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diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
index d1c11e56b4acc4ca4da8aab453825a4f637db01c..930bc02a38af23b64015783a342244e36bfd08b9 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
@@ -92,14 +92,14 @@ double PID4Docking::control_signalX, PID4Docking::control_signalY, PID4Docking::
//const double PID4Docking::RefPose[4] = {-.0957, 0.00638817 /* Y_ref*/ , 0.308857 /* X_ref*/ , 0.17 /* theta_ref*/};
// ---- Ref. Values for Logitech Camera ---- //
-const double PID4Docking::RefPose[4] = {-.0957, 0.00941711 /* Y_ref*/ , 0.201 /* X_ref*/ , -0.560363 /* theta_ref*/};
+const double PID4Docking::RefPose[4] = {-.0957, 0.0123851 /* Y_ref*/ , 0.200835 /* X_ref*/ , -0.042 /* theta_ref*/};
// ---------------- PID gains---------------- //
-double PID4Docking::Kp_y = .51; //.44
-double PID4Docking::Ki_y = 0.0005 ;//.0005
-double PID4Docking::Kd_y = 0.05; //.15
+double PID4Docking::Kp_y = .4; //.56
+double PID4Docking::Ki_y = 0 ;// 0
+double PID4Docking::Kd_y = 0.1; //.15
-double PID4Docking::Kp_theta = .08;// .08
+double PID4Docking::Kp_theta = .15;// .08
double PID4Docking::Ki_theta = 0; //* Ki_y; // .15 * Ki_y
double PID4Docking::Kd_theta = 0; //* Kd_y; // .0008
// ---------------- PID gains---------------- //
@@ -122,7 +122,7 @@ double PID4Docking::speed_reducer_theta = 1;
// ------ offsets X, Y, theta for Docking ---------
double PID4Docking::x_dock_thresh = .001;
double PID4Docking::y_dock_thresh = .002; //.0015
-double PID4Docking::theta_dock_thresh = (CV_PI/180) * 2; // 1 deg.
+double PID4Docking::theta_dock_thresh = (CV_PI/180) * .5; // 1 deg.
double PID4Docking::safety_margin_X = .18; // safety margin X axis in docking process : 18 cm
@@ -133,6 +133,12 @@ double PID4Docking::theta_thresh_undock = (CV_PI/180) * 3;
double PID4Docking::docking_counter = 1;
+// ---- offsets for Roll, Pitch, Yaw ----//
+float PID4Docking::p_off = CV_PI;
+float PID4Docking::r_off = CV_PI/2;
+float PID4Docking::y_off = CV_PI;
+float PID4Docking::roll,PID4Docking::yaw,PID4Docking::pitch;
+double PID4Docking::theta_with_offset;
PID4Docking::PID4Docking()
{
keepMoving = true;
@@ -299,8 +305,6 @@ if (TheVideoCapturer.retrieve(TheInputImage))
geometry_msgs::PoseStamped msg;
float x_t, y_t, z_t;
- float roll,yaw,pitch;
- float rollE,yawE,pitchE;
if (TheMarkers.size()>0)
{
@@ -310,7 +314,7 @@ if (TheVideoCapturer.retrieve(TheInputImage))
{
found = false;
keepMoving = false;
- ROS_INFO_STREAM("Marker is lost, successful docking trials : " << (docking_counter - 1) << "\n");
+ ROS_INFO_STREAM("Marker is lost, successful docking trials : " << (docking_counter - 1) << "\n");
//RandomPose(x_new,y_new,theta_new);
//move2docking(-control_signalX, -control_signalY, control_signalYAW);
}
@@ -327,61 +331,42 @@ if (TheVideoCapturer.retrieve(TheInputImage))
// You need to apply cv::Rodrigues() in order to obatain angles wrt to camera coords
Rodrigues(TheMarkers[0].Rvec,R);
- // ----------- Euler angle -----------------//
- float roll1 = -asin(R.at<float>(2,0));
- float roll2 = CV_PI - roll1;
+ roll = atan2(R.at<float>(1,0), R.at<float>(0,0));
+ pitch = atan2(-R.at<float>(2,0),pow((pow(R.at<float>(2,1),2)+pow(R.at<float>(2,2),2)),.5));
+ yaw = atan2(R.at<float>(2,1), R.at<float>(2,2)); // useful
- float pitch1 = atan2(R.at<float>(2,1) / cos(roll1), R.at<float>(2,2) / cos(roll1));
- float pitch2 = atan2(R.at<float>(2,1) / cos(roll2), R.at<float>(2,2) / cos(roll2));
-
- float yaw2 = atan2(R.at<float>(1,0) / cos(roll2), R.at<float>(0,0) / cos(roll2));
- float yaw1 = atan2(R.at<float>(1,0) / cos(roll1), R.at<float>(0,0) / cos(roll1));
+/* // yaw has an offset of 180 deg.
+if (yaw > 0)
+{
+ ROS_INFO_STREAM("yaw = " << (yaw - y_off)*(180.0/CV_PI) << " deg. \n");
+} else
+{
+ ROS_INFO_STREAM("yaw = " << (yaw + y_off)*(180.0/CV_PI) << " deg. \n");
+}*/
- //choose one solution to return
- //for example the "shortest" rotation
- if ((abs(roll1) + abs(pitch1) + abs(yaw1)) <= (abs(roll2) + abs(pitch2) + abs(yaw2)))
- {
- rollE = roll1;
- pitchE= pitch1;
- yawE = yaw1;
- } else
-
- {
- rollE = roll2;
- pitchE = pitch2;
- yawE = yaw2;
- }
- // ----------- Euler angle -----------------//
-
- pitch = -atan2(R.at<float>(2,0), R.at<float>(2,1));
- yaw = acos(R.at<float>(2,2));
- roll = -atan2(R.at<float>(0,2), R.at<float>(1,2));
+ // Adding Camera frame to Robot Frame ---
+ tf::Quaternion quat_CAM = tf::createQuaternionFromRPY(0, 0, 0);
+ broadcaster.sendTransform(tf::StampedTransform(tf::Transform(quat_CAM,tf::Vector3(.25, 0, .5)),ros::Time::now(),"/base_link","/camera"));
- // Marker rotation should be initially zero (just for convenience)
- float p_off = CV_PI;
- float r_off = CV_PI/2;
- float y_off = CV_PI/2;
-
- // Camera Frame ---
- transformCAM.setOrigin( tf::Vector3(.25, 0, .5) );
- transformCAM.setRotation( tf::Quaternion(0, 0, 0 , 1) );
-
- CAMbr.sendTransform(tf::StampedTransform(transformCAM,ros::Time::now(),"/base_link","/camera"));
- // Publish TF message including the offsets
- tf::Quaternion quat = tf::createQuaternionFromRPY(roll-r_off, pitch+p_off, yaw-y_off);
- broadcaster.sendTransform(tf::StampedTransform(tf::Transform(quat,tf::Vector3(x_t, y_t, z_t)),ros::Time::now(),"/camera","/marker"));
-
- // Now publish the pose message, remember the offsets
+ // Adding Marker frame to Camera Frame ---
+ tf::Quaternion quat_M = tf::createQuaternionFromRPY(roll,pitch,yaw);
+ broadcaster.sendTransform(tf::StampedTransform(tf::Transform(quat_M,tf::Vector3(x_t, y_t, z_t)),ros::Time::now(),"/camera","/marker"));
+
msg.header.frame_id = "/camera";
+
+ // Publish Position
msg.pose.position.x = x_t;
msg.pose.position.y = y_t;
msg.pose.position.z = z_t;
- geometry_msgs::Quaternion p_quat = tf::createQuaternionMsgFromRollPitchYaw(roll-r_off, pitch+p_off, yaw-y_off);
- msg.pose.orientation = p_quat;
-
+ // Publish Orientation
+ msg.pose.orientation.x = roll;
+ msg.pose.orientation.y = pitch;
+ msg.pose.orientation.z = yaw;
+
MarPose_pub.publish(msg);
+
}
/*// Print other rectangles that contains no valid markers
@@ -435,18 +420,11 @@ void PID4Docking::camCB(const geometry_msgs::PoseStamped::ConstPtr& CamFB) // su
camPose[0] = CamFB->pose.position.x; // not important!!!
camPose[1] = CamFB->pose.position.y; // y pose
camPose[2] = CamFB->pose.position.z; // x_rob
-camPose[3] = CamFB->pose.orientation.x; // theta orientation
-
- // in Marker coordinate sys.
-
- // z => X robot (thrust)
- // y => -Y robot (left - right)
- // x => Z robot (NOT applicabale in our case!)
-
- // correspondingly ...
- // roll in Marker coordinate => yaw in Robot coordinate
+
+camPose[3] = CamFB->pose.orientation.x; // Robot roll
+camPose[4] = CamFB->pose.orientation.y; // Robot pitch
+camPose[5] = CamFB->pose.orientation.z; // Robot yaw
-
/*ROS_INFO_STREAM("--------- PID gains in trial no. " << docking_counter << " : ---------\n");
ROS_INFO_STREAM(" Kp_y = " << Kp_y << " , Ki_y = " << Ki_y << " , Kd_y = " << Kd_y << "\n");
ROS_INFO_STREAM(" Kp_theta = " << Kp_theta << " , Ki_theta = " << Ki_theta << " , Kd_theta = " << Kd_theta << "\n");*/
@@ -454,18 +432,24 @@ camPose[3] = CamFB->pose.orientation.x; // theta orientation
ROS_INFO_STREAM(" --------------------- Pose estimation ------------------ \n");
ROS_INFO_STREAM(" X_mar = " << camPose[2] << " vs. X_ref = " << RefPose[2] << " \n");
ROS_INFO_STREAM(" Y_mar = " << camPose[1] << " vs. Y_ref = " << RefPose[1] << " \n");
-
- ROS_INFO_STREAM(" theta_mar = " << camPose[3] << " rad. =~ " << (180/CV_PI) * camPose[3] << " deg. \n");
- ROS_INFO_STREAM(" theta_ref = " << RefPose[3] << " rad. =~ " << (180/CV_PI) * RefPose[3] << " deg. \n");
+ if (camPose[5] > 0)
+ {
+ theta_with_offset = camPose[5] - y_off;
+ ROS_INFO_STREAM("theta = " << theta_with_offset << "rad. =~ " << theta_with_offset*(180.0/CV_PI) << " deg. \n");
+ } else
+ {
+ theta_with_offset = camPose[5] + y_off;
+ ROS_INFO_STREAM("theta = " << theta_with_offset << "rad. =~ " << theta_with_offset*(180.0/CV_PI) << " deg. \n");
+ }
+ ROS_INFO_STREAM(" theta_ref = " << RefPose[3] << " rad. =~ " << (180/CV_PI) * RefPose[3] << " deg. \n");
+
ROS_INFO_STREAM("------------------------------------------------------ \n ");
if(Go2RandomPose == false)
{
ROS_INFO_STREAM("---------- MOVING TOWARDS DOCKING PLATFORM --------- \n ");
if (
- (abs(RefPose[2] - camPose[2]) <= x_dock_thresh) //&& // Z
- //(abs(RefPose[1] - camPose[1]) <= y_dock_thresh) && // Y
- //(abs(RefPose[3] - camPose[3]) <= theta_dock_thresh) // Yaw
+ (abs(RefPose[2] - camPose[2]) <= x_dock_thresh)
)
{
dock_finished = ros::Time::now().toSec();
@@ -482,15 +466,15 @@ camPose[3] = CamFB->pose.orientation.x; // theta orientation
{
if(
(abs(RefPose[1] - camPose[1]) > y_dock_thresh) ||
- (abs(abs(RefPose[3]) - abs(camPose[3])) > theta_dock_thresh)
+ (abs(RefPose[3] - theta_with_offset) > theta_dock_thresh)
)
{
ROS_INFO_STREAM(" delta_X < " << safety_margin_X << " m., Fixing Y or theta. \n ");
speed_reducer_Y = speed_reducer_theta = 1;
- Controller(RefPose[2], RefPose[2], RefPose[1], camPose[1], RefPose[3], camPose[3],.1);
+ Controller(RefPose[2], RefPose[2], RefPose[1], camPose[1], RefPose[3], theta_with_offset,.1);
} else if(
(abs(RefPose[1] - camPose[1]) <= y_dock_thresh) &&
- (abs(abs(RefPose[3]) - abs(camPose[3])) <= theta_dock_thresh)
+ (abs(RefPose[3] - theta_with_offset) <= theta_dock_thresh)
)
{
ROS_INFO("y & theta fixed successfully, MOVING STRAIGHT AHEAD ... \n");
@@ -504,7 +488,7 @@ camPose[3] = CamFB->pose.orientation.x; // theta orientation
}else
{
speed_reducer_X = 1;
- Controller(RefPose[2], camPose[2], RefPose[1], camPose[1], RefPose[3], camPose[3],.1);
+ Controller(RefPose[2], camPose[2], RefPose[1], camPose[1], RefPose[3], theta_with_offset,.1);
}
} else
{
@@ -569,30 +553,7 @@ void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double M
ROS_INFO_STREAM("pY = " << p_termY << ", iY = " << i_termY << " dY = " << d_termY<< " \n");
control_signalY = p_termY + i_termY + d_termY;
-
-
control_signalY = speed_reducer_Y * control_signalY;
-
- /* -- MARKER IN CAMERA COORDINATATE FRAME
- if(MarPoseY < 0 && )
- {
- control_signalY = - speed_reducer_Y * control_signalY;
- ROS_INFO("marker pose < 0 => robot is going to the RIGHT \n");
- } else if (MarPoseY < 0)
- {
- control_signalY = speed_reducer_Y * control_signalY;
- ROS_INFO("marker pose > 0 => robot is going to the LEFT \n");
- } else if (MarPoseY < 0)
- {
- control_signalY = speed_reducer_Y * control_signalY;
- ROS_INFO("marker pose > 0 => robot is going to the LEFT \n");
- } else if (MarPoseY < 0)
- {
- control_signalY = speed_reducer_Y * control_signalY;
- ROS_INFO("marker pose > 0 => robot is going to the LEFT \n");
- }*/
-
-
prev_errorY = curr_errorY;
} else if ((RefY - MarPoseY) <= y_dock_thresh && (RefY - MarPoseY) >= -y_dock_thresh)
@@ -601,10 +562,11 @@ ROS_INFO_STREAM("pY = " << p_termY << ", iY = " << i_termY << " dY = " << d_term
}
// -------------------YAW--------------------------//
- if(abs(abs(RefYAW) - abs(MarPoseYAW)) > theta_dock_thresh)
+ if(abs(RefYAW - MarPoseYAW) > theta_dock_thresh)
{
+ //ROS_INFO_STREAM("REF = "<< RefYAW<< ", theta = "<< MarPoseYAW<< ".\n");
// e(t) = setpoint - actual value;
- curr_errorYAW = abs(RefYAW) - abs(MarPoseYAW);
+ curr_errorYAW = RefYAW - MarPoseYAW;
// Integrated error
int_errorYAW += curr_errorYAW * dt;
@@ -617,46 +579,16 @@ ROS_INFO_STREAM("pY = " << p_termY << ", iY = " << i_termY << " dY = " << d_term
i_termYAW = Ki_theta * int_errorYAW;
d_termYAW = Kd_theta * diffYAW;
- ROS_INFO_STREAM("p_theta = " << p_termYAW << ", i_theta = " << i_termYAW << " d_theta = " << d_termYAW << " \n");
+//ROS_INFO_STREAM("p_theta = " << p_termYAW << ", i_theta = " << i_termYAW << " d_theta = " << d_termYAW << " \n");
// control signal
control_signalYAW = p_termYAW + i_termYAW + d_termYAW;
- if(MarPoseYAW > 0 && abs(RefYAW) >= abs(MarPoseYAW))
- {
- ROS_INFO("abs(RefYAW) >= abs(orientation) && orientation > 0 => CCW rotation\n"); // correct
- control_signalYAW = speed_reducer_theta * control_signalYAW;
-
- } else if (MarPoseYAW > 0 && abs(RefYAW) < abs(MarPoseYAW))
- {
- ROS_INFO("abs(RefYAW) < abs(orientation) && orientation > 0 => CCW rotation\n"); // correct ?
- control_signalYAW = - speed_reducer_theta * control_signalYAW;
-
- } else if (MarPoseYAW < 0 && abs(RefYAW) >= abs(MarPoseYAW))
- {
- /*ROS_INFO("abs(RefYAW) >= abs(orientation) && orientation < 0 => CW rotation \n"); // correct (changed)
- control_signalYAW = - speed_reducer_theta * control_signalYAW;*/
-
- ROS_INFO("abs(RefYAW) >= abs(orientation) && orientation < 0 => CCW rotation \n");
- control_signalYAW = speed_reducer_theta * control_signalYAW;
-
- } else if (MarPoseYAW < 0 && abs(RefYAW) < abs(MarPoseYAW))
- {
- /*ROS_INFO("abs(RefYAW) < abs(orientation) && orientation < 0 => CCW rotation \n"); // correct ? (changed)
- control_signalYAW = - speed_reducer_theta * control_signalYAW;*/
-
- ROS_INFO("abs(RefYAW) < abs(orientation) && orientation < 0 => CW rotation \n");
- control_signalYAW = speed_reducer_theta * control_signalYAW;
-
- } else
- {
- ROS_INFO("New Condition should be added! \n");
- keepMoving = false;
- }
// save the current error as the previous one
// for the next iteration.
- prev_errorYAW = curr_errorYAW;
- } else
+ prev_errorYAW = curr_errorYAW;
+
+ } else if (abs(RefYAW - MarPoseYAW) <= theta_dock_thresh)
{
control_signalYAW = 0;
}
diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
index a3080c99bdfd144b15eaf2ed432f973c32f6f07a..930bc02a38af23b64015783a342244e36bfd08b9 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
@@ -92,14 +92,14 @@ double PID4Docking::control_signalX, PID4Docking::control_signalY, PID4Docking::
//const double PID4Docking::RefPose[4] = {-.0957, 0.00638817 /* Y_ref*/ , 0.308857 /* X_ref*/ , 0.17 /* theta_ref*/};
// ---- Ref. Values for Logitech Camera ---- //
-const double PID4Docking::RefPose[4] = {-.0957, 0.00903123 /* Y_ref*/ , 0.2 /* X_ref*/ , -0.56 /* theta_ref*/};
+const double PID4Docking::RefPose[4] = {-.0957, 0.0123851 /* Y_ref*/ , 0.200835 /* X_ref*/ , -0.042 /* theta_ref*/};
// ---------------- PID gains---------------- //
-double PID4Docking::Kp_y = .86; //.44
-double PID4Docking::Ki_y = 0 ;//.0005
-double PID4Docking::Kd_y = 0.002; //.15
+double PID4Docking::Kp_y = .4; //.56
+double PID4Docking::Ki_y = 0 ;// 0
+double PID4Docking::Kd_y = 0.1; //.15
-double PID4Docking::Kp_theta = .08;// .08
+double PID4Docking::Kp_theta = .15;// .08
double PID4Docking::Ki_theta = 0; //* Ki_y; // .15 * Ki_y
double PID4Docking::Kd_theta = 0; //* Kd_y; // .0008
// ---------------- PID gains---------------- //
@@ -122,7 +122,7 @@ double PID4Docking::speed_reducer_theta = 1;
// ------ offsets X, Y, theta for Docking ---------
double PID4Docking::x_dock_thresh = .001;
double PID4Docking::y_dock_thresh = .002; //.0015
-double PID4Docking::theta_dock_thresh = (CV_PI/180) * 2; // 1 deg.
+double PID4Docking::theta_dock_thresh = (CV_PI/180) * .5; // 1 deg.
double PID4Docking::safety_margin_X = .18; // safety margin X axis in docking process : 18 cm
@@ -133,6 +133,12 @@ double PID4Docking::theta_thresh_undock = (CV_PI/180) * 3;
double PID4Docking::docking_counter = 1;
+// ---- offsets for Roll, Pitch, Yaw ----//
+float PID4Docking::p_off = CV_PI;
+float PID4Docking::r_off = CV_PI/2;
+float PID4Docking::y_off = CV_PI;
+float PID4Docking::roll,PID4Docking::yaw,PID4Docking::pitch;
+double PID4Docking::theta_with_offset;
PID4Docking::PID4Docking()
{
keepMoving = true;
@@ -299,8 +305,6 @@ if (TheVideoCapturer.retrieve(TheInputImage))
geometry_msgs::PoseStamped msg;
float x_t, y_t, z_t;
- float roll,yaw,pitch;
- float rollE,yawE,pitchE;
if (TheMarkers.size()>0)
{
@@ -310,7 +314,7 @@ if (TheVideoCapturer.retrieve(TheInputImage))
{
found = false;
keepMoving = false;
- ROS_INFO_STREAM("Marker is lost, successful docking trials : " << (docking_counter - 1) << "\n");
+ ROS_INFO_STREAM("Marker is lost, successful docking trials : " << (docking_counter - 1) << "\n");
//RandomPose(x_new,y_new,theta_new);
//move2docking(-control_signalX, -control_signalY, control_signalYAW);
}
@@ -327,61 +331,42 @@ if (TheVideoCapturer.retrieve(TheInputImage))
// You need to apply cv::Rodrigues() in order to obatain angles wrt to camera coords
Rodrigues(TheMarkers[0].Rvec,R);
- // ----------- Euler angle -----------------//
- float roll1 = -asin(R.at<float>(2,0));
- float roll2 = CV_PI - roll1;
+ roll = atan2(R.at<float>(1,0), R.at<float>(0,0));
+ pitch = atan2(-R.at<float>(2,0),pow((pow(R.at<float>(2,1),2)+pow(R.at<float>(2,2),2)),.5));
+ yaw = atan2(R.at<float>(2,1), R.at<float>(2,2)); // useful
- float pitch1 = atan2(R.at<float>(2,1) / cos(roll1), R.at<float>(2,2) / cos(roll1));
- float pitch2 = atan2(R.at<float>(2,1) / cos(roll2), R.at<float>(2,2) / cos(roll2));
-
- float yaw2 = atan2(R.at<float>(1,0) / cos(roll2), R.at<float>(0,0) / cos(roll2));
- float yaw1 = atan2(R.at<float>(1,0) / cos(roll1), R.at<float>(0,0) / cos(roll1));
+/* // yaw has an offset of 180 deg.
+if (yaw > 0)
+{
+ ROS_INFO_STREAM("yaw = " << (yaw - y_off)*(180.0/CV_PI) << " deg. \n");
+} else
+{
+ ROS_INFO_STREAM("yaw = " << (yaw + y_off)*(180.0/CV_PI) << " deg. \n");
+}*/
- //choose one solution to return
- //for example the "shortest" rotation
- if ((abs(roll1) + abs(pitch1) + abs(yaw1)) <= (abs(roll2) + abs(pitch2) + abs(yaw2)))
- {
- rollE = roll1;
- pitchE= pitch1;
- yawE = yaw1;
- } else
-
- {
- rollE = roll2;
- pitchE = pitch2;
- yawE = yaw2;
- }
- // ----------- Euler angle -----------------//
-
- pitch = -atan2(R.at<float>(2,0), R.at<float>(2,1));
- yaw = acos(R.at<float>(2,2));
- roll = -atan2(R.at<float>(0,2), R.at<float>(1,2));
+ // Adding Camera frame to Robot Frame ---
+ tf::Quaternion quat_CAM = tf::createQuaternionFromRPY(0, 0, 0);
+ broadcaster.sendTransform(tf::StampedTransform(tf::Transform(quat_CAM,tf::Vector3(.25, 0, .5)),ros::Time::now(),"/base_link","/camera"));
- // Marker rotation should be initially zero (just for convenience)
- float p_off = CV_PI;
- float r_off = CV_PI/2;
- float y_off = CV_PI/2;
-
- // Camera Frame ---
- transformCAM.setOrigin( tf::Vector3(.25, 0, .5) );
- transformCAM.setRotation( tf::Quaternion(0, 0, 0 , 1) );
-
- CAMbr.sendTransform(tf::StampedTransform(transformCAM,ros::Time::now(),"/base_link","/camera"));
- // Publish TF message including the offsets
- tf::Quaternion quat = tf::createQuaternionFromRPY(roll-r_off, pitch+p_off, yaw-y_off);
- broadcaster.sendTransform(tf::StampedTransform(tf::Transform(quat,tf::Vector3(x_t, y_t, z_t)),ros::Time::now(),"/camera","/marker"));
-
- // Now publish the pose message, remember the offsets
+ // Adding Marker frame to Camera Frame ---
+ tf::Quaternion quat_M = tf::createQuaternionFromRPY(roll,pitch,yaw);
+ broadcaster.sendTransform(tf::StampedTransform(tf::Transform(quat_M,tf::Vector3(x_t, y_t, z_t)),ros::Time::now(),"/camera","/marker"));
+
msg.header.frame_id = "/camera";
+
+ // Publish Position
msg.pose.position.x = x_t;
msg.pose.position.y = y_t;
msg.pose.position.z = z_t;
- geometry_msgs::Quaternion p_quat = tf::createQuaternionMsgFromRollPitchYaw(roll-r_off, pitch+p_off, yaw-y_off);
- msg.pose.orientation = p_quat;
-
+ // Publish Orientation
+ msg.pose.orientation.x = roll;
+ msg.pose.orientation.y = pitch;
+ msg.pose.orientation.z = yaw;
+
MarPose_pub.publish(msg);
+
}
/*// Print other rectangles that contains no valid markers
@@ -435,18 +420,11 @@ void PID4Docking::camCB(const geometry_msgs::PoseStamped::ConstPtr& CamFB) // su
camPose[0] = CamFB->pose.position.x; // not important!!!
camPose[1] = CamFB->pose.position.y; // y pose
camPose[2] = CamFB->pose.position.z; // x_rob
-camPose[3] = CamFB->pose.orientation.x; // theta orientation
-
- // in Marker coordinate sys.
-
- // z => X robot (thrust)
- // y => -Y robot (left - right)
- // x => Z robot (NOT applicabale in our case!)
-
- // correspondingly ...
- // roll in Marker coordinate => yaw in Robot coordinate
+
+camPose[3] = CamFB->pose.orientation.x; // Robot roll
+camPose[4] = CamFB->pose.orientation.y; // Robot pitch
+camPose[5] = CamFB->pose.orientation.z; // Robot yaw
-
/*ROS_INFO_STREAM("--------- PID gains in trial no. " << docking_counter << " : ---------\n");
ROS_INFO_STREAM(" Kp_y = " << Kp_y << " , Ki_y = " << Ki_y << " , Kd_y = " << Kd_y << "\n");
ROS_INFO_STREAM(" Kp_theta = " << Kp_theta << " , Ki_theta = " << Ki_theta << " , Kd_theta = " << Kd_theta << "\n");*/
@@ -454,18 +432,24 @@ camPose[3] = CamFB->pose.orientation.x; // theta orientation
ROS_INFO_STREAM(" --------------------- Pose estimation ------------------ \n");
ROS_INFO_STREAM(" X_mar = " << camPose[2] << " vs. X_ref = " << RefPose[2] << " \n");
ROS_INFO_STREAM(" Y_mar = " << camPose[1] << " vs. Y_ref = " << RefPose[1] << " \n");
-
- ROS_INFO_STREAM(" theta_mar = " << camPose[3] << " rad. =~ " << (180/CV_PI) * camPose[3] << " deg. \n");
- ROS_INFO_STREAM(" theta_ref = " << RefPose[3] << " rad. =~ " << (180/CV_PI) * RefPose[3] << " deg. \n");
+ if (camPose[5] > 0)
+ {
+ theta_with_offset = camPose[5] - y_off;
+ ROS_INFO_STREAM("theta = " << theta_with_offset << "rad. =~ " << theta_with_offset*(180.0/CV_PI) << " deg. \n");
+ } else
+ {
+ theta_with_offset = camPose[5] + y_off;
+ ROS_INFO_STREAM("theta = " << theta_with_offset << "rad. =~ " << theta_with_offset*(180.0/CV_PI) << " deg. \n");
+ }
+ ROS_INFO_STREAM(" theta_ref = " << RefPose[3] << " rad. =~ " << (180/CV_PI) * RefPose[3] << " deg. \n");
+
ROS_INFO_STREAM("------------------------------------------------------ \n ");
if(Go2RandomPose == false)
{
ROS_INFO_STREAM("---------- MOVING TOWARDS DOCKING PLATFORM --------- \n ");
if (
- (abs(RefPose[2] - camPose[2]) <= x_dock_thresh) //&& // Z
- //(abs(RefPose[1] - camPose[1]) <= y_dock_thresh) && // Y
- //(abs(RefPose[3] - camPose[3]) <= theta_dock_thresh) // Yaw
+ (abs(RefPose[2] - camPose[2]) <= x_dock_thresh)
)
{
dock_finished = ros::Time::now().toSec();
@@ -482,15 +466,15 @@ camPose[3] = CamFB->pose.orientation.x; // theta orientation
{
if(
(abs(RefPose[1] - camPose[1]) > y_dock_thresh) ||
- (abs(abs(RefPose[3]) - abs(camPose[3])) > theta_dock_thresh)
+ (abs(RefPose[3] - theta_with_offset) > theta_dock_thresh)
)
{
ROS_INFO_STREAM(" delta_X < " << safety_margin_X << " m., Fixing Y or theta. \n ");
speed_reducer_Y = speed_reducer_theta = 1;
- Controller(RefPose[2], RefPose[2], RefPose[1], camPose[1], RefPose[3], camPose[3],.1);
+ Controller(RefPose[2], RefPose[2], RefPose[1], camPose[1], RefPose[3], theta_with_offset,.1);
} else if(
(abs(RefPose[1] - camPose[1]) <= y_dock_thresh) &&
- (abs(abs(RefPose[3]) - abs(camPose[3])) <= theta_dock_thresh)
+ (abs(RefPose[3] - theta_with_offset) <= theta_dock_thresh)
)
{
ROS_INFO("y & theta fixed successfully, MOVING STRAIGHT AHEAD ... \n");
@@ -504,7 +488,7 @@ camPose[3] = CamFB->pose.orientation.x; // theta orientation
}else
{
speed_reducer_X = 1;
- Controller(RefPose[2], camPose[2], RefPose[1], camPose[1], RefPose[3], camPose[3],.1);
+ Controller(RefPose[2], camPose[2], RefPose[1], camPose[1], RefPose[3], theta_with_offset,.1);
}
} else
{
@@ -569,30 +553,7 @@ void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double M
ROS_INFO_STREAM("pY = " << p_termY << ", iY = " << i_termY << " dY = " << d_termY<< " \n");
control_signalY = p_termY + i_termY + d_termY;
-
-
control_signalY = speed_reducer_Y * control_signalY;
-
- /* -- MARKER IN CAMERA COORDINATATE FRAME
- if(MarPoseY < 0 && )
- {
- control_signalY = - speed_reducer_Y * control_signalY;
- ROS_INFO("marker pose < 0 => robot is going to the RIGHT \n");
- } else if (MarPoseY < 0)
- {
- control_signalY = speed_reducer_Y * control_signalY;
- ROS_INFO("marker pose > 0 => robot is going to the LEFT \n");
- } else if (MarPoseY < 0)
- {
- control_signalY = speed_reducer_Y * control_signalY;
- ROS_INFO("marker pose > 0 => robot is going to the LEFT \n");
- } else if (MarPoseY < 0)
- {
- control_signalY = speed_reducer_Y * control_signalY;
- ROS_INFO("marker pose > 0 => robot is going to the LEFT \n");
- }*/
-
-
prev_errorY = curr_errorY;
} else if ((RefY - MarPoseY) <= y_dock_thresh && (RefY - MarPoseY) >= -y_dock_thresh)
@@ -601,10 +562,11 @@ ROS_INFO_STREAM("pY = " << p_termY << ", iY = " << i_termY << " dY = " << d_term
}
// -------------------YAW--------------------------//
- if(abs(abs(RefYAW) - abs(MarPoseYAW)) > theta_dock_thresh)
+ if(abs(RefYAW - MarPoseYAW) > theta_dock_thresh)
{
+ //ROS_INFO_STREAM("REF = "<< RefYAW<< ", theta = "<< MarPoseYAW<< ".\n");
// e(t) = setpoint - actual value;
- curr_errorYAW = abs(RefYAW) - abs(MarPoseYAW);
+ curr_errorYAW = RefYAW - MarPoseYAW;
// Integrated error
int_errorYAW += curr_errorYAW * dt;
@@ -617,46 +579,16 @@ ROS_INFO_STREAM("pY = " << p_termY << ", iY = " << i_termY << " dY = " << d_term
i_termYAW = Ki_theta * int_errorYAW;
d_termYAW = Kd_theta * diffYAW;
- ROS_INFO_STREAM("p_theta = " << p_termYAW << ", i_theta = " << i_termYAW << " d_theta = " << d_termYAW << " \n");
+//ROS_INFO_STREAM("p_theta = " << p_termYAW << ", i_theta = " << i_termYAW << " d_theta = " << d_termYAW << " \n");
// control signal
control_signalYAW = p_termYAW + i_termYAW + d_termYAW;
- if(MarPoseYAW > 0 && abs(RefYAW) >= abs(MarPoseYAW))
- {
- ROS_INFO("abs(RefYAW) >= abs(orientation) && orientation > 0 => CCW rotation\n"); // correct
- control_signalYAW = speed_reducer_theta * control_signalYAW;
-
- } else if (MarPoseYAW > 0 && abs(RefYAW) < abs(MarPoseYAW))
- {
- ROS_INFO("abs(RefYAW) < abs(orientation) && orientation > 0 => CCW rotation\n"); // correct ?
- control_signalYAW = - speed_reducer_theta * control_signalYAW;
-
- } else if (MarPoseYAW < 0 && abs(RefYAW) >= abs(MarPoseYAW))
- {
- /*ROS_INFO("abs(RefYAW) >= abs(orientation) && orientation < 0 => CW rotation \n"); // correct (changed)
- control_signalYAW = - speed_reducer_theta * control_signalYAW;*/
-
- ROS_INFO("abs(RefYAW) >= abs(orientation) && orientation < 0 => CCW rotation \n");
- control_signalYAW = speed_reducer_theta * control_signalYAW;
-
- } else if (MarPoseYAW < 0 && abs(RefYAW) < abs(MarPoseYAW))
- {
- /*ROS_INFO("abs(RefYAW) < abs(orientation) && orientation < 0 => CCW rotation \n"); // correct ? (changed)
- control_signalYAW = - speed_reducer_theta * control_signalYAW;*/
-
- ROS_INFO("abs(RefYAW) < abs(orientation) && orientation < 0 => CW rotation \n");
- control_signalYAW = speed_reducer_theta * control_signalYAW;
-
- } else
- {
- ROS_INFO("New Condition should be added! \n");
- keepMoving = false;
- }
// save the current error as the previous one
// for the next iteration.
- prev_errorYAW = curr_errorYAW;
- } else
+ prev_errorYAW = curr_errorYAW;
+
+ } else if (abs(RefYAW - MarPoseYAW) <= theta_dock_thresh)
{
control_signalYAW = 0;
}
diff --git a/MobileRobot/docking_data/Pose3.txt b/MobileRobot/docking_data/Pose3.txt
index 0c7a8023d0b4e192f40a335802b684714176b7b1..ff9b963bf07cb0163c0676f12dcb0be9fa4067c7 100644
--- a/MobileRobot/docking_data/Pose3.txt
+++ b/MobileRobot/docking_data/Pose3.txt
@@ -1,481 +1,235 @@
%time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w
-1470148072485586057,-0.0378360040486,0.374558150768,1.35844314098,-0.175597112654,0.0158307993188,0.789049297885,-0.58848640199
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-1470148072928604283,-0.0378360040486,0.374558150768,1.35844314098,-0.175597112654,0.0158307993188,0.789049297885,-0.58848640199
-1470148073007669139,-0.0378360040486,0.374558150768,1.35844314098,-0.175597112654,0.0158307993188,0.789049297885,-0.58848640199
-1470148073080576854,-0.0378360040486,0.374558150768,1.35844314098,-0.175597112654,0.0158307993188,0.789049297885,-0.58848640199
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diff --git a/MobileRobot/docking_data/Pose3.txt~ b/MobileRobot/docking_data/Pose3.txt~
index afc15340fca8e8b1978b56faecd04c755c3a151a..0c7a8023d0b4e192f40a335802b684714176b7b1 100644
--- a/MobileRobot/docking_data/Pose3.txt~
+++ b/MobileRobot/docking_data/Pose3.txt~
@@ -1,524 +1,481 @@
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diff --git a/MobileRobot/docking_data/Vel3.txt b/MobileRobot/docking_data/Vel3.txt
index fdef06cae2f009e6026405b66536a0d0bec6e5f1..9afe6b8d5e5cbb4f4bd854ba6a63ac4e1e5caf6a 100644
--- a/MobileRobot/docking_data/Vel3.txt
+++ b/MobileRobot/docking_data/Vel3.txt
@@ -1,480 +1,234 @@
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diff --git a/MobileRobot/docking_data/Vel3.txt~ b/MobileRobot/docking_data/Vel3.txt~
index 67390894c5e65151b3038949216e134a4c6beeb3..fdef06cae2f009e6026405b66536a0d0bec6e5f1 100644
--- a/MobileRobot/docking_data/Vel3.txt~
+++ b/MobileRobot/docking_data/Vel3.txt~
@@ -1,547 +1,480 @@
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