diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
index 27c0b9f9b22fa472608265f701ad061877f274dd..8a57d2df5e21d014c3e83b969f2eb372857a1f47 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
@@ -92,18 +92,19 @@ 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, -0.0310121 /* Y_ref*/ , 0.219607 /* X_ref*/ , -0.618508 /* theta_ref*/};
+const double PID4Docking::RefPose[4] = {-.0957, 0.00903123 /* Y_ref*/ , 0.199791 /* X_ref*/ , -0.56 /* theta_ref*/};
// ---------------- PID gains---------------- //
-double PID4Docking::Kp_y = .49; //.55
-double PID4Docking::Ki_y = 0 ;//.002
-double PID4Docking::Kd_y = 0; //.1
+double PID4Docking::Kp_y = .44; //.55
+double PID4Docking::Ki_y = .0005 ;//.002
+double PID4Docking::Kd_y = .15; //.1
-double PID4Docking::Kp_theta = .07;// .34 * Kp_y; .//35 * Kp_y (u can't put that gain less than certain value since the left joint on the robot would hit the docking platform!)
+double PID4Docking::Kp_theta = .08;// .11
double PID4Docking::Ki_theta = 0; //* Ki_y; // .15 * Ki_y
double PID4Docking::Kd_theta = 0; //* Kd_y; // .0008
// ---------------- PID gains---------------- //
+
double PID4Docking::TT_S,PID4Docking::TT_E;
// random pose initialized
const double PID4Docking::y_up = .3;
@@ -119,8 +120,8 @@ double PID4Docking::speed_reducer_Y = 1;
double PID4Docking::speed_reducer_theta = 1;
// ------ offsets X, Y, theta for Docking ---------
-double PID4Docking::X_dock_thresh = .001;
-double PID4Docking::y_dock_thresh = .0025;
+double PID4Docking::x_dock_thresh = .001;
+double PID4Docking::y_dock_thresh = .002; //.0015
double PID4Docking::theta_dock_thresh = (CV_PI/180) * 1; // 1 deg.
double PID4Docking::safety_margin_X = .15; // safety margin X axis in docking process : 18 cm
@@ -143,9 +144,9 @@ PID4Docking::PID4Docking()
// Publish pose message and buffer up to 100 messages
MarPose_pub = node_vis.advertise<geometry_msgs::PoseStamped>("/marker_pose", 100);
- commandPub = node_cont.advertise<geometry_msgs::Twist>("/base_controller/command",1);
+ commandPub = node_cont.advertise<geometry_msgs::Twist>("/base_controller/command",100);
- MarPose_Sub = node_vis.subscribe("/marker_pose",1,&PID4Docking::camCB,this);
+ MarPose_Sub = node_vis.subscribe("/marker_pose",100,&PID4Docking::camCB,this);
}
PID4Docking::~PID4Docking()
@@ -316,7 +317,8 @@ if (TheVideoCapturer.retrieve(TheInputImage))
if (node_vis.ok() && found)
{
- y_t = -TheMarkers[0].Tvec.at<Vec3f>(0,0)[0];
+ /*y_t = -TheMarkers[0].Tvec.at<Vec3f>(0,0)[0]; // changed !!! */
+ y_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[0];
x_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[1];
z_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[2];
@@ -446,8 +448,9 @@ camPose[3] = CamFB->pose.orientation.x; // theta orientation
ROS_INFO_STREAM("--------- PID gains in trial no. " << docking_counter << " : ---------\n");
- ROS_INFO_STREAM(" Kp = " << Kp_y << " , Ki = " << Ki_y << " , Kd = " << Kd_y << "\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");
+
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");
@@ -460,7 +463,7 @@ camPose[3] = CamFB->pose.orientation.x; // theta orientation
{
ROS_INFO_STREAM("---------- MOVING TOWARDS DOCKING PLATFORM --------- \n ");
if (
- (abs(RefPose[2] - camPose[2]) <= X_dock_thresh) //&& // Z
+ (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
)
@@ -505,7 +508,7 @@ camPose[3] = CamFB->pose.orientation.x; // theta orientation
} else
{
ROS_INFO("---------- MOVING TOWARDS RANDOM POSE ---------\n");
- RandomPose(x_new,y_new,theta_new);
+ Undocking(x_new,y_new,theta_new);
}
}
@@ -514,7 +517,7 @@ void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double M
ROS_INFO_STREAM("--------------------- Controller started ----------------------\n ");
// -----------------X--------------------- //
- if(abs(RefX - MarPoseX) > X_dock_thresh)
+ if(abs(RefX - MarPoseX) > x_dock_thresh)
{
/*// e(t) = setpoint - actual value;
curr_errorX = RefX - MarPoseX;
@@ -533,7 +536,7 @@ void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double M
control_signalX = speed_reducer_X * 0.1;
} else
{
- control_signalX = 5e-5;
+ control_signalX = 0; // 5e-5
}
// -----------------Y--------------------- //
@@ -560,12 +563,23 @@ void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double M
d_termY = Kd_y * diffY;
ROS_INFO_STREAM("pY = " << p_termY << ", iY = " << i_termY << " dY = " << d_termY<< " \n");
- // control signal
+
control_signalY = p_termY + i_termY + d_termY;
- // robot & marker coordinates conversion
- control_signalY = - speed_reducer_Y * control_signalY;
+ //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
+ {
+ 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)
@@ -590,7 +604,7 @@ void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double M
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;
@@ -606,13 +620,20 @@ void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double M
} else if (MarPoseYAW < 0 && abs(RefYAW) >= abs(MarPoseYAW))
{
- ROS_INFO("abs(RefYAW) >= abs(orientation) && orientation < 0 => CW rotation \n"); // correct
- control_signalYAW = - speed_reducer_theta * control_signalYAW;
+ /*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 ?
- control_signalYAW = - speed_reducer_theta * control_signalYAW;
+ /*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");
@@ -627,11 +648,13 @@ void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double M
control_signalYAW = 0;
}
- //ROS_INFO_STREAM("Control signalX = " << control_signalX <<" . \n");
- //ROS_INFO_STREAM("Control signalY = " << control_signalY << ". \n");
- //ROS_INFO_STREAM("Control signalYAW = "<< control_signalYAW <<". \n");
+ /* ---
+ ROS_INFO_STREAM("Control signalX = " << control_signalX <<"\n");
+ ROS_INFO_STREAM("Control signalY = " << control_signalY << "\n");
+ ROS_INFO_STREAM("Control signalYAW = "<< control_signalYAW <<"\n");
+ */
+
ROS_INFO_STREAM(" ---------------------- Controller ended ----------------------- \n");
-
dock(control_signalX, control_signalY, control_signalYAW);
}
@@ -696,7 +719,7 @@ void PID4Docking::GenerateRandomVal()
theta_new = ((double) rand() / (RAND_MAX)) * (theta_up - theta_dwn) + theta_dwn; // will be used for Q_Learning
}
-void PID4Docking::RandomPose(double X_rand, double Y_rand, double theta_rand)
+void PID4Docking::Undocking(double X_rand, double Y_rand, double theta_rand)
{
ROS_INFO_STREAM(" Xr = " << X_rand << ", Yr = " << Y_rand << ", Thetar = " << theta_rand << " rad ~ " << theta_rand * (180/CV_PI) << " deg\n");
ROS_INFO_STREAM(" -------------------------------------------------------------- \n");
diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
index 0ac2d590db80557e1e02696175b2a5892a27d96d..27c0b9f9b22fa472608265f701ad061877f274dd 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, -0.029968 /* Y_ref*/ , 0.219607 /* X_ref*/ , -0.643852 /* theta_ref*/};
+const double PID4Docking::RefPose[4] = {-.0957, -0.0310121 /* Y_ref*/ , 0.219607 /* X_ref*/ , -0.618508 /* theta_ref*/};
// ---------------- PID gains---------------- //
-double PID4Docking::Kp_y = .55; //.55
+double PID4Docking::Kp_y = .49; //.55
double PID4Docking::Ki_y = 0 ;//.002
-double PID4Docking::Kd_y = 0.6; //.1
+double PID4Docking::Kd_y = 0; //.1
-double PID4Docking::Kp_theta = .2;// .34 * Kp_y; .//35 * Kp_y (u can't put that gain less than certain value since the left joint on the robot would hit the docking platform!)
+double PID4Docking::Kp_theta = .07;// .34 * Kp_y; .//35 * Kp_y (u can't put that gain less than certain value since the left joint on the robot would hit the docking platform!)
double PID4Docking::Ki_theta = 0; //* Ki_y; // .15 * Ki_y
double PID4Docking::Kd_theta = 0; //* Kd_y; // .0008
// ---------------- PID gains---------------- //
@@ -120,8 +120,8 @@ double PID4Docking::speed_reducer_theta = 1;
// ------ offsets X, Y, theta for Docking ---------
double PID4Docking::X_dock_thresh = .001;
-double PID4Docking::y_dock_thresh = .0013;
-double PID4Docking::theta_dock_thresh = (CV_PI/180) * 3; // 1 deg.
+double PID4Docking::y_dock_thresh = .0025;
+double PID4Docking::theta_dock_thresh = (CV_PI/180) * 1; // 1 deg.
double PID4Docking::safety_margin_X = .15; // safety margin X axis in docking process : 18 cm
@@ -449,8 +449,8 @@ camPose[3] = CamFB->pose.orientation.x; // theta orientation
ROS_INFO_STREAM(" Kp = " << Kp_y << " , Ki = " << Ki_y << " , Kd = " << Kd_y << "\n");
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(" 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");
diff --git a/MobileRobot/docking_data/Pose.txt b/MobileRobot/docking_data/Pose.txt
index 1b2a042302665243e4e5b69103a9ae4f355683f2..1954a078efe224a7ebf057349a6251f5e3797418 100644
--- a/MobileRobot/docking_data/Pose.txt
+++ b/MobileRobot/docking_data/Pose.txt
@@ -1,662 +1,558 @@
%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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diff --git a/MobileRobot/docking_data/Pose.txt~ b/MobileRobot/docking_data/Pose.txt~
new file mode 100644
index 0000000000000000000000000000000000000000..f71e0aa5b2ff0a404672d166575f2ef7253d9423
--- /dev/null
+++ b/MobileRobot/docking_data/Pose.txt~
@@ -0,0 +1,602 @@
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diff --git a/MobileRobot/docking_data/Pose2.txt b/MobileRobot/docking_data/Pose2.txt
index 6e951880e10e2bf654b9477af4a29320fb55f159..5b0d60b372e1b0b853dd253ab24f463596376f16 100644
--- a/MobileRobot/docking_data/Pose2.txt
+++ b/MobileRobot/docking_data/Pose2.txt
@@ -1,379 +1,540 @@
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diff --git a/MobileRobot/docking_data/Pose2.txt~ b/MobileRobot/docking_data/Pose2.txt~
new file mode 100644
index 0000000000000000000000000000000000000000..ce63e48a99f889ef36ea2f138feed61746926af9
--- /dev/null
+++ b/MobileRobot/docking_data/Pose2.txt~
@@ -0,0 +1,630 @@
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diff --git a/MobileRobot/docking_data/Vel.txt b/MobileRobot/docking_data/Vel.txt
index 3c4a12a0bef391eac3eb9b9451982fa7f4edc6f2..03f002d46c2e477e36e3bc5184ed91623a71ae8b 100644
--- a/MobileRobot/docking_data/Vel.txt
+++ b/MobileRobot/docking_data/Vel.txt
@@ -1,661 +1,557 @@
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diff --git a/MobileRobot/docking_data/Vel.txt~ b/MobileRobot/docking_data/Vel.txt~
new file mode 100644
index 0000000000000000000000000000000000000000..366267b45bca26e7c3cf87598908faa8290195ad
--- /dev/null
+++ b/MobileRobot/docking_data/Vel.txt~
@@ -0,0 +1,601 @@
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diff --git a/MobileRobot/docking_data/Vel2.txt b/MobileRobot/docking_data/Vel2.txt
index f94e8c8e344066cbefa994a8cf1bd2f7945e341f..b8099c23e97702977e04b8d5ea5b27d6d4cb0900 100644
--- a/MobileRobot/docking_data/Vel2.txt
+++ b/MobileRobot/docking_data/Vel2.txt
@@ -1,378 +1,539 @@
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diff --git a/MobileRobot/docking_data/Vel2.txt~ b/MobileRobot/docking_data/Vel2.txt~
new file mode 100644
index 0000000000000000000000000000000000000000..19b8f587b8408aadef141d31bfbc9164ae9d7f65
--- /dev/null
+++ b/MobileRobot/docking_data/Vel2.txt~
@@ -0,0 +1,629 @@
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diff --git a/MobileRobot/recordANDplaydata.txt~ b/MobileRobot/recordANDplaydata.txt~
index 4d0c7467c0867a5aa73ff1ce46e6fa1bbe0f2d78..608107ad208aeb056f494e8a7db749a69609690d 100644
--- a/MobileRobot/recordANDplaydata.txt~
+++ b/MobileRobot/recordANDplaydata.txt~
@@ -43,3 +43,6 @@ z: ----
$ rostopic echo -b NAME.bag -p /base_controller/odometry/pose/pose/position > POSITION.txt
+$ rostopic echo -b dock.bag -p /marker_pose/pose > Pose.txt
+
+$ rostopic echo -b dock.bag -p /base_controller/command > Vel.txt