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d1c11e56..930bc02a 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 a3080c99..930bc02a 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 0c7a8023..ff9b963b 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 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