/math.pi)
+ # print("theta", theta)
+ # print("alpha", alpha)
+ # Alpha = alpha
+ alpha = alpha * math.pi/180
+ # beta = beta * math.pi/180
+ global phase_flag
+ vel = Twist()
+ # if abs(Alpha) >= 2 and phase_flag == 0:
+ # print("Phase 0")
+ # vel.linear.x = 0
+ # vel.angular.z = k_alpha * alpha
+ # else:
+ # print("Phase 1")
+ # phase_flag = 1
+ vel_x = k_rho * rho
+ vel_x = vel_limit(vel_x)
+ vel_x = math.cos(alpha) * vel_x
+ vel.linear.x = vel_x
+ vel.angular.z = k_alpha * alpha
+
+ global pub
+ pub.publish(vel)
+
+def ReachedGoal():
+ rospy.loginfo("Reached Goal!!!")
+ global pub
+ pub.publish(Stop)
+
+
+def start():
+ rospy.Subscriber("/odom_filtered_map", Odometry, Pose_callback)
+ rospy.Subscriber("/yaw_filtered_map", PoseStamped, imu_callback)
+
+ rospy.init_node('robot_loc_controller')
+ rate = rospy.Rate(100) # 10hz
+ point_index = 0
+ goal_flag = 0
+ global phase_flag
+ while not rospy.is_shutdown():
+ # print(goal_x)
+ if goal_flag == 1:
+ ReachedGoal()
+ break
+ # rospy.signal_shutdown("Reached Goal!!!")
+ # elif rho <= Dist_tolerance and Ang_Dif <= Ang_tolerance:
+ elif rho <= Dist_tolerance and goal_flag == 0:
+ point_index += 1
+ phase_flag = 0
+ if point_index == len(goal_x):
+ goal_flag = 1
+ continue
+ control_command(point_index)
+ else:
+ control_command(point_index)
+ rate.sleep()
+
+if __name__ == '__main__':
+ start()
\ No newline at end of file
diff --git a/convert_orientation/CMakeLists.txt b/convert_orientation/CMakeLists.txt
new file mode 100755
index 0000000..c4837b7
--- /dev/null
+++ b/convert_orientation/CMakeLists.txt
@@ -0,0 +1,222 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(convert_orientation)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ rospy
+ std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES convert_orientation
+# CATKIN_DEPENDS roscpp rospy std_msgs
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/convert_orientation.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/convert_orientation_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_convert_orientation.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
+add_executable(qt src/qt.cpp )
+add_executable(qt_filtered src/qt_filtered.cpp )
+add_executable(qt_amcl src/qt_amcl.cpp )
+#add_dependencies(${PROJECT_NAME}_node_1 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+target_link_libraries(qt
+ ${catkin_LIBRARIES}
+)
+target_link_libraries(qt_filtered
+ ${catkin_LIBRARIES}
+)
+target_link_libraries(qt_amcl
+ ${catkin_LIBRARIES}
+)
+
+
diff --git a/convert_orientation/package.xml b/convert_orientation/package.xml
new file mode 100755
index 0000000..3695e3a
--- /dev/null
+++ b/convert_orientation/package.xml
@@ -0,0 +1,68 @@
+
+
+ convert_orientation
+ 0.0.0
+ The convert_orientation package
+
+
+
+
+ jacklee
+
+
+
+
+
+ TODO
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ catkin
+ roscpp
+ rospy
+ std_msgs
+ roscpp
+ rospy
+ std_msgs
+ roscpp
+ rospy
+ std_msgs
+
+
+
+
+
+
+
+
diff --git a/convert_orientation/src/qt.cpp b/convert_orientation/src/qt.cpp
new file mode 100755
index 0000000..f56b197
--- /dev/null
+++ b/convert_orientation/src/qt.cpp
@@ -0,0 +1,71 @@
+#include "ros/ros.h"
+#include "geometry_msgs/Quaternion.h"
+#include
+#include "sensor_msgs/Imu.h"
+#include "tf/transform_datatypes.h"
+#include "math.h"
+#include
+
+int first_flag = 0;
+float ini_yaw = 0;
+ros::Publisher yaw_publisher;
+ros::Subscriber quat_subscriber;
+ros::Publisher odom_yaw_publisher;
+ros::Subscriber odom_quat_subscriber;
+void QuaternionCallback(const sensor_msgs::Imu msg)
+{
+ double roll, pitch, yaw;
+ //Transform quaternion to rotation
+ tf::Quaternion quat(msg.orientation.x, msg.orientation.y, msg.orientation.z, msg.orientation.w);
+ tf::Matrix3x3(quat).getRPY(roll, pitch, yaw);
+
+
+ if(first_flag == 0)
+ {
+ ini_yaw = yaw*180/M_PI;
+ first_flag = 1;
+ }
+ //Publiish the rotation values
+ geometry_msgs::PoseStamped rpy;
+ rpy.header = msg.header;
+ rpy.pose.position.x = roll;
+ rpy.pose.position.y = pitch;
+ //rpy.pose.position.z = yaw; //yaw is shown as in rad
+ rpy.pose.position.z = yaw*180/M_PI - ini_yaw; //yaw is shown as in degrees
+ yaw_publisher.publish(rpy);
+ ROS_INFO("published yaw angle(degrees): yaw=%f", rpy.pose.position.z);
+}
+
+void OdomQuaternionCallback(const nav_msgs::Odometry odom_msg)
+{
+ double roll, pitch, yaw;
+ //Transform quaternion to rotation
+ tf::Quaternion quat(odom_msg.pose.pose.orientation.x, odom_msg.pose.pose.orientation.y, odom_msg.pose.pose.orientation.z, odom_msg.pose.pose.orientation.w);
+ tf::Matrix3x3(quat).getRPY(roll, pitch, yaw);
+
+ //Publiish the rotation values
+ geometry_msgs::PoseStamped rpy;
+ rpy.header = odom_msg.header;
+ rpy.pose.position.x = roll;
+ rpy.pose.position.y = pitch;
+ //rpy.pose.position.z = yaw; //yaw is shown as in rad
+ rpy.pose.position.z = yaw*180/M_PI; //yaw is shown as in degrees
+ odom_yaw_publisher.publish(rpy);
+ // ROS_INFO("published odom yaw angle(degrees): yaw=%f", rpy.pose.position.z*180/M_PI);
+}
+
+int main(int argc, char **argv)
+{
+ ros::init(argc, argv, "quaternion");
+ ros::NodeHandle n;
+
+ // Publisher and Subscriber (Subscribe IMU)
+ yaw_publisher = n.advertise("yaw_imu", 1000);
+ quat_subscriber = n.subscribe("/imu", 1000, QuaternionCallback);
+ odom_yaw_publisher = n.advertise("yaw_odom", 1000);
+ odom_quat_subscriber = n.subscribe("/odom", 1000, OdomQuaternionCallback);
+ //Check for incoming quaternions
+ ROS_INFO("waiting for quaternion");
+ ros::spin();
+ return 0;
+}
diff --git a/convert_orientation/src/qt_amcl.cpp b/convert_orientation/src/qt_amcl.cpp
new file mode 100755
index 0000000..85f74ca
--- /dev/null
+++ b/convert_orientation/src/qt_amcl.cpp
@@ -0,0 +1,65 @@
+#include "ros/ros.h"
+#include "geometry_msgs/Quaternion.h"
+#include
+#include
+#include "sensor_msgs/Imu.h"
+#include "tf/transform_datatypes.h"
+#include "math.h"
+#include
+
+
+// ros::Publisher yaw_publisher;
+// ros::Subscriber quat_subscriber;
+ros::Publisher odom_yaw_publisher;
+ros::Subscriber odom_quat_subscriber;
+// void QuaternionCallback(const sensor_msgs::Imu msg)
+// {
+// double roll, pitch, yaw;
+// //Transform quaternion to rotation
+// tf::Quaternion quat(msg.orientation.x, msg.orientation.y, msg.orientation.z, msg.orientation.w);
+// tf::Matrix3x3(quat).getRPY(roll, pitch, yaw);
+
+// //Publiish the rotation values
+// geometry_msgs::PoseStamped rpy;
+// rpy.header = msg.header;
+// rpy.pose.position.x = roll;
+// rpy.pose.position.y = pitch;
+// //rpy.pose.position.z = yaw; //yaw is shown as in rad
+// rpy.pose.position.z = yaw*180/M_PI; //yaw is shown as in degrees
+// yaw_publisher.publish(rpy);
+// ROS_INFO("published yaw angle(degrees): yaw=%f", rpy.pose.position.z);
+// }
+
+void OdomQuaternionCallback(const geometry_msgs::PoseWithCovarianceStamped odom_msg)
+{
+ double roll, pitch, yaw;
+ //Transform quaternion to rotation
+ tf::Quaternion quat(odom_msg.pose.pose.orientation.x, odom_msg.pose.pose.orientation.y, odom_msg.pose.pose.orientation.z, odom_msg.pose.pose.orientation.w);
+ tf::Matrix3x3(quat).getRPY(roll, pitch, yaw);
+
+ //Publiish the rotation values
+ geometry_msgs::PoseStamped rpy;
+ rpy.header = odom_msg.header;
+ rpy.pose.position.x = roll;
+ rpy.pose.position.y = pitch;
+ //rpy.pose.position.z = yaw; //yaw is shown as in rad
+ rpy.pose.position.z = yaw*180/M_PI; //yaw is shown as in degrees
+ odom_yaw_publisher.publish(rpy);
+ ROS_INFO("published odom yaw angle(degrees): yaw=%f", rpy.pose.position.z);
+}
+
+int main(int argc, char **argv)
+{
+ ros::init(argc, argv, "quaternion");
+ ros::NodeHandle n;
+
+ // Publisher and Subscriber (Subscribe IMU)
+ // yaw_publisher = n.advertise("yaw_turtlebot", 1000);
+ // quat_subscriber = n.subscribe("/imu", 1000, QuaternionCallback);
+ odom_yaw_publisher = n.advertise("amcl_yaw", 1000);
+ odom_quat_subscriber = n.subscribe("amcl_pose", 1000, OdomQuaternionCallback);
+ //Check for incoming quaternions
+ ROS_INFO("waiting for quaternion");
+ ros::spin();
+ return 0;
+}
diff --git a/convert_orientation/src/qt_filtered.cpp b/convert_orientation/src/qt_filtered.cpp
new file mode 100755
index 0000000..9eed474
--- /dev/null
+++ b/convert_orientation/src/qt_filtered.cpp
@@ -0,0 +1,64 @@
+#include "ros/ros.h"
+#include "geometry_msgs/Quaternion.h"
+#include
+#include "sensor_msgs/Imu.h"
+#include "tf/transform_datatypes.h"
+#include "math.h"
+#include
+
+ros::Publisher map_yaw_publisher;
+ros::Subscriber map_quat_subscriber;
+ros::Publisher odom_yaw_publisher;
+ros::Subscriber odom_quat_subscriber;
+
+void MapQuaternionCallback(const nav_msgs::Odometry map_msg)
+{
+ double roll, pitch, yaw;
+ //Transform quaternion to rotation
+ tf::Quaternion quat(map_msg.pose.pose.orientation.x, map_msg.pose.pose.orientation.y, map_msg.pose.pose.orientation.z, map_msg.pose.pose.orientation.w);
+ tf::Matrix3x3(quat).getRPY(roll, pitch, yaw);
+
+ //Publiish the rotation values
+ geometry_msgs::PoseStamped rpy;
+ rpy.header = map_msg.header;
+ rpy.pose.position.x = roll;
+ rpy.pose.position.y = pitch;
+ //rpy.pose.position.z = yaw; //yaw is shown as in rad
+ rpy.pose.position.z = yaw*180/M_PI; //yaw is shown as in degrees
+ map_yaw_publisher.publish(rpy);
+ ROS_INFO("published map yaw angle(degrees): yaw=%f", rpy.pose.position.z);
+}
+
+void OdomQuaternionCallback(const nav_msgs::Odometry odom_msg)
+{
+ double roll, pitch, yaw;
+ //Transform quaternion to rotation
+ tf::Quaternion quat(odom_msg.pose.pose.orientation.x, odom_msg.pose.pose.orientation.y, odom_msg.pose.pose.orientation.z, odom_msg.pose.pose.orientation.w);
+ tf::Matrix3x3(quat).getRPY(roll, pitch, yaw);
+
+ //Publiish the rotation values
+ geometry_msgs::PoseStamped rpy;
+ rpy.header = odom_msg.header;
+ rpy.pose.position.x = roll;
+ rpy.pose.position.y = pitch;
+ //rpy.pose.position.z = yaw; //yaw is shown as in rad
+ rpy.pose.position.z = yaw*180/M_PI; //yaw is shown as in degrees
+ odom_yaw_publisher.publish(rpy);
+ ROS_INFO("published odom yaw angle(degrees): yaw=%f", rpy.pose.position.z);
+}
+
+int main(int argc, char **argv)
+{
+ ros::init(argc, argv, "quaternion");
+ ros::NodeHandle n;
+
+ // Publisher and Subscriber (Subscribe IMU)
+ map_yaw_publisher = n.advertise("yaw_filtered_map", 1000);
+ map_quat_subscriber = n.subscribe("odom_filtered_map", 1000, MapQuaternionCallback);
+ odom_yaw_publisher = n.advertise("yaw_filtered_odom", 1000);
+ odom_quat_subscriber = n.subscribe("odom_filtered_odom", 1000, OdomQuaternionCallback);
+ //Check for incoming quaternions
+ ROS_INFO("waiting for quaternion");
+ ros::spin();
+ return 0;
+}
diff --git a/data/g2o/readme.txt b/data/g2o/readme.txt
new file mode 100644
index 0000000..3623022
--- /dev/null
+++ b/data/g2o/readme.txt
@@ -0,0 +1 @@
+Rosbags processed into g2o format will be added in here
\ No newline at end of file
diff --git a/data/rosbag/readme.txt b/data/rosbag/readme.txt
new file mode 100644
index 0000000..9226c52
--- /dev/null
+++ b/data/rosbag/readme.txt
@@ -0,0 +1 @@
+Add in collected rosbags here
\ No newline at end of file
diff --git a/data_analysis/record_pose.py b/data_analysis/record_pose.py
new file mode 100644
index 0000000..ab6ca03
--- /dev/null
+++ b/data_analysis/record_pose.py
@@ -0,0 +1,79 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+import rospy
+from geometry_msgs.msg import Twist, Pose
+from gazebo_msgs.msg import LinkStates
+from nav_msgs.msg import Odometry
+import numpy as np
+import matplotlib.pyplot as plt
+
+lastGT = Pose()
+lastPose = Pose()
+GTList = []
+poseList = []
+
+GT = rospy.Publisher('/GT', Odometry, queue_size=1)
+
+def GroundTruthCallback(data):
+ global lastGT
+ global lastPose
+ pose = data.pose[6]
+ lastGT = pose
+
+ if(len(poseList)>0):
+ msg = lastPose
+ msg.pose.pose=lastGT
+ GT.publish(msg)
+
+ #rospy.loginfo("GT %f %f %f", pose.position.x, -pose.position.y, pose.position.z)
+
+def PoseCallback(data):
+ global lastGT
+ global lastPose
+ lastPose = data
+ pose = data.pose.pose
+ poseList.append([pose.position.x,pose.position.y,pose.position.z])
+ GTList.append([lastGT.position.x,lastGT.position.y,lastGT.position.z])
+
+ rospy.loginfo("Pose %f %f %f", pose.position.x, pose.position.y, pose.position.z)
+ rospy.loginfo("GT %f %f %f", lastGT.position.x, lastGT.position.y, lastGT.position.z)
+
+ # data.pose.pose = lastGT
+ # GT.publish(data)
+
+if __name__=="__main__":
+
+ rospy.init_node('data_listener')
+ rospy.Subscriber("/gazebo/link_states", LinkStates, GroundTruthCallback)
+ rospy.Subscriber("/currentPose", Odometry, PoseCallback)
+ # spin() simply keeps python from exiting until this node is stopped
+ rospy.spin()
+
+ GTList = np.array(GTList)
+ poseList = np.array(poseList)
+ print(GTList.shape,poseList.shape)
+
+ plt.subplot(311)
+
+ ax1 = plt.subplot(3, 1, 1)
+ ax1.plot(GTList[:,0],label='GT')
+ ax1.plot(poseList[:,0],label='pose')
+ ax1.set(ylabel='x')
+ ax1.legend()
+
+ ax2 = plt.subplot(3, 1, 2)
+ ax2.plot(GTList[:,1])
+ ax2.plot(poseList[:,1])
+ ax2.set(ylabel='y')
+
+ ax3 = plt.subplot(3, 1, 3)
+ ax3.plot(GTList[:,2])
+ ax3.plot(poseList[:,2])
+ ax3.set(ylabel='z')
+
+ plt.show()
+
+ np.save('GTList.npy',GTList)
+ np.save('poseList.npy',poseList)
+
+
diff --git a/parse_rosbag/CMakeLists.txt b/parse_rosbag/CMakeLists.txt
new file mode 100644
index 0000000..e0e5471
--- /dev/null
+++ b/parse_rosbag/CMakeLists.txt
@@ -0,0 +1,45 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(parse_rosbag)
+
+set(CMAKE_SOURCE_DIR "/home/devin/catkin_ws/src")
+set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_CXX_FLAGS "-std=c++11")
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
+
+
+find_package(catkin REQUIRED COMPONENTS
+ geometry_msgs
+ nav_msgs
+ sensor_msgs
+ roscpp
+ rospy
+ rosbag
+ std_msgs
+ image_transport
+ cv_bridge
+ tf
+)
+
+find_package(Eigen3 REQUIRED)
+find_package(PCL REQUIRED)
+find_package(OpenCV 3.2.0 REQUIRED)
+
+include_directories(
+ include
+ ${catkin_INCLUDE_DIRS}
+ ${PCL_INCLUDE_DIRS}
+
+ ${OpenCV_INCLUDE_DIRS})
+
+catkin_package(
+ CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs
+ DEPENDS EIGEN3 PCL
+ INCLUDE_DIRS include
+)
+
+add_executable(parse_rosbag parse_rosbag.cpp)
+target_link_libraries(parse_rosbag ${catkin_LIBRARIES} ${OpenCV_LIBS} ${PCL_LIBRARIES})
+
+# catkin_install_python(PROGRAMS scripts/Odometry.py
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
diff --git a/parse_rosbag/GTList.npy b/parse_rosbag/GTList.npy
new file mode 100644
index 0000000..5520273
Binary files /dev/null and b/parse_rosbag/GTList.npy differ
diff --git a/parse_rosbag/include/common.h b/parse_rosbag/include/common.h
new file mode 100644
index 0000000..a504100
--- /dev/null
+++ b/parse_rosbag/include/common.h
@@ -0,0 +1,5 @@
+#pragma once
+
+#include
+
+
diff --git a/parse_rosbag/output.g2o b/parse_rosbag/output.g2o
new file mode 100644
index 0000000..329431f
--- /dev/null
+++ b/parse_rosbag/output.g2o
@@ -0,0 +1,47965 @@
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+EDGE_SE2 23938 23939 2.90773694529e-06 0 -0.00188133924411 0.03 0.0 0.0 0.03 0.0 0.01
+VERTEX_SE2 23938 -923.022170943 94.7098762419 -2.92664184816
+VERTEX_SE2 23939 -923.022173783 94.7098756164 -2.9285231874
+EDGE_SE2 23939 23940 1.57468478911e-06 0 -0.00141471839637 0.03 0.0 0.0 0.03 0.0 0.01
+VERTEX_SE2 23940 -923.022175321 94.7098752812 -2.9299379058
+VERTEX_SE2 23941 -923.022174137 94.7098755375 -2.93135267911
+EDGE_SE2 23940 23941 -1.21192542564e-06 0 -0.00141477331026 0.03 0.0 0.0 0.03 0.0 0.01
+EDGE_SE2 23941 23942 1.81513891568e-07 0 -0.00156923006266 0.03 0.0 0.0 0.03 0.0 0.01
+VERTEX_SE2 23942 -923.022174314 94.7098754993 -2.93292190917
+VERTEX_SE2 23943 -923.022176124 94.7098751127 -2.93464909365
+EDGE_SE2 23942 23943 1.85104553086e-06 0 -0.0017271844808 0.03 0.0 0.0 0.03 0.0 0.01
+VERTEX_SE2 23944 -923.022178655 94.7098745778 -2.93606108241
+EDGE_SE2 23943 23944 2.58618571302e-06 0 -0.0014119887542 0.03 0.0 0.0 0.03 0.0 0.01
+EDGE_SE2 23944 23945 -1.0390920671e-06 0 -0.00156840987645 0.03 0.0 0.0 0.03 0.0 0.01
+VERTEX_SE2 23945 -923.022177638 94.7098747914 -2.93762949228
+EDGE_SE2 23945 23946 -7.9346726737e-07 0 -0.00172560762331 0.03 0.0 0.0 0.03 0.0 0.01
+VERTEX_SE2 23946 -923.022176861 94.7098749535 -2.93935509991
+VERTEX_SE2 23947 -923.022177213 94.7098748808 -2.9407681209
+EDGE_SE2 23946 23947 3.5951411384e-07 0 -0.00141302099117 0.03 0.0 0.0 0.03 0.0 0.01
+EDGE_SE2 23947 23948 3.45392217378e-06 0 -0.00157100189511 0.03 0.0 0.0 0.03 0.0 0.01
+VERTEX_SE2 23948 -923.022180596 94.7098741865 -2.94233912279
+EDGE_SE2 23948 23949 1.58290191234e-07 0 -0.00173033061664 0.03 0.0 0.0 0.03 0.0 0.01
+VERTEX_SE2 23949 -923.022180752 94.7098741549 -2.94406945341
+VERTEX_SE2 23950 -923.022178687 94.7098745715 -2.94564151532
+EDGE_SE2 23949 23950 -2.10653330622e-06 0 -0.00157206191081 0.03 0.0 0.0 0.03 0.0 0.01
+EDGE_SE2 23950 23951 -9.77245764674e-07 0 -0.00157116040535 0.03 0.0 0.0 0.03 0.0 0.01
+VERTEX_SE2 23951 -923.022177728 94.7098747633 -2.94721267573
+VERTEX_SE2 23952 -923.022175885 94.7098751293 -2.94878490183
+EDGE_SE2 23951 23952 -1.87968080686e-06 0 -0.00157222610517 0.03 0.0 0.0 0.03 0.0 0.01
+EDGE_SE2 23952 23953 -2.17054265335e-06 0 -0.00188207687804 0.03 0.0 0.0 0.03 0.0 0.01
+VERTEX_SE2 23953 -923.022173755 94.7098755492 -2.95066697871
+VERTEX_SE2 23954 -923.022173852 94.7098755304 -2.95129613232
+EDGE_SE2 23953 23954 9.86984727836e-08 0 -0.000629153606388 0.03 0.0 0.0 0.03 0.0 0.01
+EDGE_SE2 23954 23955 3.30943902477e-07 0 -0.00109863719595 0.03 0.0 0.0 0.03 0.0 0.01
+VERTEX_SE2 23955 -923.022174177 94.7098754674 -2.95239476951
+EDGE_SE2 23955 23956 1.11575452407e-05 0 -0.00408116642124 0.03 0.0 0.0 0.03 0.0 0.01
+EDGE_SE2 23956 23957 4.29717882793e-07 0 -0.00062845760955 0.03 0.0 0.0 0.03 0.0 0.01
+VERTEX_SE2 23956 -923.022185127 94.7098733243 -2.95647593593
+VERTEX_SE2 23957 -923.022185549 94.709873245 -2.95710439354
+VERTEX_SE2 23958 -923.022187175 94.7098729394 -2.95836170062
+EDGE_SE2 23957 23958 1.65473362682e-06 0 -0.00125730707536 0.03 0.0 0.0 0.03 0.0 0.01
+EDGE_SE2 23958 23959 -1.06799717141e-06 0 -0.00220154468785 0.03 0.0 0.0 0.03 0.0 0.01
+VERTEX_SE2 23959 -923.022186126 94.7098731363 -2.96056324531
+VERTEX_SE2 23960 -923.022186006 94.7098731582 -2.96150485498
+EDGE_SE2 23959 23960 -1.21349148039e-07 0 -0.000941609671031 0.03 0.0 0.0 0.03 0.0 0.01
+EDGE_SE2 23960 23961 -6.53751837402e-07 0 -0.00141328954484 0.03 0.0 0.0 0.03 0.0 0.01
+VERTEX_SE2 23961 -923.022185363 94.7098732762 -2.96291814452
+VERTEX_SE2 23962 -923.022185399 94.7098732697 -2.96291818112
+EDGE_SE2 23961 23962 3.65999516037e-08 0 -3.65999554479e-08 0.03 0.0 0.0 0.03 0.0 0.01
+EDGE_SE2 100 11623 0.0575795 0.0765976 -0.569192 10000 1000 1000 10000 1000 10000
+EDGE_SE2 203 11733 0.0329018 0.0985892 -0.3839 10000 1000 1000 10000 1000 10000
+EDGE_SE2 1 11947 0.010235 0.0971198 -0.0563318 10000 1000 1000 10000 1000 10000
+EDGE_SE2 100 11947 0.00301364 0.0690541 -0.0545897 10000 1000 1000 10000 1000 10000
+EDGE_SE2 203 11947 0.00390007 0.0851042 -0.0361554 10000 1000 1000 10000 1000 10000
+EDGE_SE2 100 12051 0.046669 0.0894215 0.043569 10000 1000 1000 10000 1000 10000
+EDGE_SE2 1 12177 -0.0212629 0.0281328 0.0571141 10000 1000 1000 10000 1000 10000
+EDGE_SE2 100 12177 -0.0280232 -0.0261418 0.0519914 10000 1000 1000 10000 1000 10000
+EDGE_SE2 203 12177 -0.0506912 0.0082989 0.0729886 10000 1000 1000 10000 1000 10000
+EDGE_SE2 308 12177 0.0302117 -0.180173 0.0369086 10000 1000 1000 10000 1000 10000
+EDGE_SE2 1 12285 -0.00663875 0.0895112 0.0776431 10000 1000 1000 10000 1000 10000
+EDGE_SE2 100 12285 -0.021284 0.0566822 0.0673698 10000 1000 1000 10000 1000 10000
+EDGE_SE2 308 12285 0.049804 -0.0584371 0.055784 10000 1000 1000 10000 1000 10000
+EDGE_SE2 412 12285 0.077032 -0.0683561 0.0529035 10000 1000 1000 10000 1000 10000
+EDGE_SE2 100 12393 -0.0489594 0.0636535 0.0634169 10000 1000 1000 10000 1000 10000
+EDGE_SE2 308 12393 0.0033487 -0.0487781 0.0536859 10000 1000 1000 10000 1000 10000
+EDGE_SE2 412 12393 0.034734 -0.0875862 0.048371 10000 1000 1000 10000 1000 10000
+EDGE_SE2 517 12393 0.0794692 -0.0234807 0.0577423 10000 1000 1000 10000 1000 10000
+EDGE_SE2 619 12496 0.0972216 0.0730868 0.055623 10000 1000 1000 10000 1000 10000
+EDGE_SE2 412 12599 -0.0515035 0.0759954 0.0615818 10000 1000 1000 10000 1000 10000
+EDGE_SE2 619 12599 0.00321877 0.051336 0.0622306 10000 1000 1000 10000 1000 10000
+EDGE_SE2 517 12705 -0.0392768 0.0524975 0.0504958 10000 1000 1000 10000 1000 10000
+EDGE_SE2 619 12705 0.00819255 0.0685866 0.0624615 10000 1000 1000 10000 1000 10000
+EDGE_SE2 517 12810 -0.0515979 0.0630455 0.0534783 10000 1000 1000 10000 1000 10000
+EDGE_SE2 619 12810 -0.0187559 0.0225736 0.0585652 10000 1000 1000 10000 1000 10000
+EDGE_SE2 720 12810 -0.0288483 0.0217564 0.0534457 10000 1000 1000 10000 1000 10000
+EDGE_SE2 821 12810 -0.0167235 0.00168958 0.0503518 10000 1000 1000 10000 1000 10000
+EDGE_SE2 923 12810 0.0400337 0.0374933 0.0549967 10000 1000 1000 10000 1000 10000
+EDGE_SE2 1025 12810 0.0771679 0.0604133 0.0562467 10000 1000 1000 10000 1000 10000
+EDGE_SE2 619 12918 -0.0223276 0.0504361 0.0586625 10000 1000 1000 10000 1000 10000
+EDGE_SE2 720 12918 -0.0345503 0.0414878 0.0530307 10000 1000 1000 10000 1000 10000
+EDGE_SE2 821 12918 -0.0150724 0.0365113 0.0515807 10000 1000 1000 10000 1000 10000
+EDGE_SE2 10140 22279 0.0415812 -0.0089229 0.0431908 10000 1000 1000 10000 1000 10000
+EDGE_SE2 10034 22503 0.00248109 0.0214688 0.0260794 10000 1000 1000 10000 1000 10000
+EDGE_SE2 10140 22503 0.044189 -0.0262622 0.0386167 10000 1000 1000 10000 1000 10000
+EDGE_SE2 10248 22503 0.038905 0.0132402 0.0356547 10000 1000 1000 10000 1000 10000
+EDGE_SE2 10357 22503 0.0808061 -0.00186482 0.0391732 10000 1000 1000 10000 1000 10000
+EDGE_SE2 10462 22605 0.0712692 0.00266262 0.0403012 10000 1000 1000 10000 1000 10000
+EDGE_SE2 10564 22605 0.0505052 0.0207255 0.0403979 10000 1000 1000 10000 1000 10000
+EDGE_SE2 10462 22706 -0.0160532 0.0310058 0.0467309 10000 1000 1000 10000 1000 10000
diff --git a/parse_rosbag/package.xml b/parse_rosbag/package.xml
new file mode 100644
index 0000000..ba1fcda
--- /dev/null
+++ b/parse_rosbag/package.xml
@@ -0,0 +1,39 @@
+
+
+ parse_rosbag
+ 1.0.0
+
+
+ an auto vehicle parking SLAM system
+
+
+ liuguitao
+
+ BSD
+
+ Liu Guitao
+
+ catkin
+ geometry_msgs
+ nav_msgs
+ roscpp
+ rospy
+ std_msgs
+ rosbag
+ sensor_msgs
+ tf
+ image_transport
+
+ geometry_msgs
+ nav_msgs
+ sensor_msgs
+ roscpp
+ rospy
+ std_msgs
+ rosbag
+ tf
+ image_transport
+
+
+
+
diff --git a/parse_rosbag/parse_rosbag.cpp b/parse_rosbag/parse_rosbag.cpp
new file mode 100644
index 0000000..3aacd23
--- /dev/null
+++ b/parse_rosbag/parse_rosbag.cpp
@@ -0,0 +1,240 @@
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+
+typedef pcl::PointXYZRGB PointType;
+
+int main(int argc, char *argv[]){
+ ros::init(argc, argv, "bag_it");
+ ros::NodeHandle nh;
+
+ std::string fileName;
+
+ double icpFitnessScoreThresh = 0.1;
+ double closeThresh = 0.1;
+
+ if(argc>=2){
+ fileName = argv[1];
+ }
+ else{
+ std::cout<<"argument missing: file name"<=3){
+ icpFitnessScoreThresh = std::stod(argv[2]);
+ closeThresh = std::stod(argv[2]);
+ }
+
+ std::string valuableTopic = "/currentFeatureInWorld";
+ Eigen::Affine3f transWorldCurrent;
+
+ ros::Publisher pubCloudI = nh.advertise("/cloudI", 100);
+ ros::Publisher pubCloudJ = nh.advertise("/cloudJ", 100);
+
+
+ std::vector::Ptr> pointClouds;
+ std::vector pointCloudsTime;
+ std::vector pointCloudsTheta;
+
+ rosbag::Bag bag;
+ std::string dataFile = "/home/catkin_ws/src/AVP-SLAM-PLUS/data/rosbag/";
+ std::string outFile = "/home/catkin_ws/src/AVP-SLAM-PLUS/data/g2o/";
+
+ bag.open(dataFile+fileName+".bag", rosbag::bagmode::Read);
+
+ // file to save the vertex and edges to
+ ofstream myfile;
+ myfile.open (outFile+fileName+".g2o");
+
+ // possible to look at point clouds?
+ //pcl::visualization::CloudViewer viewer("Cloud Viewer");
+ //viewer.showCloud(cloud);
+
+ float currentX=0;
+ float currentY=0;
+ float currentZ=0;
+ float currentRoll=0;
+ float currentPitch=0;
+ float currentYaw=0;
+
+ int vertexCount = 0;
+ int edgeCount = 0;
+
+ for(rosbag::MessageInstance const m: rosbag::View(bag))
+ {
+ std::string topic = m.getTopic();
+ ros::Time time = m.getTime();
+
+ std_msgs::String::ConstPtr s = m.instantiate();
+ if (s != NULL){
+ std::string text = s->data;
+ // myfile << text << std::endl;
+
+ size_t pos = text.find(" ");
+ std::string name = text.substr(0, pos);
+ if(name == "VERTEX_SE2"){
+ text = text.erase(0,pos+1);
+ pos = text.find(" ");
+ //ignore time
+ text = text.erase(0,pos+1);
+ myfile << name << " " << vertexCount << " " << text << std::endl;
+
+ //trim x
+ pos = text.find(" ");
+ text = text.erase(0,pos+1);
+ //trim y
+ pos = text.find(" ");
+ text = text.erase(0,pos+1);
+ //save yaw
+ currentYaw = std::stod(text);
+
+ vertexCount ++;
+
+ }
+ else if(name == "EDGE_SE2" && vertexCount>0){
+ text = text.erase(0,pos+1);
+ pos = text.find(" ");
+ //ignore time 1
+ text = text.erase(0,pos+1);
+ pos = text.find(" ");
+ //ignore time 2
+ text = text.erase(0,pos+1);
+ myfile << name << " " << edgeCount << " " << edgeCount+1 << " " << text << std::endl;
+ edgeCount ++;
+
+ }
+
+ }
+
+ sensor_msgs::PointCloud2::ConstPtr input = m.instantiate();
+ if (input != nullptr && vertexCount!=0){
+ pcl::PointCloud::Ptr cloud(new pcl::PointCloud);
+ pcl::fromROSMsg(*input,*cloud);
+
+ pointClouds.push_back(cloud);
+ pointCloudsTime.push_back(vertexCount);
+ pointCloudsTheta.push_back(currentYaw);
+ }
+ }
+
+ bag.close();
+ std::cout<<"done reading "< icp;
+ icp.setMaxCorrespondenceDistance(20);
+ icp.setMaximumIterations(100);
+ icp.setTransformationEpsilon(1e-10);
+ icp.setEuclideanFitnessEpsilon(0.001);
+
+ for(int j=ignoredClouds;j::Ptr cloud_j = pointClouds[j];
+
+ //transform cloud to map orientation
+ pcl::PointCloud::Ptr transformed_cloud_j (new pcl::PointCloud ());
+ Eigen::Affine3f transform = Eigen::Affine3f::Identity();
+ transform.rotate (Eigen::AngleAxisf (-pointCloudsTheta[j], Eigen::Vector3f::UnitZ()));
+ pcl::transformPointCloud (*cloud_j, *transformed_cloud_j, transform);
+
+ icp.setInputTarget(transformed_cloud_j);
+
+ for(int i=0;i::Ptr cloud_i = pointClouds[i];
+
+ //transform cloud to map orientation
+ pcl::PointCloud::Ptr transformed_cloud_i (new pcl::PointCloud ());
+ transform = Eigen::Affine3f::Identity();
+ transform.rotate (Eigen::AngleAxisf (-pointCloudsTheta[i], Eigen::Vector3f::UnitZ()));
+ pcl::transformPointCloud (*cloud_i, *transformed_cloud_i, transform);
+
+ icp.setInputSource(transformed_cloud_i);
+
+ pcl::PointCloud::Ptr transCurrentCloudInWorld(new pcl::PointCloud());
+ icp.align(*transCurrentCloudInWorld);
+
+ double icpScore = icp.getFitnessScore();
+
+ //if the score is good then find the transformation
+ if (icp.hasConverged() == false || icpScore > icpFitnessScoreThresh) {
+ //std::cout << "ICP locolization failed the score is " << icpScore << std::endl;
+ }
+ else {
+ //std::cout<<"passed "< control_speed:
control_speed = min( target_speed, control_speed + 0.02 )
elif target_speed < control_speed:
@@ -123,7 +123,9 @@ def vels(speed,turn):
control_turn = max( target_turn, control_turn - 0.1 )
else:
control_turn = target_turn
-
+ '''
+ control_speed = target_speed
+ control_turn = target_turn
twist = Twist()
twist.linear.x = control_speed;
diff --git a/simlate_gazebo/robot_control/scripts/robot_path.py b/simlate_gazebo/robot_control/scripts/robot_path.py
new file mode 100755
index 0000000..685e3b8
--- /dev/null
+++ b/simlate_gazebo/robot_control/scripts/robot_path.py
@@ -0,0 +1,106 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+import rospy
+from geometry_msgs.msg import Twist
+import math
+import time
+
+#moves = [(0.5,0,120),(0,math.pi/20,20),(0.5,0,60),(0,0,1)]
+moves = []
+
+def turnLeft90():
+ speed = 0.1
+ moves.append((0,-math.pi/2*speed,1/speed))
+def turnRight90():
+ speed = 0.1
+ moves.append((0,math.pi/2*speed,1/speed))
+def forward(x):
+ speed = 0.5
+ moves.append((speed,0,x/speed))
+def stop():
+ moves.append((0,0,0.1))
+
+distance_from_center = 3
+# turnLeft90()
+# forward(distance_from_center)
+# turnRight90()
+# forward(3*20)
+# turnRight90()
+# forward(distance_from_center*2)
+# turnRight90()
+# forward(3*20-distance_from_center)
+# turnLeft90()
+# forward(2*20-distance_from_center)
+# turnRight90()
+# forward(distance_from_center*2)
+# turnRight90()
+# forward(2*20)
+
+# turnRight90()
+forward(15)
+turnRight90()
+forward(5)
+turnRight90()
+forward(15)
+turnRight90()
+forward(5)
+turnRight90()
+forward(5)
+turnRight90()
+forward(15)
+turnRight90()
+forward(5)
+turnRight90()
+forward(15)
+turnRight90()
+stop()
+
+# for i in range(4):
+# forward(5)
+# turnRight90()
+# stop()
+
+timeSent = 0
+index = 0
+twist = Twist()
+
+if __name__=="__main__":
+
+
+ #pub = rospy.Publisher('/cmd_vel', Twist, queue_size=5)
+ pub = rospy.Publisher('/ideal_cmd_vel', Twist, queue_size=5)
+ rospy.init_node('mrobot_teleop')
+ rate = rospy.Rate(100)
+
+ try:
+
+ while not rospy.is_shutdown():
+
+ if(time.time()>timeSent):
+ move = moves[index]
+ index+=1
+ if(index>=len(moves)):
+ break
+
+ print('performing',move,time.time())
+
+ twist.linear.x = move[0]
+ twist.linear.y = 0
+ twist.linear.z = 0
+ twist.angular.x = 0
+ twist.angular.y = 0
+ twist.angular.z = move[1]
+
+ timeSent = time.time()+move[2]*1.0742
+
+ pub.publish(twist)
+ rate.sleep()
+
+ except:
+ pass
+
+ finally:
+ twist = Twist()
+ twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
+ twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
+ pub.publish(twist)
diff --git a/simlate_gazebo/simulate_enviroment/config/simulate_environment.rviz b/simlate_gazebo/simulate_enviroment/config/simulate_environment.rviz
index b953057..5780cf4 100644
--- a/simlate_gazebo/simulate_enviroment/config/simulate_environment.rviz
+++ b/simlate_gazebo/simulate_enviroment/config/simulate_environment.rviz
@@ -65,7 +65,7 @@ Visualization Manager:
X: 0
Y: 0
Z: 0
- Plane: XZ
+ Plane: XY
Plane Cell Count: 100
Reference Frame:
Value: false
@@ -129,29 +129,29 @@ Visualization Manager:
map:
camera0_link:
{}
- odom:
- base_footprint:
- base_link:
- camera1_link:
- {}
- camera2_link:
- {}
- camera3_link:
- {}
- camera4_link:
+ odom:
+ base_footprint:
+ base_link:
+ camera1_link:
+ {}
+ camera2_link:
+ {}
+ camera3_link:
+ {}
+ camera4_link:
+ {}
+ camera5_link:
+ {}
+ front_caster_link:
+ {}
+ xMark_link:
+ {}
+ yMark_link:
+ {}
+ wheel_left_link:
{}
- camera5_link:
+ wheel_right_link:
{}
- front_caster_link:
- {}
- xMark_link:
- {}
- yMark_link:
- {}
- wheel_left_link:
- {}
- wheel_right_link:
- {}
Update Interval: 0
Value: true
- Class: rviz/Image
@@ -431,7 +431,7 @@ Visualization Manager:
Value: true
Value: true
Enabled: true
- Keep: 10
+ Keep: 1
Name: Odometry
Position Tolerance: 0.10000000149011612
Shape:
@@ -503,25 +503,25 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 104.35429382324219
+ Distance: 100
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: 36.855648040771484
- Y: -13.89575481414795
- Z: 21.03369140625
+ X: 30
+ Y: -10
+ Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
- Pitch: -0.29479753971099854
+ Pitch: 1.57
Target Frame:
Value: Orbit (rviz)
- Yaw: 1.6716673374176025
+ Yaw: 3.14
Saved: ~
Window Geometry:
Displays: