Removed unused dependencies
This commit is contained in:
parent
4682d2fb52
commit
a1dcc77175
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@ -1,4 +1,5 @@
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launch/debug.launch
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launch/mocap_*
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launch/cortex_bridge.launch
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src/MoCap_Localization_*.py
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src/Mocap_*.py
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@ -6,5 +7,6 @@ src/killswitch_client.py
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src/land_client.py
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msg/Marker.msg
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msg/Markers.msg
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launc
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*.rviz
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@ -54,6 +54,7 @@ add_message_files(
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tethered_status.msg
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RefSignal.msg
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EulerAngles.msg
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LoadAngles.msg
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)
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## Generate services in the 'srv' folder
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@ -31,11 +31,13 @@ Launch file to use klausen oscillaton damping ctrl in Gazebo
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pkg="oscillation_ctrl"
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type="wpoint_tracker.py"
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name="waypoints_server"
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launch-prefix="xterm -e"
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/>
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<node
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pkg="oscillation_ctrl"
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type="ref_signalGen.py"
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name="refSignal_node"
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launch-prefix="xterm -e"
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/>
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<node
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pkg="oscillation_ctrl"
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@ -8,7 +8,7 @@ import rosservice
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import time
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import math
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from tf.transformations import *
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from offboard_ex.msg import tethered_status
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from oscillation_ctrl.msg import tethered_status, LoadAngles
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from geometry_msgs.msg import Pose
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from gazebo_msgs.srv import GetLinkState
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from std_msgs.msg import Bool
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@ -35,32 +35,31 @@ class Main:
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self.wait = rospy.get_param('sim/wait') # wait time
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self.param_exists = True
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elif rospy.get_time() - self.tstart >= 3.0:
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self.wait = 0.0
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break
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# Will be set to true when test should start
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self.bool = False
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# initialize variables
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self.phi = 0.0 # Payload angle of deflection from x-axis
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self.theta = 0.0 # Payload angle of deflection from y-axis
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self.tetherL = 0.0 # Tether length
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self.has_run = 0 # Boolean to keep track of first run instance
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self.phidot = 0.0 #
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self.thetadot = 0.0 #
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self.phibuf = 0.0 # Need buffers to determine their rates
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self.thetabuf = 0.0 #
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self.pload = True # Check if payload exists
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# Max dot values to prevent 'blowup'
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self.phidot_max = 3.0
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self.thetadot_max = 3.0
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# Vehicle is spawned with yaw offset for convenience, need to deal with that
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self.yaw_offset = 0.0
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# variables for message gen
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self.status = tethered_status()
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self.status.drone_id = 'spiri_with_tether::spiri::base'
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self.status.pload_id = 'spiri_with_tether::mass::payload'
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self.drone_id = 'spiri_with_tether::spiri::base'
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self.pload_id = 'spiri_with_tether::mass::payload'
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self.loadAngles = LoadAngles()
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# initialize variables
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self.tetherL = 0.0 # Tether length
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self.has_run = 0 # Boolean to keep track of first run instance
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self.phibuf = 0.0 # Need buffers to determine their rates
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self.thetabuf = 0.0 #
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self.pload = True # Check if payload exists
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# Max dot values to prevent 'blowup'
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self.phidot_max = 3.0
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self.thetadot_max = 3.0
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# service(s)
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self.service1 = '/gazebo/get_link_state'
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@ -69,7 +68,8 @@ class Main:
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rospy.wait_for_service(self.service1,timeout=10)
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# publisher(s)
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self.publisher = rospy.Publisher('/status/twoBody_status', tethered_status, queue_size=1)
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self.twobody_pub = rospy.Publisher('/status/twoBody_status', tethered_status, queue_size=1)
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self.loadAng_pub = rospy.Publisher('/status/load_angles', LoadAngles, queue_size=1)
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self.pub_wd = rospy.Publisher('/status/path_follow', Bool, queue_size=1)
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self.pub_timer = rospy.Timer(rospy.Duration(1.0/rate), self.link_state)
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@ -120,18 +120,18 @@ class Main:
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# Establish links needed --> Spiri base and payload
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# P = Position vector
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drone_P = get_P(self.status.drone_id,reference)
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drone_P = get_P(self.drone_id,reference)
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# Get orientation of drone in euler angles to determine yaw offset
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drone_Eul = self.euler_array(drone_P.link_state.pose.orientation)
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# Check if payload is part of simulation
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if not drone_P.success:
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self.status.drone_id = 'spiri::base'
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drone_P = get_P(self.status.drone_id,reference) # i.e. no payload
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self.drone_id = 'spiri::base'
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drone_P = get_P(self.drone_id,reference) # i.e. no payload
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self.pload = False
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pload_P = get_P(self.status.pload_id,reference)
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pload_P = get_P(self.pload_id,reference)
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if not self.has_run == 1:
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if self.pload == True:
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@ -184,30 +184,30 @@ class Main:
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x_sep = pload_Px - drone_Px
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if math.fabs(x_sep) >= self.tetherL or x_sep == 0:
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self.theta = 0
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self.loadAngles.theta = 0
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else:
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self.theta = math.asin(x_sep/self.tetherL)
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self.loadAngles.theta = math.asin(x_sep/self.tetherL)
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# Determine thetadot
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self.thetadot = (self.theta - self.thetabuf)/self.dt
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self.thetadot = self.cutoff(self.thetadot,self.thetadot_max)
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self.thetabuf = self.theta
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self.loadAngles.thetadot = (self.loadAngles.theta - self.thetabuf)/self.dt
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self.loadAngles.thetadot = self.cutoff(self.loadAngles.thetadot,self.thetadot_max)
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self.thetabuf = self.loadAngles.theta
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# Determine phi (roll)
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y_sep = pload_Py - drone_Py
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if math.fabs(y_sep) >= self.tetherL or y_sep == 0:
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self.phi = 0
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self.loadAngles.phi = 0
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else:
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self.phi = math.asin(y_sep/self.tetherL)
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self.loadAngles.phi = math.asin(y_sep/self.tetherL)
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# Determine phidot
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self.phidot = (self.phi - self.phibuf)/self.dt
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self.phidot = self.cutoff(self.phidot,self.phidot_max)
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self.phibuf = self.phi # Update buffer
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self.loadAngles.phidot = (self.loadAngles.phi - self.phibuf)/self.dt
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self.loadAngles.phidot = self.cutoff(self.loadAngles.phidot,self.phidot_max)
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self.phibuf = self.loadAngles.phi # Update buffer
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else: # Otherwise, vars = 0
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x_sep = self.phi = self.phidot = self.theta = self.thetadot = 0
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x_sep = self.loadAngles.phi = self.loadAngles.phidot = self.loadAngles.theta = self.thetadot = 0
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# Print and save results
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print "\n"
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@ -216,21 +216,18 @@ class Main:
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print "drone pos.x: " + str(round(drone_Px,2))
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print "drone pos.y: " + str(round(drone_Py,2))
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print "drone pos.z: " + str(round(drone_Pz,2))
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print "phi: " + str(round(self.phi*180/3.14,3))
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print "theta: " + str(round(self.theta*180/3.14,3))
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print "phi: " + str(round(self.loadAngles.phi*180/3.14,3))
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print "theta: " + str(round(self.loadAngles.theta*180/3.14,3))
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# Populate message
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self.status.header.stamp = rospy.Time.now()
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self.status.drone_pos = drone_P.link_state.pose
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self.status.pload_pos = pload_P.link_state.pose
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self.status.length = self.tetherL
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self.status.phi = self.phi
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self.status.phidot = self.phidot
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self.status.theta = self.theta
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self.status.thetadot = self.thetadot
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self.loadAngles.header.stamp = rospy.Time.now()
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# Publish message
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self.publisher.publish(self.status)
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self.twobody_pub.publish(self.status)
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self.loadAng_pub.publish(self.loadAngles)
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except rospy.ServiceException as e:
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rospy.loginfo("Get Link State call failed: {0}".format(e))
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@ -14,7 +14,7 @@ import math
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from tf.transformations import *
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from scipy.integrate import odeint
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from offboard_ex.msg import tethered_status, RefSignal
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from oscillation_ctrl.msg import tethered_status, RefSignal, LoadAngles
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from controller_msgs.msg import FlatTarget
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from geometry_msgs.msg import Point, Pose
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from geometry_msgs.msg import TwistStamped, Vector3, Vector3Stamped, PoseStamped, Quaternion
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@ -46,19 +46,14 @@ class Main:
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self.path_pos = np.zeros([3,1])
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self.path_vel = np.zeros([3,1])
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self.path_acc = np.zeros([3,1])
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self.pl_pos = Pose()
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self.dr_pos = Pose()
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self.quaternion = PoseStamped()
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self.load_angles = LoadAngles()
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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.phi = 0.0 # Payload angle of deflection from x-axis
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self.phidot = 0.0
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self.theta = 0.0 # Payload angle of deflection from y-axis
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self.thetadot = 0.0
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self.has_run = 0 # Bool to keep track of first run instance
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self.drone_id = ''
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self.pload_id = ''
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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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self.dr_vel = np.zeros([3,1])
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@ -105,7 +100,7 @@ class Main:
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# SUBSCRIBERS
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# --------------------------------------------------------------------------------#
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# Topic, msg type, and class callback method
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rospy.Subscriber('/status/twoBody_status', tethered_status, self.linkState_cb)
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rospy.Subscriber('/status/load_angles', LoadAngles, self.loadAngles_cb)
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rospy.Subscriber('/reference/path', FlatTarget, self.refsig_cb)
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rospy.Subscriber('/mavros/local_position/velocity_body', TwistStamped, self.droneVel_cb)
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rospy.Subscriber('/mavros/imu/data', Imu, self.droneAcc_cb)
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@ -125,21 +120,22 @@ class Main:
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# CALLBACK FUNCTIONS
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# --------------------------------------------------------------------------------#
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# Callback to get link names, states, and pload deflection angles
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def linkState_cb(self,msg):
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# Callback pload deflection angles and vel
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def loadAngles_cb(self,msg):
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try:
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self.drone_id = msg.drone_id
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self.pload_id = msg.pload_id
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self.dr_pos = msg.drone_pos
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self.pl_pos = msg.pload_pos
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#self.tetherL = msg.length
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self.phi = msg.phi
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self.phidot = msg.phidot
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self.theta = msg.theta
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self.thetadot = msg.thetadot
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self.load_angles = msg
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# Populate self.PHI
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self.PHI = np.array([[self.theta,self.thetadot],[self.phi,self.phidot]])
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self.PHI = np.array([[self.load_angles.theta,self.load_angles.thetadot],[self.load_angles.phi,self.load_angles.phidot]])
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except ValueError:
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pass
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# Callback drone pose
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def dronePos_cb(self,msg): ### NEED to add mavros/local_pos.. sub
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try:
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self.dr_pos = msg.pose
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except ValueError:
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pass
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@ -195,14 +191,14 @@ class Main:
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def control(self):
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# Populate position vector and gamma (g). g is state space vector: [px,py,pz,theta,phi]
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p = np.array([[self.dr_pos.position.x],[self.dr_pos.position.y],[self.dr_pos.position.z]])
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g = np.array([[self.dr_pos.position.x],[self.dr_pos.position.y],[self.dr_pos.position.z],[self.theta],[self.phi]])
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g = np.array([[self.dr_pos.position.x],[self.dr_pos.position.y],[self.dr_pos.position.z],[self.load_angles.theta],[self.load_angles.phi]])
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# State some variables for shorthand
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L = self.tetherL
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c_theta = math.cos(self.theta)
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c_phi = math.cos(self.phi)
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s_theta = math.sin(self.theta)
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s_phi = math.sin(self.phi)
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c_theta = math.cos(self.load_angles.theta)
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c_phi = math.cos(self.load_angles.phi)
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s_theta = math.sin(self.load_angles.theta)
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s_phi = math.sin(self.load_angles.phi)
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# Check for tether
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if L <= 0.01:
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@ -224,15 +220,15 @@ class Main:
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[L*self.pl_m*c_theta, L*self.pl_m*s_phi*s_theta, -L*self.pl_m*c_phi*s_theta, 0, L**2*self.pl_m]]
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C = [[0,0,0,0,-L*self.thetadot*self.pl_m*s_theta],
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C = [[0,0,0,0,-L*self.load_angles.thetadot*self.pl_m*s_theta],
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[0,0,0,L*self.pl_m*(self.phidot*c_theta*s_phi + self.thetadot*c_phi*s_theta), L*self.pl_m*(self.phidot*c_phi*s_theta + self.thetadot*c_theta*s_phi)],
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[0,0,0,L*self.pl_m*(self.load_angles.phidot*c_theta*s_phi + self.load_angles.thetadot*c_phi*s_theta), L*self.pl_m*(self.load_angles.phidot*c_phi*s_theta + self.load_angles.thetadot*c_theta*s_phi)],
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[0,0,0,-L*self.pl_m*(self.phidot*c_phi*c_theta - self.thetadot*s_phi*s_theta),-L*self.pl_m*(self.thetadot*c_phi*c_theta - self.phidot*s_phi*s_theta)],
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[0,0,0,-L*self.pl_m*(self.load_angles.phidot*c_phi*c_theta - self.load_angles.thetadot*s_phi*s_theta),-L*self.pl_m*(self.load_angles.thetadot*c_phi*c_theta - self.load_angles.phidot*s_phi*s_theta)],
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[0,0,0,-0.5*(L**2)*self.pl_m*self.thetadot*math.sin(2*self.theta) + 0.5*0.01*self.thetadot*math.sin(2*self.theta), -0.5*(L**2)*self.pl_m*self.phidot*math.sin(2*self.theta)],
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[0,0,0,-0.5*(L**2)*self.pl_m*self.load_angles.thetadot*math.sin(2*self.load_angles.theta) + 0.5*0.01*self.load_angles.thetadot*math.sin(2*self.load_angles.theta), -0.5*(L**2)*self.pl_m*self.load_angles.phidot*math.sin(2*self.load_angles.theta)],
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[0,0,0,0.5*(L**2)*self.pl_m*self.phidot*math.sin(2*self.theta),0]]
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[0,0,0,0.5*(L**2)*self.pl_m*self.load_angles.phidot*math.sin(2*self.load_angles.theta),0]]
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G = [[0],[0],[-9.81*self.tot_m],[L*9.81*self.pl_m*c_theta*s_phi],[L*9.81*self.pl_m*c_phi*s_theta]]
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@ -12,7 +12,7 @@ from pymavlink import mavutil
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from scipy import signal
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from scipy.integrate import odeint
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from oscillation_ctrl.msg import tethered_status, RefSignal
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from oscillation_ctrl.msg import tethered_status, RefSignal, LoadAngles
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from oscillation_ctrl.srv import WaypointTrack, WaypointTrackRequest
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from controller_msgs.msg import FlatTarget
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from geometry_msgs.msg import Pose, Vector3, PoseStamped, Point, TwistStamped
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@ -44,17 +44,9 @@ class Main:
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self.vel_data = TwistStamped() # This is needed to get drone vel from gps
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self.imu_data = Imu() # Needed for to get drone acc from IMU
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self.ref_sig = FlatTarget() # Smooth Signal
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self.ref_sig.position.z = 5.0 # This does not need to be determined
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self.load_angles = LoadAngles()
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self.phi = 0.0 # Payload angle of deflection from x-axis
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self.phidot = 0.0
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self.theta = 0.0 # Payload angle of deflection from y-axis
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self.thetadot = 0.0
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self.has_run = 0 # Bool to keep track of first run instance
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self.drone_id = ''
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self.pload_id = ''
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self.pl_pos = Pose()
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self.dr_pos = Pose()
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self.dr_vel = self.vel_data.twist.linear
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self.dr_acc = self.imu_data.linear_acceleration
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@ -74,7 +66,8 @@ class Main:
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# SUBSCRIBERS #
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# --------------------------------------------------------------------------------#
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# Topic, msg type, and class callback method
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rospy.Subscriber('/status/twoBody_status', tethered_status, self.linkState_cb)
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rospy.Subscriber('/status/load_angles', LoadAngles, self.loadAngles_cb)
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rospy.Subscriber('/mavros/local_position/pose', PoseStamped, self.dronePos_cb)
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rospy.Subscriber('/mavros/local_position/velocity_body', TwistStamped, self.droneVel_cb)
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rospy.Subscriber('/mavros/imu/data', Imu, self.droneAcc_cb)
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rospy.Subscriber('/mavros/state', State, self.state_cb)
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@ -198,17 +191,16 @@ class Main:
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# mavros publishes a disconnected state message on init
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# Callback to get link names, states, and pload deflection angles
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def linkState_cb(self,msg):
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def loadAngles_cb(self,msg):
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try:
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self.drone_id = msg.drone_id
|
||||
self.pload_id = msg.pload_id
|
||||
self.dr_pos = msg.drone_pos
|
||||
self.pl_pos = msg.pload_pos
|
||||
self.phi = -msg.phi
|
||||
self.phidot = -msg.phidot
|
||||
self.theta = msg.theta
|
||||
self.thetadot = msg.thetadot
|
||||
# self.tetherL = msg.length
|
||||
self.load_angles = msg
|
||||
except ValueError:
|
||||
pass
|
||||
|
||||
# Callback drone pose
|
||||
def dronePos_cb(self,msg): ### NEED to add mavros/local_pos.. sub
|
||||
try:
|
||||
self.dr_pos = msg.pose
|
||||
|
||||
except ValueError:
|
||||
pass
|
||||
|
|
@ -298,13 +290,13 @@ class Main:
|
|||
elif cmd == 2: # Feedback
|
||||
if self.FB_idx < len(self.theta_fb):
|
||||
# First, fill up the delay array
|
||||
self.theta_fb[self.FB_idx] = self.theta
|
||||
self.theta_vel_fb[self.FB_idx] = self.thetadot
|
||||
self.theta_acc_fb[self.FB_idx] = self.thetadot - self.theta_vel_fb[self.FB_idx-1]
|
||||
self.theta_fb[self.FB_idx] = self.load_angles.theta
|
||||
self.theta_vel_fb[self.FB_idx] = self.load_angles.thetadot
|
||||
self.theta_acc_fb[self.FB_idx] = self.load_angles.thetadot - self.theta_vel_fb[self.FB_idx-1]
|
||||
|
||||
self.phi_fb[self.FB_idx] = self.phi
|
||||
self.phi_vel_fb[self.FB_idx] = self.phidot
|
||||
self.phi_acc_fb[self.FB_idx] = self.phidot - self.phi_vel_fb[self.FB_idx-1]
|
||||
self.phi_fb[self.FB_idx] = self.load_angles.phi
|
||||
self.phi_vel_fb[self.FB_idx] = self.load_angles.phidot
|
||||
self.phi_acc_fb[self.FB_idx] = self.load_angles.phidot - self.phi_vel_fb[self.FB_idx-1]
|
||||
|
||||
else:
|
||||
# once array is filled, need to shift values w/ latest value at end
|
||||
|
|
@ -316,13 +308,13 @@ class Main:
|
|||
self.phi_vel_fb[:] = np.roll(self.phi_vel_fb[:],-1)
|
||||
self.phi_acc_fb[:] = np.roll(self.phi_acc_fb[:],-1)
|
||||
|
||||
self.theta_fb[len(self.theta_fb)-1] = self.theta # change final value
|
||||
self.theta_vel_fb[len(self.theta_fb)-1] = self.thetadot
|
||||
self.theta_acc_fb[len(self.theta_fb)-1] = self.thetadot - self.theta_vel_fb[len(self.theta_fb)-1]
|
||||
self.theta_fb[len(self.theta_fb)-1] = self.load_angles.theta # change final value
|
||||
self.theta_vel_fb[len(self.theta_fb)-1] = self.load_angles.thetadot
|
||||
self.theta_acc_fb[len(self.theta_fb)-1] = self.load_angles.thetadot - self.theta_vel_fb[len(self.theta_fb)-1]
|
||||
|
||||
self.phi_fb[len(self.phi_fb)-1] = self.phi
|
||||
self.phi_vel_fb[len(self.theta_fb)-1] = self.phidot
|
||||
self.phi_acc_fb[len(self.theta_fb)-1] = self.phidot - self.phi_vel_fb[len(self.theta_fb)-1]
|
||||
self.phi_fb[len(self.phi_fb)-1] = self.load_angles.phi
|
||||
self.phi_vel_fb[len(self.theta_fb)-1] = self.load_angles.phidot
|
||||
self.phi_acc_fb[len(self.theta_fb)-1] = self.load_angles.phidot - self.phi_vel_fb[len(self.theta_fb)-1]
|
||||
|
||||
else:
|
||||
print('No delay')
|
||||
|
|
|
|||
Loading…
Reference in New Issue