docking_with_PID_controller.asv 21.3 KB
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clc;
close all;
clear all;

yaw_off = pi;
%% Import data and time conversion

% data 1: 556 ros messages for geometry_msgs/Twist 
%         557 ros messages for geometry_msgs/PoseStamped

% 
Pose_Matrix_data_1 = csvread('POSE_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt',1,0);
Vel_Matrix_data_1 = csvread('VEL_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt',1,0);

% Pose_Matrix_data_1 = csvread('CAM_PID_.28_.0001_.01.txt',1,0);
% Vel_Matrix_data_1 = csvread('vel_PID_.28_.0001_.01.txt',1,0);

% time in position
TimeP_ros_data_1 = Pose_Matrix_data_1(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  durationP_data_1 = (TimeP_ros_data_1(size(TimeP_ros_data_1,1),:) - TimeP_ros_data_1(1,:))*10^(-9); 
  
t_P_sec_data_1 = 0:durationP_data_1/size(TimeP_ros_data_1,1):durationP_data_1;
t_P_sec_data_1(:,size(t_P_sec_data_1,2)) = [];

% time in vel
TimeV_ros_data_1 = Vel_Matrix_data_1(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  durationV_data_1 = (TimeV_ros_data_1(size(TimeV_ros_data_1,1),:) - TimeV_ros_data_1(1,:))*10^(-9);

t_V_sec_data_1 = 0:durationV_data_1/size(TimeV_ros_data_1,1):durationV_data_1;
t_V_sec_data_1(:,size(t_V_sec_data_1,2)) = [];

% -----------------------------------------------------------------------------------------------------
% data 2: 588 ros messages for geometry_msgs/Twist 
%         589 ros messages for geometry_msgs/PoseStamped
% y-axis gains:
% P = .5; I = 0.001; D = 0.03;

% theta-axis gains:
% P = .28; I = 0.1; D = 0.15;
% 
Pose_Matrix_data_2 = csvread('POSE_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
Vel_Matrix_data_2 = csvread('VEL_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);

% Pose_Matrix_data_2 = csvread('CAM_PID_.29_.00026_.015.txt',1,0);
% Vel_Matrix_data_2 = csvread('vel_PID_.29_.00026_.015.txt',1,0);

% time in position
TimeP_ros_data_2 = Pose_Matrix_data_2(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  durationP_data_2 = (TimeP_ros_data_2(size(TimeP_ros_data_2,1),:) - TimeP_ros_data_2(1,:))*10^(-9); 
  
t_P_sec_data_2 = 0:durationP_data_2/size(TimeP_ros_data_2,1):durationP_data_2;
t_P_sec_data_2(:,size(t_P_sec_data_2,2)) = [];

% time in vel
TimeV_ros_data_2 = Vel_Matrix_data_2(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  durationV_data_2 = (TimeV_ros_data_2(size(TimeV_ros_data_2,1),:) - TimeV_ros_data_2(1,:))*10^(-9);

t_V_sec_data_2 = 0:durationV_data_2/size(TimeV_ros_data_2,1):durationV_data_2;
t_V_sec_data_2(:,size(t_V_sec_data_2,2)) = [];

% -----------------------------------------------------------------------------------------------------
% data 3: 538 ros messages for geometry_msgs/Twist 
%         539 ros messages for geometry_msgs/PoseStamped
% y-axis gains:
% P = .44; I = .0005; D = 0.15;

% theta-axis gains:
% P = .08; I = 0; D = 0;

Pose_Matrix_data_3 = csvread('POSE_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
Vel_Matrix_data_3 = csvread('VEL_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);

% Pose_Matrix_data_3 = csvread('Trans_PID_.28_0_.006.txt',1,0);
% Vel_Matrix_data_3 = csvread('vel_PID_.28_0_.006.txt',1,0);

% time in position
TimeP_ros_data_3 = Pose_Matrix_data_3(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  durationP_data_3 = (TimeP_ros_data_3(size(TimeP_ros_data_3,1),:) - TimeP_ros_data_3(1,:))*10^(-9); 
  
t_P_sec_data_3 = 0:durationP_data_3/size(TimeP_ros_data_3,1):durationP_data_3;
t_P_sec_data_3(:,size(t_P_sec_data_3,2)) = [];

% time in vel
TimeV_ros_data_3 = Vel_Matrix_data_3(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  durationV_data_3 = (TimeV_ros_data_3(size(TimeV_ros_data_3,1),:) - TimeV_ros_data_3(1,:))*10^(-9);

t_V_sec_data_3 = 0:durationV_data_3/size(TimeV_ros_data_3,1):durationV_data_3;
t_V_sec_data_3(:,size(t_V_sec_data_3,2)) = [];

% -----------------------------------------------------------------------------------------------------
% data 4: 450 ros messages for geometry_msgs/Twist 
%         451 ros messages for geometry_msgs/PoseStamped
% y-axis gains:
% P = .86; I = 0; D = 0.002;

% theta-axis gains:
% P = .08; I = 0; D = 0;
% 
% Pose_Matrix_data_4 = csvread('POSE_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt',1,0);
% Vel_Matrix_data_4 = csvread('VEL_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt',1,0);

Pose_Matrix_data_4 = csvread('CAM_PID_.266_.0003_.014.txt',1,0);
Vel_Matrix_data_4 = csvread('vel_PID_.266_.0003_.014.txt',1,0);

% time in position
TimeP_ros_data_4 = Pose_Matrix_data_4(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  durationP_data_4 = (TimeP_ros_data_4(size(TimeP_ros_data_4,1),:) - TimeP_ros_data_4(1,:))*10^(-9); 
  
t_P_sec_data_4 = 0:durationP_data_4/size(TimeP_ros_data_4,1):durationP_data_4;
t_P_sec_data_4(:,size(t_P_sec_data_4,2)) = [];

% time in vel
TimeV_ros_data_4 = Vel_Matrix_data_4(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  durationV_data_4 = (TimeV_ros_data_4(size(TimeV_ros_data_4,1),:) - TimeV_ros_data_4(1,:))*10^(-9);

t_V_sec_data_4 = 0:durationV_data_4/size(TimeV_ros_data_4,1):durationV_data_4;
t_V_sec_data_4(:,size(t_V_sec_data_4,2)) = [];

% -----------------------------------------------------------------------------------------------------
% data 5: ANDROID CAMERA


Pose_Matrix_data_5 = csvread('Pose_with_Android.txt',1,0);
Vel_Matrix_data_5 = csvread('Velocity_with_Android.txt',1,0);

% time in position
TimeP_ros_data_5 = Pose_Matrix_data_5(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  durationP_data_5 = (TimeP_ros_data_5(size(TimeP_ros_data_5,1),:) - TimeP_ros_data_5(1,:))*10^(-9); 
  
t_P_sec_data_5 = 0:durationP_data_5/size(TimeP_ros_data_5,1):durationP_data_5;
t_P_sec_data_5(:,size(t_P_sec_data_5,2)) = [];

% time in vel
TimeV_ros_data_5 = Vel_Matrix_data_5(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  durationV_data_5 = (TimeV_ros_data_5(size(TimeV_ros_data_5,1),:) - TimeV_ros_data_5(1,:))*10^(-9);

t_V_sec_data_5 = 0:durationV_data_5/size(TimeV_ros_data_5,1):durationV_data_5;
t_V_sec_data_5(:,size(t_V_sec_data_5,2)) = [];

% -----------------------------------------------------------------------------------------------------
% data 6: with several oscilations


Pose_Matrix_data_6 = csvread('CAM_PID_.39_.0005_.01.txt',1,0);
Vel_Matrix_data_6 = csvread('vel_PID_.39_.0005_.01.txt',1,0);

% time in position
TP_ros_6 = Pose_Matrix_data_6(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  duP_6 = (TP_ros_6(size(TP_ros_6,1),:) - TP_ros_6(1,:))*10^(-9); 
  
t_P_ave_6 = 0:duP_6/size(TP_ros_6,1):duP_6;
t_P_ave_6(:,size(t_P_ave_6,2)) = [];

% time in vel
TV_ros_6 = Vel_Matrix_data_6(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  duV_6 = (TV_ros_6(size(TV_ros_6,1),:) - TV_ros_6(1,:))*10^(-9);

t_V_ave_6 = 0:duV_6/size(TV_ros_6,1):duV_6;
t_V_ave_6(:,size(t_V_ave_6,2)) = [];


%% Pose estimation

%data 1:
% when using marker pose ,,,,
Pose_X_data_1 = Pose_Matrix_data_1(:,4);
Pose_Y_data_1 = Pose_Matrix_data_1(:,3);
Theta_data_1 = Pose_Matrix_data_1(:,7);

% for i = 1:size(Theta_data_1,1)
%     if (Theta_data_1(i) > 0)
%         Theta_data_1(i) = Theta_data_1(i) - yaw_off;
%     else if(Theta_data_1(i) < 0)
%             Theta_data_1(i) = Theta_data_1(i) + yaw_off;
%         end
%     end
% end
% Extracting reference values when the robot is manually docked!
ref_X_data_1 = Pose_X_data_1(size(Pose_X_data_1,1));
ref_Y_data_1 = Pose_Y_data_1(size(Pose_Y_data_1,1));
ref_Theta_data_1 = Theta_data_1(size(Theta_data_1,1));
ref_Pose_data_1 =[ref_X_data_1;ref_Y_data_1];

%data 2:
% when using marker pose ,,,,
Pose_X_data_2 = Pose_Matrix_data_2(:,4);
Pose_Y_data_2 = Pose_Matrix_data_2(:,3);
Theta_data_2 = Pose_Matrix_data_2(:,7);

% for i = 1:size(Theta_data_2,1)
%     if (Theta_data_2(i) > 0)
%         Theta_data_2(i) = Theta_data_2(i) - yaw_off;
%     else if(Theta_data_2(i) < 0)
%             Theta_data_2(i) = Theta_data_2(i) + yaw_off;
%         end
%     end
% end

% Extracting reference values when the robot is manually docked!
ref_X_data_2 = Pose_X_data_2(size(Pose_X_data_2,1));
ref_Y_data_2 = Pose_Y_data_2(size(Pose_Y_data_2,1));
ref_Theta_data_2 = Theta_data_2(size(Theta_data_2,1));
ref_Pose_data_2 =[ref_X_data_2;ref_Y_data_2];

%data 3:
% when using marker pose ,,,,
Pose_X_data_3 = Pose_Matrix_data_3(:,4);
Pose_Y_data_3 = Pose_Matrix_data_3(:,3);
Theta_data_3 = Pose_Matrix_data_3(:,7);

% 
% for i = 1:size(Theta_data_3,1)
%     if (Theta_data_3(i) > 0)
%         Theta_data_3(i) = Theta_data_3(i) - yaw_off;
%     else if(Theta_data_3(i) < 0)
%             Theta_data_3(i) = Theta_data_3(i) + yaw_off;
%         end
%     end
% end
% Extracting reference values when the robot is manually docked!
ref_X_data_3 = Pose_X_data_3(size(Pose_X_data_3,1));
ref_Y_data_3 = Pose_Y_data_3(size(Pose_Y_data_3,1));
ref_Theta_data_3 = Theta_data_3(size(Theta_data_3,1));
ref_Pose_data_3 =[ref_X_data_3;ref_Y_data_3];

%data 4:
% when using marker pose ,,,,
Pose_X_data_4 = Pose_Matrix_data_4(:,4);
Pose_Y_data_4 = Pose_Matrix_data_4(:,3);
Theta_data_4 = Pose_Matrix_data_4(:,7);
% 
% for i = 1:size(Theta_data_4,1)
%     if (Theta_data_4(i) > 0)
%         Theta_data_4(i) = Theta_data_4(i) - yaw_off;
%     else if(Theta_data_4(i) < 0)
%             Theta_data_4(i) = Theta_data_4(i) + yaw_off;
%         end
%     end
% end

% Extracting reference values when the robot is manually docked!
ref_X_data_4 = Pose_X_data_4(size(Pose_X_data_4,1));
ref_Y_data_4 = Pose_Y_data_4(size(Pose_Y_data_4,1));
ref_Theta_data_4 = Theta_data_4(size(Theta_data_4,1));
ref_Pose_data_4 =[ref_X_data_4;ref_Y_data_4];


%data 5:
% when using marker pose ,,,,
Pose_X_data_5 = Pose_Matrix_data_5(:,4);
Pose_Y_data_5 = Pose_Matrix_data_5(:,3);
Theta_data_5 = Pose_Matrix_data_5(:,7);

% Extracting reference values when the robot is manually docked!
ref_X_data_5 = Pose_X_data_5(size(Pose_X_data_5,1));
ref_Y_data_5 = Pose_Y_data_5(size(Pose_Y_data_5,1));
ref_Theta_data_5 = Theta_data_5(size(Theta_data_5,1));
ref_Pose_data_5 =[ref_X_data_5;ref_Y_data_5];

%data 6:
% when using marker pose ,,,,
X_6 = Pose_Matrix_data_6(:,4);
Y_6 = Pose_Matrix_data_6(:,3);
Theta_6 = Pose_Matrix_data_6(:,7);

% Extracting reference values when the robot is manually docked!
ref_X_data_6 = X_6(size(X_6,1));
ref_Y_data_6 = Y_6(size(Y_6,1));
ref_Theta_data_6 = Theta_6(size(Theta_6,1));
ref_Pose_data_6 =[ref_X_data_6;ref_Y_data_6];

% Reference Circle 
thresh_X = .001;
theta = 0:.001:2*pi;
% needs to be adjusted manually if docking platform is replaced!
ref_x = .2026;
ref_y = .0087;
x_circle = thresh_X*cos(theta) + ref_x; % ref_X needs to be recorded
y_circle = thresh_X*sin(theta) + ref_y; % ref_Y needs to be recorded

%% Velocity estimation

% data 1:
Vel_X_data_1 = Vel_Matrix_data_1(:,2);
Vel_Y_data_1 = Vel_Matrix_data_1(:,3);
Omega_Z_data_1 = Vel_Matrix_data_1(:,7);

% data 2:
Vel_X_data_2 = Vel_Matrix_data_2(:,2);
Vel_Y_data_2 = Vel_Matrix_data_2(:,3);
Omega_Z_data_2 = Vel_Matrix_data_2(:,7);

% data 3:
Vel_X_data_3 = Vel_Matrix_data_3(:,2);
Vel_Y_data_3 = Vel_Matrix_data_3(:,3);
Omega_Z_data_3 = Vel_Matrix_data_3(:,7);

% data 4:
Vel_X_data_4 = Vel_Matrix_data_4(:,2);
Vel_Y_data_4 = Vel_Matrix_data_4(:,3);
Omega_Z_data_4 = Vel_Matrix_data_4(:,7);

% data 5:
Vel_X_data_5 = Vel_Matrix_data_5(:,2);
Vel_Y_data_5 = Vel_Matrix_data_5(:,3);
Omega_Z_data_5 = Vel_Matrix_data_5(:,7);

% data 6:
X_dot_6 = Vel_Matrix_data_6(:,2);
Y_dot_6 = Vel_Matrix_data_6(:,3);
theta_dot_6 = Vel_Matrix_data_6(:,7);

%% Plots

% % marker position
% figure;
% plot(t_P_sec_data_6,Pose_Y_data_6,'k','LineWidth',1.6);
% xlabel('time');
% ylabel('y');
% 
% figure;
% plot(t_P_sec_data_6,Theta_data_6,'k','LineWidth',1.6);
% xlabel('time');
% ylabel('\theta');

% camera pose estimation
figure;
set(gcf,'color','white');
subplot(321);
plot(t_P_sec_data_1,Pose_X_data_1,'LineWidth',2.1);
hold on
plot(t_P_sec_data_2,Pose_X_data_2,'r','LineWidth',1.7);
hold on
plot(t_P_sec_data_3,Pose_X_data_3,'g','LineWidth',1.8);
hold on
plot(t_P_sec_data_4,Pose_X_data_4,'m','LineWidth',1.5);
title('Pose estimation in marker coordinate system');
ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);

% l2 = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.28, I_y = 0, D_y = 0.006}$','${P_y = 0.266, I_y = 0.0003, D_y = 0.014}$');
% set(l2,'interpreter','latex','FontSize',11);
% legend('boxoff');

subplot(323);
plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',2.1);
hold on
plot(t_P_sec_data_2,Pose_Y_data_2,'r','LineWidth',1.7);
hold on
plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',1.8);
hold on
plot(t_P_sec_data_4,Pose_Y_data_4,'m','LineWidth',1.5);
ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);

subplot(325);
plot(t_P_sec_data_1,Theta_data_1,'LineWidth',2.1);
hold on
plot(t_P_sec_data_2,Theta_data_2,'r','LineWidth',1.7);
hold on
plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',1.8);
hold on
plot(t_P_sec_data_4,Theta_data_4,'m','LineWidth',1.5);

xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',14);


% control signals
% figure;
% set(gcf,'color','white');
subplot(322);

plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',2.1);
hold on
plot(t_V_sec_data_2,Vel_X_data_2,'r','LineWidth',1.7);
hold on
plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',1.8);
hold on
plot(t_V_sec_data_4,Vel_X_data_4,'m','LineWidth',1.5);

title('Control Signals');
ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);

l2 = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.28, I_y = 0, D_y = 0.006}$','${P_y = 0.266, I_y = 0.0003, D_y = 0.014}$');
set(l2,'interpreter','latex','FontSize',11);
legend('boxoff');


subplot(324);
plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',2.1);
hold on
plot(t_V_sec_data_2,Vel_Y_data_2,'r','LineWidth',1.7);
hold on
plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',1.8);
hold on
plot(t_V_sec_data_4,Vel_Y_data_4,'m','LineWidth',1.5);
ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);

subplot(326);
plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',2.1);
hold on
plot(t_V_sec_data_2,Omega_Z_data_2,'r','LineWidth',1.7);
hold on
plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',1.8);
hold on
plot(t_V_sec_data_4,Omega_Z_data_4,'m','LineWidth',1.5);
xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);


% Trajectory 

% 
% figure;
% plot(Pose_Y_data_1,Pose_X_data_1,'b',ref_Y_data_1,ref_X_data_1,'k*');
% hold on
% plot(Pose_Y_data_2,Pose_X_data_2,'r',ref_Y_data_2,ref_X_data_2,'k*');
% 
% hold on
% plot(Pose_Y_data_3,Pose_X_data_3,'g',ref_Y_data_3,ref_X_data_3,'k*');


% 
% for k = Pose_X_data_1(1):Pose_X_data_1(size(Pose_X_data_1,1))
%     x_arrow(k) = 
%     
% end
% 
% x_arrow = linspace(Pose_X_data_1(1),Pose_X_data_1(size(Pose_X_data_1,1)),150);
% y_arrow = linspace(Pose_Y_data_1(1),Pose_Y_data_1(size(Pose_Y_data_1,1)),150);
% 
% Vx = gradient(Pose_X_data_1);
% Vy = gradient(Pose_Y_data_1);

% figure;
% plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',3.5);
% hold on
% quiver(Pose_Y_data_1,Pose_X_data_1,Vy,Vx,'r--','LineWidth',.1);

figure;
plot(Y_6,X_6,'k','LineWidth',1.4);
% axis([-.3 .7 .1 1.6]);

figure;
subplot(321);
plot(t_P_ave_6,X_6,'LineWidth',2.1);
subplot(322);
plot(t_V_ave_6,X_dot_6,'LineWidth',2.1);
subplot(323);
plot(t_P_ave_6,Y_6,'LineWidth',2.1);
subplot(324);
plot(t_V_ave_6,Y_dot_6,'LineWidth',2.1);
subplot(325);
plot(t_P_ave_6,Theta_6,'LineWidth',2.1);
subplot(326);
plot(t_V_ave_6,theta_dot_6,'LineWidth',2.1);


figure;
subplot(1,3,1);
plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
% hold on
% quiver(abs(Pose_Y_data_1),Pose_X_data_1,gradient(Pose_Y_data_1),gradient(Pose_X_data_1),'r--','LineWidth',.1);

hold on
plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
% hold on
% quiver(abs(Pose_Y_data_2),Pose_X_data_2,gradient(Pose_Y_data_2),gradient(Pose_X_data_2),'m--','LineWidth',.1);

hold on
plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
% hold on
% quiver(abs(Pose_Y_data_3),Pose_X_data_3,gradient(Pose_Y_data_3),gradient(Pose_X_data_3),'k--','LineWidth',.1);

hold on
plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
% hold on
% quiver(abs(Pose_Y_data_4),Pose_X_data_4,gradient(Pose_Y_data_4),gradient(Pose_X_data_4),'b--','LineWidth',.1);

hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);

title('Approach zone + SM zone + Target area');
ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',14);
axis([-.05 .26 .19 1.52]);

subplot(1,3,2);
plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
hold on
plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
hold on
plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
hold on
plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);

title('SM zone + Target area');
xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
axis([-.023 0.02 .19 .29]);

subplot(1,3,3);
plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
hold on
plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
hold on
plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
hold on
plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);

title('Target area');
axis([0.0072 .0101 .20 .2056]);

l = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.28, I_y = 0, D_y = 0.006}$','${P_y = 0.266, I_y = 0.0003, D_y = 0.014}$','${Target}$');
set(l,'interpreter','latex','FontSize',11);
% legend('boxoff');


% % sampling time
% figure;
% set(gcf,'color','white');
% 
% subplot(2,2,1);
% plot(diff(TimeP_ros_data_3)/1e9,'r','LineWidth',1.4)
% hold on
% plot (diff(t_P_sec_data_3),'k--','LineWidth',1.8);
% % hold on
% title({'USB Camera';'Position'});
% ylabel('Sampling time [sec]','interpreter','latex','FontSize',11);
% axis([0 450 .068 .11]);
% l3 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
% set(l3,'interpreter','latex','FontSize',13);
% 
% subplot(2,2,2);
% plot(diff(TimeP_ros_data_5)/1e9,'g','LineWidth',1.4)
% hold on;
% plot (diff(t_P_sec_data_5),'b--','LineWidth',1.8);
% 
% title({'Android Camera';'Position'});
% axis([0 234 .068 .3]);
% 
% l4 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
% set(l4,'interpreter','latex','FontSize',13);
% legend('boxoff');
% 
% subplot(2,2,3);
% plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',1.4);
% hold on;
% plot (diff(t_V_sec_data_3),'k--','LineWidth',1.8);
% % hold on;
% title('Velocity');
% xlabel('samples','interpreter','latex','FontSize',13);
% ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
% axis([0 450 .068 .11]);
% 
% subplot(2,2,4);
% plot(diff(TimeV_ros_data_5)/1e9,'g','LineWidth',1.4);
% hold on;
% plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
% 
% title('Velocity');
% xlabel('samples','interpreter','latex','FontSize',13);
% % ylabel('Sampling time [sec]','interpreter','latex','FontSize',11);
% axis([0 234 .068 .3]);
% 

figure;
set(gcf,'color','white');
% 
% subplot(2,1,1);
pa1 = plot(diff(TimeP_ros_data_3)/1e9,'k','LineWidth',1.5);
hold on
pa2 = plot (diff(t_P_sec_data_3),'g--','LineWidth',1.5);
hold on
pa3 = plot(diff(TimeP_ros_data_5)/1e9,'b','LineWidth',1.5);
hold on;
pa4 = plot (diff(t_P_sec_data_5),'r--','LineWidth',1.8);
hold off;
axis([0 234 .05 .3]);
% 
% title('Position');
% ylabel('Sampling time [s]','interpreter','latex','FontSize',20);
% xlabel('Sample number','interpreter','latex','FontSize',20);
% 
% l5 = legend([pa1 pa2],'$USB Camera {Time_{ROS}}$','$ USB Camera {Time_{Real}} [s]$','Orientation','horizontal');
% set(l5,'interpreter','latex','FontSize',11);
% l6 = legend([pa3 pa4],'$ Android Camera {Time_{ROS}}$','$ Android Camera {Time_{Real}} [sec]$','Orientation','horizontal');
% set(l6,'interpreter','latex','FontSize',12);
% 
% set(gca,'fontsize',20);
leg = legend('ROS Time, USB camera','Real Time, USB camera [s]','ROS Time, IP camera','Real Time, IP camera [s]','Location','northwest');
set(leg,'FontSize',17);
legend('boxoff');

% 
% subplot(2,1,2);
% p1 = plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',2.1);
% hold on;
% p2 = plot (diff(t_V_sec_data_3),'k--','LineWidth',1.5);
% hold on;
% p3 = plot(diff(TimeV_ros_data_5)/1e9,'g','LineWidth',1.4);
% hold on;
% p4 = plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
% hold off;
% axis([0 234 0 .3]);
% title('Velocity');
% ylabel('Sampling time [s]','interpreter','latex','FontSize',13);
% xlabel('Sample','interpreter','latex','FontSize',13);
% 
% set(gca,'fontsize',13);


MaxOvershoot_1 = -ref_y + min(Pose_Y_data_1)
MaxOvershoot_2 = -ref_y + min(Pose_Y_data_2)
MaxOvershoot_3 = -ref_y + min(Pose_Y_data_3)
MaxOvershoot_4 = -ref_y + min(Pose_Y_data_4)
% Pose diff 
% figure;
% subplot(3,1,1);
% plot(diff(Pose_X_data_1));
% title('X-Pose diff');
% xlabel('samples');
% ylabel('X difference [m]');
% grid on
% 
% subplot(3,1,2);
% plot(diff(Pose_X_data_1));
% title('Y-Pose diff');
% xlabel('samples');
% ylabel('Y difference [m]');
% grid on
% 
% subplot(3,1,3);
% plot(diff(Theta_data_1));
% title('\theta-Pose diff');
% xlabel('samples');
% ylabel('\theta difference [rad]');
% grid on