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+1474902515642916577,0.00468868389726,0.0170783363283,0.224272117019,1.55197882652,-0.0227266643196,3.11486649513,0.0 diff --git a/Files_4_thesis/Different_controllers/Odometry_Exp.m b/Files_4_thesis/Different_controllers/Odometry_Exp.m new file mode 100644 index 0000000000000000000000000000000000000000..e7dc99d4ded75d3dbc3a6eb3dc7ccdf4ba36e41d --- /dev/null +++ b/Files_4_thesis/Different_controllers/Odometry_Exp.m @@ -0,0 +1,28 @@ +clc; +close all; +clear all; +%% Import data and time conversion + +% data 1: +odom_Matrix_data_1 = csvread('odom_PID_.39_.0005_.01.txt',1,0); + + +% time in position +TimeP_ros_data_1 = odom_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)) = []; + + +%% Pose estimation + +%data 1: +odom_X_data_1 = odom_Matrix_data_1(:,2); +odom_Y_data_1 = odom_Matrix_data_1(:,3); + +figure; +plot(odom_Y_data_1,odom_X_data_1); \ No newline at end of file diff --git a/Files_4_thesis/Different_controllers/docking_with_PID_controller.m b/Files_4_thesis/Different_controllers/docking_with_PID_controller.m index 4c77bac4a54d5965e805e137625a7f3fa0209b6a..c7f0fe1d5a4107fc6a1b99f8cfc09dfb51b021d6 100644 --- a/Files_4_thesis/Different_controllers/docking_with_PID_controller.m +++ b/Files_4_thesis/Different_controllers/docking_with_PID_controller.m @@ -23,8 +23,10 @@ clear all; % theta-axis gains: % P = .08; I = 0; D = 0; -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('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_.31_.00065_.071.txt',1,0); +Vel_Matrix_data_1 = csvread('vel_PID_.31_.00065_.071.txt',1,0); % time in position TimeP_ros_data_1 = Pose_Matrix_data_1(:,1); % ros time, needs to be converted to sec... @@ -53,9 +55,11 @@ t_V_sec_data_1(:,size(t_V_sec_data_1,2)) = []; % 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('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_.38_.0001_.02.txt',1,0); +Vel_Matrix_data_2 = csvread('vel_PID_.38_.0001_.02.txt',1,0); % time in position TimeP_ros_data_2 = Pose_Matrix_data_2(:,1); % ros time, needs to be converted to sec... @@ -84,8 +88,11 @@ t_V_sec_data_2(:,size(t_V_sec_data_2,2)) = []; % 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('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('CAM_PID_.38_0_.02.txt',1,0); +Vel_Matrix_data_3 = csvread('vel_PID_.38_0_.02.txt',1,0); % time in position TimeP_ros_data_3 = Pose_Matrix_data_3(:,1); % ros time, needs to be converted to sec... @@ -114,8 +121,11 @@ t_V_sec_data_3(:,size(t_V_sec_data_3,2)) = []; % 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('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_.39_.0005_.01.txt',1,0); +Vel_Matrix_data_4 = csvread('vel_PID_.39_.0005_.01.txt',1,0); % time in position TimeP_ros_data_4 = Pose_Matrix_data_4(:,1); % ros time, needs to be converted to sec... @@ -165,14 +175,13 @@ TimeV_ros_data_5 = Vel_Matrix_data_5(:,1); % ros time, needs to be converted to 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)) = []; - %% 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(:,5); +Theta_data_1 = Pose_Matrix_data_1(:,7); % when using robot odometry ,,,, @@ -190,7 +199,7 @@ ref_Pose_data_1 =[ref_X_data_1;ref_Y_data_1]; % 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(:,5); +Theta_data_2 = Pose_Matrix_data_2(:,7); % when using robot odometry ,,,, % Pose_X = Pose_Matrix(:,2); @@ -207,7 +216,7 @@ ref_Pose_data_2 =[ref_X_data_2;ref_Y_data_2]; % 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(:,5); +Theta_data_3 = Pose_Matrix_data_3(:,7); % when using robot odometry ,,,, % Pose_X = Pose_Matrix(:,2); @@ -224,12 +233,8 @@ ref_Pose_data_3 =[ref_X_data_3;ref_Y_data_3]; % 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(:,5); +Theta_data_4 = Pose_Matrix_data_4(:,7); -% when using robot odometry ,,,, -% Pose_X = Pose_Matrix(:,2); -% Pose_Y = Pose_Matrix(:,3); -% Theta = Pose_Matrix(:,7); % Extracting reference values when the robot is manually docked! ref_X_data_4 = Pose_X_data_4(size(Pose_X_data_4,1)); @@ -242,12 +247,7 @@ ref_Pose_data_4 =[ref_X_data_4;ref_Y_data_4]; % 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(:,5); - -% when using robot odometry ,,,, -% Pose_X = Pose_Matrix(:,2); -% Pose_Y = Pose_Matrix(:,3); -% Theta = Pose_Matrix(:,7); +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)); @@ -256,7 +256,6 @@ ref_Theta_data_5 = Theta_data_5(size(Theta_data_5,1)); ref_Pose_data_5 =[ref_X_data_5;ref_Y_data_5]; - % Reference Circle thresh_X = .001; theta = 0:.001:2*pi; @@ -296,21 +295,16 @@ Omega_Z_data_5 = Vel_Matrix_data_5(:,7); %% Plots -% for the presenation all pose estimation(x,y,theta) in one plot +% marker position +figure; +plot(t_P_sec_data_4,Pose_Y_data_4,'k','LineWidth',1.6); + +figure; +plot(t_P_sec_data_4,Theta_data_4,'k','LineWidth',1.6); -% figure; -% plot(t_P_sec,Pose_X,'b',t_P_sec,Pose_Y,'r',t_P_sec,Theta,'g'); -% -% title('Marker Pose'); -% xlabel('Time [sec]'); -% ylabel('Pose'); -% legend('X [m]','Y [m]','\theta [rad]'); -% grid on -% marker position figure; set(gcf,'color','white'); - subplot(3,1,1); plot(t_P_sec_data_1,Pose_X_data_1,'LineWidth',3); hold on @@ -334,7 +328,6 @@ hold on plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',2.3); hold on plot(t_P_sec_data_4,Pose_Y_data_4,'m','LineWidth',1.6); - ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14); subplot(3,1,3); @@ -345,14 +338,13 @@ hold on plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',2.3); hold on plot(t_P_sec_data_4,Theta_data_4,'m','LineWidth',1.6); - xlabel('$ time [sec]$','interpreter','latex','FontSize',14); ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',14); % control signals + figure; set(gcf,'color','white'); - subplot(3,1,1); plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',3); @@ -422,10 +414,10 @@ ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14); % 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; -set(gcf,'color','white'); +plot(Pose_Y_data_4,Pose_X_data_4,'k','LineWidth',2); +figure; subplot(1,3,1); plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2); hold on @@ -451,7 +443,7 @@ 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([-.1 .4 .18 1.4]); +% axis([-.1 .4 .18 1.4]); subplot(1,3,2); plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',1.6); @@ -466,7 +458,7 @@ plot(y_circle,x_circle,'k--','LineWidth',3.4); title('SM zone + Target area'); xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14); -axis([-.005 0.045 .195 .32]); +% axis([-.005 0.045 .195 .32]); subplot(1,3,3); plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2); @@ -480,7 +472,7 @@ hold on plot(y_circle,x_circle,'k--','LineWidth',3.4); title('Target area'); -axis([0.0065 .0095 .1995 .2055]); +% axis([0.0065 .0095 .1995 .2055]); l = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$' ,'Target'); set(l,'interpreter','latex','FontSize',11); diff --git a/Files_4_thesis/Different_controllers/joystick_exp.m b/Files_4_thesis/Different_controllers/joystick_exp.m new file mode 100644 index 0000000000000000000000000000000000000000..7b382c9392dd51aa8667b131dd50d6450b5471e9 --- /dev/null +++ b/Files_4_thesis/Different_controllers/joystick_exp.m @@ -0,0 +1,96 @@ +clc; +close all; +clear all; + +%% Import data + + +% data 6: + +% ------------JOYSTICK------------- + +Pose_Matrix_data_6 = csvread('CAM_joy.txt',1,0); +Vel_Matrix_data_6 = csvread('vel_joy.txt',1,0); + +% time in position +TimeP_ros_data_6 = Pose_Matrix_data_6(:,1); % ros time, needs to be converted to sec... + +% duriation = end_time - start_time + durationP_data_6 = (TimeP_ros_data_6(size(TimeP_ros_data_6,1),:) - TimeP_ros_data_6(1,:))*10^(-9); + +t_P_sec_data_6 = 0:durationP_data_6/size(TimeP_ros_data_6,1):durationP_data_6; +t_P_sec_data_6(:,size(t_P_sec_data_6,2)) = []; + +% time in vel +TimeV_ros_data_6 = Vel_Matrix_data_6(:,1); % ros time, needs to be converted to sec... + +% duriation = end_time - start_time + durationV_data_6 = (TimeV_ros_data_6(size(TimeV_ros_data_6,1),:) - TimeV_ros_data_6(1,:))*10^(-9); + +t_V_sec_data_6 = 0:durationV_data_6/size(TimeV_ros_data_6,1):durationV_data_6; +t_V_sec_data_6(:,size(t_V_sec_data_6,2)) = []; + + + +%% pose estimation + +%data 6: +% when using marker pose ,,,, +Pose_X_data_6 = Pose_Matrix_data_6(:,4); +Pose_Y_data_6 = Pose_Matrix_data_6(:,3); +Theta_data_6 = Pose_Matrix_data_6(:,7); + +% Extracting reference values when the robot is manually docked! +ref_X_data_6 = Pose_X_data_6(size(Pose_X_data_6,1)); +ref_Y_data_6 = Pose_Y_data_6(size(Pose_Y_data_6,1)); +ref_Theta_data_6 = Theta_data_6(size(Theta_data_6,1)); +ref_Pose_data_6 =[ref_X_data_6;ref_Y_data_6]; + +%% Velocity + + +% data 6: +Vel_X_data_6 = Vel_Matrix_data_6(:,2); +Vel_Y_data_6 = Vel_Matrix_data_6(:,3); +Omega_Z_data_6 = Vel_Matrix_data_6(:,7); + +%% plots + +figure; +plot(t_P_sec_data_6,Pose_X_data_6,'LineWidth',2); +xlabel('time'); +ylabel('x'); + +figure; +plot(t_P_sec_data_6,Pose_Y_data_6,'LineWidth',2); +xlabel('time'); +ylabel('y'); + + +figure; +plot(t_P_sec_data_6,Theta_data_6,'LineWidth',2); +hold on +plot(t_P_sec_data_6,pi/2,'r--','LineWidth',3); +xlabel('time'); +ylabel('\theta'); + +figure; +plot(t_V_sec_data_6,Vel_X_data_6,'LineWidth',1.1); +xlabel('time'); +ylabel('x_{dot}'); + +figure; +plot(t_V_sec_data_6,Vel_Y_data_6,'LineWidth',1.1); +xlabel('time'); +ylabel('y_{dot}'); + +figure; +plot(t_V_sec_data_6,Omega_Z_data_6,'LineWidth',1.6); +xlabel('time'); +ylabel('\theta_{dot}'); + +figure; +set(gcf,'color','white'); +plot(Pose_Y_data_6,Pose_X_data_6,'r','LineWidth',2); +xlabel('Y'); +ylabel('X'); \ No newline at end of file diff --git a/Files_4_thesis/Different_controllers/odom_PID_.31_.00065_.071.txt b/Files_4_thesis/Different_controllers/odom_PID_.31_.00065_.071.txt new file mode 100644 index 0000000000000000000000000000000000000000..e7395e4a15dcf5d9604b2f0e73fc6ba6a7989ac6 --- /dev/null +++ b/Files_4_thesis/Different_controllers/odom_PID_.31_.00065_.071.txt @@ -0,0 +1,5250 @@ +%time,field.x,field.y,field.z +1474722822634290460,-0.167065063018,0.308642507936,0.0 +1474722822644157841,-0.167062940753,0.308642320308,0.0 +1474722822654287459,-0.167061584404,0.308642197537,0.0 +1474722822664114064,-0.167062888168,0.308642314253,0.0 +1474722822674331063,-0.16706379083,0.308642384541,0.0 +1474722822684280232,-0.16706445373,0.308642447346,0.0 +1474722822694170727,-0.167067698353,0.30864272938,0.0 +1474722822704131831,-0.167069886084,0.308642893378,0.0 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+1474904308383610870,0.006,0.0,0.0,0.0,0.0,0.0 diff --git a/Files_4_thesis/x_tANDy_t/y_tANDx_t.m b/Files_4_thesis/x_tANDy_t/y_tANDx_t.m new file mode 100644 index 0000000000000000000000000000000000000000..8fd10855eabe8e7b61ee4f108572f25a9749ff85 --- /dev/null +++ b/Files_4_thesis/x_tANDy_t/y_tANDx_t.m @@ -0,0 +1,85 @@ +clc; +close all; +clear all; + +% ----------------------------------------------------------------------------------------------------- +% 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_.39_.0005_.01.txt',1,0); +Vel_Matrix_data_4 = csvread('vel_PID_.39_.0005_.01.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)) = []; + +%% Pose estimation + +%data 4: +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(:,5); + +% 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]; + +% Reference Circle +thresh_X = .001; +theta = 0:.001:2*pi; +% needs to be adjusted manually if docking platform is replaced! +ref_x = .20095; +ref_y = .0081; +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 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); + +%% Plot +figure; +plot(t_P_sec_data_4,Theta_data_4,'LineWidth',3); +hold on +plot(t_P_sec_data_4,pi/2,'r--','LineWidth',3); +xlabel('time'); +ylabel('\theta'); + +figure; +plot(t_P_sec_data_4,Pose_Y_data_4,'LineWidth',3); +xlabel('time'); +ylabel('y'); + +figure; +set(gcf,'color','white'); +plot(Pose_Y_data_4,Pose_X_data_4,'b','LineWidth',2); +xlabel('Y'); +ylabel('X'); diff --git a/MobileRobot/docking_data/CAM_PID_.31_.00065_.071.txt~ b/MobileRobot/docking_data/CAM_PID_.31_.00065_.071.txt~ deleted file mode 100644 index aad20bc75a07f1467bc1a073c528f3ae8c184b16..0000000000000000000000000000000000000000 --- a/MobileRobot/docking_data/CAM_PID_.31_.00065_.071.txt~ +++ /dev/null @@ -1,624 +0,0 @@ -%time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w -1474722824654212850,0.049098521471,0.0330501422286,1.52969694138,1.56740260124,-0.0245085284114,2.75162625313,0.0 -1474722824769006680,0.0490985922515,0.0330501496792,1.52969825268,1.5674021244,-0.0245067421347,2.75162696838,0.0 -1474722824852977696,0.0490985922515,0.0330501496792,1.52969825268,1.5674021244,-0.0245067421347,2.75162696838,0.0 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a/MobileRobot/docking_data/CAM_PID_.38_0_.02.txt~ b/MobileRobot/docking_data/CAM_PID_.38_0_.02.txt~ deleted file mode 100644 index 128d7c3fd3deca9cca251272ae7e23f59660f7fa..0000000000000000000000000000000000000000 --- a/MobileRobot/docking_data/CAM_PID_.38_0_.02.txt~ +++ /dev/null @@ -1,317 +0,0 @@ -%time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w -1474720445083903171,0.0521045215428,-0.0432873703539,1.57905101776,1.54975962639,0.0162925366312,2.71565318108,0.0 -1474720445187596260,0.0521354340017,-0.0433513000607,1.5828756094,1.55130589008,0.0120917567983,2.71858310699,0.0 -1474720445276321148,0.0520223863423,-0.0434551797807,1.567273736,1.55046033859,0.0264934003353,2.72947883606,0.0 -1474720445357638442,0.0520174838603,-0.0434668920934,1.56612920761,1.55096316338,0.0311141032726,2.7307407856,0.0 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a/MobileRobot/docking_data/CAM_PID_.39_.0005_.01.txt~ b/MobileRobot/docking_data/CAM_PID_.39_.0005_.01.txt~ deleted file mode 100644 index c4e14db93b559c43753f035153d3e3a096226816..0000000000000000000000000000000000000000 --- a/MobileRobot/docking_data/CAM_PID_.39_.0005_.01.txt~ +++ /dev/null @@ -1,328 +0,0 @@ -%time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w -1474914017619660628,0.0326473042369,-0.110443867716,0.873161960835,1.5294636488,-0.0309810880572,0.248063802719,0.0 -1474914017726299140,0.0326188988984,-0.114662392578,0.870833852444,1.53007805347,-0.0329167805612,0.252660989761,0.0 -1474914017811340325,0.0326358377934,-0.11710380891,0.868892817664,1.52723240852,-0.0443055145442,0.255420684814,0.0 -1474914017895781745,0.0326644517481,-0.108349043837,0.873516511486,1.52722084522,-0.0427329167724,0.245904922485,0.0 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file mode 100644 index 8656d54b3f53697897c1874cfa00f7437adbfcd2..0000000000000000000000000000000000000000 --- a/MobileRobot/docking_data/Velocity_center.txt~ +++ /dev/null @@ -1,591 +0,0 @@ -%time,field.linear.x,field.linear.y,field.linear.z,field.angular.x,field.angular.y,field.angular.z -1470141525407099813,0.15,-0.60432835549,0.0,0.0,0.0,0.021817087893 -1470141525487318517,0.15,-0.240282154295,0.0,0.0,0.0,0.0223571302718 -1470141525568006077,0.15,-0.23989139876,0.0,0.0,0.0,0.0228609468356 -1470141525647978425,0.15,-0.239532214615,0.0,0.0,0.0,0.0228499107477 -1470141525726518532,0.15,-0.240480888697,0.0,0.0,0.0,0.0228609468356 -1470141525806776149,0.15,-0.23953983328,0.0,0.0,0.0,0.0229210689609 -1470141525881315649,0.15,-0.241081983062,0.0,0.0,0.0,0.0230193514298 -1470141525957380327,0.15,-0.239759374472,0.0,0.0,0.0,0.0228609468356 -1470141526036453769,0.15,-0.23934194586,0.0,0.0,0.0,0.0341365393277 -1470141526108311406,0.15,-0.239196543309,0.0,0.0,0.0,0.0380989505668 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b/MobileRobot/docking_data/odom_PID_.31_.00065_.071.txt~ deleted file mode 100644 index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000 diff --git a/MobileRobot/docking_data/odom_PID_.38_.0001_.02.txt~ b/MobileRobot/docking_data/odom_PID_.38_.0001_.02.txt~ deleted file mode 100644 index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000 diff --git a/MobileRobot/docking_data/odom_PID_.38_0_.02.txt~ b/MobileRobot/docking_data/odom_PID_.38_0_.02.txt~ deleted file mode 100644 index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000 diff --git a/MobileRobot/docking_data/odom_PID_.39_.0005_.01.txt~ b/MobileRobot/docking_data/odom_PID_.39_.0005_.01.txt~ deleted file mode 100644 index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000 diff --git a/MobileRobot/docking_data/vel_PID_.31_.00065_.071.txt~ b/MobileRobot/docking_data/vel_PID_.31_.00065_.071.txt~ deleted 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faada45b57b98351045eea19caa71505d9fae3c4..0000000000000000000000000000000000000000 --- a/MobileRobot/ej6.cpp~ +++ /dev/null @@ -1,172 +0,0 @@ -//************************************************************************* -// Example program using OpenCV library -// -// Luis M. Jim�nez -// -// Course: Computer Vision (1782) -// Dpo. of Systems Engineering and Automation -// Automation, Robotics and Computer Vision Lab (ARVC) -// http://arvc.umh.es -// University Miguel Hern�ndez -// -// Description: -// - Loads camera calibration data from file (YAML type) -// - Capture images from a camera (decrease resolution) -// - Detects markers using ARUCO library -// - Calculates POSE from camera calibration file -// - Draws 3D cube on each maker over captured image -// -//************************************************************************* - -#pragma warning( disable : 4290 ) // avoids warning 4290 - -#include <cassert> // debugging -#include <iostream> // c++ standar input/output -#include <sstream> // string to number conversion -#include <string> // handling strings -#include <vector> // handling vectors -#include <math.h> // math functions -#include <stdio.h> // standar C input/ouput - -#include <opencv2/opencv.hpp> // OpenCV library headers -#include <opencv2/nonfree/nonfree.hpp> // Nonfree opencv library headers - -// ARUCO Library (Markers) -#include <aruco/aruco.h> - - -//************************************************************************* -// C++ namespaces C++ (avoid using prefix for starndar and openCV classes) -//************************************************************************* -using namespace std; -using namespace cv; - - - -//************************************************************************* -// Function prototypes -//************************************************************************* - - -//************************************************************************* -// Constants -//************************************************************************* -const char * WINDOW_CAMERA1 = "(W1) Camera 1 (Marker Detector)"; // windows id - -//************************************************************************* -// Variables Globales -//************************************************************************* -int CAMERA_ID = 0; // default camera - - -//************************************************************************* -// Funciones -//************************************************************************* - -int main (int argc, char * const argv[]) -{ - int key; - VideoCapture camera; // Cameras - Mat capture; // Images - Mat gray_image; - - locale::global(locale("spanish")); // Character set (so you can use accents) - - Size camSize(640, 480); // capture resolution - - bool markerWasFound = false; - aruco::MarkerDetector MDetector; // handler for marker detector - vector<aruco::Marker> Markers; // storage for detected markers - - float markerSize = (float)0.076; // size of ARUCO marker (meters) - aruco::BoardConfiguration boardInfo; // ARUCO board info - aruco::CameraParameters cameraParameters; //ARUCO class for camera parameters - - Mat cameraMatrix, distCoeffs; // Intrinsic Camera Calibration parameters - - // Load ARUCO board info - boardInfo.readFromFile("ARUCO_board.yaml"); - - // Load camera calibration data - FileStorage fs("camera.yaml", FileStorage::READ); - if (fs.isOpened()) - { - fs["camera_matrix"] >> cameraMatrix; - fs["distortion_coefficients"] >> distCoeffs; - cout << "Camera Calibration Matrix A: " << endl << cameraMatrix << endl; - cout << "Distortion Coefs: " << distCoeffs << endl; - - // configure internal ARUCO cameraParameters object - cameraParameters.setParams(cameraMatrix, distCoeffs, camSize); - } - else - { - cout << "you need a camera calibration file, sorry.\n"; - getchar(); // wait for a keystroke and exits - return -1; - } - - // check command line parameters (camera id) - if(argc>2 && string(argv[1])=="-c") - CAMERA_ID = atoi(argv[2]); - - // Configure cameras - camera.open(CAMERA_ID); // open camera - if (!camera.isOpened()) - { - cout << "you need to connect a camera, sorry.\n"; - getchar(); // wait for a keystroke and exits - return -1; - } - //set capture properties (low resolution to speed up detection) - camera.set(CV_CAP_PROP_FRAME_WIDTH, camSize.width); - camera.set(CV_CAP_PROP_FRAME_HEIGHT, camSize.height); - - - // Create the visualization windows - namedWindow (WINDOW_CAMERA1, WINDOW_AUTOSIZE); - - cout << "Capturing images.\n Hit q/Q to exit.\n"; - - // while there are images ... - while (camera.read(capture)) - { - if(capture.empty()) - continue; // capture has failed, continue - - cvtColor( capture, gray_image, CV_BGR2GRAY ); // transforms to gray level - - MDetector.detect(gray_image, Markers); // detects markers on image - markerWasFound = (Markers.size()>0); // checks if some marker was found - - if(markerWasFound) - { - //for each marker calculates POSE and draw 3D cube - for (unsigned int i=0; i<Markers.size(); i++) - { - Markers[i].calculateExtrinsics(markerSize, cameraParameters, false); - cout << "Marker id:" << Markers[i].id << " Rvec: " << Markers[i].Rvec << " Tvec: " << Markers[i].Tvec << endl; - - Markers[i].draw(capture, Scalar(0,0,255), 1); - aruco::CvDrawingUtils::draw3dCube(capture, Markers[i], cameraParameters); - - } - // Draws coordinate axis for first marker - aruco::CvDrawingUtils::draw3dAxis(capture, Markers[0], cameraParameters); - } - - imshow(WINDOW_CAMERA1, capture); // show image in a window - - // wait 10ms for a keystroke to exit (image window must be on focus) - key = waitKey (10); - if (key == 'q' || key == 'Q') - break; - } - - // free windows and camera resources - destroyAllWindows(); - if (camera.isOpened()) camera.release(); - - // programm exits with no errors - return 0; -} diff --git a/MobileRobot/recordANDplaydata.txt~ b/MobileRobot/recordANDplaydata.txt~ deleted file mode 100644 index 608107ad208aeb056f494e8a7db749a69609690d..0000000000000000000000000000000000000000 --- a/MobileRobot/recordANDplaydata.txt~ +++ /dev/null @@ -1,48 +0,0 @@ ---------------- Record data ROS ----------------------- - -1. Go to a desired directory to have ur recording data --- - -2. recording a main topic (NOT extended one!!!) & save it in a .bag file - -$ rosbag record -O NAME /base_controller/odometry - -3. Make sure your file has some information - -$ rosbag info NAME.bag - ---------------------------example------------------------------------------- - -path: NAME.bag -version: 2.0 -duration: 10.0s -start: Mar 19 2016 14:20:09.42 (1458393609.42) -end: Mar 19 2016 14:20:19.44 (1458393619.44) -size: 776.8 KB -messages: 1002 -compression: none [1/1 chunks] -types: nav_msgs/Odometry [cd5e73d190d741a2f92e81eda573aca7] -topics: /base_controller/odometry 1002 msgs : nav_msgs/Odometry - ----------------------------------------------------------------------------- - -4. if u want to play the recorded data... - -$ rosbag play NAME.bag - -5. if u want to watch recorded data in terminal : - -published topic should be SPECIFIC ... - -$ rostopic echo -b NAME.bag -p /base_controller/odometry/pose/pose/position - -x: ---- -y: ---- -z: ---- - -6. convert .bag file => .txt file - -$ 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