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@ -13,6 +13,7 @@ find_package(catkin REQUIRED COMPONENTS
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message_generation
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message_runtime
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roscpp
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controller_msgs
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)
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## System dependencies are found with CMake's conventions
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@ -75,6 +76,8 @@ generate_messages(
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DEPENDENCIES
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std_msgs
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geometry_msgs
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sensor_msgs
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controller_msgs
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)
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################################################
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23
README.md
23
README.md
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@ -104,7 +104,7 @@ Initilize rosdep:
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### ROMFS/PX4FMU_COMMON
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- copy (or add) files in _oscillation_ctrl/airframes_ to _PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes_
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cp -R ~catkin_ws/src/oscillation_ctrl/airframes/* PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes
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- add file name to _CmakeLists.txt_ in same 'airframe' folder (with number)
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- add model names to _CmakeLists.txt_ in same 'airframe' folder (with number... 4000_spiri and 4001_spiri_with_tether)
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- add airframe name in _~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake_ (no number!)
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### LAUNCH FILES
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- copy (or add) files from px4_launch directory to '~/PX4-Autopilot/launch'
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@ -122,9 +122,8 @@ In catkin_ws (or any working directory) add to devel/setup.bash:
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## JINJA TETHER FILE
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- _spiri_with_tether.sdf.jinja_ can be altered to create desired tether model
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- changes need to be made in px4 directory and will only take effect and
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"make px4_sitl gazebo"
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- can do DONT_RUN=1 make px4_sitl gazebo to avoid starting px4 shell and gazebo
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- changes need to be made in px4 directory and will only take effect after running: "make px4_sitl gazebo"
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- can do "DONT_RUN=1 make px4_sitl gazebo" to avoid starting px4 shell and gazebo
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- First two elements can be changed to tweak tether parameters
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- number_elements: number of segments tether will be composed of
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- tl: segment length (should be no shorter than 0.3 meters)
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@ -176,4 +175,20 @@ In catkin_ws (or any working directory) add to devel/setup.bash:
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/command/bodyrate_command
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/mavros/state
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## Launching simulation
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- To launch a simulation, run the following command:
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roslaunch oscillation_ctrl klausen_dampen.launch
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- This simulation is set to have a Spiri Mu hover at an alitude of 5 m.
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- The launch file itself has two usable arguments:
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- __model:__
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spiri_with_tether # default
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spiri
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headless_spiri_with_tether # headless mode: launches with no Gazebo GUI
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headless_spiri
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-__test:__
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none # default
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step # step input - default is 5 m
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square # square trajectory
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- To run the simulation with a tethered payload headless mode and perform a step test:
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roslaunch oscillation_ctrl klausen_dampen.launch model:=headless_spiri_with_tether test:=step
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@ -56,6 +56,7 @@ Launch file to use klausen oscillaton damping ctrl in Gazebo
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pkg="oscillation_ctrl"
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type="perform_test.py"
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name="test_node"
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launch-prefix="xterm -e"
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/>
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</group>
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<node pkg="geometric_controller" type="geometric_controller_node" name="geometric_controller" output="screen">
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14
package.xml
14
package.xml
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@ -21,16 +21,30 @@
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<build_depend>roscpp</build_depend>
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<exec_depend>roscpp</exec_depend>
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<build_depend>rospy</build_depend>
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<exec_depend>rospy</exec_depend>
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<build_depend>geometry_msgs</build_depend>
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<exec_depend>geometry_msgs</exec_depend>
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<build_depend>sensor_msgs</build_depend>
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<exec_depend>sensor_msgs</exec_depend>
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<build_depend>std_msgs</build_depend>
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<exec_depend>std_msgs</exec_depend>
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<build_depend>controller_msgs</build_depend>
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<exec_depend>controller_msgs</exec_depend>
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<build_depend>message_generation</build_depend>
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<build_depend>message_runtime</build_depend>
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<exec_depend>message_runtime</exec_depend>
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<exec_depend>python-numpy</exec_depend>
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<exec_depend>python-scipy</exec_depend>
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<exec_depend>python-pymavlink</exec_depend>
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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<!-- Other tools can request additional information be placed here -->
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@ -205,7 +205,7 @@ class Main:
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def user_feedback(self,gui_timer):
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# Print and save results
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print "\n"
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#print "\n"
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rospy.loginfo("")
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print"Roll: "+str(round(self.drone_Eul[0]*180/3.14,2)),"\nPitch: "+str(round(self.drone_Eul[1]*180/3.14,2)),"\nYaw: "+str(round(self.drone_Eul[2]*180/3.14,2))
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print "drone pos.x: " + str(round(self.drone_Px,2))
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@ -52,7 +52,7 @@ class Main:
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self.EulerAng = [0,0,0] # Will find the euler angles, and then convert to q
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# Drone var
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self.has_run = 0 # Bool to keep track of first run instance
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self.has_run = 0 # Bool to keep track of first run instance
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# Col1 = theta, theta dot; Col2 = phi, phidot for self.PHI
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self.PHI = np.array([[0,0],[0,0]])
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@ -229,7 +229,7 @@ int main(int argc, char **argv)
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attitude.thrust = thrust.thrust;
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// Determine which messages to send
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if(ros::Time::now() - tkoff_req > ros::Duration(30.0) && takeoff){
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if(ros::Time::now() - tkoff_req > ros::Duration(22.0) && takeoff){
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attitude.orientation = q_des;
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attitude.header.stamp = ros::Time::now();
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att_targ.publish(attitude);
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@ -1,12 +1,12 @@
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#!/usr/bin/env python2.7
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### Cesar Rodriguez June 2021
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### Script to generate set points which form a square with 2m side lengths
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### Runs either a step test or a square trajectory to assess controller performance
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import rospy, tf
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import time
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from geometry_msgs.msg import Point
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from std_msgs.msg import Bool
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from oscillation_ctrl.srv import WaypointTrack
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class Main:
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# class method used to initialize variables once when the program starts
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@ -18,18 +18,23 @@ class Main:
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# variable(s)
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self.Point = Point() # Point which will actually be published
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self.xd = Point() # buffer point to determine current location
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self.xd = Point() # buffer point to determine current location
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# Init x, y, & z coordinates
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self.Point.x = 0
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self.Point.y = 0
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self.Point.z = 3.5
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# Test parameters
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# Square
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self.xarray = [1,2,2,2,1,0,0]
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self.yarray = [0,0,1,2,2,2,1]
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self.i = 0
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self.j = 0
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self.buffer = 10
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# Step
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self.step_size = 5.0 # meters
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self.bool = False
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self.param_exists = False # check in case param does not exist
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@ -37,11 +42,13 @@ class Main:
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if rospy.has_param('status/test_type'):
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self.test = rospy.get_param('status/test_type')
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self.param_exists = True
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elif rospy.get_time() - self.tstart >= 3.0 or rospy.get_param('status/test_type') == 'none':
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self.test = 'none'
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break
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# get waypoints
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self.get_xd = rospy.ServiceProxy('/status/waypoint_tracker',WaypointTrack)
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# subscriber(s), with specified topic, message type, and class callback method
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rospy.Subscriber('/status/path_follow',Bool, self.wait_cb)
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@ -57,7 +64,7 @@ class Main:
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def wait_cb(self,data):
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self.bool = data
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def waypoints_srv_cb(self):
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def waypoints_client(self):
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rospy.wait_for_service('/status/waypoint_tracker')
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try:
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resp = self.get_xd(False,self.xd)
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@ -81,7 +88,7 @@ class Main:
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def step(self):
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# Published desired msgs
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self.Point.x = 5 # STEP (meters)
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self.Point.x = self.step_size # STEP (meters)
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def user_feedback(self):
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rospy.loginfo("Sending [Point x] %d [Point y] %d",
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def pub(self,pub_timer):
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if self.bool == False:
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rospy.loginfo('Waiting...')
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self.waypoints_client() # get waypoints while waiting
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elif self.bool == False and self.test == 'none':
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rospy.loginfo('NO TEST WILL BE PERFORMED')
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else:
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@ -91,7 +91,7 @@ class Main:
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self.EPS_I = np.zeros(9) # Epsilon shapefilter
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# Constants for smooth path generation
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self.w_tune = 3.5 # 3.13 works well? #########################################################################
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self.w_tune = 3.13 # 3.13 works well? #########################################################################
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self.epsilon = 0.7 # Damping ratio
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# need exception if we do not have tether:
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@ -108,7 +108,7 @@ class Main:
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# For saturation:
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self.jmax = [3, 3, 1]
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self.amax = [1.5, 1.5, 1]
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self.amax = [2, 2, 1]
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self.vmax = [3, 3, 1]
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self.max = [0, 3, 1.5, 3] #[0, 3, 1.5, 3]
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# create the array: [vmax; amax; jmax]
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@ -0,0 +1,83 @@
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#!/usr/bin/env python2.7
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### Cesar Rodriguez March 2022
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### Reads waypoints from .yaml file and keeps track of them
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import rospy, tf
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import rosservice
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import time
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import math
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from oscillation_ctrl.srv import WaypointTrack, WaypointTrackRequest
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from sensor_msgs.msg import NavSatFix
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class Waypoint:
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def __init__(self,latitude,longitude):
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self.lat = latitude
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self.lon = longitude
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class Main:
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def __init__(self):
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self.request = WaypointTrackRequest()
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self.request.query = True # set to true to set new waypoints
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self.get_xd = WaypointTrackRequest() # need to get desired height
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self.has_run = False
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self.waypoints = []
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self.R = 6371e3 # Earth radius in meters
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self.global_home = NavSatFix()
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# service(s)
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self.waypoint_cl = rospy.ServiceProxy('/status/waypoint_tracker',WaypointTrack)
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# subscribers
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rospy.Subscriber('/mavros/global_position/global', NavSatFix, self.globalPos_cb)
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def globalPos_cb(self,msg):
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if not self.has_run: # Will not run after global home has been set
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if msg.latitude != 0.0 and msg.longitude != 0.0:
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self.gl_home = Waypoint(msg.latitude,msg.longitude) # Save global home
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self.has_run = True
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def run(self):
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self.wp_input()
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self.determine_xd(self.wp)
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self.set_waypoint()
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def wp_input(self):
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# testing:
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self.lat = input('Enter lat: ')
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self.lon = input('Enter lon: ')
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self.lat = 44.6480876
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self.lon = -63.5782662
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self.wp = Waypoint(self.lat,self.lon)
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def determine_xd(self,wp):
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# https://en.wikipedia.org/wiki/Equirectangular_projection
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self.request.xd.x = self.R*(wp.lon - self.gl_home.lon)*(math.pi/180)*math.cos((wp.lat + self.gl_home.lat)*(math.pi/360))
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self.request.xd.y = self.R*(wp.lat - self.gl_home.lat)*(math.pi/180)
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"""
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360 in xd.x because (wp.lat + self.gl_home.lat)/2
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"""
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def set_waypoint(self):
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rospy.wait_for_service('/status/waypoint_tracker')
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try:
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resp = self.waypoint_cl(self.get_xd) # get xd.z
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self.request.xd.z = resp.xd.z
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self.waypoint_cl(self.request)
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rospy.loginfo(self.waypoint_cl(self.get_xd)) # want to return value to give feedback to user?
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except rospy.ServiceException as e:
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print('Service call failed: %s'%e)
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if __name__=="__main__":
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# Initiate ROS node
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rospy.init_node('waypoint_client',anonymous=True)
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try:
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service = Main() # create class object
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service.run()
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rospy.spin() # loop until shutdown signal
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except rospy.ROSInterruptException:
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pass
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