diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
index 4d3213f59baf735993e86baff0420bd40f4f465c..0aaf906c33956e36835c90201ba49e7b594e35b3 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
@@ -121,7 +121,7 @@ double ImageConverter::Pz_eps = .001;
double ImageConverter::Py_eps = .002;
double ImageConverter::A_eps = (CV_PI/180) * .6; // 1 deg.
-double ImageConverter::safety_margin_X = .15; // 10 cm
+double ImageConverter::safety_margin_X = .15; // 20 cm
ImageConverter::ImageConverter() :
it_(nh_)
@@ -133,9 +133,15 @@ double ImageConverter::safety_margin_X = .15; // 10 cm
srand (time(NULL));
-Pos_Px = ((double) rand() / (RAND_MAX)) * .12;
+Pos_Px = ((double) rand() / (RAND_MAX)) * .15;
Pos_Ix = ((double) rand() / (RAND_MAX)) * .01;
-Pos_Dx = ((double) rand() / (RAND_MAX)) * .001;
+Pos_Dx = ((double) rand() / (RAND_MAX)) * .01;
+
+
+/* ----------------- Default Gains which dock the robot successfully ----------
+Pos_Px = .1;
+Pos_Ix = 0.0028;
+Pos_Dx = 0;*/
Pos_Py = 5 * Pos_Px;
Pos_Iy = 5 * Pos_Ix;
@@ -291,7 +297,7 @@ void ImageConverter::ProgStart(int argc,char** argv)
// Capture until press ESC or until the end of the video
while ((key != 'x') && (key!=27) && TheVideoCapturer.grab() && ros::ok() && keepMoving){
- if(msec == 10)
+ /*if(msec == 10)
{
++sec;
msec = 0;
@@ -305,7 +311,7 @@ void ImageConverter::ProgStart(int argc,char** argv)
{
++hr;
min = 0;
- }
+ }*/
ros::spinOnce();
@@ -461,8 +467,8 @@ void ImageConverter::ProgStart(int argc,char** argv)
update_images = !update_images;
}
- ++msec;
- usleep(100000);
+ //++msec;
+ //usleep(100000);
}
}
@@ -505,8 +511,9 @@ camPose[3] = CamFB->pose.orientation.x;
// correspondingly ...
// roll in Marker coordinate => yaw in Robot coordinate
- ROS_INFO_STREAM(" --------------------- TIMER ------------------ \n");
- ROS_INFO_STREAM("Docking duration : "<< hr << " : " << min << " : " << sec << " . " << msec << "\n");
+
+ /*ROS_INFO_STREAM(" --------------------- TIMER ------------------ \n");
+ ROS_INFO_STREAM("Docking duration : "<< hr << " : " << min << " : " << sec << " . " << msec << "\n");*/
ROS_INFO_STREAM(" --------------------- GAINS ------------------ \n");
diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
index 0ef07a00be5836f2bb5a443c6b7359ee705c228f..0aaf906c33956e36835c90201ba49e7b594e35b3 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
@@ -5,6 +5,9 @@
#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>
@@ -43,25 +46,12 @@ using namespace cv;
using namespace aruco;
using namespace std;
-double ImageConverter::Pos_Px = ((double) rand() / (RAND_MAX)) * .1;
-double ImageConverter::Pos_Ix = ((double) rand() / (RAND_MAX)) * .01;
-double ImageConverter::Pos_Dx = ((double) rand() / (RAND_MAX)) * .001;
-/*double ImageConverter::Pos_Px = .08;
-double ImageConverter::Pos_Ix = 0.0025;
-double ImageConverter::Pos_Dx = 0;*/
-
-double ImageConverter::Pos_Py = 5 * ImageConverter::Pos_Px;
-double ImageConverter::Pos_Iy = 5 * ImageConverter::Pos_Ix;
-double ImageConverter::Pos_Dy = 5 * ImageConverter::Pos_Dx;
-double ImageConverter::S_Ang_P = .2 * ImageConverter::Pos_Px;
-double ImageConverter::S_Ang_I = .2 * ImageConverter::Pos_Ix;
-double ImageConverter::S_Ang_D = .2 * ImageConverter::Pos_Dx;
+/*double ImageConverter::Pos_Px = .1;
+double ImageConverter::Pos_Ix = 0.0028;
+double ImageConverter::Pos_Dx = 0;*/
-double ImageConverter::L_Ang_P = .8 * ImageConverter::Pos_Px;
-double ImageConverter::L_Ang_I = .8 * ImageConverter::Pos_Ix;
-double ImageConverter::L_Ang_D = .8 * ImageConverter::Pos_Dx;
float ImageConverter::TheMarkerSize = .1; // Default marker size
@@ -111,6 +101,18 @@ double ImageConverter::d_termYAW = 0;
double ImageConverter::control_signalYAW;
// ---- CONTROLL PARAMETERS ------ //
+
+// ---- TIMER PARAMETERS ------ //
+
+int ImageConverter::msec = 0;
+int ImageConverter::sec = 0;
+int ImageConverter::min = 0;
+int ImageConverter::hr = 0;
+
+
+// ---- TIMER PARAMETERS ------ //
+
+
double ImageConverter::zeroMax = .0000000000000000001;
double ImageConverter::zeroMin = -.0000000000000000001;
@@ -119,7 +121,7 @@ double ImageConverter::Pz_eps = .001;
double ImageConverter::Py_eps = .002;
double ImageConverter::A_eps = (CV_PI/180) * .6; // 1 deg.
-double ImageConverter::safety_margin_X = .15; // 10 cm
+double ImageConverter::safety_margin_X = .15; // 20 cm
ImageConverter::ImageConverter() :
it_(nh_)
@@ -127,12 +129,38 @@ double ImageConverter::safety_margin_X = .15; // 10 cm
// subscribe to input video feed and publish output video feed
//image_sub_ = it_.subscribe("/ar_follow/image", 1, &ImageConverter::imageCb, this);
+ /* initialize random seed: */
+ srand (time(NULL));
+
+
+Pos_Px = ((double) rand() / (RAND_MAX)) * .15;
+Pos_Ix = ((double) rand() / (RAND_MAX)) * .01;
+Pos_Dx = ((double) rand() / (RAND_MAX)) * .01;
+
+
+/* ----------------- Default Gains which dock the robot successfully ----------
+Pos_Px = .1;
+Pos_Ix = 0.0028;
+Pos_Dx = 0;*/
+
+Pos_Py = 5 * Pos_Px;
+Pos_Iy = 5 * Pos_Ix;
+Pos_Dy = 5 * Pos_Dx;
+
+S_Ang_P = .2 * Pos_Px;
+S_Ang_I = .2 * Pos_Ix;
+S_Ang_D = .2 * Pos_Dx;
+
+L_Ang_P = .8 * Pos_Px;
+L_Ang_I = .8 * Pos_Ix;
+L_Ang_D = .8 * Pos_Dx;
+
//marSub = nh_.subscribe("/Marker_pose",1,&ImageConverter::marCB,this);
// Publish pose message and buffer up to 100 messages
MarPose_pub = nh_.advertise<geometry_msgs::PoseStamped>("/marker_pose", 100);
-
+ //Move2RandPos = false;
keepMoving = true;
commandPub = nh_.advertise<geometry_msgs::Twist>("/base_controller/command",1);
Sub = nh_.subscribe("/marker_pose",1,&ImageConverter::camCB,this);
@@ -143,11 +171,11 @@ double ImageConverter::safety_margin_X = .15; // 10 cm
//nh_.shutdown();
//destroyWindow("Preview");
}
-
Mat ImageConverter::getCurrentImage()
{
return img;
}
+
void ImageConverter::cvTackBarEvents(int value,void* ptr)
{
ImageConverter* ic = (ImageConverter*)(ptr);
@@ -268,6 +296,22 @@ void ImageConverter::ProgStart(int argc,char** argv)
int index=0;
// Capture until press ESC or until the end of the video
while ((key != 'x') && (key!=27) && TheVideoCapturer.grab() && ros::ok() && keepMoving){
+
+ /*if(msec == 10)
+ {
+ ++sec;
+ msec = 0;
+ }
+ if(sec == 60)
+ {
+ ++min;
+ sec = 0;
+ }
+ if(min == 60)
+ {
+ ++hr;
+ min = 0;
+ }*/
ros::spinOnce();
@@ -292,7 +336,9 @@ void ImageConverter::ProgStart(int argc,char** argv)
}else
{
found = false;
- move2docking(-control_signalX, -control_signalY, control_signalYAW);
+ keepMoving = false;
+ ROS_INFO("SORRY, BUT MARKER IS LOST ... \n");
+ //move2docking(-control_signalX, -control_signalY, control_signalYAW);
}
if (ros::ok() && found)
@@ -420,6 +466,9 @@ void ImageConverter::ProgStart(int argc,char** argv)
if (key == ' '){
update_images = !update_images;
}
+
+ //++msec;
+ //usleep(100000);
}
}
@@ -441,9 +490,10 @@ void ImageConverter::camCB(const geometry_msgs::PoseStamped::ConstPtr& CamFB)
{
// Ref. Values
RefPose[0] = -.0957;
-RefPose[1] = -0.0193642;
-RefPose[2] = 0.307922;
-RefPose[3] = 0.705028;
+
+RefPose[1] = -0.0194805;
+RefPose[2] = 0.308654;
+RefPose[3] = 0.702366;
camPose[0] = CamFB->pose.position.x;
camPose[1] = CamFB->pose.position.y;
@@ -462,7 +512,17 @@ camPose[3] = CamFB->pose.orientation.x;
// correspondingly ...
// roll in Marker coordinate => yaw in Robot coordinate
- ROS_INFO_STREAM(" Zmar = " << camPose[2] << " m. \n");
+ /*ROS_INFO_STREAM(" --------------------- TIMER ------------------ \n");
+ ROS_INFO_STREAM("Docking duration : "<< hr << " : " << min << " : " << sec << " . " << msec << "\n");*/
+
+
+ ROS_INFO_STREAM(" --------------------- GAINS ------------------ \n");
+ ROS_INFO_STREAM(" Kp = " << Pos_Px << " . \n");
+ ROS_INFO_STREAM(" Ki = " << Pos_Ix << " . \n");
+ ROS_INFO_STREAM(" Kd = " << Pos_Dx << " . \n");
+
+ ROS_INFO_STREAM(" --------------------- Pose estimation ------------------ \n");
+ ROS_INFO_STREAM(" Zmar = " << camPose[2] << " m. \n");
ROS_INFO_STREAM(" Zref = " << RefPose[2] << " m. \n");
ROS_INFO_STREAM(" Ymar = " << camPose[1] << " m. \n");
@@ -512,7 +572,7 @@ void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, doubl
// -----------------X--------------------- //
if(abs(RefX - MarPoseX) > Pz_eps)
- {
+ {
// e(t) = setpoint - actual value;
curr_errorX = RefX - MarPoseX;
@@ -586,7 +646,7 @@ void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, doubl
d_termY = S_yPos_D * diffY;
}*/
- ROS_INFO_STREAM("prop_gainY = " << p_termY << ", integ_gainY = " << i_termY << " . \n");
+ //ROS_INFO_STREAM("prop_gainY = " << p_termY << ", integ_gainY = " << i_termY << " . \n");
// control signal
control_signalY = p_termY + i_termY + d_termY;
@@ -715,3 +775,11 @@ void ImageConverter::move2docking(double VelX_est, double VelY_est, double omega
ROS_INFO_STREAM(" Current ESTIMATED speed of robot: \n" << msg << ".\n");
}
// ---- Controller part -------- END ------
+
+void ImageConverter::RandomPose()
+{
+
+
+
+}
+
diff --git a/MobileRobot/docking_data/Pose.txt b/MobileRobot/docking_data/Pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b29c6517ca57d3eeea2256da1eaa80748695ce2e
--- /dev/null
+++ b/MobileRobot/docking_data/Pose.txt
@@ -0,0 +1,8243 @@
+%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/Velocity.txt b/MobileRobot/docking_data/Velocity.txt
new file mode 100644
index 0000000000000000000000000000000000000000..59dd43aaa038703bead936e795c88ee1a7a17831
--- /dev/null
+++ b/MobileRobot/docking_data/Velocity.txt
@@ -0,0 +1,8243 @@
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diff --git a/MobileRobot/docking_data/docking.bag b/MobileRobot/docking_data/docking.bag
new file mode 100644
index 0000000000000000000000000000000000000000..8c791e40b1ccda2101584d39cd95fdef7a040f24
Binary files /dev/null and b/MobileRobot/docking_data/docking.bag differ
diff --git a/MobileRobot/recordANDplaydata.txt b/MobileRobot/recordANDplaydata.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4d0c7467c0867a5aa73ff1ce46e6fa1bbe0f2d78
--- /dev/null
+++ b/MobileRobot/recordANDplaydata.txt
@@ -0,0 +1,45 @@
+--------------- 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
+
diff --git a/MobileRobot/recordANDplaydata.txt~ b/MobileRobot/recordANDplaydata.txt~
new file mode 100644
index 0000000000000000000000000000000000000000..a8dc32768c321eeceaec9daa65591e3f964e37ba
--- /dev/null
+++ b/MobileRobot/recordANDplaydata.txt~
@@ -0,0 +1,45 @@
+--------------- 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
+
+----------------------------------------------------------------------------
+
+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
+