diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp index 8249c82937dd468d6af5d1c2f4c246398269d1e8..bcbe824335f72a16ce7c003b27b503aa36417ad0 100644 --- a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp +++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp @@ -92,12 +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, 0.0199 /* Y_ref*/ , 0.201 /* X_ref*/ , -0.0335 /* theta_ref*/}; +const double PID4Docking::RefPose[4] = {-.0957, -0.0185 /* Y_ref*/ , -0.2025 /* X_ref*/ , -0.05 /* theta_ref*/}; + +//const double PID4Docking::RefPose[4] = {-.0957, 0.0185 /* Y_ref*/ , 0.2025 /* X_ref*/ , -0.05 /* theta_ref*/}; // ---------------- PID gains---------------- // -double PID4Docking::Kp_y = .38; //.4 -double PID4Docking::Ki_y = 0 ;// 0 -double PID4Docking::Kd_y = 0.02; //.1 +double PID4Docking::Kp_y = .266; //.4 +double PID4Docking::Ki_y = 0.0003 ;// 0 +double PID4Docking::Kd_y = 0.014; //.1 double PID4Docking::Kp_theta = .25;// .18 double PID4Docking::Ki_theta = 0; //* Ki_y; // .15 * Ki_y @@ -139,6 +141,8 @@ float PID4Docking::r_off = CV_PI/2; float PID4Docking::y_off = CV_PI; float PID4Docking::roll,PID4Docking::yaw,PID4Docking::pitch; +float PID4Docking::yaw_1,PID4Docking::yaw_prev; + double PID4Docking::theta_with_offset; double PID4Docking::x_robCen2cam = -.95/2; // x_cam from the center of robot @@ -146,6 +150,9 @@ double PID4Docking::y_robCen2cam = 0; // y_cam from the center of robot double PID4Docking::x_robINmar_coor,PID4Docking::y_robINmar_coor; +float PID4Docking::x_t, PID4Docking::y_t, PID4Docking::z_t; + + PID4Docking::PID4Docking() { keepMoving = true; @@ -157,8 +164,9 @@ 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",100); - + Transpose_pub = node_vis.advertise<geometry_msgs::PoseStamped>("/transposed_axis", 100); + + commandPub = node_cont.advertise<geometry_msgs::Twist>("/base_controller/command",100); MarPose_Sub = node_vis.subscribe("/marker_pose",100,&PID4Docking::camCB,this); } @@ -259,9 +267,9 @@ void PID4Docking::ProgStart(int argc,char** argv) const std::string vsa = "http://192.168.0.101:8080/video?x.mjpeg"; // -- publishing video stream with Android Camera-- - TheVideoCapturer.open(vsa); + //TheVideoCapturer.open(vsa); - //TheVideoCapturer.open(0); + TheVideoCapturer.open(0); // Check video is open if (!TheVideoCapturer.isOpened()) @@ -286,95 +294,158 @@ void PID4Docking::ProgStart(int argc,char** argv) } MDetector.setCornerRefinementMethod(MarkerDetector::LINES); - + char key=0; int index=0; //ros::Rate rate(10); // Capture until press ESC or until the end of the video + + + // Detection of markers in the image passed + MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize); + TheInputImage.copyTo(TheInputImageCopy); + + Mat R_init(3,3,cv::DataType<float>::type); + Rodrigues(TheMarkers[0].Rvec,R_init); + yaw_1 = atan2(R_init.at<float>(2,1), R_init.at<float>(2,2)); // yaw_init + while ((key != 'x') && (key!=27) && TheVideoCapturer.grab() && node_vis.ok() && keepMoving) { TT_S = ros::Time::now().toSec(); - /* --- For the purpose of showing the time --- - Mat frame; - TheVideoCapturer >> frame; // get a new frame from camera - imshow("video stream",frame); - waitKey(30); // 30 ms */ - - -if (TheVideoCapturer.retrieve(TheInputImage)) -{ - -// Detection of markers in the image passed - MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize); - TheInputImage.copyTo(TheInputImageCopy); - geometry_msgs::PoseStamped msg; - - float x_t, y_t, z_t; - - if (TheMarkers.size()>0) - { - found = true; - //ROS_INFO("MARKER FOUND!!! ... \n"); - }else + if (TheVideoCapturer.retrieve(TheInputImage)) { - found = false; - keepMoving = false; - 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); - } + // Detection of markers in the image passed + MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize); + TheInputImage.copyTo(TheInputImageCopy); + + geometry_msgs::PoseStamped msg; + geometry_msgs::PoseStamped msg_t; - if (node_vis.ok() && found) - { - //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]; + if (TheMarkers.size()>0) + { + found = true; + //ROS_INFO("MARKER FOUND!!! ... \n"); + }else + { + found = false; + keepMoving = false; + ROS_INFO_STREAM("Marker is lost, successful docking trials : " << (docking_counter - 1) << "\n"); + } + if (node_vis.ok() && found) + { + + + Mat R(3,3,cv::DataType<float>::type); + Rodrigues(TheMarkers[0].Rvec,R); + + 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]; + + 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 + + // just to publish the transpose values + // Publish Position + msg_t.pose.position.x = x_t; + msg_t.pose.position.y = y_t; + msg_t.pose.position.z = z_t; + + // Publish Orientation + msg_t.pose.orientation.x = roll; + msg_t.pose.orientation.y = pitch; + //msg_t.pose.orientation.z = yaw; + + if(yaw_1 > 0) + { + if (yaw < 0) + { + + msg_t.pose.orientation.z = yaw_prev; + theta_with_offset = yaw_prev - y_off; + x_robINmar_coor = z_t * cos(yaw_prev) - y_t * sin(yaw_prev); + y_robINmar_coor = -z_t * sin(yaw_prev) + y_t * cos(yaw_prev); + } else + { + yaw_prev = yaw; + msg_t.pose.orientation.z = yaw; + theta_with_offset = yaw - y_off; + x_robINmar_coor = z_t * cos(yaw) - y_t * sin(yaw); + y_robINmar_coor = -z_t * sin(yaw) + y_t * cos(yaw); - Mat R(3,3,cv::DataType<float>::type); + } + } else + { + if (yaw > 0) + { + + msg_t.pose.orientation.z = yaw_prev; + theta_with_offset = yaw_prev + y_off; + x_robINmar_coor = z_t * cos(yaw_prev) - y_t * sin(yaw_prev); + y_robINmar_coor = -z_t * sin(yaw_prev) + y_t * cos(yaw_prev); + } else + { + yaw_prev = yaw; + msg_t.pose.orientation.z = yaw; + theta_with_offset = yaw + y_off; + x_robINmar_coor = z_t * cos(yaw) - y_t * sin(yaw); + y_robINmar_coor = -z_t * sin(yaw) + y_t * cos(yaw); + } + } + Transpose_pub.publish(msg_t); + + +/* // yaw has an offset of 180 deg. + if (yaw > 0) + { + theta_with_offset = yaw - y_off; + } else + { + theta_with_offset = yaw + y_off; + } +*/ - // You need to apply cv::Rodrigues() in order to obatain angles wrt to camera coords - Rodrigues(TheMarkers[0].Rvec,R); + /*x_robINmar_coor = z_t * cos(yaw) - y_t * sin(yaw); + y_robINmar_coor = -z_t * sin(yaw) + y_t * cos(yaw);*/ + + + /*x_robINmar_coor = z_t * cos(theta_with_offset) - y_t * sin(theta_with_offset); + y_robINmar_coor = -z_t * sin(theta_with_offset) + y_t * cos(theta_with_offset);*/ + + +// 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")); + +/*// Adding Marker frame to Camera Frame --- +tf::Quaternion quat_M = tf::createQuaternionFromRPY(roll,pitch,theta_with_offset); +broadcaster.sendTransform(tf::StampedTransform(tf::Transform(quat_M,tf::Vector3(x_t, y_robINmar_coor, x_robINmar_coor)),ros::Time::now(),"/camera","/marker"));*/ + +// Adding Marker frame to Camera Frame --- +tf::Quaternion quat_M = tf::createQuaternionFromRPY(roll,pitch,theta_with_offset); +broadcaster.sendTransform(tf::StampedTransform(tf::Transform(quat_M,tf::Vector3(x_t, y_robINmar_coor, x_robINmar_coor)),ros::Time::now(),"/camera","/marker")); - 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 - // 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")); - - - // 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; + msg.pose.position.y = y_robINmar_coor; + msg.pose.position.z = x_robINmar_coor; // Publish Orientation msg.pose.orientation.x = roll; msg.pose.orientation.y = pitch; - msg.pose.orientation.z = yaw; + msg.pose.orientation.z = theta_with_offset; MarPose_pub.publish(msg); + + } - } - - /*// Print other rectangles that contains no valid markers - for (unsigned int i=0;i<MDetector.getCandidates().size();i++) - { - Marker m( MDetector.getCandidates()[i],10); - m.draw(TheInputImageCopy,Scalar(0,255,0),2); - }*/ - - for (unsigned int i=0;i<TheMarkers.size();i++) + for (unsigned int i=0;i<TheMarkers.size();i++) { int currentMarID = TheMarkers[i].id; TheMarkers[i].draw(TheInputImageCopy,Scalar(0,255,0),2) ; @@ -387,16 +458,15 @@ if (TheVideoCapturer.retrieve(TheInputImage)) marker_id_string << "marker_ " << currentMarID; } - if (update_images) - { - imshow("INPUT IMAGE",TheInputImageCopy); - //imshow("THRESHOLD IMAGE",MDetector.getThresholdedImage()); - } - -}else -{ - printf("retrieve failed\n"); -} + if (update_images) + { + imshow("INPUT IMAGE",TheInputImageCopy); + imshow("THRESHOLD IMAGE",MDetector.getThresholdedImage()); + } + }else + { + printf("retrieve failed\n"); + } key=cv::waitKey(30); // If space is hit, don't render the image. @@ -415,63 +485,31 @@ if (key == ' ') } void PID4Docking::camCB(const geometry_msgs::PoseStamped::ConstPtr& CamFB) // subscriber { -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; // 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");*/ + camPose[0] = CamFB->pose.position.x; // not important!!! + camPose[1] = CamFB->pose.position.y; // y_cam + camPose[2] = CamFB->pose.position.z; // x_cam + camPose[3] = CamFB->pose.orientation.x; // Robot roll + camPose[4] = CamFB->pose.orientation.y; // Robot pitch + camPose[5] = CamFB->pose.orientation.z; // Camera yaw ROS_INFO_STREAM(" --------------------- Pose estimation ------------------ \n"); + ROS_INFO_STREAM(" theta = " << camPose[5] << " rad =~ " << camPose[5]*(180.0/CV_PI) << " deg\n"); + ROS_INFO_STREAM(" theta_ref = " << RefPose[3] << " rad =~ " << (180/CV_PI) * RefPose[3] << " deg\n"); - // yaw has an offset of 180 deg. - if (camPose[5] > 0) - { - theta_with_offset = camPose[5] - y_off; - } else - { - theta_with_offset = camPose[5] + y_off; - } - - if (theta_with_offset > 0) - { - //x_robINmar_coor = -camPose[2] * cos(theta_with_offset) + camPose[1] * sin(theta_with_offset); - x_robINmar_coor = camPose[2] * cos(theta_with_offset) - camPose[1] * sin(theta_with_offset); - y_robINmar_coor = -camPose[2] * sin(theta_with_offset) + camPose[1] * cos(theta_with_offset); - - } else if (theta_with_offset < 0) - { - //x_robINmar_coor = -camPose[2] * cos(theta_with_offset) - camPose[1] * sin(theta_with_offset); - x_robINmar_coor = camPose[2] * cos(theta_with_offset) - camPose[1] * sin(theta_with_offset); - y_robINmar_coor = -camPose[2] * sin(theta_with_offset) + camPose[1] * cos(theta_with_offset); - } else - { - ROS_INFO_STREAM(" Mew condition should be added for theta! \n"); - } - - 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(" X_mar = " << x_robINmar_coor << " vs. X_ref = " << RefPose[2] << " \n"); - ROS_INFO_STREAM(" Y_mar = " << y_robINmar_coor << " vs. Y_ref = " << RefPose[1] << " \n"); - - ROS_INFO_STREAM(" y_t = " << camPose[1] << " , x_t = " << camPose[2] << "\n"); - + ROS_INFO_STREAM(" yaw = " << yaw << " rad =~ " << yaw*(180.0/CV_PI) << " deg \n"); + ROS_INFO_STREAM(" yaw_init = " << yaw_1 << " rad =~ " << yaw_1*(180.0/CV_PI) << " deg \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(" y_t = " << y_t << " , x_t = " << z_t << "\n"); ROS_INFO_STREAM("------------------------------------------------------ \n "); if(Go2RandomPose == false) { ROS_INFO_STREAM("---------- MOVING TOWARDS DOCKING PLATFORM --------- \n "); if ( - (abs(RefPose[2] - x_robINmar_coor) <= x_dock_thresh) + (abs(RefPose[2] - camPose[2]) <= x_dock_thresh) ) - { + { dock_finished = ros::Time::now().toSec(); docking_duration = dock_finished - dock_started; ROS_INFO_STREAM("docking No. " << docking_counter << " is finished in "<< docking_duration <<" sec, moving to new Random Pose\n"); @@ -482,19 +520,19 @@ camPose[5] = CamFB->pose.orientation.z; // Robot yaw //Go2RandomPose = true; // to make sure that y & theta are within the threshold... - } else if (abs(RefPose[2] - x_robINmar_coor) <= safety_margin_X) + } else if (abs(RefPose[2] - camPose[2]) <= safety_margin_X) { if( - (abs(RefPose[1] - y_robINmar_coor) > y_dock_thresh) || - (abs(RefPose[3] - theta_with_offset) > theta_dock_thresh) + (abs(RefPose[1] - camPose[1]) > y_dock_thresh) || + (abs(RefPose[3] - camPose[5]) > 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], y_robINmar_coor, RefPose[3], theta_with_offset,.1); + Controller(RefPose[2], RefPose[2], RefPose[1], camPose[1], RefPose[3], camPose[5],.1); } else if( - (abs(RefPose[1] - y_robINmar_coor) <= y_dock_thresh) && - (abs(RefPose[3] - theta_with_offset) <= theta_dock_thresh) + (abs(RefPose[1] - camPose[1]) <= y_dock_thresh) && + (abs(RefPose[3] - camPose[5]) <= theta_dock_thresh) ) { ROS_INFO("y & theta fixed successfully, MOVING STRAIGHT AHEAD ... \n"); @@ -503,12 +541,12 @@ camPose[5] = CamFB->pose.orientation.z; // Robot yaw speed_reducer_X = .04; // for x_dot = .15 =>.04 ---- optimal docking time and Y-axis offset ---- /*speed_reducer_X = .0375; // for x_dot = .16 =>.0375*/ - Controller(RefPose[2], x_robINmar_coor, RefPose[1], RefPose[1], RefPose[3], RefPose[3],.1); + Controller(RefPose[2], camPose[2], RefPose[1], RefPose[1], RefPose[3], RefPose[3],.1); } }else { speed_reducer_X = 1; - Controller(RefPose[2], x_robINmar_coor, RefPose[1], y_robINmar_coor, RefPose[3], theta_with_offset,.1); + Controller(RefPose[2], camPose[2], RefPose[1], camPose[1], RefPose[3], camPose[5],.1); } } else { @@ -570,11 +608,14 @@ void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double M i_termY = Ki_y * int_errorY; d_termY = Kd_y * diffY; -ROS_INFO_STREAM("pY = " << p_termY << ", iY = " << i_termY << " dY = " << d_termY<< " \n"); +//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; - prev_errorY = curr_errorY; + + control_signalY = -speed_reducer_Y * control_signalY; + +// control_signalY = speed_reducer_Y * control_signalY; + prev_errorY = curr_errorY; } else if ((RefY - MarPoseY) <= y_dock_thresh && (RefY - MarPoseY) >= -y_dock_thresh) { @@ -611,16 +652,17 @@ ROS_INFO_STREAM("pY = " << p_termY << ", iY = " << i_termY << " dY = " << d_term } else if (abs(RefYAW - MarPoseYAW) <= theta_dock_thresh) { control_signalYAW = 0; + } else + { + ROS_INFO("New condition\n"); + keepMoving = false; } - /* --- + /* --- 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); + // */ dock(control_signalX, control_signalY, control_signalYAW); } void PID4Docking::dock(double VelX, double VelY, double omegaZ) diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~ new file mode 100644 index 0000000000000000000000000000000000000000..bcbe824335f72a16ce7c003b27b503aa36417ad0 --- /dev/null +++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~ @@ -0,0 +1,832 @@ +#include <iostream> +#include <fstream> +#include <sstream> +#include <array> +#include <math.h> +#include <unistd.h> +#include <cstdlib> +#include <stdio.h> /* printf, scanf, puts, NULL */ +#include <stdlib.h> /* srand, rand */ +#include <time.h> /* time */ + +#include <aruco/aruco.h> +#include <aruco/cvdrawingutils.h> + +#include "ros/ros.h" + +#include <tf/transform_broadcaster.h> +#include <tf/transform_listener.h> +#include <tf/tf.h> + +#include <geometry_msgs/Pose.h> +#include <geometry_msgs/PoseStamped.h> +#include <geometry_msgs/Twist.h> + +#include <image_transport/image_transport.h> +#include <cv_bridge/cv_bridge.h> +#include <sensor_msgs/image_encodings.h> + +#include "opencv2/core/core_c.h" +#include "opencv2/core/core.hpp" +#include "opencv2/flann/miniflann.hpp" +#include "opencv2/imgproc/imgproc_c.h" +#include "opencv2/imgproc/imgproc.hpp" +#include "opencv2/video/video.hpp" +#include "opencv2/features2d/features2d.hpp" +#include "opencv2/objdetect/objdetect.hpp" +#include "opencv2/calib3d/calib3d.hpp" +#include "opencv2/ml/ml.hpp" +#include "opencv2/highgui/highgui_c.h" +#include "opencv2/highgui/highgui.hpp" +#include "opencv2/contrib/contrib.hpp" + +#include<VisionControl.h> + +using namespace cv; +using namespace aruco; +using namespace std; + +float PID4Docking::TheMarkerSize = .1; // Default marker size + +int PID4Docking::Thresh1_min = 75; +int PID4Docking::Thresh2_min = 10; + +int PID4Docking::Thresh1_max = 300; +int PID4Docking::Thresh2_max = 300; + +const string PID4Docking::trackbarWindowName = "Trackbars"; + +int PID4Docking::ThePyrDownLevel = 0; + +bool PID4Docking::update_images = true; + +bool PID4Docking::found = false; +bool PID4Docking::Go2RandomPose = false; + +int PID4Docking::ThresParam1 = 0; +int PID4Docking::ThresParam2 = 0; + +// ---- CONTROLL PARAMETERS ------ // +double PID4Docking::prev_errorX, PID4Docking::curr_errorX, PID4Docking::int_errorX, PID4Docking::diffX; + +double PID4Docking::p_termX = 0; +double PID4Docking::i_termX = 0; +double PID4Docking::d_termX = 0; + +double PID4Docking::prev_errorY, PID4Docking::curr_errorY, PID4Docking::int_errorY, PID4Docking::diffY; + +double PID4Docking::p_termY = 0; +double PID4Docking::i_termY = 0; +double PID4Docking::d_termY = 0; + +double PID4Docking::prev_errorYAW,PID4Docking::curr_errorYAW,PID4Docking::int_errorYAW,PID4Docking::diffYAW; + +double PID4Docking::p_termYAW = 0; +double PID4Docking::i_termYAW = 0; +double PID4Docking::d_termYAW = 0; + +double PID4Docking::control_signalX, PID4Docking::control_signalY, PID4Docking::control_signalYAW; +// ---- CONTROLL PARAMETERS ------ // + +// ---- Ref. Values for Android Camera ---- // +//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, -0.0185 /* Y_ref*/ , -0.2025 /* X_ref*/ , -0.05 /* theta_ref*/}; + +//const double PID4Docking::RefPose[4] = {-.0957, 0.0185 /* Y_ref*/ , 0.2025 /* X_ref*/ , -0.05 /* theta_ref*/}; + +// ---------------- PID gains---------------- // +double PID4Docking::Kp_y = .266; //.4 +double PID4Docking::Ki_y = 0.0003 ;// 0 +double PID4Docking::Kd_y = 0.014; //.1 + +double PID4Docking::Kp_theta = .25;// .18 +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; +const double PID4Docking::y_dwn = -.1; +const double PID4Docking::theta_dwn = -.7 /*-RefPose[3]*/; +const double PID4Docking::theta_up = .7 /*RefPose[3]*/; + +double PID4Docking::x_new,PID4Docking::y_new,PID4Docking::theta_new; +double PID4Docking::dock_started,PID4Docking::dock_finished,PID4Docking::docking_duration; + +double PID4Docking::speed_reducer_X = 1; +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 = .002; //.002 +double PID4Docking::theta_dock_thresh = (CV_PI/180) * .5; // .5 deg. + +double PID4Docking::safety_margin_X = .16; // safety margin X axis in docking process : 18 cm + +// ------ offsets X, Y, theta for Undocking --------- +double PID4Docking::x_thresh_undock = .02; +double PID4Docking::y_thresh_undock = .015; +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; +float PID4Docking::yaw_1,PID4Docking::yaw_prev; + +double PID4Docking::theta_with_offset; + +double PID4Docking::x_robCen2cam = -.95/2; // x_cam from the center of robot +double PID4Docking::y_robCen2cam = 0; // y_cam from the center of robot + +double PID4Docking::x_robINmar_coor,PID4Docking::y_robINmar_coor; + +float PID4Docking::x_t, PID4Docking::y_t, PID4Docking::z_t; + + +PID4Docking::PID4Docking() +{ + keepMoving = true; + + /* initialize random seed: */ + srand (time(NULL)); + + x_rand_SM = RefPose[2] + .55; // 55 cm spreading domain in the x-axis while moving towards the random pose + + // Publish pose message and buffer up to 100 messages + MarPose_pub = node_vis.advertise<geometry_msgs::PoseStamped>("/marker_pose", 100); + Transpose_pub = node_vis.advertise<geometry_msgs::PoseStamped>("/transposed_axis", 100); + + commandPub = node_cont.advertise<geometry_msgs::Twist>("/base_controller/command",100); + MarPose_Sub = node_vis.subscribe("/marker_pose",100,&PID4Docking::camCB,this); +} + + PID4Docking::~PID4Docking() + { + + } + Mat PID4Docking::getCurrentImage() + { + return img; + } + +void PID4Docking::cvTackBarEvents(int value,void* ptr) +{ + PID4Docking* ic = (PID4Docking*)(ptr); + ic-> myhandler(value); +} + +void PID4Docking::myhandler(int value) +{ + if (Thresh1_min<3) Thresh1_min=3; + + if (Thresh1_min%2!=1) Thresh1_min++; + + if (ThresParam2<1) ThresParam2=1; + + ThresParam1 = Thresh1_min; + ThresParam2 = Thresh2_min; + + MDetector.setThresholdParams(ThresParam1,ThresParam2); + + // Recompute + MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters); + // TheInputImageCopy is the output image for TheInputImage + TheInputImage.copyTo(TheInputImageCopy); + + for (unsigned int i=0;i<TheMarkers.size();i++) + { + TheMarkers[i].draw(TheInputImageCopy,Scalar(205,0,0),1); + } + + imshow("INPUT IMAGE",TheInputImageCopy); + //imshow("THRESHOLD IMAGE",MDetector.getThresholdedImage()); +} +void PID4Docking::createTrackbars() +{ + namedWindow(trackbarWindowName, 0); + createTrackbar("ThresParam 1", trackbarWindowName, &Thresh1_min, Thresh1_max, cvTackBarEvents, this); + createTrackbar("ThresParam 2", trackbarWindowName, &Thresh2_min, Thresh2_max, cvTackBarEvents, this); + +} +void PID4Docking::imageCb(const sensor_msgs::ImageConstPtr& msg) +{ + cv_bridge::CvImagePtr cv_ptr; + try + { + cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8); + } + catch (cv_bridge::Exception& e) + { + ROS_ERROR("cv_bridge exception: %s", e.what()); + } + + img = cv_ptr->image; + +} + +bool PID4Docking::readArguments ( int argc,char **argv ) +{ + if (argc<2) { + cerr<< "Invalid number of arguments!\n" <<endl; + cerr<< "Usage: (in.avi|live|copy) [intrinsics.yml] [marker's width/height]" <<endl; + return false; + } + TheInputVideo=argv[1]; + if (argc>=3) + TheIntrinsicFile=argv[2]; + if (argc>=4) + TheMarkerSize=atof(argv[3]); + if (argc==3) + cerr<< "NOTE: You need makersize to see 3d info!" <<endl; + return true; +} + +void PID4Docking::ProgStart(int argc,char** argv) +{ + // Show images, press "SPACE" to diable image + // rendering to save CPU time + + if (readArguments(argc,argv)==false) + { + cerr<<"check the authenticity of your file again!"<<endl; + node_vis.shutdown(); + } + createTrackbars(); + + // IP address for raw3_lund + const std::string vsa = "http://192.168.0.101:8080/video?x.mjpeg"; + // -- publishing video stream with Android Camera-- + + //TheVideoCapturer.open(vsa); + + TheVideoCapturer.open(0); + + // Check video is open + if (!TheVideoCapturer.isOpened()) + { + cerr<<"Could not open video!!"<<endl; + node_vis.shutdown(); + } + dock_started = ros::Time::now().toSec(); + // Read first image to get the dimensions + TheVideoCapturer>>TheInputImage; + + // Read camera parameters if passed + if (TheIntrinsicFile!="") { + TheCameraParameters.readFromXMLFile(TheIntrinsicFile); + TheCameraParameters.resize(TheInputImage.size()); + } + + // Configure other parameters + if (ThePyrDownLevel>0) + { + MDetector.pyrDown(ThePyrDownLevel); + } + + MDetector.setCornerRefinementMethod(MarkerDetector::LINES); + + char key=0; + int index=0; + + //ros::Rate rate(10); + // Capture until press ESC or until the end of the video + + + // Detection of markers in the image passed + MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize); + TheInputImage.copyTo(TheInputImageCopy); + + Mat R_init(3,3,cv::DataType<float>::type); + Rodrigues(TheMarkers[0].Rvec,R_init); + yaw_1 = atan2(R_init.at<float>(2,1), R_init.at<float>(2,2)); // yaw_init + + while ((key != 'x') && (key!=27) && TheVideoCapturer.grab() && node_vis.ok() && keepMoving) + { + TT_S = ros::Time::now().toSec(); + + if (TheVideoCapturer.retrieve(TheInputImage)) + { + // Detection of markers in the image passed + MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize); + TheInputImage.copyTo(TheInputImageCopy); + + geometry_msgs::PoseStamped msg; + geometry_msgs::PoseStamped msg_t; + + if (TheMarkers.size()>0) + { + found = true; + //ROS_INFO("MARKER FOUND!!! ... \n"); + }else + { + found = false; + keepMoving = false; + ROS_INFO_STREAM("Marker is lost, successful docking trials : " << (docking_counter - 1) << "\n"); + } + if (node_vis.ok() && found) + { + + + Mat R(3,3,cv::DataType<float>::type); + Rodrigues(TheMarkers[0].Rvec,R); + + 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]; + + 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 + + // just to publish the transpose values + // Publish Position + msg_t.pose.position.x = x_t; + msg_t.pose.position.y = y_t; + msg_t.pose.position.z = z_t; + + // Publish Orientation + msg_t.pose.orientation.x = roll; + msg_t.pose.orientation.y = pitch; + //msg_t.pose.orientation.z = yaw; + + if(yaw_1 > 0) + { + if (yaw < 0) + { + + msg_t.pose.orientation.z = yaw_prev; + theta_with_offset = yaw_prev - y_off; + x_robINmar_coor = z_t * cos(yaw_prev) - y_t * sin(yaw_prev); + y_robINmar_coor = -z_t * sin(yaw_prev) + y_t * cos(yaw_prev); + } else + { + yaw_prev = yaw; + msg_t.pose.orientation.z = yaw; + theta_with_offset = yaw - y_off; + x_robINmar_coor = z_t * cos(yaw) - y_t * sin(yaw); + y_robINmar_coor = -z_t * sin(yaw) + y_t * cos(yaw); + + } + } else + { + if (yaw > 0) + { + + msg_t.pose.orientation.z = yaw_prev; + theta_with_offset = yaw_prev + y_off; + x_robINmar_coor = z_t * cos(yaw_prev) - y_t * sin(yaw_prev); + y_robINmar_coor = -z_t * sin(yaw_prev) + y_t * cos(yaw_prev); + } else + { + yaw_prev = yaw; + msg_t.pose.orientation.z = yaw; + theta_with_offset = yaw + y_off; + x_robINmar_coor = z_t * cos(yaw) - y_t * sin(yaw); + y_robINmar_coor = -z_t * sin(yaw) + y_t * cos(yaw); + } + } + Transpose_pub.publish(msg_t); + + +/* // yaw has an offset of 180 deg. + if (yaw > 0) + { + theta_with_offset = yaw - y_off; + } else + { + theta_with_offset = yaw + y_off; + } +*/ + + /*x_robINmar_coor = z_t * cos(yaw) - y_t * sin(yaw); + y_robINmar_coor = -z_t * sin(yaw) + y_t * cos(yaw);*/ + + + /*x_robINmar_coor = z_t * cos(theta_with_offset) - y_t * sin(theta_with_offset); + y_robINmar_coor = -z_t * sin(theta_with_offset) + y_t * cos(theta_with_offset);*/ + + +// 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")); + +/*// Adding Marker frame to Camera Frame --- +tf::Quaternion quat_M = tf::createQuaternionFromRPY(roll,pitch,theta_with_offset); +broadcaster.sendTransform(tf::StampedTransform(tf::Transform(quat_M,tf::Vector3(x_t, y_robINmar_coor, x_robINmar_coor)),ros::Time::now(),"/camera","/marker"));*/ + +// Adding Marker frame to Camera Frame --- +tf::Quaternion quat_M = tf::createQuaternionFromRPY(roll,pitch,theta_with_offset); +broadcaster.sendTransform(tf::StampedTransform(tf::Transform(quat_M,tf::Vector3(x_t, y_robINmar_coor, x_robINmar_coor)),ros::Time::now(),"/camera","/marker")); + + + msg.header.frame_id = "/camera"; + + // Publish Position + msg.pose.position.x = x_t; + msg.pose.position.y = y_robINmar_coor; + msg.pose.position.z = x_robINmar_coor; + + // Publish Orientation + msg.pose.orientation.x = roll; + msg.pose.orientation.y = pitch; + msg.pose.orientation.z = theta_with_offset; + + MarPose_pub.publish(msg); + + } + + for (unsigned int i=0;i<TheMarkers.size();i++) + { + int currentMarID = TheMarkers[i].id; + TheMarkers[i].draw(TheInputImageCopy,Scalar(0,255,0),2) ; + + CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters); + CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheMarkers[i],TheCameraParameters); + + //Marker ID to string + stringstream marker_id_string; + marker_id_string << "marker_ " << currentMarID; + } + + if (update_images) + { + imshow("INPUT IMAGE",TheInputImageCopy); + imshow("THRESHOLD IMAGE",MDetector.getThresholdedImage()); + } + }else + { + printf("retrieve failed\n"); + } + +key=cv::waitKey(30); +// If space is hit, don't render the image. + +if (key == ' ') +{ + update_images = !update_images; +} + + ros::spinOnce(); + + TT_E = ros::Time::now().toSec(); + ROS_INFO_STREAM(" visualization while loop duration = " << (TT_E - TT_S) <<" \n"); + + } +} +void PID4Docking::camCB(const geometry_msgs::PoseStamped::ConstPtr& CamFB) // subscriber +{ + camPose[0] = CamFB->pose.position.x; // not important!!! + camPose[1] = CamFB->pose.position.y; // y_cam + camPose[2] = CamFB->pose.position.z; // x_cam + camPose[3] = CamFB->pose.orientation.x; // Robot roll + camPose[4] = CamFB->pose.orientation.y; // Robot pitch + camPose[5] = CamFB->pose.orientation.z; // Camera yaw + + ROS_INFO_STREAM(" --------------------- Pose estimation ------------------ \n"); + ROS_INFO_STREAM(" theta = " << camPose[5] << " rad =~ " << camPose[5]*(180.0/CV_PI) << " deg\n"); + ROS_INFO_STREAM(" theta_ref = " << RefPose[3] << " rad =~ " << (180/CV_PI) * RefPose[3] << " deg\n"); + + ROS_INFO_STREAM(" yaw = " << yaw << " rad =~ " << yaw*(180.0/CV_PI) << " deg \n"); + ROS_INFO_STREAM(" yaw_init = " << yaw_1 << " rad =~ " << yaw_1*(180.0/CV_PI) << " deg \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(" y_t = " << y_t << " , x_t = " << z_t << "\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) + ) + { + dock_finished = ros::Time::now().toSec(); + docking_duration = dock_finished - dock_started; + ROS_INFO_STREAM("docking No. " << docking_counter << " is finished in "<< docking_duration <<" sec, moving to new Random Pose\n"); + keepMoving = false; + GenerateRandomVal(); + docking_counter ++; + speed_reducer_X = speed_reducer_Y = speed_reducer_theta = 1; + //Go2RandomPose = true; + + // to make sure that y & theta are within the threshold... + } else if (abs(RefPose[2] - camPose[2]) <= safety_margin_X) + { + if( + (abs(RefPose[1] - camPose[1]) > y_dock_thresh) || + (abs(RefPose[3] - camPose[5]) > 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[5],.1); + } else if( + (abs(RefPose[1] - camPose[1]) <= y_dock_thresh) && + (abs(RefPose[3] - camPose[5]) <= theta_dock_thresh) + ) + { + ROS_INFO("y & theta fixed successfully, MOVING STRAIGHT AHEAD ... \n"); + + /*speed_reducer_X = .06; // for x_dot = .1 =>.06*/ + speed_reducer_X = .04; // for x_dot = .15 =>.04 ---- optimal docking time and Y-axis offset ---- + /*speed_reducer_X = .0375; // for x_dot = .16 =>.0375*/ + + Controller(RefPose[2], camPose[2], RefPose[1], RefPose[1], RefPose[3], RefPose[3],.1); + } + }else + { + speed_reducer_X = 1; + Controller(RefPose[2], camPose[2], RefPose[1], camPose[1], RefPose[3], camPose[5],.1); + } + } else + { + ROS_INFO("---------- MOVING TOWARDS RANDOM POSE ---------\n"); + Undocking(x_new,y_new,theta_new); + } +} + +void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double MarPoseY, double RefYAW, double MarPoseYAW, double dt) +{ + ROS_INFO_STREAM("--------------------- Controller started ----------------------\n "); + + // -----------------X--------------------- // + if(abs(RefX - MarPoseX) > x_dock_thresh) + { + /*// e(t) = setpoint - actual value; + curr_errorX = RefX - MarPoseX; + + // Integrated error + int_errorX += curr_errorX * dt; + // differentiation + diffX = ((curr_errorX - prev_errorX) / dt); + // scalling + p_termX = Pos_Px * curr_errorX; + i_termX = Pos_Ix * int_errorX; + d_termX = Pos_Dx * diffX; + // control signal + control_signalX = p_termX + i_termX + d_termX; + prev_errorX = curr_errorX;*/ + + //control_signalX = speed_reducer_X * 0.1; + control_signalX = speed_reducer_X * 0.15; + //control_signalX = speed_reducer_X * 0.16; + } else + { + control_signalX = 0; // 5e-5 + } + // -----------------Y--------------------- // + + if((RefY - MarPoseY) < -y_dock_thresh || (RefY - MarPoseY) > y_dock_thresh) + { + // e(t) = setpoint - actual value; + curr_errorY = RefY - MarPoseY; + + // Integrated error + int_errorY += curr_errorY * dt; + /* + // -- windup gaurd -- + if (int_error < ) + {} + else if () + {}*/ + + // differentiation + diffY = ((curr_errorY - prev_errorY) / dt); + + // scalling + p_termY = Kp_y * curr_errorY; + i_termY = Ki_y * int_errorY; + d_termY = Kd_y * diffY; + +//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; + +// control_signalY = speed_reducer_Y * control_signalY; + prev_errorY = curr_errorY; + + } else if ((RefY - MarPoseY) <= y_dock_thresh && (RefY - MarPoseY) >= -y_dock_thresh) + { + control_signalY = 0; + } + + // -------------------YAW--------------------------// + if(abs(RefYAW - MarPoseYAW) > theta_dock_thresh) + { + //ROS_INFO_STREAM("REF = "<< RefYAW<< ", theta = "<< MarPoseYAW<< ".\n"); + // e(t) = setpoint - actual value; + curr_errorYAW = RefYAW - MarPoseYAW; + // Integrated error + int_errorYAW += curr_errorYAW * dt; + + // differentiation + diffYAW = ((curr_errorYAW - prev_errorYAW) / dt); + + //ROS_INFO_STREAM(" adjusting orientation! \n"); + // scalling + p_termYAW = Kp_theta * curr_errorYAW; + 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"); + // control signal + control_signalYAW = p_termYAW + i_termYAW + d_termYAW; + + + // save the current error as the previous one + // for the next iteration. + prev_errorYAW = curr_errorYAW; + + } else if (abs(RefYAW - MarPoseYAW) <= theta_dock_thresh) + { + control_signalYAW = 0; + } else + { + ROS_INFO("New condition\n"); + keepMoving = false; + } + + /* --- + ROS_INFO_STREAM("Control signalX = " << control_signalX <<"\n"); + ROS_INFO_STREAM("Control signalY = " << control_signalY << "\n"); + ROS_INFO_STREAM("Control signalYAW = "<< control_signalYAW <<"\n"); + // */ dock(control_signalX, control_signalY, control_signalYAW); +} + +void PID4Docking::dock(double VelX, double VelY, double omegaZ) +{ + ROS_INFO(".... REAL .... !"); + geometry_msgs::Twist msg; + + msg.linear.x = VelX; + msg.linear.y = VelY; + msg.angular.z = omegaZ; + + commandPub.publish(msg); + + ROS_INFO_STREAM(" Current speed of robot: \n" << msg << ""); +} + +void PID4Docking::move2docking(double VelX_est, double VelY_est, double omegaZ_est) +{ + + ROS_INFO_STREAM(" Zmar = " << camPose[2] << " m. \n"); + ROS_INFO_STREAM(" Zref = " << RefPose[2] << " m. \n"); + + ROS_INFO_STREAM(" Ymar = " << camPose[1] << " m. \n"); + ROS_INFO_STREAM(" Yref = " << RefPose[1] << " m. \n"); + + ROS_INFO_STREAM(" rollmar = " << camPose[3] << " rad. \n"); + ROS_INFO_STREAM(" rollref = " << RefPose[3] << " rad. \n"); + + ROS_INFO(".... ESTIMATION .... !\n"); + geometry_msgs::Twist msg; + + if (VelX_est == 0 && VelY_est == 0 && omegaZ_est == 0) + { + VelX_est = .0001; + VelX_est = .0001; + omegaZ_est = 0; + } + + msg.linear.x = VelX_est; + msg.linear.y = VelY_est; + msg.angular.z = omegaZ_est; + + commandPub.publish(msg); + + ROS_INFO_STREAM(" Current ESTIMATED speed of robot: \n" << msg << ".\n"); +} +// ---- Controller part -------- END ------ + +void PID4Docking::GenerateRandomVal() +{ + + // ---------------- PID gains ------------------ + Kp_y = ((double) rand() / (RAND_MAX)) * (.76 - .4) + .4; //.1 < Kp < .76 + Ki_y = ((double) rand() / (RAND_MAX)) * .006; // 0 < Ki < .006 + Kd_y = ((double) rand() / (RAND_MAX)) * .02; // 0 < Kd < .01 + + // ------------------ Generating Random Pose ------------------ + //x_new = ((double) rand() / (RAND_MAX)) * (1.1 - x_rand_SM) + x_rand_SM; + x_new = 1.1; + y_new = ((double) rand() / (RAND_MAX)) * (y_up - y_dwn) + y_dwn; // will be used for Q_Learning + theta_new = ((double) rand() / (RAND_MAX)) * (theta_up - theta_dwn) + theta_dwn; // will be used for Q_Learning +} + +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"); + +double vel_x,vel_y,omega_z; + +geometry_msgs::Twist msg_new; + // CCW ==>> w > 0 , CW ==>> w < 0 + // Leaving docking station, moving towards x-axis SM + if (X_rand - camPose[2] > x_thresh_undock) + { + ROS_INFO_STREAM(" Adjusting X, moving backward ... \n"); + vel_x = -.04; + } else if (X_rand - camPose[2] < -x_thresh_undock) + { + ROS_INFO_STREAM(" Adjusting X, moving forward ... \n"); + vel_x = .04; + }else if (abs(X_rand - camPose[2]) <= x_thresh_undock) + { + ROS_INFO(" X-axis is fixed, adjusting Y & theta - axes ... \n"); + if ((camPose[1] - Y_rand > y_thresh_undock) && (theta_rand > 0)) + { + if(abs(abs(camPose[3]) - abs(theta_rand)) > theta_thresh_undock) + { + ROS_INFO("moving 2 left side & CW rot. \n"); + vel_y = .03; + omega_z = -.01; + } else + { + ROS_INFO("CW rot. is fixed, only moving 2 left side ...\n"); + vel_y = .03; + } + } else if ((camPose[1] - Y_rand < -y_thresh_undock) && (theta_rand < 0)) + { + if(abs(abs(camPose[3]) - abs(theta_rand)) > theta_thresh_undock) + { + ROS_INFO("moving 2 right side & CCW rot. \n"); + vel_y = -.03; + omega_z = .01; + }else + { + ROS_INFO("CCW rot. is fixed, only moving 2 right side ... \n"); + vel_y = -.03; + } + }else if (abs(camPose[1] - Y_rand) <= y_thresh_undock) + { + ROS_INFO(" Y-axis is fixed, adjusting theta-axis ... ! \n"); + if (abs(abs(camPose[3]) - abs(theta_rand)) <= theta_thresh_undock) + { + ROS_INFO(" Robot is in a new random Pose! \n"); + //keepMoving = false; + Go2RandomPose = false; + } else + { + if(theta_rand > 0) + { + ROS_INFO_STREAM(" theta > 0 => Rob rot. is CW(-) \n"); + omega_z = -.01; + } else + { + ROS_INFO_STREAM(" theta < 0 => Rob rot. is CCW(+) \n"); + omega_z = .01; + } + } + } else if ((camPose[1] - Y_rand > y_thresh_undock) && (theta_rand < 0)) + { + if(abs(abs(camPose[3]) - abs(theta_rand)) > theta_thresh_undock) + { + ROS_INFO("moving 2 left side & CCW rot., chance of losing marker \n"); + vel_y = .03; + omega_z = .01; + } else + { + ROS_INFO("CCW rot. is fixed, only moving 2 left side ... \n"); + vel_y = .03; + } + } else if ((camPose[1] - Y_rand < -y_thresh_undock) && (theta_rand > 0)) + { + if(abs(abs(camPose[3]) - abs(theta_rand)) > theta_thresh_undock) + { + ROS_INFO("moving 2 right side & CW rot., chance of losing marker \n"); + vel_y = -.03; + omega_z = -.01; + } else + { + ROS_INFO("CW rot. is fixed, only moving 2 right side ... \n"); + vel_y = -.03; + } + + } else + { + ROS_INFO(" New condition should be added! \n"); + keepMoving = false; + } + } + msg_new.linear.x = vel_x; + msg_new.linear.y = vel_y; + msg_new.angular.z = omega_z; + +commandPub.publish(msg_new); + +} + diff --git a/MobileRobot/docking_data/Pose_center.txt b/MobileRobot/docking_data/Pose_center.txt index 0d80b8a98d3ae50f58bed6fbc570022ac73d1853..4f6fc8814aba488ff8029f33709d4bf93a7e8257 100644 --- a/MobileRobot/docking_data/Pose_center.txt +++ b/MobileRobot/docking_data/Pose_center.txt @@ -1,340 +1,448 @@ %time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w -1471704474627462083,-0.027903219685,0.0193227268755,1.37054812908,1.53652274609,-0.174040988088,3.11319589615,0.0 -1471704474752626585,-0.0281013399363,0.0194000396878,1.37521111965,1.53752946854,-0.146961569786,3.10280442238,0.0 -1471704474836745109,-0.0284315422177,0.0192525051534,1.37626540661,1.5391330719,0.0949622988701,-3.0768969059,0.0 -1471704474909282402,-0.0284011829644,0.0192849822342,1.37404835224,1.54041337967,0.105937421322,-3.07319498062,0.0 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a/MobileRobot/docking_data/Velocity_left.txt +++ b/MobileRobot/docking_data/Velocity_left.txt @@ -1,310 +1,429 @@ %time,field.linear.x,field.linear.y,field.linear.z,field.angular.x,field.angular.y,field.angular.z -1471706369182679158,0.15,-0.264098020152,0.0,0.0,0.0,0.014569688797 -1471706369267342748,0.15,-0.166250393752,0.0,0.0,0.0,0.0122616181374 -1471706369357320395,0.15,-0.167082512704,0.0,0.0,0.0,0.0115241298676 -1471706369435744317,0.15,-0.167744611337,0.0,0.0,0.0,0.01157741642 -1471706369512697711,0.15,-0.174592532107,0.0,0.0,0.0,0.0140130410194 -1471706369590734121,0.15,-0.170582729298,0.0,0.0,0.0,0.013392616272 -1471706369664908988,0.15,-0.172860163079,0.0,0.0,0.0,0.0139483699799 -1471706369745240620,0.15,-0.17876565874,0.0,0.0,0.0,0.0166040549278 -1471706369826489759,0.15,-0.109955440992,0.0,0.0,0.0,-0.00762290859222 -1471706369903512205,0.15,-0.137307530996,0.0,0.0,0.0,-0.00612993144989 -1471706369987014245,0.15,-0.129063799093,0.0,0.0,0.0,-0.00817085409164 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