From 856187e515f417d39a4facdc23c92470d15f57e5 Mon Sep 17 00:00:00 2001 From: Stevedan Ogochukwu Omodolor <stevedan.o.omodolor@gmail.com> Date: Fri, 27 May 2022 08:35:35 +0200 Subject: [PATCH] included acceleration plot --- .../launch/mission_controller.launch | 2 +- ...anglular_formation_crazyflie_1_logdata.bag | Bin 167120 -> 76122 bytes ...anglular_formation_crazyflie_2_logdata.bag | Bin 61392 -> 60777 bytes ...anglular_formation_crazyflie_3_logdata.bag | Bin 61392 -> 76122 bytes ...anglular_formation_crazyflie_4_logdata.bag | Bin 136119 -> 0 bytes .../scripts/plot_results.py | 40 +++++++++--------- .../src/drone_node.cpp | 1 + .../src/omniwheel_node.cpp | 1 + 8 files changed, 23 insertions(+), 21 deletions(-) delete mode 100644 real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_4_logdata.bag diff --git a/real_robot/coordination_formation_control_pkg/launch/mission_controller.launch b/real_robot/coordination_formation_control_pkg/launch/mission_controller.launch index f1764b5..407ec50 100644 --- a/real_robot/coordination_formation_control_pkg/launch/mission_controller.launch +++ b/real_robot/coordination_formation_control_pkg/launch/mission_controller.launch @@ -14,7 +14,7 @@ </group> <group ns="uav_2"> - <node name="drone_node" pkg="coordination_formation_control_pkg" type="drone_node" output="screen" args="2" launch-prefix="xterm -e "> + <node name="drone_node" pkg="coordination_formation_control_pkg" type="drone_node" output="screen" args="2" launch-prefix="xterm -e gdb --args "> </node> </group> <group ns="uav_3"> diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_1_logdata.bag index 6a388155d749283cf6da36cea8f6623e4bad4edc..f935def08549ce95538cf126e91bc06c8d7f9762 100644 GIT binary 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zkU^VqIh6_-pmt<Qz5>{Dpx85lq%nnjP$Mt5pcK>~%t%$JOe|MOEh@?{0=pih5Y&%Q zfaNDpB@PPQRE5N%RE5NxqSVBcN~m{1a*#$1D1yMvy5z(>g_L|qg9eo9D)USAxIn2I z+(JbZ=AeodTFrt?L24!_<bztIMlK4uiFui6`8kBLa!E#NNg@|$pcj-bY~k(K%=|n= z_aYut!x!b}#1~|z>*wUByCjw*rZ6xt2!V!!GfMNaLH!(CQ31%XHDZt$G$1U<z`&52 pml6+Zw%NjZh0qQln=k_dLvcxBQ3*sEHgJqQpbTPz%mocN0{}BoE!Y46 diff --git a/real_robot/coordination_formation_control_pkg/scripts/plot_results.py b/real_robot/coordination_formation_control_pkg/scripts/plot_results.py index f705aaf..d703a85 100644 --- a/real_robot/coordination_formation_control_pkg/scripts/plot_results.py +++ b/real_robot/coordination_formation_control_pkg/scripts/plot_results.py @@ -42,12 +42,12 @@ for topics, msg, t in bag.read_messages(topics =[topic_name]): pose_row_[ind*2+1] = pose.position.y twist_row_[ind*2] = msg.current_twist[ind].linear.x twist_row_[ind*2+1] = msg.current_twist[ind].linear.y - acc_row_[ind*2] = msg.current_acce[ind].linear.x - acc_row_[ind*2+1] = msg.current_acce[ind].linear.y + acc_row_[ind*2] = msg.current_acc[ind].linear.x + acc_row_[ind*2+1] = msg.current_acc[ind].linear.y t_.append(msg.header.stamp.secs + msg.header.stamp.nsecs*1e-9); pose_data.append(pose_row_); vel_data.append(twist_row_); - acc_row_.append(acc_row_); + acc_data.append(acc_row_); command_pose_data.append([msg.command_pose.x, msg.command_pose.y, msg.command_pose.theta]); command_twist_data.append([msg.command_twist.linear.x, msg.command_twist.linear.y]); input_data.append([msg.input.x, msg.input.y]) @@ -63,8 +63,8 @@ t_np = np.array(t_) t_np = t_np -t_np[0] pose_data_np = np.array(pose_data); vel_data_np = np.array(vel_data); -acc_data_np = np.array(acc_row_); - +acc_data_np = np.array(acc_data); +print(acc_data_np) x_list = range(0,n_robots_logged*2,2); y_list = range(1,n_robots_logged*2,2); x_list_np = np.array(pose_data_np[:,x_list]); @@ -155,21 +155,21 @@ st = fig3.suptitle("Accleration", fontsize="x-large") robot_names = [] for i in range(n_robots_logged): robot_names.append("robot_" + str(i+1)) - vx = acc_data_np[:,i*2]; - vy = acc_data_np[:,i*2+1] - axs3[0, 0].plot(t_np,vx ) - axs3[0, 1].plot(t_np, vy) - axs3[1, 0].plot(t_np, np.sqrt(np.multiply(vx,vx)+np.multiply(vy,vy))) - -axs3[0, 0].set_ylabel("ax(m)") -axs3[0, 0].set_xlabel("time(s)") -axs3[0, 0].legend(robot_names) -axs3[0, 1].set_ylabel("ay(m)") -axs3[0, 1].set_xlabel("time(s)") -axs3[0, 1].legend(robot_names) -axs3[1, 0].set_ylabel("a(m/s)") -axs3[1, 0].set_xlabel("time(s)") -axs3[1, 0].legend(robot_names) + ax = acc_data_np[:,i*2]; + ay = acc_data_np[:,i*2+1] + axs4[0, 0].plot(t_np,ax ) + axs4[0, 1].plot(t_np, ay) + axs4[1, 0].plot(t_np, np.sqrt(np.multiply(ax,ax)+np.multiply(ay,ay))) + +axs4[0, 0].set_ylabel("ax(m)") +axs4[0, 0].set_xlabel("time(s)") +axs4[0, 0].legend(robot_names) +axs4[0, 1].set_ylabel("ay(m)") +axs4[0, 1].set_xlabel("time(s)") +axs4[0, 1].legend(robot_names) +axs4[1, 0].set_ylabel("a(m/s)") +axs4[1, 0].set_xlabel("time(s)") +axs4[1, 0].legend(robot_names) # multple robot plot for comparision diff --git a/real_robot/coordination_formation_control_pkg/src/drone_node.cpp b/real_robot/coordination_formation_control_pkg/src/drone_node.cpp index b873bbb..80d41a6 100644 --- a/real_robot/coordination_formation_control_pkg/src/drone_node.cpp +++ b/real_robot/coordination_formation_control_pkg/src/drone_node.cpp @@ -59,6 +59,7 @@ int main(int argc, char **argv) { logdata = new coordination_formation_control_pkg::logData(); logdata->current_pose.resize(n_drones); logdata->current_twist.resize(n_drones); + logdata->current_acc.resize(n_drones); /* current command*/ crazyswarm::Hover current_command; diff --git a/real_robot/coordination_formation_control_pkg/src/omniwheel_node.cpp b/real_robot/coordination_formation_control_pkg/src/omniwheel_node.cpp index 756bb0e..2301527 100644 --- a/real_robot/coordination_formation_control_pkg/src/omniwheel_node.cpp +++ b/real_robot/coordination_formation_control_pkg/src/omniwheel_node.cpp @@ -52,6 +52,7 @@ int main(int argc, char **argv) { logdata = new coordination_formation_control_pkg::logData(); logdata->current_pose.resize(n_ugvs); logdata->current_twist.resize(n_ugvs); + logdata->current_acc.resize(n_ugvs); /*current command*/ geometry_msgs::Twist current_command; -- GitLab