forked from cesar.alejandro/oscillation_ctrl
Controller now uses MAVROS for localization
This commit is contained in:
parent
08bcb9fbc9
commit
ee7ec83869
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@ -25,13 +25,12 @@ Launch file to use klausen oscillaton damping ctrl in Gazebo
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pkg="oscillation_ctrl"
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type="LinkState.py"
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name="linkStates_node"
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launch-prefix="xterm -fa 'Monospace' -fs 18 -e"
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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="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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@ -52,11 +51,13 @@ Launch file to use klausen oscillaton damping ctrl in Gazebo
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launch-prefix="xterm -e"
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/>
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<group if="$(eval test != 'none')">
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<node
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pkg="oscillation_ctrl"
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type="perform_test.py"
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name="test_node"
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/>
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</group>
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<node pkg="geometric_controller" type="geometric_controller_node" name="geometric_controller" output="screen">
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<param name="mav_name" type="string" value="$(arg mav_name)" />
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<!--remap from="command/bodyrate_command" to="/mavros/setpoint_raw/attitude"/-->
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@ -19,7 +19,6 @@ class Main:
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# rate(s)
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rate = 60 # rate for the publisher method, specified in Hz -- 20 Hz
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self.dt = 1.0/rate
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rospy.sleep(5) # Sleep for 1 sec. Need to give time to Gazebo to ru
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@ -41,9 +40,6 @@ class Main:
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# Will be set to true when test should start
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self.bool = False
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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.drone_id = 'spiri_with_tether::spiri::base'
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@ -74,6 +70,7 @@ class Main:
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self.pub_timer = rospy.Timer(rospy.Duration(1.0/rate), self.link_state)
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self.path_timer = rospy.Timer(rospy.Duration(40.0/rate), self.path_follow)
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self.gui_timer = rospy.Timer(rospy.Duration(1/10.0), self.user_feedback)
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def cutoff(self,value,ceiling):
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"""
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@ -123,7 +120,7 @@ class Main:
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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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self.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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@ -136,7 +133,7 @@ class Main:
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if not self.has_run == 1:
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if self.pload == True:
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# Determine yaw offset
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self.yaw_offset = drone_Eul[2]
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self.yaw_offset = self.drone_Eul[2]
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# Get tether length based off initial displacement
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@ -155,25 +152,9 @@ class Main:
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# Need to detemine their location to get angle of deflection
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# Drone
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drone_Px = drone_P.link_state.pose.position.x
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drone_Py = drone_P.link_state.pose.position.y
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drone_Pz = drone_P.link_state.pose.position.z
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# Get drone orientation
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#drone_q = [drone_P.link_state.pose.orientation.x,drone_P.link_state.pose.orientation.y,
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# drone_P.link_state.pose.orientation.z,drone_P.link_state.pose.orientation.w]
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# offset orientation by yaw offset
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#q_offset = quaternion_from_euler(0,0,-self.yaw_offset)
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#drone_q = quaternion_multiply(drone_q,q_offset)
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#drone_P.link_state.pose.orientation.x = drone_q[0]
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#drone_P.link_state.pose.orientation.y = drone_q[1]
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#drone_P.link_state.pose.orientation.z = drone_q[2]
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#drone_P.link_state.pose.orientation.w = drone_q[3]
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# Get euler angles again for feedback to user
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#drone_Eul = self.euler_array(drone_P.link_state.pose.orientation)
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self.drone_Px = drone_P.link_state.pose.position.x
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self.drone_Py = drone_P.link_state.pose.position.y
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self.drone_Pz = drone_P.link_state.pose.position.z
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if self.pload == True: # If there is payload, determine the variables
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# Pload
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@ -181,7 +162,7 @@ class Main:
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pload_Py = pload_P.link_state.pose.position.y
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# Determine theta (pitch)
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x_sep = pload_Px - drone_Px
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x_sep = pload_Px - self.drone_Px
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if math.fabs(x_sep) >= self.tetherL or x_sep == 0:
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self.loadAngles.theta = 0
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@ -194,12 +175,12 @@ class Main:
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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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y_sep = pload_Py - self.drone_Py
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if math.fabs(y_sep) >= self.tetherL or y_sep == 0:
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self.loadAngles.phi = 0
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else:
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self.loadAngles.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.loadAngles.phidot = (self.loadAngles.phi - self.phibuf)/self.dt
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@ -209,16 +190,6 @@ class Main:
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else: # Otherwise, vars = 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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rospy.loginfo("")
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print"Roll: "+str(round(drone_Eul[0]*180/3.14,2)),"\nPitch: "+str(round(drone_Eul[1]*180/3.14,2)),"\nYaw: "+str(round(drone_Eul[2]*180/3.14,2))
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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.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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@ -232,6 +203,17 @@ class Main:
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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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def user_feedback(self,gui_timer):
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# Print and save results
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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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print "drone pos.y: " + str(round(self.drone_Py,2))
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print "drone pos.z: " + str(round(self.drone_Pz,2))
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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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def path_follow(self,path_timer):
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now = rospy.get_time()
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if now - self.tstart < self.wait:
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@ -240,7 +222,6 @@ class Main:
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self.bool = True
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self.pub_wd.publish(self.bool)
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if __name__=="__main__":
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# Initiate ROS node
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@ -251,4 +232,3 @@ if __name__=="__main__":
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except rospy.ROSInterruptException:
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pass
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@ -47,7 +47,7 @@ class Main:
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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.dr_pos = Pose()
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self.quaternion = PoseStamped()
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self.quaternion = PoseStamped() # used to send quaternion attitude commands
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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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@ -102,6 +102,8 @@ class Main:
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# Topic, msg type, and class callback method
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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('/status/twoBody_status', tethered_status, self.dronePos_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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@ -133,9 +135,10 @@ class Main:
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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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def dronePos_cb(self,msg):
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try:
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self.dr_pos = msg.pose
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#self.dr_pos = msg.drone_pos
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except ValueError:
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pass
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@ -211,23 +214,15 @@ class Main:
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# Control matrices - this may be better in _init_
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M = [[self.tot_m, 0, 0, 0, L*self.pl_m*c_theta],
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[0, self.tot_m, 0, -L*self.pl_m*c_phi*c_theta, L*self.pl_m*s_phi*s_theta],
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[0, 0, self.tot_m, -L*self.pl_m*c_theta*s_phi, -L*self.pl_m*c_phi*s_theta],
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[0, -L*self.pl_m*c_phi*c_theta,-L*self.pl_m*c_theta*s_phi, (L**2)*self.pl_m*c_theta**2 + 0.01*s_theta**2, 0],
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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.load_angles.thetadot*self.pl_m*s_theta],
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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.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.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.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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@ -290,6 +285,7 @@ class Main:
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Ki = self.tune*self.K1
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# Desired body-oriented forces
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# shouldnt it be tot_m*path_acc?
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Fd = B + G[:3] + self.tot_m*self.dr_acc - np.dot(Kd,z1_dot) - np.dot(Kp,self.z1) - np.dot(Ki,self.dt*(self.z1 - self.z1_p))
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# Update self.z1_p for "integration"
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@ -302,8 +298,8 @@ class Main:
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Fd_tf = quaternion_multiply(dr_orientation,quaternion_multiply([Fd[0],Fd[1],Fd[2],0],dr_orientation_inv)) # Real part of Fd needs = 0
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# Convert forces to attiude *EulerAng[2] = yaw = 0
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self.EulerAng[1] = math.atan(-Fd_tf[0]/(self.drone_m*9.81)) # Pitch -- maybe
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self.EulerAng[0] = math.atan(Fd_tf[1]*math.cos(self.EulerAng[1])/(self.drone_m*9.81)) # Roll -- maybe
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self.EulerAng[1] = math.atan(Fd_tf[0]/(self.drone_m*9.81)) # Pitch
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self.EulerAng[0] = math.atan(-Fd_tf[1]*math.cos(self.EulerAng[1])/(self.drone_m*9.81)) # Roll
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# Convert Euler angles to quaternions
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q = quaternion_from_euler(self.EulerAng[0],self.EulerAng[1],self.EulerAng[2])
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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(22.0) && takeoff){
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if(ros::Time::now() - tkoff_req > ros::Duration(30.0) && 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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@ -32,8 +32,6 @@ class Main:
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self.tstart = rospy.get_time()
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self.dt = 1.0/rate
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# self.dt = 0.5
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# self.tmax = 100
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self.tmax = self.dt
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self.n = self.tmax/self.dt + 1
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self.t = np.linspace(0, self.tmax, self.n) # Time array
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@ -68,6 +66,7 @@ class Main:
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# Topic, msg type, and class callback method
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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('/status/twoBody_status', tethered_status, 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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@ -92,7 +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 = 3.13 # 3.13 works well? #########################################################################
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self.w_tune = 3.5 # 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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@ -115,13 +114,6 @@ class Main:
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# create the array: [vmax; amax; jmax]
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self.max_array = np.array([[self.vmax],[self.amax],[self.jmax]]).T
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# Desired position array
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#if rospy.has_param('sim/waypoints'):
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# self.xd = rospy.get_param('sim/waypoints') # waypoints
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#elif rospy.get_time() - self.tstart >= 3.0:
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# self.xd = np.array([[0],[0],[5.0]]) # make our own if there are no waypoints
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#self.xd = Point()
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self.get_xd = rospy.ServiceProxy('/status/waypoint_tracker',WaypointTrack)
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self.empty_point = Point() # Needed to query waypoint_server
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@ -198,9 +190,10 @@ class Main:
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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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def dronePos_cb(self,msg):
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try:
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self.dr_pos = msg.pose
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#self.dr_pos = msg.drone_pos
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except ValueError:
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pass
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@ -229,11 +222,11 @@ class Main:
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except ValueError:
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pass
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#################################################################
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######################################################################
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#TODO Will need to add a function that gets a message from #
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# a node which lets refsignal_gen.py know there has been a #
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# change in xd and therefore runs waypoints_srv_cb again #
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#################################################################
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######################################################################
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# --------------------------------------------------------------------------------#
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# ALGORITHM
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@ -365,7 +358,8 @@ class Main:
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self.ref_sig.type_mask = 2 # Need typemask = 2 to use correct attitude controller - Jaeyoung Lin
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self.ref_sig.position.x = self.EPS_F[0]
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self.ref_sig.position.y = self.EPS_F[1]
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self.ref_sig.position.z = self.EPS_F[2]
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#self.ref_sig.position.z = self.EPS_F[2]
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self.ref_sig.position.z = 5.0
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self.ref_sig.velocity.x = self.EPS_F[3]
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self.ref_sig.velocity.y = self.EPS_F[4]
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self.ref_sig.velocity.z = self.EPS_F[5]
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@ -398,13 +392,13 @@ class Main:
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def screen_output(self):
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# Feedback to user
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#rospy.loginfo(' Var | x | y | z ')
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#rospy.loginfo('Pos: %.2f %.2f %.2f',self.EPS_F[0],self.EPS_F[1],self.EPS_F[2])
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#rospy.loginfo('Vel: %.2f %.2f %.2f',self.EPS_F[3],self.EPS_F[4],self.EPS_F[5])
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#rospy.loginfo('Acc: %.2f %.2f %.2f',self.EPS_F[6],self.EPS_F[7],self.EPS_F[8])
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#rospy.loginfo('_______________________')
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rospy.loginfo(' Var | x | y | z ')
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rospy.loginfo('Pos: %.2f %.2f %.2f',self.EPS_F[0],self.EPS_F[1],self.EPS_F[2])
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rospy.loginfo('Vel: %.2f %.2f %.2f',self.EPS_F[3],self.EPS_F[4],self.EPS_F[5])
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rospy.loginfo('Acc: %.2f %.2f %.2f',self.EPS_F[6],self.EPS_F[7],self.EPS_F[8])
|
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rospy.loginfo('_______________________')
|
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|
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rospy.loginfo('xd = %.2f',self.xd.x)
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#rospy.loginfo('xd = %.2f',self.xd.x)
|
||||
|
||||
def publisher(self,pub_tim):
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue