From fc36e309edfb555c44de0660beac8dd8b6fa803e Mon Sep 17 00:00:00 2001
From: Farid Alijani <farid.alijani@student.lut.fi>
Date: Tue, 19 Apr 2016 22:05:11 +0200
Subject: [PATCH] PID gains are tunned docking less than 50 sec
---
.../CamMark/camtomar/include/VisionControl.h | 2 +-
.../CamMark/camtomar/include/VisionControl.h~ | 27 +-
.../CamMark/camtomar/src/VisionControl.cpp | 85 +-
.../CamMark/camtomar/src/VisionControl.cpp~ | 242 +-
MobileRobot/docking_data/Pose.txt | 8669 +----------
MobileRobot/docking_data/Velocity.txt | 12276 +++++-----------
MobileRobot/docking_data/docking.bag | Bin 6466101 -> 3232346 bytes
7 files changed, 4698 insertions(+), 16603 deletions(-)
diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h b/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h
index 20512a5a..0adcc11b 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h
@@ -204,7 +204,7 @@ public:
static double Py_eps,Pz_eps,A_eps;
static double x_thresh_undock,y_thresh_undock,theta_thresh_undock;
static double rand_X_SM,rand_A_esp,rand_Y_esp;
- static double speed_reducer;
+ static double speed_reducer_X,speed_reducer_Y,speed_reducer_theta;
double marpose[6];
double camPose[6];
diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h~ b/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h~
index e684e703..20512a5a 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h~
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h~
@@ -36,20 +36,18 @@ using namespace cv;
using namespace aruco;
using namespace std;
-class ImageConverter
+class VisCont
{
private:
- ros::NodeHandle nh_;
- image_transport::ImageTransport it_;
- image_transport::Subscriber image_sub_;
- ros::Publisher commandPub;
-
- ros::Subscriber Sub;
- ros::Subscriber marSub;
-
+ ros::NodeHandle node_vis;
+ ros::NodeHandle node_cont;
+
+ ros::Publisher commandPub;
+
+ ros::Subscriber MarPose_Sub;
ros::Publisher MarPose_pub;
- ros::Publisher CamPose_pub;
+
Mat img;
string TheInputVideo;
@@ -85,7 +83,6 @@ private:
static int ThePyrDownLevel;
static float TheMarkerSize;
- void ContStart();
static bool update_images,found,Go2RandomPose;
bool readArguments ( int argc,char **argv );
@@ -101,9 +98,9 @@ private:
public:
- ImageConverter();
+ VisCont();
- ~ImageConverter();
+ ~VisCont();
Mat getCurrentImage();
@@ -122,6 +119,8 @@ public:
void GenerateRandomVal();
void RandomPose(double X_rand, double Y_rand, double theta_rand);
+ void ContStart();
+
static double Kp_x,Ki_x,Kd_x;
static double Kp_theta,Ki_theta,Kd_theta;
@@ -198,6 +197,8 @@ public:
static double docking_counter;
static double dock_started,dock_finished,docking_duration;
+
+ static double TT_S,TT_E;
static double zeroMin,zeroMax;
static double Py_eps,Pz_eps,A_eps;
diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
index 59dd582c..34650155 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
@@ -94,18 +94,17 @@ double VisCont::control_signalX, VisCont::control_signalY, VisCont::control_sign
// ---- Ref. Values for Logitech Camera ---- //
-const double VisCont::RefPose[4] = {-.0957, -0.0251325 /* Y_ref*/ , 0.267882 /* X_ref*/ , -0.608046 /* theta_ref*/};
-
+const double VisCont::RefPose[4] = {-.0957, -0.0271482 /* Y_ref*/ , 0.266214 /* X_ref*/ , -0.535344 /* theta_ref*/};
// ---------------- PID gains---------------- //
-double VisCont::Kp_y = .4;
-double VisCont::Ki_y = .0042;
-double VisCont::Kd_y = 0;
+double VisCont::Kp_y = .7; //.7
+double VisCont::Ki_y = .005;//.005
+double VisCont::Kd_y = .2;
-double VisCont::Kp_theta = .15 * Kp_y;
-double VisCont::Ki_theta = (8/13) * Ki_y;
-double VisCont::Kd_theta = .15 * Kd_y;
+double VisCont::Kp_theta = .1 * Kp_y; // .08 * Kp_y
+double VisCont::Ki_theta = .07 * Ki_y;
+double VisCont::Kd_theta = .00005 * Kd_y;
// ---------------- PID gains---------------- //
@@ -113,6 +112,7 @@ double VisCont::TT_S,VisCont::TT_E;
// random pose initialized
const double VisCont::y_up = .3;
const double VisCont::y_dwn = -.1;
+
const double VisCont::theta_dwn = -.7 /*-RefPose[3]*/;
const double VisCont::theta_up = .7 /*RefPose[3]*/;
@@ -147,14 +147,16 @@ double VisCont::dock_started,VisCont::dock_finished,VisCont::docking_duration;
double VisCont::zeroMax = .0000000000000000001;
double VisCont::zeroMin = -.0000000000000000001;
-double VisCont::speed_reducer = 1;
+double VisCont::speed_reducer_X = 1;
+double VisCont::speed_reducer_Y = 1;
+double VisCont::speed_reducer_theta = 1;
// ------ offsets X, Y, theta for Docking ---------
double VisCont::Pz_eps = .001;
-double VisCont::Py_eps = .002;
-double VisCont::A_eps = (CV_PI/180) * 3; // 1 deg.
+double VisCont::Py_eps = .005;
+double VisCont::A_eps = (CV_PI/180) * 6; // 1 deg.
-double VisCont::safety_margin_X = .15; // safety margin X axis in docking process : 12 cm
+double VisCont::safety_margin_X = .2; // safety margin X axis in docking process : 12 cm
// ------ offsets X, Y, theta for Undocking ---------
double VisCont::x_thresh_undock = .02;
@@ -323,9 +325,6 @@ void VisCont::ProgStart(int argc,char** argv)
imshow("video stream",frame);
waitKey(30); // 30 ms */
-
-
-
if (TheVideoCapturer.retrieve(TheInputImage))
{
@@ -508,29 +507,33 @@ camPose[3] = CamFB->pose.orientation.x; // theta orientation
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;
+ keepMoving = false;
GenerateRandomVal();
docking_counter ++;
- speed_reducer = 1;
- Go2RandomPose = true;
+ speed_reducer_X = 1;
+ speed_reducer_Y = 1;
+ 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]) > Py_eps) ||
- (abs(RefPose[3] - abs(camPose[3])) > A_eps)
+ (abs(abs(RefPose[3]) - abs(camPose[3])) > A_eps)
)
{
- ROS_INFO_STREAM(" delta_X < " << safety_margin_X << " m. , Fixing Y or theta. \n ");
+ ROS_INFO_STREAM(" delta_X < " << safety_margin_X << " m., Fixing Y or theta. \n ");
+ speed_reducer_Y = 1;
+ speed_reducer_theta = 1;
Controller(RefPose[2], RefPose[2], RefPose[1], camPose[1], RefPose[3], camPose[3],.1);
} else if(
(abs(RefPose[1] - camPose[1]) <= Py_eps) &&
- (abs(RefPose[3] - abs(camPose[3])) <= A_eps)
+ (abs(abs(RefPose[3]) - abs(camPose[3])) <= A_eps)
)
{
ROS_INFO("y & theta fixed successfully, MOVING STRAIGHT AHEAD ... \n");
- speed_reducer = .1;
+ speed_reducer_X = .08;
Controller(RefPose[2], camPose[2], RefPose[1], RefPose[1], RefPose[3], RefPose[3],.1);
}
}else
@@ -568,10 +571,10 @@ void VisCont::Controller(double RefX, double MarPoseX, double RefY, double MarPo
// control signal
control_signalX = p_termX + i_termX + d_termX;
prev_errorX = curr_errorX;*/
- control_signalX = speed_reducer * 0.05;
+ control_signalX = speed_reducer_X * 0.1;
} else
{
- control_signalX = 0;
+ control_signalX = 5e-5;
}
// -----------------Y--------------------- //
@@ -597,56 +600,50 @@ void VisCont::Controller(double RefX, double MarPoseX, double RefY, double MarPo
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 signal
control_signalY = p_termY + i_termY + d_termY;
// robot & marker coordinates conversion
- control_signalY = - control_signalY;
+ control_signalY = -speed_reducer_Y * control_signalY;
- // save the current error as the previous one
- // for the next iteration.
prev_errorY = curr_errorY;
}else if ((RefY - MarPoseY) <= Py_eps && (RefY - MarPoseY) >= -Py_eps)
{
control_signalY = 0;
}
- // -------------------YAW--------------------------//
- if(abs(RefYAW - abs(MarPoseYAW)) > A_eps)
+ // -------------------YAW--------------------------//
+ if(abs(abs(RefYAW) - abs(MarPoseYAW)) > A_eps)
{
// e(t) = setpoint - actual value;
curr_errorYAW = RefYAW - MarPoseYAW;
// Integrated error
int_errorYAW += curr_errorYAW * dt;
- /*
- // -- windup gaurd --
- if (int_error < )
- {}
- else if ()
- {}*/
// differentiation
diffYAW = ((curr_errorYAW - prev_errorYAW) / dt);
- ROS_INFO_STREAM(" adjusting orientation! \n");
+ //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;
-
- if(MarPoseYAW < 0)
+ //control_signalYAW = - control_signalYAW;
+ if(MarPoseYAW > 0)
{
- ROS_INFO("Marker current orientation < 0, CW rotation. \n");
- control_signalYAW = - control_signalYAW;
+ ROS_INFO("Marker current orientation > 0, CCW rotation. \n");
+ control_signalYAW = - speed_reducer_theta * control_signalYAW;
} else
{
- ROS_INFO("Marker current orientation > 0, CCW rotation. \n");
+ ROS_INFO("Marker current orientation < 0, CW rotation. \n");
+ control_signalYAW = speed_reducer_theta * control_signalYAW;
}
// save the current error as the previous one
@@ -658,8 +655,8 @@ void VisCont::Controller(double RefX, double MarPoseX, double RefY, double MarPo
}
//ROS_INFO_STREAM("Control signalX = " << control_signalX <<" . \n");
- //ROS_INFO_STREAM("RAW Control signalY = " << control_signalY << ". \n");
- //ROS_INFO_STREAM("RAW Control signalYAW = "<< control_signalYAW <<". \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);
diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
index 460125a2..9d8c3410 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
@@ -89,17 +89,22 @@ double VisCont::control_signalX, VisCont::control_signalY, VisCont::control_sign
// ---- CONTROLL PARAMETERS ------ //
-// ---- Ref. Values ---- //
-const double VisCont::RefPose[4] = {-.0957, 0.00638817 /* Y_ref*/ , 0.308857 /* X_ref*/ , 0.17 /* theta_ref*/};
+// ---- Ref. Values for Android Camera ---- //
+//const double VisCont::RefPose[4] = {-.0957, 0.00638817 /* Y_ref*/ , 0.308857 /* X_ref*/ , 0.17 /* theta_ref*/};
+
+
+// ---- Ref. Values for Logitech Camera ---- //
+const double VisCont::RefPose[4] = {-.0957, -0.0271482 /* Y_ref*/ , 0.266214 /* X_ref*/ , -0.535344 /* theta_ref*/};
+
// ---------------- PID gains---------------- //
-double VisCont::Kp_y = .4;
-double VisCont::Ki_y = .0042;
-double VisCont::Kd_y = 0;
+double VisCont::Kp_y = .5; //.6
+double VisCont::Ki_y = .05;
+double VisCont::Kd_y = .3;
-double VisCont::Kp_theta = .15 * Kp_y;
-double VisCont::Ki_theta = (8/13) * Ki_y;
-double VisCont::Kd_theta = .15 * Kd_y;
+double VisCont::Kp_theta = .1 * Kp_y; // .08 * Kp_y
+double VisCont::Ki_theta = .002 * Ki_y;
+double VisCont::Kd_theta = .00005 * Kd_y;
// ---------------- PID gains---------------- //
@@ -107,6 +112,7 @@ double VisCont::TT_S,VisCont::TT_E;
// random pose initialized
const double VisCont::y_up = .3;
const double VisCont::y_dwn = -.1;
+
const double VisCont::theta_dwn = -.7 /*-RefPose[3]*/;
const double VisCont::theta_up = .7 /*RefPose[3]*/;
@@ -141,14 +147,16 @@ double VisCont::dock_started,VisCont::dock_finished,VisCont::docking_duration;
double VisCont::zeroMax = .0000000000000000001;
double VisCont::zeroMin = -.0000000000000000001;
-double VisCont::speed_reducer = 1;
+double VisCont::speed_reducer_X = 1;
+double VisCont::speed_reducer_Y = 1;
+double VisCont::speed_reducer_theta = 1;
// ------ offsets X, Y, theta for Docking ---------
double VisCont::Pz_eps = .001;
-double VisCont::Py_eps = .002;
-double VisCont::A_eps = (CV_PI/180) * 3; // 1 deg.
+double VisCont::Py_eps = .004;
+double VisCont::A_eps = (CV_PI/180) * 6; // 1 deg.
-double VisCont::safety_margin_X = .15; // safety margin X axis in docking process : 12 cm
+double VisCont::safety_margin_X = .18; // safety margin X axis in docking process : 12 cm
// ------ offsets X, Y, theta for Undocking ---------
double VisCont::x_thresh_undock = .02;
@@ -272,11 +280,11 @@ void VisCont::ProgStart(int argc,char** argv)
// 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(vsa);
- //TheVideoCapturer.open(1);
+ TheVideoCapturer.open(0);
// Check video is open
if (!TheVideoCapturer.isOpened())
@@ -305,21 +313,150 @@ void VisCont::ProgStart(int argc,char** argv)
char key=0;
int index=0;
-//TT_S = ros::Time::now().toSec();
//ros::Rate rate(10);
// Capture until press ESC or until the end of the video
while ((key != 'x') && (key!=27) && TheVideoCapturer.grab() && node_vis.ok() && keepMoving)
{
-
-
-TT_S = ros::Time::now().toSec();
+ 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;
+ float roll,yaw,pitch;
+ float rollE,yawE,pitchE;
+
+ 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");
+ //RandomPose(x_new,y_new,theta_new);
+ //move2docking(-control_signalX, -control_signalY, control_signalYAW);
+ }
+
+ if (node_vis.ok() && found)
+ {
+ 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];
+
+ cv::Mat R(3,3,cv::DataType<float>::type);
+
+ // You need to apply cv::Rodrigues() in order to obatain angles wrt to camera coords
+ cv::Rodrigues(TheMarkers[0].Rvec,R);
+
+ // ----------- Euler angle -----------------//
+ float roll1 = -asin(R.at<float>(2,0));
+ float roll2 = CV_PI - roll1;
+
+ float pitch1 = atan2(R.at<float>(2,1) / cos(roll1), R.at<float>(2,2) / cos(roll1));
+ float pitch2 = atan2(R.at<float>(2,1) / cos(roll2), R.at<float>(2,2) / cos(roll2));
+
+ float yaw2 = atan2(R.at<float>(1,0) / cos(roll2), R.at<float>(0,0) / cos(roll2));
+ float yaw1 = atan2(R.at<float>(1,0) / cos(roll1), R.at<float>(0,0) / cos(roll1));
+
+ //choose one solution to return
+ //for example the "shortest" rotation
+ if ((abs(roll1) + abs(pitch1) + abs(yaw1)) <= (abs(roll2) + abs(pitch2) + abs(yaw2)))
+ {
+ rollE = roll1;
+ pitchE= pitch1;
+ yawE = yaw1;
+ } else
+
+ {
+ rollE = roll2;
+ pitchE = pitch2;
+ yawE = yaw2;
+ }
+ // ----------- Euler angle -----------------//
+
+ pitch = -atan2(R.at<float>(2,0), R.at<float>(2,1));
+ yaw = acos(R.at<float>(2,2));
+ roll = -atan2(R.at<float>(0,2), R.at<float>(1,2));
+
+ // Marker rotation should be initially zero (just for convenience)
+ float p_off = CV_PI;
+ float r_off = CV_PI/2;
+ float y_off = CV_PI/2;
+
+ // Camera Frame ---
+ transformCAM.setOrigin( tf::Vector3(.25, 0, .5) );
+ transformCAM.setRotation( tf::Quaternion(0, 0, 0 , 1) );
+
+ CAMbr.sendTransform(tf::StampedTransform(transformCAM,ros::Time::now(),"/base_link","/camera"));
+
+ // Publish TF message including the offsets
+ tf::Quaternion quat = tf::createQuaternionFromRPY(roll-r_off, pitch+p_off, yaw-y_off);
+ broadcaster.sendTransform(tf::StampedTransform(tf::Transform(quat,tf::Vector3(x_t, y_t, z_t)),ros::Time::now(),"/camera","/marker"));
+
+ // Now publish the pose message, remember the offsets
+ msg.header.frame_id = "/camera";
+ msg.pose.position.x = x_t;
+ msg.pose.position.y = y_t;
+ msg.pose.position.z = z_t;
+
+ geometry_msgs::Quaternion p_quat = tf::createQuaternionMsgFromRollPitchYaw(roll-r_off, pitch+p_off, yaw-y_off);
+ msg.pose.orientation = p_quat;
+
+ 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++)
+ {
+ 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;
+ }
- waitKey(30); // 30 ms
+ 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();
//rate.sleep();
@@ -330,20 +467,6 @@ ROS_INFO_STREAM("start = "<< TT_S << " , end = " << TT_E << " , duration = " <<
}
-// ---- Controller part ----------- START -------
-
-/*void VisCont::ContStart()
-{
- ros::Rate rate(100);
-
- while (node_cont.ok() && keepMoving)
- {
- ros::spinOnce();
- rate.sleep();
- }
-
-}*/
-
void VisCont::camCB(const geometry_msgs::PoseStamped::ConstPtr& CamFB) // subscriber
{
camPose[0] = CamFB->pose.position.x; // not important!!!
@@ -387,7 +510,9 @@ camPose[3] = CamFB->pose.orientation.x; // theta orientation
keepMoving = false;
GenerateRandomVal();
docking_counter ++;
- speed_reducer = 1;
+ speed_reducer_X = 1;
+ speed_reducer_Y = 1;
+ speed_reducer_theta = 1;
//Go2RandomPose = true;
// to make sure that y & theta are within the threshold...
@@ -395,18 +520,20 @@ camPose[3] = CamFB->pose.orientation.x; // theta orientation
{
if(
(abs(RefPose[1] - camPose[1]) > Py_eps) ||
- (abs(RefPose[3] - abs(camPose[3])) > A_eps)
+ (abs(abs(RefPose[3]) - abs(camPose[3])) > A_eps)
)
{
- ROS_INFO_STREAM(" delta_X < " << safety_margin_X << " m. , Fixing Y or theta. \n ");
+ ROS_INFO_STREAM(" delta_X < " << safety_margin_X << " m., Fixing Y or theta. \n ");
+ speed_reducer_Y = 1;
+ speed_reducer_theta = 1;
Controller(RefPose[2], RefPose[2], RefPose[1], camPose[1], RefPose[3], camPose[3],.1);
} else if(
(abs(RefPose[1] - camPose[1]) <= Py_eps) &&
- (abs(RefPose[3] - abs(camPose[3])) <= A_eps)
+ (abs(abs(RefPose[3]) - abs(camPose[3])) <= A_eps)
)
{
ROS_INFO("y & theta fixed successfully, MOVING STRAIGHT AHEAD ... \n");
- speed_reducer = .1;
+ speed_reducer_X = .1;
Controller(RefPose[2], camPose[2], RefPose[1], RefPose[1], RefPose[3], RefPose[3],.1);
}
}else
@@ -444,10 +571,10 @@ void VisCont::Controller(double RefX, double MarPoseX, double RefY, double MarPo
// control signal
control_signalX = p_termX + i_termX + d_termX;
prev_errorX = curr_errorX;*/
- control_signalX = speed_reducer * 0.05;
+ control_signalX = speed_reducer_X * 0.08;
} else
{
- control_signalX = 0;
+ control_signalX = 1e-4;
}
// -----------------Y--------------------- //
@@ -473,15 +600,13 @@ void VisCont::Controller(double RefX, double MarPoseX, double RefY, double MarPo
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 signal
control_signalY = p_termY + i_termY + d_termY;
// robot & marker coordinates conversion
- control_signalY = - control_signalY;
+ control_signalY = -speed_reducer_Y * control_signalY;
- // save the current error as the previous one
- // for the next iteration.
prev_errorY = curr_errorY;
}else if ((RefY - MarPoseY) <= Py_eps && (RefY - MarPoseY) >= -Py_eps)
@@ -489,40 +614,35 @@ void VisCont::Controller(double RefX, double MarPoseX, double RefY, double MarPo
control_signalY = 0;
}
// -------------------YAW--------------------------//
-
- if(abs(RefYAW - abs(MarPoseYAW)) > A_eps)
+ if(abs(abs(RefYAW) - abs(MarPoseYAW)) > A_eps)
{
// e(t) = setpoint - actual value;
curr_errorYAW = RefYAW - MarPoseYAW;
// Integrated error
int_errorYAW += curr_errorYAW * dt;
- /*
- // -- windup gaurd --
- if (int_error < )
- {}
- else if ()
- {}*/
// differentiation
diffYAW = ((curr_errorYAW - prev_errorYAW) / dt);
- ROS_INFO_STREAM(" adjusting orientation! \n");
+ //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;
-
- if(MarPoseYAW < 0)
+ //control_signalYAW = - control_signalYAW;
+ if(MarPoseYAW > 0)
{
- ROS_INFO("Marker current orientation < 0, CW rotation. \n");
- control_signalYAW = - control_signalYAW;
+ ROS_INFO("Marker current orientation > 0, CCW rotation. \n");
+ control_signalYAW = - speed_reducer_theta * control_signalYAW;
} else
{
- ROS_INFO("Marker current orientation > 0, CCW rotation. \n");
+ ROS_INFO("Marker current orientation < 0, CW rotation. \n");
+ control_signalYAW = speed_reducer_theta * control_signalYAW;
}
// save the current error as the previous one
@@ -534,8 +654,8 @@ void VisCont::Controller(double RefX, double MarPoseX, double RefY, double MarPo
}
//ROS_INFO_STREAM("Control signalX = " << control_signalX <<" . \n");
- //ROS_INFO_STREAM("RAW Control signalY = " << control_signalY << ". \n");
- //ROS_INFO_STREAM("RAW Control signalYAW = "<< control_signalYAW <<". \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);
diff --git a/MobileRobot/docking_data/Pose.txt b/MobileRobot/docking_data/Pose.txt
index b29c6517..9e9a06f8 100644
--- a/MobileRobot/docking_data/Pose.txt
+++ b/MobileRobot/docking_data/Pose.txt
@@ -1,8243 +1,428 @@
%time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w
-1458416708337022268,-0.0996715501112,0.429661988255,0.0,0.0,0.0,-0.251133831888,0.967952374077
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-1458416708396812883,-0.0996778412764,0.429665472099,0.0,0.0,0.0,-0.251121553239,0.967955559671
-1458416708406890142,-0.0996787159383,0.429665957213,0.0,0.0,0.0,-0.251120279253,0.967955890187
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diff --git a/MobileRobot/docking_data/Velocity.txt b/MobileRobot/docking_data/Velocity.txt
index 59dd43aa..4c3d25f4 100644
--- a/MobileRobot/docking_data/Velocity.txt
+++ b/MobileRobot/docking_data/Velocity.txt
@@ -1,8243 +1,4035 @@
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diff --git a/MobileRobot/docking_data/docking.bag b/MobileRobot/docking_data/docking.bag
index 8c791e40b1ccda2101584d39cd95fdef7a040f24..7f57748e2cdf61dcd9173bfef99ffcd93c35241b 100644
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--
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