From e410d96165133940a83a68aca3210c4c6043d8c3 Mon Sep 17 00:00:00 2001
From: Stevedan Ogochukwu Omodolor <stevedan.o.omodolor@gmail.com>
Date: Tue, 14 Jun 2022 08:05:53 +0200
Subject: [PATCH] activate movement
---
.../result_crazyflie_1_logdata.bag | Bin 68951 -> 42526 bytes
.../result_crazyflie_2_logdata.bag | Bin 67894 -> 42526 bytes
.../result_crazyflie_3_logdata.bag | Bin 67894 -> 42526 bytes
.../result_omniwheel_1_logdata.bag | Bin 134271 -> 68991 bytes
.../result_omniwheel_2_logdata.bag | Bin 133591 -> 68991 bytes
.../scripts/plot_real_experiment_pgf_plot.py | 27 +++++++++---------
.../src/drone_node.cpp | 4 +--
.../src/mission_controller.cpp | 4 +--
8 files changed, 18 insertions(+), 17 deletions(-)
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_6_formation_3_uav_2_ugv/result_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_6_formation_3_uav_2_ugv/result_crazyflie_1_logdata.bag
index eccb7117fd4d31ba6a693f8bc6ecc6e5489a7e24..74e20c01a3248768a2ecd0511146b41c9ea5bf53 100644
GIT binary patch
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diff --git a/real_robot/coordination_formation_control_pkg/scripts/plot_real_experiment_pgf_plot.py b/real_robot/coordination_formation_control_pkg/scripts/plot_real_experiment_pgf_plot.py
index 862f361..6eb0113 100644
--- a/real_robot/coordination_formation_control_pkg/scripts/plot_real_experiment_pgf_plot.py
+++ b/real_robot/coordination_formation_control_pkg/scripts/plot_real_experiment_pgf_plot.py
@@ -24,8 +24,8 @@ from matplotlib import pyplot as plt
### obtain information from topic
# basic configurations
result_folder_name = "/home/spot/masters_thesis_stevedan/formation_coordination_uav_ugv/real_robot/coordination_formation_control_pkg/results"
-file_name = "/experiment_6_formation_3_uav_2_ugv/result_crazyflie_1_logdata.bag"
-topic_name = "crazyflie_1" + "result"
+file_name = "/experiment_6_formation_3_uav_2_ugv/result_crazyflie_2_logdata.bag"
+topic_name = "crazyflie_2" + "result"
bag = rosbag.Bag(result_folder_name + file_name)
N_uavs = 3
@@ -177,28 +177,29 @@ axis_traj.plot(position_x[-1,:], position_y[-1,:], ".",marker="*",markersize=10,
if N_ugvs > 0:
axis_traj.plot(ugv_position_x[0,:], ugv_position_y[0,:], ".",marker="s",markersize=12, markeredgecolor="black", markerfacecolor="black")
axis_traj.plot(ugv_position_x[-1,:], ugv_position_y[-1,:], ".",marker="p",markersize=12, markeredgecolor="black", markerfacecolor="black")
- axis_traj.plot(ugv_cluster_x[0,:], ugv_cluster_y[0,:], ".",marker="h",markersize=12, markeredgecolor="black", markerfacecolor="black")
- axis_traj.plot(ugv_cluster_x[-1,:], ugv_cluster_y[-1,:], ".",marker="+",markersize=12, markeredgecolor="black", markerfacecolor="black")
+ # axis_traj.plot(ugv_cluster_x[0,:], ugv_cluster_y[0,:], ".",marker="h",markersize=12, markeredgecolor="black", markerfacecolor="black")
+ # axis_traj.plot(ugv_cluster_x[-1,:], ugv_cluster_y[-1,:], ".",marker="+",markersize=12, markeredgecolor="black", markerfacecolor="black")
#plot final configuration
-axis_traj.plot(np.append(position_x[-1,:],position_x[-1,0]) , np.append(position_y[-1,:],position_y[-1,0]),"r")
-# if N_ugvs > 0:
-# axis_traj.plot(np.append(ugv_position_x[-1,:],ugv_cluster_x[-1,:]) , np.append(ugv_position_y[-1,:],ugv_cluster_y[-1,:]),"k")
-# axis_traj.plot(np.append(ugv_position_x[-1,:],ugv_cluster_x[-1,:]) , np.append(ugv_position_y[-1,:],ugv_cluster_y[-1,:]),"k")
+# axis_traj.plot(np.append(position_x[-1,:],position_x[-1,0]) , np.append(position_y[-1,:],position_y[-1,0]),"r")
+if N_ugvs > 0:
+ for i in range(N_ugvs):
+ axis_traj.plot(np.append(ugv_position_x[-1,i],ugv_cluster_x[-1,i]) , np.append(ugv_position_y[-1,i],ugv_cluster_y[-1,i]),"k")
+ axis_traj.plot(np.append(ugv_position_x[-1,i],ugv_cluster_x[-1,i]) , np.append(ugv_position_y[-1,i],ugv_cluster_y[-1,i]),"k")
#plot trajectories
color_array = ["c", "g","b", "y", "m", "C1", "C2"]
# plot the uavs
-for i in range(N_uavs):
- c = color_array[i];
- axis_traj.plot(position_x[:,i], position_y[:,i], c,label="UAV_" + str(i+1))
+# for i in range(N_uavs):
+# c = color_array[i];
+# axis_traj.plot(position_x[:,i], position_y[:,i], c,label="UAV_" + str(i+1))
for t in range(N_ugvs):
c = color_array[t+N_uavs];
c1 = color_array[t+N_uavs+2];
- axis_traj.plot(ugv_position_x[:,t], ugv_position_y[:,t],c+"--",label="UGV_" + str(t+1))
- axis_traj.plot(ugv_cluster_x[:,t], ugv_cluster_y[:,t],c1+"--",label="Cluster_" + str(t+1))
+ # axis_traj.plot(ugv_position_x[:,t], ugv_position_y[:,t],c+"--",label="UGV_" + str(t+1))
+ axis_traj.plot(ugv_cluster_x[:,t], ugv_cluster_y[:,t],c1+"--",label="Cluster_" + str(t+1),marker="*",markersize=10)
# plot the obstacle
if n_obstacles >0:
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 89b1afb..169941d 100644
--- a/real_robot/coordination_formation_control_pkg/src/drone_node.cpp
+++ b/real_robot/coordination_formation_control_pkg/src/drone_node.cpp
@@ -410,7 +410,7 @@ int main(int argc, char **argv) {
// std::cout << "vy: transformed: " << vxl << "vy transformed: " << vyl << std::endl;
- vel_cmd_publisher.publish(current_command);
+ // vel_cmd_publisher.publish(current_command);
}
@@ -465,7 +465,7 @@ int main(int argc, char **argv) {
logdata->ugv_current_pose[i].position.x = current_ugv_state.q(0);
logdata->ugv_current_pose[i].position.y = current_ugv_state.q(1);
logdata->ugv_cluster[i].position.x = next_waypoint->cluster_pos[i*2];
- // logdata->ugv_cluster[i].position.x = next_waypoint->cluster_pos[i*2+1];
+ logdata->ugv_cluster[i].position.y = next_waypoint->cluster_pos[i*2+1];
}
logdata->command_pose.x = current_waypoint.q(0);
logdata->command_pose.y = current_waypoint.q(1);
diff --git a/real_robot/coordination_formation_control_pkg/src/mission_controller.cpp b/real_robot/coordination_formation_control_pkg/src/mission_controller.cpp
index 3b0c4a7..b44e842 100644
--- a/real_robot/coordination_formation_control_pkg/src/mission_controller.cpp
+++ b/real_robot/coordination_formation_control_pkg/src/mission_controller.cpp
@@ -340,7 +340,7 @@ for (int i = 0; i ++; i < n_ugvs)
/* send goals*/
if (dist < this->eps) // waypoint reached TODO, this is hard coded, not a good idea
{
- std::cout << "here" << std::endl;
+ // std::cout << "here" << std::endl;
if(this->mantain_position == false)
{
this->current_waypoint.stop = true;
@@ -528,7 +528,7 @@ Eigen::MatrixXf missionController::compute_cluster(Eigen::MatrixXf uav_q, Eigen:
}
previous_centroids = centroids;
// std::cout << "final centroids" << centroids << std::endl;
-this->cluster_initialized = true;
+ this->cluster_initialized = true;
return centroids;
}
--
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