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ROSBuzz_MISTLab
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first uesrs stigmergy

This commit is contained in:
dave 2017-04-25 20:27:28 -04:00
parent bb1ec20e37
commit 52bed0536f
2 changed files with 30 additions and 24 deletions
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52
src/roscontroller.cpp
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@ -411,8 +411,11 @@ namespace rosbzz_node{
// SOLO SPECIFIC: SITL DOES NOT USE 21 TO LAND -- workaround: set to LAND mode // SOLO SPECIFIC: SITL DOES NOT USE 21 TO LAND -- workaround: set to LAND mode
switch(buzzuav_closures::getcmd()){ switch(buzzuav_closures::getcmd()){
case mavros_msgs::CommandCode::NAV_LAND: case mavros_msgs::CommandCode::NAV_LAND:
if(current_mode != "LAND") if(current_mode != "LAND") {
{SetMode("LAND", 0);} SetMode("LAND", 0);
armstate = 0;
Arm();
}
if (mav_client.call(cmd_srv)){ if (mav_client.call(cmd_srv)){
ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success); ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success);
} else } else
@ -560,12 +563,12 @@ namespace rosbzz_node{
double radius_north = prime_vertical_radius * (1 - excentrity2) * temp; double radius_north = prime_vertical_radius * (1 - excentrity2) * temp;
double radius_east = prime_vertical_radius * cos(DEG2RAD(DEFAULT_REFERENCE_LATITUDE)); double radius_east = prime_vertical_radius * cos(DEG2RAD(DEFAULT_REFERENCE_LATITUDE));
double d_lon = nei[1] - cur[1]; /*double d_lon = nei[1] - cur[1];
double d_lat = nei[0] - cur[0]; double d_lat = nei[0] - cur[0];
double ned[3]; double ned[3];
ned[0] = DEG2RAD(d_lat) * radius_north;//EARTH_RADIUS; ned[0] = DEG2RAD(d_lat) * radius_north;//EARTH_RADIUS;
ned[1] = -DEG2RAD(d_lon) * radius_east; //EARTH_RADIUS ned[1] = -DEG2RAD(d_lon) * radius_east; //EARTH_RADIUS
/*double ecef[3]; double ecef[3];
double llh[3];llh[0]=DEG2RAD(cur[0]);llh[1]=DEG2RAD(cur[1]);llh[2]=cur[2]; double llh[3];llh[0]=DEG2RAD(cur[0]);llh[1]=DEG2RAD(cur[1]);llh[2]=cur[2];
double d = WGS84_E * sin(llh[0]); double d = WGS84_E * sin(llh[0]);
double N = WGS84_A / sqrt(1. - d*d); double N = WGS84_A / sqrt(1. - d*d);
@ -584,27 +587,29 @@ namespace rosbzz_node{
double ned[3]; double ned[3];
matrix_multiply(3, 3, 1, (double *)M, ecef, ned); matrix_multiply(3, 3, 1, (double *)M, ecef, ned);
out[0] = sqrt(ned[0]*ned[0]+ned[1]*ned[1]);
out[0] = std::floor(out[0] * 1000000) / 1000000;
out[1] = atan2(ned[1],ned[0]);
out[1] = std::floor(out[1] * 1000000) / 1000000;
out[2] = 0.0;*/
double d_lon = nei[1] - cur[1]; double d_lon = nei[1] - cur[1];
double d_lat = nei[0] - cur[0]; double d_lat = nei[0] - cur[0];
double ned_x = DEG2RAD(d_lat) * EARTH_RADIUS; double ned_x = DEG2RAD(d_lat) * EARTH_RADIUS;
double ned_y = DEG2RAD(d_lon) * EARTH_RADIUS * cos(DEG2RAD(nei[0])); double ned_y = DEG2RAD(d_lon) * EARTH_RADIUS * cos(DEG2RAD(nei[0]));
out[0] = sqrt(ned_x*ned_x+ned_y*ned_y); out[0] = sqrt(ned_x*ned_x+ned_y*ned_y);
out[0] = std::floor(out[0] * 1000000) / 1000000; //out[0] = std::floor(out[0] * 1000000) / 1000000;
out[1] = atan2(ned_y,ned_x); out[1] = atan2(ned_y,ned_x);
out[1] = std::floor(out[1] * 1000000) / 1000000; //out[1] = std::floor(out[1] * 1000000) / 1000000;
out[2] = 0.0;*/
out[0] = sqrt(ned[0]*ned[0]+ned[1]*ned[1]);
out[0] = std::floor(out[0] * 1000000) / 1000000;
out[1] = atan2(ned[1],ned[0]);
out[1] = std::floor(out[1] * 1000000) / 1000000;
out[2] = 0.0; out[2] = 0.0;
} }
void roscontroller::cvt_ned_coordinates(double nei[], double out[], double cur[]){ void roscontroller::cvt_ned_coordinates(double nei[], double out[], double cur[]){
// calculate earth radii // calculate earth radii
double temp = 1.0 / (1.0 - excentrity2 * sin(DEG2RAD(DEFAULT_REFERENCE_LATITUDE)) * sin(DEG2RAD(DEFAULT_REFERENCE_LATITUDE))); /*double temp = 1.0 / (1.0 - excentrity2 * sin(DEG2RAD(DEFAULT_REFERENCE_LATITUDE)) * sin(DEG2RAD(DEFAULT_REFERENCE_LATITUDE)));
double prime_vertical_radius = equatorial_radius * sqrt(temp); double prime_vertical_radius = equatorial_radius * sqrt(temp);
double radius_north = prime_vertical_radius * (1 - excentrity2) * temp; double radius_north = prime_vertical_radius * (1 - excentrity2) * temp;
double radius_east = prime_vertical_radius * cos(DEG2RAD(DEFAULT_REFERENCE_LATITUDE)); double radius_east = prime_vertical_radius * cos(DEG2RAD(DEFAULT_REFERENCE_LATITUDE));
@ -617,7 +622,7 @@ namespace rosbzz_node{
out[1] = std::floor(out[1] * 1000000) / 1000000; out[1] = std::floor(out[1] * 1000000) / 1000000;
out[2] = cur[2]; out[2] = cur[2];
// Using functions of the library Swift Nav (https://github.com/swift-nav/libswiftnav) // Using functions of the library Swift Nav (https://github.com/swift-nav/libswiftnav)
/*double ecef[3]; double ecef[3];
double llh[3];llh[0]=DEG2RAD(cur[0]);llh[1]=DEG2RAD(cur[1]);llh[2]=cur[2]; double llh[3];llh[0]=DEG2RAD(cur[0]);llh[1]=DEG2RAD(cur[1]);llh[2]=cur[2];
double d = WGS84_E * sin(llh[0]); double d = WGS84_E * sin(llh[0]);
double N = WGS84_A / sqrt(1. - d*d); double N = WGS84_A / sqrt(1. - d*d);
@ -633,15 +638,15 @@ namespace rosbzz_node{
ref_ecef[2] = ((1 - WGS84_E*WGS84_E)*N + llh[2]) * sin(llh[0]); ref_ecef[2] = ((1 - WGS84_E*WGS84_E)*N + llh[2]) * sin(llh[0]);
double M[3][3]; double M[3][3];
ecef2ned_matrix(ref_ecef, M); ecef2ned_matrix(ref_ecef, M);
matrix_multiply(3, 3, 1, (double *)M, ecef, out); matrix_multiply(3, 3, 1, (double *)M, ecef, out);*/
double d_lon = nei[1] - cur[1]; double d_lon = nei[1] - cur[1];
double d_lat = nei[0] - cur[0]; double d_lat = nei[0] - cur[0];
out[0] = DEG2RAD(d_lat) * EARTH_RADIUS; out[0] = DEG2RAD(d_lat) * EARTH_RADIUS;
out[0] = std::floor(out[0] * 1000000) / 1000000; //out[0] = std::floor(out[0] * 1000000) / 1000000;
out[1] = DEG2RAD(d_lon) * EARTH_RADIUS * cos(DEG2RAD(nei[0])); out[1] = DEG2RAD(d_lon) * EARTH_RADIUS * cos(DEG2RAD(nei[0]));
out[1] = std::floor(out[1] * 1000000) / 1000000; //out[1] = std::floor(out[1] * 1000000) / 1000000;
out[2] = 0.0;*/ out[2] = 0.0;
} }
/*------------------------------------------------------ /*------------------------------------------------------
@ -679,15 +684,15 @@ namespace rosbzz_node{
void roscontroller::current_pos(const sensor_msgs::NavSatFix::ConstPtr& msg){ void roscontroller::current_pos(const sensor_msgs::NavSatFix::ConstPtr& msg){
//ROS_INFO("Altitude out: %f", cur_rel_altitude); //ROS_INFO("Altitude out: %f", cur_rel_altitude);
fcu_timeout = TIMEOUT; fcu_timeout = TIMEOUT;
double lat = std::floor(msg->latitude * 1000000) / 1000000; //double lat = std::floor(msg->latitude * 1000000) / 1000000;
double lon = std::floor(msg->longitude * 1000000) / 1000000; //double lon = std::floor(msg->longitude * 1000000) / 1000000;
/*if(cur_rel_altitude<1.2){ /*if(cur_rel_altitude<1.2){
home[0]=lat; home[0]=lat;
home[1]=lon; home[1]=lon;
home[2]=cur_rel_altitude; home[2]=cur_rel_altitude;
}*/ }*/
set_cur_pos(lat,lon, cur_rel_altitude);//msg->altitude); set_cur_pos(msg->latitude, msg->longitude, cur_rel_altitude);//msg->altitude);
buzzuav_closures::set_currentpos(lat,lon, cur_rel_altitude);//msg->altitude); buzzuav_closures::set_currentpos(msg->latitude, msg->longitude, cur_rel_altitude);//msg->altitude);
} }
void roscontroller::users_pos(const rosbuzz::neigh_pos data){ void roscontroller::users_pos(const rosbuzz::neigh_pos data){
//ROS_INFO("Altitude out: %f", cur_rel_altitude); //ROS_INFO("Altitude out: %f", cur_rel_altitude);
@ -738,7 +743,8 @@ namespace rosbzz_node{
moveMsg.header.frame_id = 1; moveMsg.header.frame_id = 1;
double local_pos[3]; double local_pos[3];
cvt_ned_coordinates(cur_pos,local_pos,home); cvt_ned_coordinates(cur_pos,local_pos,home);
ROS_INFO("ROSBuzz LocalPos: %.7f,%.7f",local_pos[0],local_pos[1]); ROS_INFO("[%i] ROSBuzz Home: %.7f, %.7f", robot_id, home[0], home[1]);
ROS_INFO("[%i] ROSBuzz LocalPos: %.7f, %.7f", robot_id, local_pos[0], local_pos[1]);
/*prepare the goto publish message ATTENTION: ENU FRAME FOR MAVROS STANDARD (then converted to NED)*/ /*prepare the goto publish message ATTENTION: ENU FRAME FOR MAVROS STANDARD (then converted to NED)*/
moveMsg.pose.position.x = local_pos[1]+y; moveMsg.pose.position.x = local_pos[1]+y;

2
src/testflocksim.bzz
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@ -16,7 +16,7 @@ CURSTATE = "TURNEDOFF"
# Lennard-Jones parameters # Lennard-Jones parameters
TARGET = 12.0 TARGET = 12.0
EPSILON = 10.0 EPSILON = 12.0
# Lennard-Jones interaction magnitude # Lennard-Jones interaction magnitude
function lj_magnitude(dist, target, epsilon) { function lj_magnitude(dist, target, epsilon) {