forked from Archive/PX4-Autopilot
Rebased on main
This commit is contained in:
PerFrivik
chfriedrich98
parent
bcbae86b9f
commit
407bfc2096
|
|
@ -0,0 +1,44 @@
|
|||
#!/bin/sh
|
||||
# @name Rover Gazebo
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
|
||||
. ${R}etc/init.d/rc.rover_ackermann_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover}
|
||||
|
||||
param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
|
||||
# Simulated sensors
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 0
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 1
|
||||
|
||||
# Actuator mapping
|
||||
param set-default SIM_GZ_WH_FUNC1 101 # right wheel
|
||||
param set-default SIM_GZ_WH_MIN1 0
|
||||
param set-default SIM_GZ_WH_MAX1 200
|
||||
param set-default SIM_GZ_WH_DIS1 100
|
||||
|
||||
param set-default SIM_GZ_WH_FUNC2 102 # left wheel
|
||||
param set-default SIM_GZ_WH_MIN2 0
|
||||
param set-default SIM_GZ_WH_MAX2 200
|
||||
param set-default SIM_GZ_WH_DIS2 100
|
||||
|
||||
param set-default SIM_GZ_WH_FUNC2 103 # left wheel
|
||||
param set-default SIM_GZ_WH_MIN2 0
|
||||
param set-default SIM_GZ_WH_MAX2 200
|
||||
param set-default SIM_GZ_WH_DIS2 100
|
||||
|
||||
param set-default SIM_GZ_WH_FUNC2 104 # left wheel
|
||||
param set-default SIM_GZ_WH_MIN2 0
|
||||
param set-default SIM_GZ_WH_MAX2 200
|
||||
param set-default SIM_GZ_WH_DIS2 100
|
||||
|
||||
param set-default SIM_GZ_SV_FUNC1 201
|
||||
param set-default SIM_GZ_SV_FUNC2 202
|
||||
|
||||
# param set-default SIM_GZ_WH_REV 1 # reverse right wheel
|
||||
|
|
@ -83,6 +83,7 @@ px4_add_romfs_files(
|
|||
4009_gz_r1_rover
|
||||
4010_gz_x500_mono_cam
|
||||
4011_gz_lawnmower
|
||||
4012_gz_rover
|
||||
|
||||
6011_gazebo-classic_typhoon_h480
|
||||
6011_gazebo-classic_typhoon_h480.post
|
||||
|
|
|
|||
|
|
@ -84,6 +84,13 @@ if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
|
|||
)
|
||||
endif()
|
||||
|
||||
if(CONFIG_MODULES_ACKERMANN_DRIVE)
|
||||
px4_add_romfs_files(
|
||||
rc.rover_ackermann_apps
|
||||
rc.rover_ackermann_defaults
|
||||
)
|
||||
endif()
|
||||
|
||||
if(CONFIG_MODULES_UUV_ATT_CONTROL)
|
||||
px4_add_romfs_files(
|
||||
rc.uuv_apps
|
||||
|
|
|
|||
|
|
@ -0,0 +1,11 @@
|
|||
#!/bin/sh
|
||||
# Standard apps for a ackermann drive rover.
|
||||
|
||||
# Start the attitude and position estimator.
|
||||
ekf2 start &
|
||||
|
||||
# Start rover ackermann drive controller.
|
||||
ackermann_drive start
|
||||
|
||||
# Start Land Detector.
|
||||
land_detector start rover
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
|
||||
#!/bin/sh
|
||||
# Ackermann rover parameters.
|
||||
|
||||
set VEHICLE_TYPE rover_ackermann
|
||||
|
||||
param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
|
||||
|
||||
param set-default CA_AIRFRAME 5 # Rover (Ackermann)
|
||||
param set-default CA_R_REV 3 # Right and left motors reversible
|
||||
|
||||
param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
|
||||
|
|
@ -41,6 +41,15 @@ then
|
|||
. ${R}etc/init.d/rc.rover_differential_apps
|
||||
fi
|
||||
|
||||
#
|
||||
# Ackermann Rover setup.
|
||||
#
|
||||
if [ $VEHICLE_TYPE = rover_ackermann ]
|
||||
then
|
||||
# Start ackermann drive rover apps.
|
||||
. ${R}etc/init.d/rc.rover_ackermann_apps
|
||||
fi
|
||||
|
||||
#
|
||||
# VTOL setup.
|
||||
#
|
||||
|
|
|
|||
|
|
@ -13,6 +13,7 @@ CONFIG_MODULES_COMMANDER=y
|
|||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
|
||||
CONFIG_MODULES_ACKERMANN_DRIVE=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_EKF2_VERBOSE_STATUS=y
|
||||
CONFIG_EKF2_AUX_GLOBAL_POSITION=y
|
||||
|
|
|
|||
|
|
@ -0,0 +1,127 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. 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.
|
||||
* 3. Neither the name PX4 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "AckermannDrive.hpp"
|
||||
|
||||
using namespace time_literals;
|
||||
using namespace matrix;
|
||||
// namespace AckermannDrive
|
||||
// {
|
||||
|
||||
AckermannDrive::AckermannDrive() :
|
||||
ModuleParams(nullptr),
|
||||
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
|
||||
// _differential_drive_control(this)
|
||||
{
|
||||
updateParams();
|
||||
}
|
||||
|
||||
bool AckermannDrive::init()
|
||||
{
|
||||
ScheduleOnInterval(10_ms); // 100 Hz
|
||||
return true;
|
||||
}
|
||||
|
||||
void AckermannDrive::updateParams()
|
||||
{
|
||||
ModuleParams::updateParams();
|
||||
}
|
||||
|
||||
void AckermannDrive::Run()
|
||||
{
|
||||
if (should_exit()) {
|
||||
ScheduleClear();
|
||||
exit_and_cleanup();
|
||||
}
|
||||
|
||||
if (_param_ca_airframe.get() == DIFFERENTIAL_DRIVE) {
|
||||
// _differential_drive_control.Update();
|
||||
return;
|
||||
|
||||
} else if (_param_ca_airframe.get() == ACKERMANN_DRIVE) {
|
||||
_ackermann_drive_control.Update();
|
||||
}
|
||||
}
|
||||
|
||||
int AckermannDrive::task_spawn(int argc, char *argv[])
|
||||
{
|
||||
AckermannDrive *instance = new AckermannDrive();
|
||||
|
||||
if (instance) {
|
||||
_object.store(instance);
|
||||
_task_id = task_id_is_work_queue;
|
||||
|
||||
if (instance->init()) {
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
} else {
|
||||
PX4_ERR("alloc failed");
|
||||
}
|
||||
|
||||
delete instance;
|
||||
_object.store(nullptr);
|
||||
_task_id = -1;
|
||||
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
int AckermannDrive::custom_command(int argc, char *argv[])
|
||||
{
|
||||
return print_usage("unknown command");
|
||||
}
|
||||
|
||||
int AckermannDrive::print_usage(const char *reason)
|
||||
{
|
||||
if (reason) {
|
||||
PX4_ERR("%s\n", reason);
|
||||
}
|
||||
|
||||
PRINT_MODULE_DESCRIPTION(
|
||||
R"DESCR_STR(
|
||||
### Description
|
||||
Rover state machine.
|
||||
)DESCR_STR");
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("ackermann_drive", "controller");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
return 0;
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int ackermann_drive_main(int argc, char *argv[])
|
||||
{
|
||||
return AckermannDrive::main(argc, argv);
|
||||
}
|
||||
|
||||
// } // namespace rover_control
|
||||
|
|
@ -0,0 +1,103 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. 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.
|
||||
* 3. Neither the name PX4 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
// PX4 includes
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/defines.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <px4_platform_common/module_params.h>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
|
||||
// uORB includes
|
||||
#include <uORB/topics/actuator_outputs.h>
|
||||
#include <uORB/topics/actuator_motors.h>
|
||||
#include <uORB/PublicationMulti.hpp>
|
||||
#include <uORB/topics/manual_control_setpoint.h>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/vehicle_control_mode.h>
|
||||
#include <uORB/Publication.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/SubscriptionMultiArray.hpp>
|
||||
#include <uORB/topics/differential_drive_setpoint.h>
|
||||
|
||||
// Standard library includes
|
||||
#include <math.h>
|
||||
|
||||
// Local includes
|
||||
// #include <DifferentialDriveKinematics.hpp>
|
||||
// #include "DifferentialDriveControl.hpp"
|
||||
#include "AckermannDriveControl.hpp"
|
||||
|
||||
#define DIFFERENTIAL_DRIVE 6
|
||||
#define ACKERMANN_DRIVE 5
|
||||
|
||||
// namespace rover_control
|
||||
// {
|
||||
|
||||
class AckermannDrive : public ModuleBase<AckermannDrive>, public ModuleParams,
|
||||
public px4::ScheduledWorkItem
|
||||
{
|
||||
public:
|
||||
AckermannDrive();
|
||||
~AckermannDrive() override = default;
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int task_spawn(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int custom_command(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int print_usage(const char *reason = nullptr);
|
||||
|
||||
bool init();
|
||||
|
||||
protected:
|
||||
void updateParams() override;
|
||||
|
||||
private:
|
||||
void Run() override;
|
||||
|
||||
// differential_drive_control::DifferentialDriveControl _differential_drive_control{this};
|
||||
differential_drive_control::AckermannDriveControl _ackermann_drive_control{this};
|
||||
|
||||
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamInt<px4::params::CA_AIRFRAME>) _param_ca_airframe
|
||||
)
|
||||
};
|
||||
|
||||
// } // namespace rover_control
|
||||
|
|
@ -0,0 +1,131 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. 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.
|
||||
* 3. Neither the name PX4 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "AckermannDriveControl.hpp"
|
||||
|
||||
using namespace time_literals;
|
||||
using namespace matrix;
|
||||
namespace differential_drive_control
|
||||
{
|
||||
|
||||
AckermannDriveControl::AckermannDriveControl(ModuleParams *parent) : ModuleParams(parent)
|
||||
{
|
||||
updateParams();
|
||||
}
|
||||
|
||||
void AckermannDriveControl::updateParams()
|
||||
{
|
||||
ModuleParams::updateParams();
|
||||
_max_speed = _param_rdd_max_wheel_speed.get() * _param_rdd_wheel_radius.get();
|
||||
_max_angular_velocity = _max_speed / (_param_rdd_wheel_base.get() / 2.f);
|
||||
|
||||
// _differential_drive_kinematics.setWheelBase(_param_rdd_wheel_base.get());
|
||||
// _differential_drive_kinematics.setMaxSpeed(_max_speed);
|
||||
// _differential_drive_kinematics.setMaxAngularVelocity(_max_angular_velocity);
|
||||
}
|
||||
|
||||
void AckermannDriveControl::Update()
|
||||
{
|
||||
hrt_abstime now = hrt_absolute_time();
|
||||
|
||||
if (_parameter_update_sub.updated()) {
|
||||
parameter_update_s pupdate;
|
||||
_parameter_update_sub.copy(&pupdate);
|
||||
|
||||
updateParams();
|
||||
}
|
||||
|
||||
if (_vehicle_control_mode_sub.updated()) {
|
||||
vehicle_control_mode_s vehicle_control_mode;
|
||||
|
||||
if (_vehicle_control_mode_sub.copy(&vehicle_control_mode)) {
|
||||
_armed = vehicle_control_mode.flag_armed;
|
||||
_manual_driving = vehicle_control_mode.flag_control_manual_enabled; // change this when more modes are supported
|
||||
}
|
||||
}
|
||||
|
||||
// printf("AckermannDriveControl::Update()\n");
|
||||
|
||||
if (_manual_driving) {
|
||||
// Manual mode
|
||||
// directly produce setpoints from the manual control setpoint (joystick)
|
||||
if (_manual_control_setpoint_sub.updated()) {
|
||||
manual_control_setpoint_s manual_control_setpoint{};
|
||||
|
||||
if (_manual_control_setpoint_sub.copy(&manual_control_setpoint)) {
|
||||
_differential_drive_setpoint.timestamp = now;
|
||||
_differential_drive_setpoint.speed = manual_control_setpoint.throttle * _param_rdd_speed_scale.get() * _max_speed;
|
||||
_differential_drive_setpoint.yaw_rate = manual_control_setpoint.roll * _param_rdd_ang_velocity_scale.get() *
|
||||
_max_angular_velocity;
|
||||
_differential_drive_setpoint_pub.publish(_differential_drive_setpoint);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
_differential_drive_setpoint_sub.update(&_differential_drive_setpoint);
|
||||
|
||||
// publish data to actuator_motors (output module)
|
||||
// get the wheel speeds from the inverse kinematics class (DifferentialDriveKinematics)
|
||||
// Vector2f wheel_speeds = _differential_drive_kinematics.computeInverseKinematics(
|
||||
// _differential_drive_setpoint.speed,
|
||||
// _differential_drive_setpoint.yaw_rate);
|
||||
|
||||
double steering = _differential_drive_setpoint.yaw_rate;
|
||||
double speed = _differential_drive_setpoint.speed;
|
||||
|
||||
// Check if max_angular_wheel_speed is zero
|
||||
// const bool setpoint_timeout = (_differential_drive_setpoint.timestamp + 100_ms) < now;
|
||||
// const bool valid_max_speed = _param_rdd_speed_scale.get() > FLT_EPSILON;
|
||||
|
||||
// if (!_armed || setpoint_timeout || !valid_max_speed) {
|
||||
// wheel_speeds = {}; // stop
|
||||
// }
|
||||
|
||||
// wheel_speeds = matrix::constrain(wheel_speeds, -1.f, 1.f);
|
||||
|
||||
actuator_motors_s actuator_motors{};
|
||||
// actuator_motors.reversible_flags = _param_r_rev.get(); // should be 3 see rc.rover_differential_defaults
|
||||
// wheel_speeds.copyTo(actuator_motors.control);
|
||||
actuator_motors.control[0] = speed;
|
||||
actuator_motors.control[1] = speed;
|
||||
actuator_motors.timestamp = now;
|
||||
_actuator_motors_pub.publish(actuator_motors);
|
||||
|
||||
// publish data to actuator_servos (output module)
|
||||
actuator_servos_s actuator_servos{};
|
||||
actuator_servos.control[0] = -steering;
|
||||
actuator_servos.control[1] = -steering;
|
||||
actuator_servos.timestamp = now;
|
||||
_actuator_servos_pub.publish(actuator_servos);
|
||||
}
|
||||
} // namespace differential_drive_control
|
||||
|
|
@ -0,0 +1,107 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. 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.
|
||||
* 3. Neither the name PX4 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
// PX4 includes
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/defines.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <px4_platform_common/module_params.h>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
|
||||
// uORB includes
|
||||
#include <uORB/topics/actuator_outputs.h>
|
||||
#include <uORB/topics/actuator_motors.h>
|
||||
#include <uORB/topics/actuator_servos.h>
|
||||
#include <uORB/PublicationMulti.hpp>
|
||||
#include <uORB/topics/manual_control_setpoint.h>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/vehicle_control_mode.h>
|
||||
#include <uORB/Publication.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/SubscriptionMultiArray.hpp>
|
||||
#include <uORB/topics/differential_drive_setpoint.h>
|
||||
|
||||
// Standard library includespr
|
||||
#include <math.h>
|
||||
|
||||
// Local includes
|
||||
// #include <AckermannDriveKinematics.hpp>
|
||||
|
||||
namespace differential_drive_control
|
||||
{
|
||||
|
||||
class AckermannDriveControl : public ModuleParams
|
||||
{
|
||||
public:
|
||||
AckermannDriveControl(ModuleParams *parent);
|
||||
~AckermannDriveControl() override = default;
|
||||
|
||||
void Update();
|
||||
|
||||
protected:
|
||||
void updateParams() override;
|
||||
|
||||
private:
|
||||
|
||||
uORB::Subscription _differential_drive_setpoint_sub{ORB_ID(differential_drive_setpoint)};
|
||||
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
|
||||
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
|
||||
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
|
||||
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
|
||||
|
||||
uORB::PublicationMulti<actuator_motors_s> _actuator_motors_pub{ORB_ID(actuator_motors)};
|
||||
uORB::Publication<actuator_servos_s> _actuator_servos_pub{ORB_ID(actuator_servos)};
|
||||
uORB::Publication<differential_drive_setpoint_s> _differential_drive_setpoint_pub{ORB_ID(differential_drive_setpoint)};
|
||||
|
||||
differential_drive_setpoint_s _differential_drive_setpoint{};
|
||||
// DifferentialDriveKinematics _differential_drive_kinematics{};
|
||||
|
||||
bool _armed = false;
|
||||
bool _manual_driving = false;
|
||||
float _max_speed{0.f};
|
||||
float _max_angular_velocity{0.f};
|
||||
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamFloat<px4::params::RDD_SPEED_SCALE>) _param_rdd_speed_scale,
|
||||
(ParamFloat<px4::params::RDD_ANG_SCALE>) _param_rdd_ang_velocity_scale,
|
||||
(ParamFloat<px4::params::RDD_WHEEL_SPEED>) _param_rdd_max_wheel_speed,
|
||||
(ParamFloat<px4::params::RDD_WHEEL_BASE>) _param_rdd_wheel_base,
|
||||
(ParamFloat<px4::params::RDD_WHEEL_RADIUS>) _param_rdd_wheel_radius,
|
||||
(ParamInt<px4::params::CA_R_REV>) _param_r_rev
|
||||
)
|
||||
};
|
||||
|
||||
} // namespace differential_drive_control
|
||||
|
|
@ -0,0 +1,49 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. 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.
|
||||
# 3. Neither the name PX4 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
# add_subdirectory(DifferentialDriveKinematics)
|
||||
|
||||
px4_add_module(
|
||||
MODULE modules__ackermann_drive
|
||||
MAIN ackermann_drive
|
||||
SRCS
|
||||
AckermannDriveControl.cpp
|
||||
AckermannDriveControl.hpp
|
||||
AckermannDrive.cpp
|
||||
AckermannDrive.hpp
|
||||
DEPENDS
|
||||
# DifferentialDriveKinematics
|
||||
px4_work_queue
|
||||
# MODULE_CONFIG
|
||||
# module.yaml
|
||||
)
|
||||
|
|
@ -0,0 +1,40 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. 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.
|
||||
# 3. Neither the name PX4 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_library(DifferentialDriveKinematics
|
||||
DifferentialDriveKinematics.cpp
|
||||
)
|
||||
|
||||
target_include_directories(DifferentialDriveKinematics PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
|
||||
|
||||
px4_add_unit_gtest(SRC DifferentialDriveKinematicsTest.cpp LINKLIBS DifferentialDriveKinematics)
|
||||
|
|
@ -0,0 +1,67 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. 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.
|
||||
* 3. Neither the name PX4 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "DifferentialDriveKinematics.hpp"
|
||||
|
||||
#include <mathlib/mathlib.h>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
matrix::Vector2f DifferentialDriveKinematics::computeInverseKinematics(float linear_velocity_x, float yaw_rate)
|
||||
{
|
||||
if (_max_speed < FLT_EPSILON) {
|
||||
return Vector2f();
|
||||
}
|
||||
|
||||
linear_velocity_x = math::constrain(linear_velocity_x, -_max_speed, _max_speed);
|
||||
yaw_rate = math::constrain(yaw_rate, -_max_angular_velocity, _max_angular_velocity);
|
||||
|
||||
const float rotational_velocity = (_wheel_base / 2.f) * yaw_rate;
|
||||
float combined_velocity = fabsf(linear_velocity_x) + fabsf(rotational_velocity);
|
||||
|
||||
// Compute an initial gain
|
||||
float gain = 1.0f;
|
||||
|
||||
if (combined_velocity > _max_speed) {
|
||||
float excess_velocity = fabsf(combined_velocity - _max_speed);
|
||||
float adjusted_linear_velocity = fabsf(linear_velocity_x) - excess_velocity;
|
||||
gain = adjusted_linear_velocity / fabsf(linear_velocity_x);
|
||||
}
|
||||
|
||||
// Apply the gain
|
||||
linear_velocity_x *= gain;
|
||||
|
||||
// Calculate the left and right wheel speeds
|
||||
return Vector2f(linear_velocity_x - rotational_velocity,
|
||||
linear_velocity_x + rotational_velocity) / _max_speed;
|
||||
}
|
||||
|
|
@ -0,0 +1,84 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. 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.
|
||||
* 3. Neither the name PX4 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <matrix/matrix/math.hpp>
|
||||
|
||||
/**
|
||||
* @brief Differential Drive Kinematics class for computing the kinematics of a differential drive robot.
|
||||
*
|
||||
* This class provides functions to set the wheel base and radius, and to compute the inverse kinematics
|
||||
* given linear velocity and yaw rate.
|
||||
*/
|
||||
class DifferentialDriveKinematics
|
||||
{
|
||||
public:
|
||||
DifferentialDriveKinematics() = default;
|
||||
~DifferentialDriveKinematics() = default;
|
||||
|
||||
/**
|
||||
* @brief Sets the wheel base of the robot.
|
||||
*
|
||||
* @param wheel_base The distance between the centers of the wheels.
|
||||
*/
|
||||
void setWheelBase(const float wheel_base) { _wheel_base = wheel_base; };
|
||||
|
||||
/**
|
||||
* @brief Sets the maximum speed of the robot.
|
||||
*
|
||||
* @param max_speed The maximum speed of the robot.
|
||||
*/
|
||||
void setMaxSpeed(const float max_speed) { _max_speed = max_speed; };
|
||||
|
||||
/**
|
||||
* @brief Sets the maximum angular speed of the robot.
|
||||
*
|
||||
* @param max_angular_speed The maximum angular speed of the robot.
|
||||
*/
|
||||
void setMaxAngularVelocity(const float max_angular_velocity) { _max_angular_velocity = max_angular_velocity; };
|
||||
|
||||
/**
|
||||
* @brief Computes the inverse kinematics for differential drive.
|
||||
*
|
||||
* @param linear_velocity_x Linear velocity along the x-axis.
|
||||
* @param yaw_rate Yaw rate of the robot.
|
||||
* @return matrix::Vector2f Motor velocities for the right and left motors.
|
||||
*/
|
||||
matrix::Vector2f computeInverseKinematics(float linear_velocity_x, float yaw_rate);
|
||||
|
||||
private:
|
||||
float _wheel_base{0.f};
|
||||
float _max_speed{0.f};
|
||||
float _max_angular_velocity{0.f};
|
||||
};
|
||||
|
|
@ -0,0 +1,174 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. 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.
|
||||
* 3. Neither the name PX4 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <gtest/gtest.h>
|
||||
#include "DifferentialDriveKinematics.hpp"
|
||||
#include <mathlib/math/Functions.hpp>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
TEST(DifferentialDriveKinematicsTest, AllZeroInputCase)
|
||||
{
|
||||
DifferentialDriveKinematics kinematics;
|
||||
kinematics.setWheelBase(1.f);
|
||||
kinematics.setMaxSpeed(10.f);
|
||||
kinematics.setMaxAngularVelocity(10.f);
|
||||
|
||||
// Test with zero linear velocity and zero yaw rate (stationary vehicle)
|
||||
EXPECT_EQ(kinematics.computeInverseKinematics(0.f, 0.f), Vector2f());
|
||||
}
|
||||
|
||||
|
||||
TEST(DifferentialDriveKinematicsTest, InvalidParameterCase)
|
||||
{
|
||||
DifferentialDriveKinematics kinematics;
|
||||
kinematics.setWheelBase(0.f);
|
||||
kinematics.setMaxSpeed(10.f);
|
||||
kinematics.setMaxAngularVelocity(10.f);
|
||||
|
||||
// Test with invalid parameters (zero wheel base and wheel radius)
|
||||
EXPECT_EQ(kinematics.computeInverseKinematics(0.f, .1f), Vector2f());
|
||||
}
|
||||
|
||||
|
||||
TEST(DifferentialDriveKinematicsTest, UnitCase)
|
||||
{
|
||||
DifferentialDriveKinematics kinematics;
|
||||
kinematics.setWheelBase(1.f);
|
||||
kinematics.setMaxSpeed(10.f);
|
||||
kinematics.setMaxAngularVelocity(10.f);
|
||||
|
||||
// Test with unit values for linear velocity and yaw rate
|
||||
EXPECT_EQ(kinematics.computeInverseKinematics(1.f, 1.f), Vector2f(0.05f, 0.15f));
|
||||
}
|
||||
|
||||
|
||||
TEST(DifferentialDriveKinematicsTest, UnitSaturationCase)
|
||||
{
|
||||
DifferentialDriveKinematics kinematics;
|
||||
kinematics.setWheelBase(1.f);
|
||||
kinematics.setMaxSpeed(1.f);
|
||||
kinematics.setMaxAngularVelocity(1.f);
|
||||
|
||||
// Test with unit values for linear velocity and yaw rate, but with max speed that requires saturation
|
||||
EXPECT_EQ(kinematics.computeInverseKinematics(1.f, 1.f), Vector2f(0, 1));
|
||||
}
|
||||
|
||||
|
||||
TEST(DifferentialDriveKinematicsTest, OppositeUnitSaturationCase)
|
||||
{
|
||||
DifferentialDriveKinematics kinematics;
|
||||
kinematics.setWheelBase(1.f);
|
||||
kinematics.setMaxSpeed(1.f);
|
||||
kinematics.setMaxAngularVelocity(1.f);
|
||||
|
||||
// Negative linear velocity for backward motion and positive yaw rate for turning right
|
||||
EXPECT_EQ(kinematics.computeInverseKinematics(-1.f, 1.f), Vector2f(-1, 0));
|
||||
}
|
||||
|
||||
TEST(DifferentialDriveKinematicsTest, RandomCase)
|
||||
{
|
||||
DifferentialDriveKinematics kinematics;
|
||||
kinematics.setWheelBase(2.f);
|
||||
kinematics.setMaxSpeed(1.f);
|
||||
kinematics.setMaxAngularVelocity(1.f);
|
||||
|
||||
// Negative linear velocity for backward motion and positive yaw rate for turning right
|
||||
EXPECT_EQ(kinematics.computeInverseKinematics(0.5f, 0.7f), Vector2f(-0.4f, 1.0f));
|
||||
}
|
||||
|
||||
TEST(DifferentialDriveKinematicsTest, RotateInPlaceCase)
|
||||
{
|
||||
DifferentialDriveKinematics kinematics;
|
||||
kinematics.setWheelBase(1.f);
|
||||
kinematics.setMaxSpeed(1.f);
|
||||
kinematics.setMaxAngularVelocity(1.f);
|
||||
|
||||
// Test rotating in place (zero linear velocity, non-zero yaw rate)
|
||||
EXPECT_EQ(kinematics.computeInverseKinematics(0.f, 1.f), Vector2f(-0.5f, 0.5f));
|
||||
}
|
||||
|
||||
TEST(DifferentialDriveKinematicsTest, StraightMovementCase)
|
||||
{
|
||||
DifferentialDriveKinematics kinematics;
|
||||
kinematics.setWheelBase(1.f);
|
||||
kinematics.setMaxSpeed(1.f);
|
||||
kinematics.setMaxAngularVelocity(1.f);
|
||||
|
||||
// Test moving straight (non-zero linear velocity, zero yaw rate)
|
||||
EXPECT_EQ(kinematics.computeInverseKinematics(1.f, 0.f), Vector2f(1.f, 1.f));
|
||||
}
|
||||
|
||||
TEST(DifferentialDriveKinematicsTest, MinInputValuesCase)
|
||||
{
|
||||
DifferentialDriveKinematics kinematics;
|
||||
kinematics.setWheelBase(FLT_MIN);
|
||||
kinematics.setMaxSpeed(FLT_MIN);
|
||||
kinematics.setMaxAngularVelocity(FLT_MIN);
|
||||
|
||||
// Test with minimum possible input values
|
||||
EXPECT_EQ(kinematics.computeInverseKinematics(FLT_MIN, FLT_MIN), Vector2f(0.f, 0.f));
|
||||
}
|
||||
|
||||
TEST(DifferentialDriveKinematicsTest, MaxSpeedLimitCase)
|
||||
{
|
||||
DifferentialDriveKinematics kinematics;
|
||||
kinematics.setWheelBase(1.f);
|
||||
kinematics.setMaxSpeed(1.f);
|
||||
kinematics.setMaxAngularVelocity(1.f);
|
||||
|
||||
// Test with high linear velocity and yaw rate, expecting speeds to be scaled down to fit the max speed
|
||||
EXPECT_EQ(kinematics.computeInverseKinematics(10.f, 10.f), Vector2f(0.f, 1.f));
|
||||
}
|
||||
|
||||
TEST(DifferentialDriveKinematicsTest, MaxSpeedForwardsCase)
|
||||
{
|
||||
DifferentialDriveKinematics kinematics;
|
||||
kinematics.setWheelBase(1.f);
|
||||
kinematics.setMaxSpeed(1.f);
|
||||
kinematics.setMaxAngularVelocity(1.f);
|
||||
|
||||
// Test with high linear velocity and yaw rate, expecting speeds to be scaled down to fit the max speed
|
||||
EXPECT_EQ(kinematics.computeInverseKinematics(10.f, 0.f), Vector2f(1.f, 1.f));
|
||||
}
|
||||
|
||||
TEST(DifferentialDriveKinematicsTest, MaxAngularCase)
|
||||
{
|
||||
DifferentialDriveKinematics kinematics;
|
||||
kinematics.setWheelBase(2.f);
|
||||
kinematics.setMaxSpeed(1.f);
|
||||
kinematics.setMaxAngularVelocity(1.f);
|
||||
|
||||
// Test with high linear velocity and yaw rate, expecting speeds to be scaled down to fit the max speed
|
||||
EXPECT_EQ(kinematics.computeInverseKinematics(0.f, 10.f), Vector2f(-1.f, 1.f));
|
||||
}
|
||||
|
|
@ -0,0 +1,6 @@
|
|||
menuconfig MODULES_ACKERMANN_DRIVE
|
||||
bool "ackermann_drive"
|
||||
default n
|
||||
depends on MODULES_CONTROL_ALLOCATOR
|
||||
---help---
|
||||
Enable support for control of differential drive rovers
|
||||
|
|
@ -0,0 +1,55 @@
|
|||
module_name: Differential Drive Control
|
||||
|
||||
parameters:
|
||||
- group: Rover Differential Drive
|
||||
definitions:
|
||||
RDD_WHEEL_BASE:
|
||||
description:
|
||||
short: Wheel base
|
||||
long: Distance from the center of the right wheel to the center of the left wheel
|
||||
type: float
|
||||
unit: m
|
||||
min: 0.001
|
||||
max: 100
|
||||
increment: 0.001
|
||||
decimal: 3
|
||||
default: 0.5
|
||||
RDD_WHEEL_RADIUS:
|
||||
description:
|
||||
short: Wheel radius
|
||||
long: Size of the wheel, half the diameter of the wheel
|
||||
type: float
|
||||
unit: m
|
||||
min: 0.001
|
||||
max: 100
|
||||
increment: 0.001
|
||||
decimal: 3
|
||||
default: 0.1
|
||||
RDD_SPEED_SCALE:
|
||||
description:
|
||||
short: Manual speed scale
|
||||
type: float
|
||||
min: 0
|
||||
max: 1.0
|
||||
increment: 0.01
|
||||
decimal: 2
|
||||
default: 1.0
|
||||
RDD_ANG_SCALE:
|
||||
description:
|
||||
short: Manual angular velocity scale
|
||||
type: float
|
||||
min: 0
|
||||
max: 1.0
|
||||
increment: 0.01
|
||||
decimal: 2
|
||||
default: 1.0
|
||||
RDD_WHL_SPEED:
|
||||
description:
|
||||
short: Maximum wheel speed
|
||||
type: float
|
||||
unit: rad/s
|
||||
min: 0
|
||||
max: 100
|
||||
increment: 0.01
|
||||
decimal: 2
|
||||
default: 10
|
||||
|
|
@ -33,4 +33,4 @@ actuator_output:
|
|||
min: { min: 0, max: 200, default: 0 }
|
||||
max: { min: 0, max: 200, default: 200 }
|
||||
failsafe: { min: 0, max: 200 }
|
||||
num_channels: 2
|
||||
num_channels: 4
|
||||
|
|
|
|||
Loading…
Reference in New Issue