diff --git a/.github/workflows/catkin_lint.yml b/.github/workflows/catkin_lint.yml index 971df95f9..6c6046751 100644 --- a/.github/workflows/catkin_lint.yml +++ b/.github/workflows/catkin_lint.yml @@ -28,4 +28,4 @@ jobs: wstool init wstool merge aerial_robot_noetic.rosinstall wstool update - ROS_DISTRO=noetic catkin_lint --resolve-env --strict $PWD --skip-path kalman_filter --skip-path ublox_gps --skip-path aerial_robot_3rdparty --skip-path rosserial + ROS_DISTRO=noetic catkin_lint --resolve-env --strict $PWD --skip-path kalman_filter --skip-path ublox_gps --skip-path aerial_robot_3rdparty --skip-path rosserial --skip-path livox_ros_driver2 --skip-path fast_lio diff --git a/aerial_robot_base/bin/rosbag_control_data.sh b/aerial_robot_base/bin/rosbag_control_data.sh index 00486cea9..4a99aa277 100755 --- a/aerial_robot_base/bin/rosbag_control_data.sh +++ b/aerial_robot_base/bin/rosbag_control_data.sh @@ -1,3 +1,3 @@ #!/bin/bash -rosrun aerial_robot_base rosbag_raw_sensors.sh $1 rosout rosout_agg $1/four_axes/command $1/rpy/pid $1/rpy/gain $1/debug/pose/pid $1/desire_coordinate $1/flight_config_cmd $1/kf/imu1/data $1/kf/alt1/data $1/kf/gps1/data $1/kf/mocap1/data $1/kf/vo1/data $1/ground_truth $1/debug/four_axes/gain $1/motor_info $1/p_matrix_pseudo_inverse_inertia $1/servo/torque_enable $1/servo/target_states /tf_static /tf $1/uav/baselink/odom $1/uav/cog/odom $1/uav/full_state $1/uav_info $1/uav_power $1/uav/nav $1/joints_ctrl $1/joint_states ${@:2} +rosrun aerial_robot_base rosbag_raw_sensors.sh $1 rosout rosout_agg $1/four_axes/command $1/rpy/pid $1/rpy/gain $1/debug/pose/pid $1/desire_coordinate $1/flight_config_cmd $1/kf/imu1/data $1/kf/alt1/data $1/kf/gps1/data $1/kf/mocap1/data $1/kf/vo1/data $1/ground_truth $1/debug/four_axes/gain $1/motor_info $1/p_matrix_pseudo_inverse_inertia $1/servo/torque_enable $1/servo/target_states /tf_static /tf $1/uav/baselink/odom $1/uav/cog/odom $1/uav/full_state $1/uav_info $1/uav_power $1/uav/nav $1/joints_ctrl $1/joint_states $1/joy ${@:2} diff --git a/aerial_robot_base/config/sensors/lio/livox_mid360.yaml b/aerial_robot_base/config/sensors/lio/livox_mid360.yaml new file mode 100644 index 000000000..22b1a3456 --- /dev/null +++ b/aerial_robot_base/config/sensors/lio/livox_mid360.yaml @@ -0,0 +1,16 @@ +sensor_plugin: + vo: + vo_sub_topic_name: Odometry_precede + level_pos_noise_sigma: 0.01 # 0.01 is better that 0.001 + z_pos_noise_sigma: 0.01 # 0.01 is better than 0.001 + z_vel_mode: false + vel_noise_sigma: 0.01 # TODO: modification + sensor_frame: lidar_imu + reference_frame: fc + vio_mode: true + local_vel_mode: false # the twist/twist/velocity is described in global frame + time_sync: false + reset_duration: 0.5 + + fusion_mode: 2 # ONLY_POS_MODE = 0, ONLY_VEL_MODE = 1, POS_VEL_MODE = 2 + #param_verbose: true diff --git a/aerial_robot_base/launch/external_module/mocap.launch b/aerial_robot_base/launch/external_module/mocap.launch index b03c497a4..3f8d77471 100644 --- a/aerial_robot_base/launch/external_module/mocap.launch +++ b/aerial_robot_base/launch/external_module/mocap.launch @@ -6,8 +6,7 @@ type="mocap_node" name="mocap_node" respawn="false" - launch-prefix="" - required="true"> + launch-prefix=""> rigid_bodies: '$(arg robot_id)': diff --git a/aerial_robot_control/include/aerial_robot_control/control/base/pose_linear_controller.h b/aerial_robot_control/include/aerial_robot_control/control/base/pose_linear_controller.h index 8dc30d75a..fa7a8e8df 100644 --- a/aerial_robot_control/include/aerial_robot_control/control/base/pose_linear_controller.h +++ b/aerial_robot_control/include/aerial_robot_control/control/base/pose_linear_controller.h @@ -38,6 +38,7 @@ #include #include #include +#include #include #include #include @@ -56,7 +57,8 @@ namespace aerial_robot_control { public: PoseLinearController(); - virtual ~PoseLinearController() = default; + virtual ~PoseLinearController(); + void virtual initialize(ros::NodeHandle nh, ros::NodeHandle nhp, boost::shared_ptr robot_model, @@ -67,8 +69,21 @@ namespace aerial_robot_control virtual bool update() override; virtual void reset() override; + const Eigen::VectorXd getTargetWrenchAccCog() + { + std::lock_guard lock(wrench_mutex_); + return target_wrench_acc_cog_; + } + void setTargetWrenchAccCog(const Eigen::VectorXd target_wrench_acc_cog) + { + std::lock_guard lock(wrench_mutex_); + target_wrench_acc_cog_ = target_wrench_acc_cog; + } + + protected: ros::Publisher pid_pub_; + ros::Publisher estimate_external_wrench_pub_; std::vector pid_controllers_; std::vector > pid_reconf_servers_; @@ -88,11 +103,25 @@ namespace aerial_robot_control tf::Vector3 rpy_, target_rpy_; tf::Vector3 omega_, target_omega_; + std::mutex wrench_mutex_; + boost::thread wrench_estimate_thread_; + Eigen::VectorXd init_sum_momentum_; + Eigen::VectorXd est_external_wrench_; + Eigen::MatrixXd momentum_observer_matrix_; + Eigen::VectorXd integrate_term_; + double prev_est_wrench_timestamp_; + bool wrench_estimate_flag_; + Eigen::VectorXd target_wrench_acc_cog_; + + virtual void controlCore(); virtual void sendCmd(); void cfgPidCallback(aerial_robot_control::PIDConfig &config, uint32_t level, std::vector controller_indices); + void startWrenchEstimation(); + virtual void externalWrenchEstimate(); + }; }; diff --git a/aerial_robot_control/include/aerial_robot_control/control/utils/pid.h b/aerial_robot_control/include/aerial_robot_control/control/utils/pid.h index 94b659e8b..4468f5888 100644 --- a/aerial_robot_control/include/aerial_robot_control/control/utils/pid.h +++ b/aerial_robot_control/include/aerial_robot_control/control/utils/pid.h @@ -50,9 +50,10 @@ namespace aerial_robot_control const double p_gain = 0, const double i_gain = 0, const double d_gain = 0, const double limit_sum = 1e6, const double limit_p = 1e6, const double limit_i = 1e6, const double limit_d = 1e6, const double limit_err_p = 1e6, const double limit_err_i = 1e6, const double limit_err_d = 1e6): - name_(name), result_(0), err_p_(0), err_i_(0), err_i_prev_(0), err_d_(0), + name_(name), result_(0), err_p_(0), err_p_prev_(0), err_i_(0), err_i_prev_(0), err_d_(0), target_p_(0), target_d_(0), val_p_(0), val_d_(0), - p_term_(0), i_term_(0), d_term_(0) + p_term_(0), i_term_(0), d_term_(0), + i_comp_term_(0) { setGains(p_gain, i_gain, d_gain); setLimits(limit_sum, limit_p, limit_i, limit_d, limit_err_p, limit_err_i, limit_err_d); @@ -64,8 +65,23 @@ namespace aerial_robot_control { err_p_ = clamp(err_p, -limit_err_p_, limit_err_p_); err_i_prev_ = err_i_; - err_i_ = clamp(err_i_ + err_p_ * du, -limit_err_i_, limit_err_i_); err_d_ = clamp(err_d, -limit_err_d_, limit_err_d_); + err_i_ = clamp(err_i_ + err_p_ * du, -limit_err_i_, limit_err_i_) + i_comp_term_; + + p_term_ = clamp(err_p_ * p_gain_, -limit_p_, limit_p_); + i_term_ = clamp(err_i_ * i_gain_, -limit_i_, limit_i_); + d_term_ = clamp(err_d_ * d_gain_, -limit_d_, limit_d_); + + result_ = clamp(p_term_ + i_term_ + d_term_ + feedforward_term, -limit_sum_, limit_sum_); + } + + virtual void updateWoVel(const double err_p, const double du, const double feedforward_term = 0) + { + err_p_prev_ = err_p_; + err_p_ = clamp(err_p, -limit_err_p_, limit_err_p_); + err_i_prev_ = err_i_; + err_d_ = clamp((err_p_ - err_p_prev_)/ du, -limit_err_d_, limit_err_d_); + err_i_ = clamp(err_i_ + err_p_ * du, -limit_err_i_, limit_err_i_) + i_comp_term_; p_term_ = clamp(err_p_ * p_gain_, -limit_p_, limit_p_); i_term_ = clamp(err_i_ * i_gain_, -limit_i_, limit_i_); @@ -80,7 +96,9 @@ namespace aerial_robot_control { err_i_ = 0; err_i_prev_ = 0; + err_p_prev_ = 0; result_ = 0; + i_comp_term_ = 0; } const double& getPGain() const { return p_gain_; } @@ -120,6 +138,9 @@ namespace aerial_robot_control setLimitErrI(limit_err_i); setLimitErrD(limit_err_d); } + void setICompTerm(const double i_comp_term){ i_comp_term_ = i_comp_term; } + void setErrIRec(const double err_i_rec){ err_i_rec_ = err_i_rec; } + const double& getErrIRec() const { return err_i_rec_; } const std::string getName() const { return name_;} const double& getErrP() const { return err_p_; } @@ -139,11 +160,14 @@ namespace aerial_robot_control double result_; double p_gain_, i_gain_, d_gain_; double p_term_, i_term_, d_term_; - double err_p_, err_i_, err_i_prev_, err_d_; + double err_p_, err_p_prev_, err_i_, err_i_prev_, err_d_; + double err_i_rec_; double limit_sum_, limit_p_, limit_i_, limit_d_; double limit_err_p_, limit_err_i_, limit_err_d_; double target_p_, target_d_; double val_p_, val_d_; + double i_comp_term_; + }; }; diff --git a/aerial_robot_control/include/aerial_robot_control/flight_navigation.h b/aerial_robot_control/include/aerial_robot_control/flight_navigation.h index b6ed1b343..14d320394 100644 --- a/aerial_robot_control/include/aerial_robot_control/flight_navigation.h +++ b/aerial_robot_control/include/aerial_robot_control/flight_navigation.h @@ -151,6 +151,8 @@ namespace aerial_robot_navigation static constexpr float VOLTAGE_20P = 3.747; static constexpr float VOLTAGE_10P = 3.683; static constexpr float VOLTAGE_0P = 3.209; + float pre_battery_percentage_; + /* playstation dualschock 3 joystick */ @@ -256,6 +258,8 @@ namespace aerial_robot_navigation bool param_verbose_; + bool joy_rotation_flag_; + uint8_t navi_state_; int xy_control_mode_; @@ -269,7 +273,7 @@ namespace aerial_robot_navigation bool trajectory_mode_; bool lock_teleop_; ros::Time force_landing_start_time_; - + double hover_convergent_start_time_; double hover_convergent_duration_; double land_check_start_time_; @@ -346,8 +350,8 @@ namespace aerial_robot_navigation virtual void rosParamInit(); void poseCallback(const geometry_msgs::PoseStampedConstPtr & msg); void simpleMoveBaseGoalCallback(const geometry_msgs::PoseStampedConstPtr & msg); - void naviCallback(const aerial_robot_msgs::FlightNavConstPtr & msg); - void joyStickControl(const sensor_msgs::JoyConstPtr & joy_msg); + virtual void naviCallback(const aerial_robot_msgs::FlightNavConstPtr & msg); + virtual void joyStickControl(const sensor_msgs::JoyConstPtr & joy_msg); void batteryCheckCallback(const std_msgs::Float32ConstPtr &msg); virtual void halt() {} @@ -463,9 +467,6 @@ namespace aerial_robot_navigation if(!teleop_flag_) return; setNaviState(LAND_STATE); - - setTargetXyFromCurrentState(); - setTargetYawFromCurrentState(); ROS_INFO("Land state"); } diff --git a/aerial_robot_control/src/control/base/pose_linear_controller.cpp b/aerial_robot_control/src/control/base/pose_linear_controller.cpp index 31623e3b5..9d808e167 100644 --- a/aerial_robot_control/src/control/base/pose_linear_controller.cpp +++ b/aerial_robot_control/src/control/base/pose_linear_controller.cpp @@ -74,6 +74,15 @@ namespace aerial_robot_control pid_msg_.yaw.d_term.resize(1); } + PoseLinearController::~PoseLinearController() + { + if(wrench_estimate_flag_) + { + wrench_estimate_thread_.interrupt(); + wrench_estimate_thread_.join(); + } + } + void PoseLinearController::initialize(ros::NodeHandle nh, ros::NodeHandle nhp, boost::shared_ptr robot_model, @@ -177,8 +186,11 @@ namespace aerial_robot_control pid_reconf_servers_.push_back(boost::make_shared(yaw_nh)); pid_reconf_servers_.back()->setCallback(boost::bind(&PoseLinearController::cfgPidCallback, this, _1, _2, std::vector(1, YAW))); - pid_pub_ = nh_.advertise("debug/pose/pid", 10); + + /* external wrench estimation*/ + getParam(control_nh, "wrench_estimate_flag", wrench_estimate_flag_, false); + if(wrench_estimate_flag_) startWrenchEstimation(); } void PoseLinearController::reset() @@ -341,6 +353,75 @@ namespace aerial_robot_control pid_pub_.publish(pid_msg_); } + void PoseLinearController::externalWrenchEstimate() + { + const Eigen::VectorXd target_wrench_acc_cog = getTargetWrenchAccCog(); + + if(navigator_->getNaviState() != aerial_robot_navigation::HOVER_STATE && + navigator_->getNaviState() != aerial_robot_navigation::LAND_STATE) + { + prev_est_wrench_timestamp_ = 0; + integrate_term_ = Eigen::VectorXd::Zero(6); + return; + }else if(target_wrench_acc_cog.size() == 0){ + ROS_WARN("Target wrench value for wrench estimation is not setted."); + prev_est_wrench_timestamp_ = 0; + integrate_term_ = Eigen::VectorXd::Zero(6); + return; + } + + Eigen::Vector3d vel_w, omega_cog; // workaround: use the filtered value + auto imu_handler = boost::dynamic_pointer_cast(estimator_->getImuHandler(0)); + tf::vectorTFToEigen(imu_handler->getFilteredVelCog(), vel_w); + tf::vectorTFToEigen(imu_handler->getFilteredOmegaCog(), omega_cog); + Eigen::Matrix3d cog_rot; + tf::matrixTFToEigen(estimator_->getOrientation(Frame::COG, estimate_mode_), cog_rot); + + Eigen::Matrix3d inertia = robot_model_->getInertia(); + double mass = robot_model_->getMass(); + + Eigen::VectorXd sum_momentum = Eigen::VectorXd::Zero(6); + sum_momentum.head(3) = mass * vel_w; + sum_momentum.tail(3) = inertia * omega_cog; + + Eigen::VectorXd target_wrench_cog = Eigen::VectorXd::Zero(6); + target_wrench_cog.head(3) = mass * target_wrench_acc_cog.head(3); + target_wrench_cog.tail(3) = inertia * target_wrench_acc_cog.tail(3); + + Eigen::MatrixXd J_t = Eigen::MatrixXd::Identity(6,6); + J_t.topLeftCorner(3,3) = cog_rot; + + Eigen::VectorXd N = mass * robot_model_->getGravity(); + N.tail(3) = aerial_robot_model::skew(omega_cog) * (inertia * omega_cog); + + if(prev_est_wrench_timestamp_ == 0) + { + prev_est_wrench_timestamp_ = ros::Time::now().toSec(); + init_sum_momentum_ = sum_momentum; // not good + } + + double dt = ros::Time::now().toSec() - prev_est_wrench_timestamp_; + + integrate_term_ += (J_t * target_wrench_cog - N + est_external_wrench_) * dt; + + est_external_wrench_ = momentum_observer_matrix_ * (sum_momentum - init_sum_momentum_ - integrate_term_); + + Eigen::VectorXd est_external_wrench_cog = est_external_wrench_; + est_external_wrench_cog.head(3) = cog_rot.inverse() * est_external_wrench_.head(3); + + geometry_msgs::WrenchStamped wrench_msg; + wrench_msg.header.stamp.fromSec(estimator_->getImuLatestTimeStamp()); + wrench_msg.wrench.force.x = est_external_wrench_(0); + wrench_msg.wrench.force.y = est_external_wrench_(1); + wrench_msg.wrench.force.z = est_external_wrench_(2); + wrench_msg.wrench.torque.x = est_external_wrench_(3); + wrench_msg.wrench.torque.y = est_external_wrench_(4); + wrench_msg.wrench.torque.z = est_external_wrench_(5); + estimate_external_wrench_pub_.publish(wrench_msg); + + prev_est_wrench_timestamp_ = ros::Time::now().toSec(); + } + void PoseLinearController::cfgPidCallback(aerial_robot_control::PIDConfig &config, uint32_t level, std::vector controller_indices) { using Levels = aerial_robot_msgs::DynamicReconfigureLevels; @@ -374,4 +455,36 @@ namespace aerial_robot_control } } } + + void PoseLinearController::startWrenchEstimation() + { + estimate_external_wrench_pub_ = nh_.advertise("estimated_external_wrench", 1); + + est_external_wrench_ = Eigen::VectorXd::Zero(6); + init_sum_momentum_ = Eigen::VectorXd::Zero(6); + integrate_term_ = Eigen::VectorXd::Zero(6); + momentum_observer_matrix_ = Eigen::MatrixXd::Identity(6,6); + prev_est_wrench_timestamp_ = 0; + + double force_weight, torque_weight; + ros::NodeHandle control_nh(nh_, "controller"); + getParam(control_nh, "momentum_observer_force_weight", force_weight, 10.0); + getParam(control_nh, "momentum_observer_torque_weight", torque_weight, 10.0); + momentum_observer_matrix_.topRows(3) *= force_weight; + momentum_observer_matrix_.bottomRows(3) *= torque_weight; + + wrench_estimate_thread_ = boost::thread([this]() + { + double update_rate; + ros::NodeHandle control_nh(nh_, "controller"); + control_nh.param ("wrench_estimate_update_rate", update_rate, 100.0); + + ros::Rate loop_rate(update_rate); + while(ros::ok()) + { + externalWrenchEstimate(); + loop_rate.sleep(); + } + }); + } }; diff --git a/aerial_robot_control/src/flight_navigation.cpp b/aerial_robot_control/src/flight_navigation.cpp index 82c074528..5fe268808 100644 --- a/aerial_robot_control/src/flight_navigation.cpp +++ b/aerial_robot_control/src/flight_navigation.cpp @@ -25,7 +25,8 @@ BaseNavigator::BaseNavigator(): joy_stick_heart_beat_(false), joy_stick_prev_time_(0), teleop_flag_(true), - land_check_start_time_(0) + land_check_start_time_(0), + pre_battery_percentage_(100) { setNaviState(ARM_OFF_STATE); } @@ -99,7 +100,7 @@ void BaseNavigator::batteryCheckCallback(const std_msgs::Float32ConstPtr &msg) float average_voltage = voltage / bat_cell_; float input_cell = voltage / VOLTAGE_100P; float percentage = 0; - if(average_voltage > VOLTAGE_90P) percentage = (average_voltage - VOLTAGE_90P) / (VOLTAGE_100P - VOLTAGE_90P) * 10 + 90; + if(average_voltage > VOLTAGE_90P)percentage = (average_voltage - VOLTAGE_90P) / (VOLTAGE_100P - VOLTAGE_90P) * 10 + 90; else if (average_voltage > VOLTAGE_80P) percentage = (average_voltage - VOLTAGE_80P) / (VOLTAGE_90P - VOLTAGE_80P) * 10 + 80; else if (average_voltage > VOLTAGE_70P) percentage = (average_voltage - VOLTAGE_70P) / (VOLTAGE_80P - VOLTAGE_70P) * 10 + 70; else if (average_voltage > VOLTAGE_60P) percentage = (average_voltage - VOLTAGE_60P) / (VOLTAGE_70P - VOLTAGE_60P) * 10 + 60; @@ -111,6 +112,11 @@ void BaseNavigator::batteryCheckCallback(const std_msgs::Float32ConstPtr &msg) else percentage = (average_voltage - VOLTAGE_0P) / (VOLTAGE_10P - VOLTAGE_0P) * 10; if (percentage > 100) percentage = 100; + + if(percentage < pre_battery_percentage_ - 10){ + pre_battery_percentage_ = percentage - (int)percentage % 10 + 10; // e.g. percentage = 85% -> 90% + ROS_WARN_STREAM("Battery : " << int(pre_battery_percentage_) <<"%"); + } if(percentage < 0) { /* can remove this information */ @@ -447,8 +453,6 @@ void BaseNavigator::joyStickControl(const sensor_msgs::JoyConstPtr & joy_msg) setNaviState(LAND_STATE); //update - setTargetXyFromCurrentState(); - setTargetYawFromCurrentState(); ROS_INFO("Joy Control: Land state"); return; @@ -456,10 +460,14 @@ void BaseNavigator::joyStickControl(const sensor_msgs::JoyConstPtr & joy_msg) teleop_reset_time_ = teleop_reset_duration_ + ros::Time::now().toSec(); - double raw_x_cmd = joy_cmd.axes[PS3_AXIS_STICK_LEFT_UPWARDS]; - double raw_y_cmd = joy_cmd.axes[PS3_AXIS_STICK_LEFT_LEFTWARDS]; + double raw_x_cmd = 0; + double raw_y_cmd = 0; double raw_z_cmd = joy_cmd.axes[PS3_AXIS_STICK_RIGHT_UPWARDS]; double raw_yaw_cmd = joy_cmd.axes[PS3_AXIS_STICK_RIGHT_LEFTWARDS]; + if(!joy_rotation_flag_){ + raw_x_cmd = joy_cmd.axes[PS3_AXIS_STICK_LEFT_UPWARDS]; + raw_y_cmd = joy_cmd.axes[PS3_AXIS_STICK_LEFT_LEFTWARDS]; + } /* Motion: Z (Height) */ if(getNaviState() == HOVER_STATE) @@ -682,8 +690,6 @@ void BaseNavigator::update() if(normal_land && !force_att_control_flag_) { setNaviState(LAND_STATE); - setTargetXyFromCurrentState(); - setTargetYawFromCurrentState(); } } @@ -1054,9 +1060,20 @@ void BaseNavigator::rosParamInit() ros::NodeHandle nh(nh_, "navigation"); getParam(nh, "xy_control_mode", xy_control_mode_, 0); getParam(nh, "takeoff_height", takeoff_height_, 0.0); + getParam(nh, "land_descend_vel",land_descend_vel_, -0.3); + if (land_descend_vel_ >= 0) { + ROS_WARN("land_descend_vel_ (current value: %f) should be negative", land_descend_vel_); + land_descend_vel_ == -0.3; + } + getParam(nh, "hover_convergent_duration", hover_convergent_duration_, 1.0); getParam(nh, "land_check_duration", land_check_duration_, 0.5); + if (land_check_duration_ < 0.5) { + ROS_WARN("land_check_duration_ (current value: %f) should be not smaller than 0.5", land_check_duration_); + land_check_duration_ = 0.5; + } + getParam(nh, "trajectory_reset_duration", trajectory_reset_duration_, 0.5); getParam(nh, "teleop_reset_duration", teleop_reset_duration_, 0.5); getParam(nh, "z_convergent_thresh", z_convergent_thresh_, 0.05); diff --git a/aerial_robot_estimation/include/aerial_robot_estimation/sensor/imu.h b/aerial_robot_estimation/include/aerial_robot_estimation/sensor/imu.h index 5e30aee2b..7880e5084 100644 --- a/aerial_robot_estimation/include/aerial_robot_estimation/sensor/imu.h +++ b/aerial_robot_estimation/include/aerial_robot_estimation/sensor/imu.h @@ -31,7 +31,7 @@ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. - *********************************************************************/ +*********************************************************************/ #pragma once @@ -61,12 +61,37 @@ namespace sensor_plugin inline tf::Vector3 getAttitude(uint8_t frame) { return euler_; } inline ros::Time getStamp(){return imu_stamp_;} + inline tf::Vector3 getFilteredOmegaCog() + { + boost::lock_guard lock(omega_mutex_); + return filtered_omega_cog_; + } + + inline tf::Vector3 getFilteredVelCog() + { + boost::lock_guard lock(vel_mutex_); + return filtered_vel_cog_; + } + + void setFilteredOmegaCog(const tf::Vector3 filtered_omega_cog) + { + boost::lock_guard lock(omega_mutex_); + filtered_omega_cog_ = filtered_omega_cog; + } + + void setFilteredVelCog(const tf::Vector3 filtered_vel_cog) + { + boost::lock_guard lock(vel_mutex_); + filtered_vel_cog_ = filtered_vel_cog; + } + inline void treatImuAsGroundTruth(bool flag) { treat_imu_as_ground_truth_ = flag; } protected: ros::Publisher acc_pub_; ros::Publisher imu_pub_; ros::Subscriber imu_sub_; + ros::Publisher omega_filter_pub_; /* rosparam */ string imu_topic_name_; @@ -93,6 +118,12 @@ namespace sensor_plugin tf::Vector3 acc_bias_l_; /* the acceleration bias in level frame as to baselink frame: previously is acc_i */ tf::Vector3 acc_bias_w_; /* the acceleration bias in world frame */ bool treat_imu_as_ground_truth_; /* whether use imu value as ground truth */ + /* IIR filter*/ + boost::mutex omega_mutex_; + boost::mutex vel_mutex_; + tf::Vector3 filtered_vel_cog_; + tf::Vector3 filtered_omega_cog_; + IirFilter lpf_omega_; // for gyro aerial_robot_msgs::States state_; /* for debug */ diff --git a/aerial_robot_estimation/include/aerial_robot_estimation/sensor/vo.h b/aerial_robot_estimation/include/aerial_robot_estimation/sensor/vo.h index b1281487a..c9c86128b 100644 --- a/aerial_robot_estimation/include/aerial_robot_estimation/sensor/vo.h +++ b/aerial_robot_estimation/include/aerial_robot_estimation/sensor/vo.h @@ -37,11 +37,14 @@ #include #include +#include #include #include #include #include #include +#include + namespace sensor_plugin { @@ -85,11 +88,13 @@ namespace sensor_plugin int fusion_mode_; bool vio_mode_; // visual + inertial mode bool z_vel_mode_; + bool local_vel_mode_; bool outdoor_no_vel_time_sync_; // very special flag for stereo cam such as zed mini, which has tricky behavier in outdoor mode /* heuristic sepecial flag for fusion */ bool outdoor_; bool z_no_delay_; + /* servo */ std::string joint_name_; bool servo_auto_change_flag_; @@ -109,6 +114,8 @@ namespace sensor_plugin double reference_timestamp_; aerial_robot_msgs::States vo_state_; + tf2_ros::StaticTransformBroadcaster static_broadcaster_; // publish the transfrom between the work and vo frame + void rosParamInit(); void servoControl(const ros::TimerEvent & e); void estimateProcess(); diff --git a/aerial_robot_estimation/src/sensor/imu.cpp b/aerial_robot_estimation/src/sensor/imu.cpp index 9836c2da2..fbb8ee819 100644 --- a/aerial_robot_estimation/src/sensor/imu.cpp +++ b/aerial_robot_estimation/src/sensor/imu.cpp @@ -39,6 +39,7 @@ namespace { int bias_calib = 0; ros::Time prev_time; + bool first_flag = true; } namespace sensor_plugin @@ -81,11 +82,21 @@ namespace sensor_plugin imu_sub_ = nh_.subscribe(topic_name, 10, &Imu::ImuCallback, this); imu_pub_ = indexed_nhp_.advertise(string("ros_converted"), 1); acc_pub_ = indexed_nhp_.advertise("acc_only", 2); + + //low pass filter + double sample_freq, cutoff_freq; + getParam("cutoff_freq", cutoff_freq, 20.0); + getParam("sample_freq", sample_freq, 200.0); + lpf_omega_ = IirFilter(sample_freq, cutoff_freq, 3); + + // debug + omega_filter_pub_ = indexed_nhp_.advertise(string("filter_angular_velocity"), 1); } void Imu::ImuCallback(const spinal::ImuConstPtr& imu_msg) { imu_stamp_ = imu_msg->stamp; + tf::Vector3 filtered_omega; for(int i = 0; i < 3; i++) { @@ -102,6 +113,30 @@ namespace sensor_plugin mag_[i] = imu_msg->mag_data[i]; } + if(first_flag) + { + lpf_omega_.setInitValues(omega_); + first_flag = false; + } + filtered_omega = lpf_omega_.filterFunction(omega_); + geometry_msgs::Vector3Stamped omega_msg; + omega_msg.header.stamp = imu_msg->stamp; + tf::vector3TFToMsg(filtered_omega, omega_msg.vector); + omega_filter_pub_.publish(omega_msg); + + // workaround: use raw roll&pitch omega (not filtered in spinal) for both angular and linear CoG velocity estimation, yaw is still filtered + // note: this is different with hydrus-like control which use filtered omega for CoG estimation + omega_.setZ(filtered_omega.z()); + + // get filtered angular and linear velocity of CoG + tf::Transform cog2baselink_tf; + tf::transformKDLToTF(robot_model_->getCog2Baselink(), cog2baselink_tf); + int estimate_mode = estimator_->getEstimateMode(); + setFilteredOmegaCog(cog2baselink_tf.getBasis() * filtered_omega); + setFilteredVelCog(estimator_->getVel(Frame::BASELINK, estimate_mode) + + estimator_->getOrientation(Frame::BASELINK, estimate_mode) + * (filtered_omega.cross(cog2baselink_tf.inverse().getOrigin()))); + estimateProcess(); updateHealthStamp(); } @@ -389,29 +424,20 @@ namespace sensor_plugin /* publish state date */ state_.header.stamp = imu_stamp_; - tf::Vector3 pos = estimator_->getPos(Frame::BASELINK, aerial_robot_estimation::EGOMOTION_ESTIMATE); - tf::Vector3 vel = estimator_->getVel(Frame::BASELINK, aerial_robot_estimation::EGOMOTION_ESTIMATE); - state_.states[0].state[0].x = pos.x(); - state_.states[1].state[0].x = pos.y(); - state_.states[2].state[0].x = pos.z(); - state_.states[0].state[0].y = vel.x(); - state_.states[1].state[0].y = vel.y(); - state_.states[2].state[0].y = vel.z(); - state_.states[0].state[0].z = acc_w_.x(); - state_.states[1].state[0].z = acc_w_.y(); - state_.states[2].state[0].z = acc_w_.z(); - pos = estimator_->getPos(Frame::BASELINK, aerial_robot_estimation::EXPERIMENT_ESTIMATE); - vel = estimator_->getVel(Frame::BASELINK, aerial_robot_estimation::EXPERIMENT_ESTIMATE); - state_.states[0].state[1].x = pos.x(); - state_.states[1].state[1].x = pos.y(); - state_.states[2].state[1].x = pos.z(); - state_.states[0].state[1].y = vel.x(); - state_.states[1].state[1].y = vel.y(); - state_.states[2].state[1].y = vel.z(); - state_.states[0].state[1].z = acc_w_.x(); - state_.states[1].state[1].z = acc_w_.y(); - state_.states[2].state[1].z = acc_w_.z(); - + for (int i = 0; i < 2; i++) + { + tf::Vector3 pos = estimator_->getPos(Frame::BASELINK, i); + tf::Vector3 vel = estimator_->getVel(Frame::BASELINK, i); + state_.states[0].state[i].x = pos.x(); + state_.states[1].state[i].x = pos.y(); + state_.states[2].state[i].x = pos.z(); + state_.states[0].state[i].y = vel.x(); + state_.states[1].state[i].y = vel.y(); + state_.states[2].state[i].y = vel.z(); + state_.states[0].state[i].z = acc_w_.x(); + state_.states[1].state[i].z = acc_w_.y(); + state_.states[2].state[i].z = acc_w_.z(); + } state_pub_.publish(state_); } prev_time = imu_stamp_; diff --git a/aerial_robot_estimation/src/sensor/vo.cpp b/aerial_robot_estimation/src/sensor/vo.cpp index cfb1b7d40..3e156dc37 100644 --- a/aerial_robot_estimation/src/sensor/vo.cpp +++ b/aerial_robot_estimation/src/sensor/vo.cpp @@ -80,6 +80,7 @@ namespace sensor_plugin if(time_sync_) queuse_size = 10; vo_sub_ = nh_.subscribe(topic_name, queuse_size, &VisualOdometry::voCallback, this); + /* servo control timer */ if(variable_sensor_tf_flag_) { @@ -92,6 +93,8 @@ namespace sensor_plugin servo_control_timer_ = indexed_nhp_.createTimer(ros::Duration(servo_control_rate_), &VisualOdometry::servoControl,this); // 10 Hz } + + prev_timestamp_ = 0; } void VisualOdometry::voCallback(const nav_msgs::Odometry::ConstPtr & vo_msg) @@ -238,33 +241,43 @@ namespace sensor_plugin } } - /* step1: set the init offset from world to the baselink of UAV from egomotion estimation (e.g. yaw) */ - /** ^{w}H_{b} **/ - world_offset_tf_.setRotation(tf::createQuaternionFromYaw(estimator_->getState(State::YAW_BASE, aerial_robot_estimation::EGOMOTION_ESTIMATE)[0])); + /** step1: ^{w}H_{b'}, b': level frame of b **/ + tf::Transform w_bdash_f(tf::createQuaternionFromYaw(estimator_->getState(State::YAW_BASE, aerial_robot_estimation::EGOMOTION_ESTIMATE)[0])); - tf::Vector3 world_offset_pos = estimator_->getPos(Frame::BASELINK, aerial_robot_estimation::EGOMOTION_ESTIMATE); + tf::Vector3 baselink_pos = estimator_->getPos(Frame::BASELINK, aerial_robot_estimation::EGOMOTION_ESTIMATE); if(estimator_->getStateStatus(State::X_BASE, aerial_robot_estimation::EGOMOTION_ESTIMATE)) - world_offset_tf_.getOrigin().setX(world_offset_pos.x()); + w_bdash_f.getOrigin().setX(baselink_pos.x()); if(estimator_->getStateStatus(State::Y_BASE, aerial_robot_estimation::EGOMOTION_ESTIMATE)) - world_offset_tf_.getOrigin().setY(world_offset_pos.y()); + w_bdash_f.getOrigin().setY(baselink_pos.y()); if(estimator_->getStateStatus(State::Z_BASE, aerial_robot_estimation::EGOMOTION_ESTIMATE)) - world_offset_tf_.getOrigin().setZ(world_offset_pos.z()); + w_bdash_f.getOrigin().setZ(baselink_pos.z()); - /* set the init offset from world to the baselink of UAV if we know the ground truth */ + /* set the offset if we know the ground truth */ if(estimator_->getStateStatus(State::YAW_BASE, aerial_robot_estimation::GROUND_TRUTH)) { - world_offset_tf_.setOrigin(estimator_->getPos(Frame::BASELINK, aerial_robot_estimation::GROUND_TRUTH)); - world_offset_tf_.setRotation(tf::createQuaternionFromYaw(estimator_->getState(State::YAW_BASE, aerial_robot_estimation::GROUND_TRUTH)[0])); - - double y, p, r; world_offset_tf_.getBasis().getRPY(r, p, y); + w_bdash_f.setOrigin(estimator_->getPos(Frame::BASELINK, aerial_robot_estimation::GROUND_TRUTH)); + w_bdash_f.setRotation(tf::createQuaternionFromYaw(estimator_->getState(State::YAW_BASE, aerial_robot_estimation::GROUND_TRUTH)[0])); } - /* step2: also consider the offset tf from baselink to sensor */ - /** ^{w}H_{b} * ^{b}H_{vo} * ^{vo}H_{w_vo} = ^{w}H_{w_vo} **/ - world_offset_tf_ *= (sensor_tf_ * raw_sensor_tf.inverse()); + /** step2: ^{vo}H_{b'} **/ + tf::Transform vo_bdash_f = raw_sensor_tf * sensor_tf_.inverse(); // ^{vo}H_{b} + double r,p,y; + vo_bdash_f.getBasis().getRPY(r,p,y); + vo_bdash_f.setRotation(tf::createQuaternionFromYaw(y)); // ^{vo}H_{b'} + + /** step3: ^{w}H_{vo} = ^{w}H_{b'} * ^{b'}H_{vo} **/ + world_offset_tf_ = w_bdash_f * vo_bdash_f.inverse(); + + /* publish the offset tf if necessary */ + geometry_msgs::TransformStamped static_transformStamped; + static_transformStamped.header.stamp = vo_msg->header.stamp; + static_transformStamped.header.frame_id = "world"; + static_transformStamped.child_frame_id = vo_msg->header.frame_id; + tf::transformTFToMsg(world_offset_tf_, static_transformStamped.transform); + static_broadcaster_.sendTransform(static_transformStamped); + + tf::Vector3 init_pos = w_bdash_f.getOrigin(); - //double y, p, r; raw_sensor_tf.getBasis().getRPY(r, p, y); - tf::Vector3 init_pos = (world_offset_tf_ * raw_sensor_tf * sensor_tf_.inverse()).getOrigin(); for(auto& fuser : estimator_->getFuser(aerial_robot_estimation::EGOMOTION_ESTIMATE)) { @@ -353,8 +366,8 @@ namespace sensor_plugin tf::quaternionMsgToTF(vo_msg->pose.pose.orientation, raw_q); // velocity: - tf::Vector3 raw_local_vel; - tf::vector3MsgToTF(vo_msg->twist.twist.linear, raw_local_vel); + tf::Vector3 raw_vel; + tf::vector3MsgToTF(vo_msg->twist.twist.linear, raw_vel); /* get the latest orientation and omega */ baselink_r = estimator_->getOrientation(Frame::BASELINK, aerial_robot_estimation::EGOMOTION_ESTIMATE); baselink_omega = estimator_->getAngularVel(Frame::BASELINK, aerial_robot_estimation::EGOMOTION_ESTIMATE); @@ -365,11 +378,11 @@ namespace sensor_plugin // int mode = estimator_->getStateStatus(State::YAW_BASE, aerial_robot_estimation::GROUND_TRUTH)?aerial_robot_estimation::GROUND_TRUTH:aerial_robot_estimation::EGOMOTION_ESTIMATE; int mode = aerial_robot_estimation::EGOMOTION_ESTIMATE; - if (raw_local_vel == tf::Vector3(0.0,0.0,0.0)) + if (raw_vel == tf::Vector3(0.0,0.0,0.0)) { /* the odometry message does not contain velocity information, we have to calulcate by ourselves. */ tf::Transform delta_tf = prev_sensor_tf.inverse() * raw_sensor_tf; - raw_local_vel = delta_tf.getOrigin() / (curr_timestamp_ - prev_timestamp_); + raw_vel = delta_tf.getOrigin() / (curr_timestamp_ - prev_timestamp_); reference_timestamp_ = (curr_timestamp_ + prev_timestamp_) / 2; estimator_->findRotOmega(reference_timestamp_, mode, baselink_r, baselink_omega); @@ -384,7 +397,16 @@ namespace sensor_plugin } } - raw_global_vel_ = baselink_r * ( sensor_tf_.getBasis() * raw_local_vel - baselink_omega.cross(sensor_tf_.getOrigin())); + raw_global_vel_ = world_offset_tf_.getBasis() * raw_vel; + if (local_vel_mode_) + { + // if the velocity is described in local frame (i.e., the sensor frame), + // we need to convert to global one + raw_global_vel_ = baselink_r * sensor_tf_.getBasis() * raw_vel; + } + // consider the offset between baselink and sensor frames + raw_global_vel_ -= baselink_r * baselink_omega.cross(sensor_tf_.getOrigin()); + if(debug_verbose_) { @@ -600,6 +622,7 @@ namespace sensor_plugin { getParam("fusion_mode", fusion_mode_, (int)ONLY_POS_MODE); getParam("vio_mode", vio_mode_, false); + getParam("local_vel_mode", local_vel_mode_, true); getParam("z_vel_mode", z_vel_mode_, false); getParam("z_no_delay", z_no_delay_, false); getParam("outdoor_no_vel_time_sync", outdoor_no_vel_time_sync_, false); diff --git a/aerial_robot_melodic.rosinstall b/aerial_robot_melodic.rosinstall index b07b161d4..bd5dbf534 100644 --- a/aerial_robot_melodic.rosinstall +++ b/aerial_robot_melodic.rosinstall @@ -31,6 +31,20 @@ uri: https://github.com/tongtybj/rosserial.git version: rosservice_server +# livox ros driver +# modification for quick build of ROS1 version +- git: + local-name: livox_ros_driver2 + uri: https://github.com/tongtybj/livox_ros_driver2.git + version: PR/ros1 + +# fast lio +# modification for fast odometry based on EKF +- git: + local-name: fast_lio + uri: https://github.com/tongtybj/FAST_LIO + version: PR/odometry + # realsense #- git: # local-name: realsense-ros diff --git a/aerial_robot_msgs/msg/FlightNav.msg b/aerial_robot_msgs/msg/FlightNav.msg index 3ba0a9046..c2e0e7c1e 100644 --- a/aerial_robot_msgs/msg/FlightNav.msg +++ b/aerial_robot_msgs/msg/FlightNav.msg @@ -4,6 +4,7 @@ uint8 POS_MODE = 2 uint8 ACC_MODE = 3 uint8 POS_VEL_MODE = 4 uint8 GPS_WAYPOINT_MODE = 5 +uint8 STAY_HERE_MODE = 6 uint8 WORLD_FRAME = 0 uint8 LOCAL_FRAME = 1 diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/Src/dma.c b/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/Src/dma.c index 25c6dc8f1..965b29571 100644 --- a/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/Src/dma.c +++ b/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/Src/dma.c @@ -41,7 +41,6 @@ void MX_DMA_Init(void) /* DMA controller clock enable */ __HAL_RCC_DMA2_CLK_ENABLE(); - __HAL_RCC_DMA1_CLK_ENABLE(); } diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/Src/freertos.c b/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/Src/freertos.c index 3122b48ed..8c23436b3 100644 --- a/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/Src/freertos.c +++ b/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/Src/freertos.c @@ -60,6 +60,7 @@ osThreadId rosPublishHandle; osThreadId coreProcessHandle; osThreadId canRxHandle; osThreadId voltageHandle; +osThreadId kondoServoTaskHandle; osTimerId CoreTimerHandle; osMutexId rosPubMutexHandle; osMutexId flightControlMutexHandle; @@ -77,6 +78,7 @@ void rosPublishTask(void const * argument); void coreTask(void const * argument); void canRxTask(void const * argument); void voltageTask(void const * argument); +void kondoServoTaskCallback(void const * argument); void coreEvokeCallback(void const * argument); void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */ @@ -190,6 +192,10 @@ void MX_FREERTOS_Init(void) { osThreadDef(voltage, voltageTask, osPriorityLow, 0, 128); voltageHandle = osThreadCreate(osThread(voltage), NULL); + /* definition and creation of kondoServoTask */ + osThreadDef(kondoServoTask, kondoServoTaskCallback, osPriorityLow, 0, 256); + kondoServoTaskHandle = osThreadCreate(osThread(kondoServoTask), NULL); + /* USER CODE BEGIN RTOS_THREADS */ /* add threads, ... */ /* USER CODE END RTOS_THREADS */ @@ -304,6 +310,24 @@ __weak void voltageTask(void const * argument) /* USER CODE END voltageTask */ } +/* USER CODE BEGIN Header_kondoServoTaskCallback */ +/** +* @brief Function implementing the kondoServoTask thread. +* @param argument: Not used +* @retval None +*/ +/* USER CODE END Header_kondoServoTaskCallback */ +__weak void kondoServoTaskCallback(void const * argument) +{ + /* USER CODE BEGIN kondoServoTaskCallback */ + /* Infinite loop */ + for(;;) + { + osDelay(1); + } + /* USER CODE END kondoServoTaskCallback */ +} + /* coreEvokeCallback function */ __weak void coreEvokeCallback(void const * argument) { diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/Src/main.c b/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/Src/main.c index 436a63f0a..baa6ef9c0 100644 --- a/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/Src/main.c +++ b/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/Src/main.c @@ -71,6 +71,7 @@ /* Extra Servo */ #include "extra_servo/extra_servo.h" +#include "kondo_servo/kondo_servo.h" /* Internal Communication System */ @@ -123,6 +124,8 @@ StateEstimate estimator_; BatteryStatus battery_status_; FlightControl controller_; ExtraServo extra_servo_; +KondoServo kondo_servo_; + #endif // defined in Src/freertos.c @@ -255,6 +258,15 @@ static void MX_NVIC_Init(void); } #endif + void kondoServoTaskCallback(void const * argument) + { + for(;;) + { + kondo_servo_.update(); + osDelay(KONDO_SERVO_UPDATE_INTERVAL); + } + } + } /* USER CODE END PFP */ @@ -357,6 +369,7 @@ int main(void) /* Extra Servo Control */ extra_servo_.init(&htim3, &htim5, &nh_); + kondo_servo_.init(&huart3, &nh_); /* Magnetic Encoder */ encoder_.init(&hi2c2, &nh_); @@ -370,7 +383,7 @@ int main(void) /* BATTERY_STATUS */ battery_status_.init(&hadc2, &nh_); /* Start Attitude Control */ - controller_.init(&htim4, &htim8, &estimator_, &battery_status_, &nh_, &flightControlMutexHandle); + controller_.init(&htim4, &htim8, &estimator_, &kondo_servo_, &battery_status_, &nh_, &flightControlMutexHandle); #if NERVE_COMM controller_.setUavModel(Spine::getUavModel()); diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/Src/usart.c b/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/Src/usart.c index fd051e54f..e329c2c05 100644 --- a/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/Src/usart.c +++ b/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/Src/usart.c @@ -29,7 +29,6 @@ UART_HandleTypeDef huart1; UART_HandleTypeDef huart3; DMA_HandleTypeDef hdma_usart1_rx; DMA_HandleTypeDef hdma_usart1_tx; -DMA_HandleTypeDef hdma_usart3_rx; /* UART4 init function */ void MX_UART4_Init(void) @@ -105,16 +104,16 @@ void MX_USART3_UART_Init(void) /* USER CODE END USART3_Init 1 */ huart3.Instance = USART3; - huart3.Init.BaudRate = 19200; - huart3.Init.WordLength = UART_WORDLENGTH_8B; + huart3.Init.BaudRate = 115200; + huart3.Init.WordLength = UART_WORDLENGTH_9B; huart3.Init.StopBits = UART_STOPBITS_1; - huart3.Init.Parity = UART_PARITY_NONE; + huart3.Init.Parity = UART_PARITY_EVEN; huart3.Init.Mode = UART_MODE_TX_RX; huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE; huart3.Init.OverSampling = UART_OVERSAMPLING_16; huart3.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE; huart3.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT; - if (HAL_UART_Init(&huart3) != HAL_OK) + if (HAL_HalfDuplex_Init(&huart3) != HAL_OK) { Error_Handler(); } @@ -254,34 +253,14 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) __HAL_RCC_GPIOD_CLK_ENABLE(); /**USART3 GPIO Configuration PD8 ------> USART3_TX - PD9 ------> USART3_RX */ - GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pin = GPIO_PIN_8; + GPIO_InitStruct.Mode = GPIO_MODE_AF_OD; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; GPIO_InitStruct.Alternate = GPIO_AF7_USART3; HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); - /* USART3 DMA Init */ - /* USART3_RX Init */ - hdma_usart3_rx.Instance = DMA1_Stream1; - hdma_usart3_rx.Init.Channel = DMA_CHANNEL_4; - hdma_usart3_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; - hdma_usart3_rx.Init.PeriphInc = DMA_PINC_DISABLE; - hdma_usart3_rx.Init.MemInc = DMA_MINC_ENABLE; - hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; - hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; - hdma_usart3_rx.Init.Mode = DMA_CIRCULAR; - hdma_usart3_rx.Init.Priority = DMA_PRIORITY_HIGH; - hdma_usart3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; - if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK) - { - Error_Handler(); - } - - __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart3_rx); - /* USER CODE BEGIN USART3_MspInit 1 */ /* USER CODE END USART3_MspInit 1 */ @@ -343,12 +322,9 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) /**USART3 GPIO Configuration PD8 ------> USART3_TX - PD9 ------> USART3_RX */ - HAL_GPIO_DeInit(GPIOD, GPIO_PIN_8|GPIO_PIN_9); + HAL_GPIO_DeInit(GPIOD, GPIO_PIN_8); - /* USART3 DMA DeInit */ - HAL_DMA_DeInit(uartHandle->hdmarx); /* USER CODE BEGIN USART3_MspDeInit 1 */ /* USER CODE END USART3_MspDeInit 1 */ diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/spinal.ioc b/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/spinal.ioc index 7c95536f6..d7d2f2f60 100644 --- a/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/spinal.ioc +++ b/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/spinal.ioc @@ -54,9 +54,8 @@ CORTEX_M7.FlashInterface=TCM_Enabled CORTEX_M7.IPParameters=CPU_ICache,CPU_DCache,PREFETCH_ENABLE,ART_ACCLERATOR_ENABLE,FlashInterface CORTEX_M7.PREFETCH_ENABLE=1 Dma.Request0=USART1_RX -Dma.Request1=USART3_RX -Dma.Request2=USART1_TX -Dma.RequestsNb=3 +Dma.Request1=USART1_TX +Dma.RequestsNb=2 Dma.USART1_RX.0.Direction=DMA_PERIPH_TO_MEMORY Dma.USART1_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE Dma.USART1_RX.0.Instance=DMA2_Stream2 @@ -67,31 +66,21 @@ Dma.USART1_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE Dma.USART1_RX.0.PeriphInc=DMA_PINC_DISABLE Dma.USART1_RX.0.Priority=DMA_PRIORITY_VERY_HIGH Dma.USART1_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode -Dma.USART1_TX.2.Direction=DMA_MEMORY_TO_PERIPH -Dma.USART1_TX.2.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.USART1_TX.2.Instance=DMA2_Stream7 -Dma.USART1_TX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.USART1_TX.2.MemInc=DMA_MINC_ENABLE -Dma.USART1_TX.2.Mode=DMA_NORMAL -Dma.USART1_TX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.USART1_TX.2.PeriphInc=DMA_PINC_DISABLE -Dma.USART1_TX.2.Priority=DMA_PRIORITY_VERY_HIGH -Dma.USART1_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode -Dma.USART3_RX.1.Direction=DMA_PERIPH_TO_MEMORY -Dma.USART3_RX.1.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.USART3_RX.1.Instance=DMA1_Stream1 -Dma.USART3_RX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.USART3_RX.1.MemInc=DMA_MINC_ENABLE -Dma.USART3_RX.1.Mode=DMA_CIRCULAR -Dma.USART3_RX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.USART3_RX.1.PeriphInc=DMA_PINC_DISABLE -Dma.USART3_RX.1.Priority=DMA_PRIORITY_HIGH -Dma.USART3_RX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode +Dma.USART1_TX.1.Direction=DMA_MEMORY_TO_PERIPH +Dma.USART1_TX.1.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART1_TX.1.Instance=DMA2_Stream7 +Dma.USART1_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART1_TX.1.MemInc=DMA_MINC_ENABLE +Dma.USART1_TX.1.Mode=DMA_NORMAL +Dma.USART1_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART1_TX.1.PeriphInc=DMA_PINC_DISABLE +Dma.USART1_TX.1.Priority=DMA_PRIORITY_VERY_HIGH +Dma.USART1_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode FREERTOS.BinarySemaphores01=CoreProcessSem,Dynamic,NULL;Uart1TxSem,Dynamic,NULL FREERTOS.FootprintOK=true FREERTOS.IPParameters=Tasks01,configUSE_TIMERS,Timers01,FootprintOK,configTIMER_TASK_PRIORITY,BinarySemaphores01,configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY,configTOTAL_HEAP_SIZE,Mutexes01 FREERTOS.Mutexes01=rosPubMutex,Dynamic,NULL;flightControlMutex,Dynamic,NULL -FREERTOS.Tasks01=defaultTask,-3,128,StartDefaultTask,As weak,NULL,Dynamic,NULL,NULL;rosSpin,0,128,rosSpinTask,As weak,NULL,Dynamic,NULL,NULL;rosPublish,-1,128,rosPublishTask,As weak,NULL,Dynamic,NULL,NULL;coreProcess,3,256,coreTask,As weak,NULL,Dynamic,NULL,NULL;canRx,3,256,canRxTask,As weak,NULL,Dynamic,NULL,NULL;voltage,-2,128,voltageTask,As weak,NULL,Dynamic,NULL,NULL +FREERTOS.Tasks01=defaultTask,-3,128,StartDefaultTask,As weak,NULL,Dynamic,NULL,NULL;rosSpin,0,128,rosSpinTask,As weak,NULL,Dynamic,NULL,NULL;rosPublish,-1,128,rosPublishTask,As weak,NULL,Dynamic,NULL,NULL;coreProcess,3,256,coreTask,As weak,NULL,Dynamic,NULL,NULL;canRx,3,256,canRxTask,As weak,NULL,Dynamic,NULL,NULL;voltage,-2,128,voltageTask,As weak,NULL,Dynamic,NULL,NULL;kondoServoTask,0,128,kondoServoTaskCallback,As weak,NULL,Dynamic,NULL,NULL FREERTOS.Timers01=CoreTimer,coreEvokeCallback,osTimerPeriodic,As weak,NULL,Dynamic,NULL FREERTOS.configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY=5 FREERTOS.configTIMER_TASK_PRIORITY=6 @@ -143,45 +132,44 @@ Mcu.Pin14=PB0 Mcu.Pin15=PB10 Mcu.Pin16=PB11 Mcu.Pin17=PD8 -Mcu.Pin18=PD9 -Mcu.Pin19=PD12 +Mcu.Pin18=PD12 +Mcu.Pin19=PD13 Mcu.Pin2=PE4 -Mcu.Pin20=PD13 -Mcu.Pin21=PD14 -Mcu.Pin22=PD15 -Mcu.Pin23=PC6 -Mcu.Pin24=PC7 -Mcu.Pin25=PC8 -Mcu.Pin26=PC9 -Mcu.Pin27=PA9 -Mcu.Pin28=PA10 -Mcu.Pin29=PA11 +Mcu.Pin20=PD14 +Mcu.Pin21=PD15 +Mcu.Pin22=PC6 +Mcu.Pin23=PC7 +Mcu.Pin24=PC8 +Mcu.Pin25=PC9 +Mcu.Pin26=PA9 +Mcu.Pin27=PA10 +Mcu.Pin28=PA11 +Mcu.Pin29=PA12 Mcu.Pin3=PH0/OSC_IN -Mcu.Pin30=PA12 -Mcu.Pin31=PA13 -Mcu.Pin32=PA14 -Mcu.Pin33=PC10 -Mcu.Pin34=PC11 -Mcu.Pin35=PB3 -Mcu.Pin36=PB4 -Mcu.Pin37=PB5 -Mcu.Pin38=PB6 -Mcu.Pin39=PB8 +Mcu.Pin30=PA13 +Mcu.Pin31=PA14 +Mcu.Pin32=PC10 +Mcu.Pin33=PC11 +Mcu.Pin34=PB3 +Mcu.Pin35=PB4 +Mcu.Pin36=PB5 +Mcu.Pin37=PB6 +Mcu.Pin38=PB8 +Mcu.Pin39=PB9 Mcu.Pin4=PH1/OSC_OUT -Mcu.Pin40=PB9 -Mcu.Pin41=PE1 -Mcu.Pin42=VP_FREERTOS_VS_CMSIS_V1 -Mcu.Pin43=VP_SYS_VS_tim11 -Mcu.Pin44=VP_TIM2_VS_ClockSourceINT -Mcu.Pin45=VP_TIM3_VS_ClockSourceINT -Mcu.Pin46=VP_TIM4_VS_ClockSourceINT -Mcu.Pin47=VP_TIM8_VS_ClockSourceINT +Mcu.Pin40=PE1 +Mcu.Pin41=VP_FREERTOS_VS_CMSIS_V1 +Mcu.Pin42=VP_SYS_VS_tim11 +Mcu.Pin43=VP_TIM2_VS_ClockSourceINT +Mcu.Pin44=VP_TIM3_VS_ClockSourceINT +Mcu.Pin45=VP_TIM4_VS_ClockSourceINT +Mcu.Pin46=VP_TIM8_VS_ClockSourceINT Mcu.Pin5=PC0 Mcu.Pin6=PA0/WKUP Mcu.Pin7=PA1 Mcu.Pin8=PA2 Mcu.Pin9=PA3 -Mcu.PinsNb=48 +Mcu.PinsNb=47 Mcu.ThirdPartyNb=0 Mcu.UserConstants= Mcu.UserName=STM32F746VGTx @@ -283,11 +271,8 @@ PD13.Signal=S_TIM4_CH2 PD14.Signal=S_TIM4_CH3 PD15.Signal=S_TIM4_CH4 PD8.Locked=true -PD8.Mode=Asynchronous +PD8.Mode=Half_duplex(single_wire_mode) PD8.Signal=USART3_TX -PD9.Locked=true -PD9.Mode=Asynchronous -PD9.Signal=USART3_RX PE1.GPIOParameters=GPIO_PuPd,GPIO_Label PE1.GPIO_Label=BAROCS PE1.GPIO_PuPd=GPIO_PULLDOWN @@ -493,13 +478,10 @@ USART1.IPParameters=BaudRate,WordLength,VirtualMode,VirtualMode-Asynchronous USART1.VirtualMode=VM_ASYNC USART1.VirtualMode-Asynchronous=VM_ASYNC USART1.WordLength=WORDLENGTH_8B -USART3.BaudRate=19200 -USART3.IPParameters=BaudRate,WordLength,OneBitSampling,OverSampling,VirtualMode,VirtualMode-Asynchronous -USART3.OneBitSampling=UART_ONE_BIT_SAMPLE_DISABLE -USART3.OverSampling=UART_OVERSAMPLING_16 -USART3.VirtualMode=VM_ASYNC -USART3.VirtualMode-Asynchronous=VM_ASYNC -USART3.WordLength=WORDLENGTH_8B +USART3.IPParameters=VirtualMode-Half_duplex(single_wire_mode),WordLength,Parity +USART3.Parity=PARITY_EVEN +USART3.VirtualMode-Half_duplex(single_wire_mode)=VM_ASYNC +USART3.WordLength=WORDLENGTH_9B VP_FREERTOS_VS_CMSIS_V1.Mode=CMSIS_V1 VP_FREERTOS_VS_CMSIS_V1.Signal=FREERTOS_VS_CMSIS_V1 VP_SYS_VS_tim11.Mode=TIM11 diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/attitude/attitude_control.cpp b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/attitude/attitude_control.cpp index 8c510f452..1368b1fed 100644 --- a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/attitude/attitude_control.cpp +++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/attitude/attitude_control.cpp @@ -12,7 +12,8 @@ #include "flight_control/attitude/attitude_control.h" #ifdef SIMULATION -AttitudeController::AttitudeController(): DELTA_T(0), prev_time_(-1), use_ground_truth_(false), sim_voltage_(0) {} +#include +AttitudeController::AttitudeController(): DELTA_T(0), prev_time_(-1), use_ground_truth_(false), sim_voltage_(0), gimbal_dof_(0) {} void AttitudeController::init(ros::NodeHandle* nh, StateEstimate* estimator) { @@ -32,6 +33,7 @@ void AttitudeController::init(ros::NodeHandle* nh, StateEstimate* estimator) torque_allocation_matrix_inv_sub_ = nh_->subscribe("torque_allocation_matrix_inv", 1, &AttitudeController::torqueAllocationMatrixInvCallback, this); sim_vol_sub_ = nh_->subscribe("set_sim_voltage", 1, &AttitudeController::setSimVolCallback, this); baseInit(); + gimbal_control_pub_ = nh_->advertise("gimbals_ctrl", 1); } #else @@ -510,7 +512,7 @@ void AttitudeController::fourAxisCommandCallback( const spinal::FourAxisCommand #ifdef SIMULATION if(cmd_msg.base_thrust.size() != motor_number_) { - ROS_ERROR("fource axis commnd: motor number is not identical between fc and pc"); + ROS_ERROR("fource axis commnd: motor number is not identical between fc(%d) and pc(%ld)", motor_number_, cmd_msg.base_thrust.size()); return; } #else @@ -564,7 +566,6 @@ void AttitudeController::pwmInfoCallback( const spinal::PwmInfo &info_msg) /* mutex to protect the completion of following update */ if(mutex_ != NULL) osMutexWait(*mutex_, osWaitForever); #endif - force_landing_thrust_ = info_msg.force_landing_thrust; min_duty_ = info_msg.min_pwm; @@ -574,7 +575,6 @@ void AttitudeController::pwmInfoCallback( const spinal::PwmInfo &info_msg) min_thrust_ = info_msg.min_thrust; // make a variant min_duty_ motor_info_.resize(0); - #ifdef SIMULATION for(int i = 0; i < info_msg.motor_info.size(); i++) #else @@ -583,7 +583,6 @@ void AttitudeController::pwmInfoCallback( const spinal::PwmInfo &info_msg) { motor_info_.push_back(info_msg.motor_info[i]); } - #ifdef SIMULATION if(sim_voltage_== 0) sim_voltage_ = motor_info_[0].voltage; #endif @@ -657,7 +656,7 @@ void AttitudeController::rpyGainCallback( const spinal::RollPitchYawTerms &gain_ void AttitudeController::torqueAllocationMatrixInvCallback(const spinal::TorqueAllocationMatrixInv& msg) { - if(motor_number_ == 0) return; + if(motor_number_ == 0 || !start_control_flag_) return; #ifdef SIMULATION if(msg.rows.size() != motor_number_) @@ -770,7 +769,7 @@ void AttitudeController::setStartControlFlag(bool start_control_flag) if(!start_control_flag_) reset(); } -void AttitudeController::setMotorNumber(uint8_t motor_number) +void AttitudeController::setMotorNumber(uint16_t motor_number) { /* check the motor number which has spine system */ if(motor_number_ > 0) @@ -967,9 +966,16 @@ void AttitudeController::pwmConversion() /* check saturation level 2: z control saturation */ float max_thrust = 0; int max_thrust_index = 0; - for(int i = 0; i < motor_number_; i++) + for(int i = 0; i < motor_number_ / (gimbal_dof_ + 1); i++) { - float thrust = base_thrust_term_[i] + roll_pitch_term_[i]; + float thrust; + if(gimbal_dof_){ + thrust = ap::pythagorous2(base_thrust_term_[2*i] + roll_pitch_term_[2*i],base_thrust_term_[2*i+1] + roll_pitch_term_[2*i+1]); + } + else + { + thrust = base_thrust_term_[i] + roll_pitch_term_[i]; + } if(max_thrust < thrust) { max_thrust = thrust; @@ -988,15 +994,22 @@ void AttitudeController::pwmConversion() } else { - if(max_yaw_term_index_ != -1 && base_thrust_term_[0] > 0 ) + if(max_yaw_term_index_ != -1 && fabs(base_thrust_term_[0]) > 0 ) { /* check saturation level1: yaw control saturation */ max_thrust = 0; float min_thrust = 10000; int min_thrust_index = 0; - for(int i = 0; i < motor_number_; i++) + for(int i = 0; i < motor_number_ / (gimbal_dof_ + 1); i++) { - float thrust = base_thrust_term_[i] + roll_pitch_term_[i] + yaw_term_[i]; + float thrust; + if(gimbal_dof_){ + thrust = ap::pythagorous2(base_thrust_term_[2*i] + roll_pitch_term_[2*i],base_thrust_term_[2*i+1] + roll_pitch_term_[2*i+1]); + } + else + { + thrust = base_thrust_term_[i] + roll_pitch_term_[i]; + } if(max_thrust < thrust) { max_thrust = thrust; @@ -1037,15 +1050,28 @@ void AttitudeController::pwmConversion() } } } - + for(int i = 0; i < motor_number_; i++) target_thrust_[i] = roll_pitch_term_[i] + (1 + base_thrust_decreasing_rate) * base_thrust_term_[i] + (1 + yaw_decreasing_rate) * yaw_term_[i]; - /* convert to target pwm */ - for(int i = 0; i < motor_number_; i++) + /* convert to target pwm and calculate target gimbal angles */ + /* TODO: adjust not only for gimbalrotor but also for fixed rotor */ + for(int i = 0; i < motor_number_ / (gimbal_dof_ + 1); i++) { if(start_control_flag_) { + if(gimbal_dof_){ + ap::Vector3f f_i; + f_i.x = target_thrust_[i*2]; + f_i.z = target_thrust_[i*2+1]; + target_thrust_[i] = ap::pythagorous2(f_i.x,f_i.z); + float gimbal_candidate = atan2f(-f_i.x, f_i.z); + if(std::isfinite(gimbal_candidate)) + { + target_gimbal_angles_[i] =(target_gimbal_angles_[i]+ gimbal_candidate)/2; + } + } + target_pwm_[i] = convert(target_thrust_[i]); /* constraint */ @@ -1056,4 +1082,38 @@ void AttitudeController::pwmConversion() /* for ros */ pwms_msg_.motor_value[i] = (target_pwm_[i] * 2000); } +#ifdef SIMULATION + //TODO: directly send target gimbal angles to gazebo + if(gimbal_dof_){ + sensor_msgs::JointState gimbal_control_msg; + gimbal_control_msg.header.stamp = ros::Time::now(); + for(int i = 0; i < motor_number_ / (gimbal_dof_ + 1); i++){ + gimbal_control_msg.position.push_back(target_gimbal_angles_[i]); + } + if(HAL_GetTick() - gimbal_control_pub_last_time_ > GIMBAL_CONTROL_PUB_INTERVAL) + { + gimbal_control_pub_last_time_ = HAL_GetTick(); + gimbal_control_pub_.publish(gimbal_control_msg); + } + } +#else + if(gimbal_dof_){ + std::map gimbal_map; + for(int i = 0; i < motor_number_ / (gimbal_dof_ + 1); i++){ + if(start_control_flag_) + { + gimbal_map[i+1] = target_gimbal_angles_[i]; + int target_angle = (int)(target_gimbal_angles_[i]*10); + } + else + { + // gimbal_map[i+1] = 0; + // int target_angle = (int)(0); + gimbal_map[i+1] = 100.0; + } + } + kondo_servo_->setTargetPos(gimbal_map); + } +#endif + } diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/attitude/attitude_control.h b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/attitude/attitude_control.h index 48d85941c..bbba4df4e 100644 --- a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/attitude/attitude_control.h +++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/attitude/attitude_control.h @@ -15,6 +15,7 @@ #ifndef SIMULATION #include "config.h" #include +#include #else #include #endif @@ -62,6 +63,7 @@ #define CONTROL_TERM_PUB_INTERVAL 100 #define CONTROL_FEEDBACK_STATE_PUB_INTERVAL 25 #define PWM_PUB_INTERVAL 100 //100ms +#define GIMBAL_CONTROL_PUB_INTERVAL 25 //25ms #define MOTOR_TEST 0 @@ -89,9 +91,11 @@ class AttitudeController void setStartControlFlag(bool start_control_flag); void setUavModel(int8_t uav_model); - inline uint8_t getMotorNumber(){return motor_number_;} + inline uint16_t getMotorNumber(){return motor_number_;} - void setMotorNumber(uint8_t motor_number); + void setMotorNumber(uint16_t motor_number); + void setGimbalDof(uint8_t gimbal_dof){gimbal_dof_ = gimbal_dof; } + uint16_t getGimbalDof(){return gimbal_dof_; } void setPwmTestMode(bool pwm_test_flag){pwm_test_flag_ = pwm_test_flag; } bool getIntegrateFlag(){return integrate_flag_; } void setIntegrateFlag(bool integrate_flag){integrate_flag_ = integrate_flag; } @@ -128,6 +132,7 @@ class AttitudeController ros::Subscriber torque_allocation_matrix_inv_sub_; ros::Subscriber sim_vol_sub_; ros::Publisher anti_gyro_pub_; + ros::Publisher gimbal_control_pub_; ros::ServiceServer att_control_srv_; bool setAttitudeControlCallback(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) { att_control_flag_ = req.data; return true;} @@ -157,9 +162,9 @@ class AttitudeController #endif StateEstimate* estimator_; - int8_t uav_model_; - uint8_t motor_number_; + uint16_t motor_number_; + uint8_t gimbal_dof_; bool start_control_flag_; bool pwm_test_flag_; bool integrate_flag_; @@ -195,6 +200,7 @@ class AttitudeController // Thrust PWM Conversion float target_thrust_[MAX_MOTOR_NUMBER]; float target_pwm_[MAX_MOTOR_NUMBER]; + float target_gimbal_angles_[MAX_MOTOR_NUMBER]; float min_duty_; float max_duty_; float min_thrust_; // max thrust is variant according to the voltage @@ -205,7 +211,7 @@ class AttitudeController uint8_t motor_ref_index_; float v_factor_; uint32_t voltage_update_last_time_; - uint32_t control_term_pub_last_time_, control_feedback_state_pub_last_time_; + uint32_t control_term_pub_last_time_, control_feedback_state_pub_last_time_, gimbal_control_pub_last_time_;; uint32_t pwm_pub_last_time_; float pwm_test_value_[MAX_MOTOR_NUMBER]; // PWM Test diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/flight_control.h b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/flight_control.h index d26904673..64d0ac6b7 100644 --- a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/flight_control.h +++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/flight_control.h @@ -33,6 +33,7 @@ /* ros */ #include #include +#include class FlightControl { @@ -48,6 +49,7 @@ class FlightControl config_ack_pub_ = nh_->advertise("flight_config_ack", 1); uav_info_sub_ = nh_->subscribe("uav_info", 1, &FlightControl::uavInfoConfigCallback, this); flight_config_sub_ = nh_->subscribe("flight_config_cmd", 1, &FlightControl::flightConfigCallback, this); + gimbal_dof_sub_ = nh_->subscribe("gimbal_dof", 1, &FlightControl::gimbalDofCallback, this); att_controller_.init(nh, estimator); @@ -64,6 +66,7 @@ class FlightControl config_ack_pub_("flight_config_ack", &config_ack_msg_), uav_info_sub_("uav_info", &FlightControl::uavInfoConfigCallback, this ), flight_config_sub_("flight_config_cmd", &FlightControl::flightConfigCallback, this ), + gimbal_dof_sub_("gimbal_dof", &FlightControl::gimbalDofCallback, this ), att_controller_() { } @@ -78,9 +81,11 @@ class FlightControl nh_->subscribe(uav_info_sub_); /* flight control base config */ nh_->subscribe(flight_config_sub_); + /* gimbal dof info */ + nh_->subscribe(gimbal_dof_sub_); estimator_ = estimator; - + kondo_servo_ = kondo_servo; bat_ = bat; pwm_htim1_ = htim1; @@ -141,19 +146,23 @@ class FlightControl #ifdef SIMULATION ros::Subscriber uav_info_sub_; ros::Subscriber flight_config_sub_; + ros::Subscriber gimbal_dof_sub_; #else ros::Subscriber uav_info_sub_; ros::Subscriber flight_config_sub_; + ros::Subscriber gimbal_dof_sub_; #endif bool start_control_flag_; bool pwm_test_flag_; bool integrate_flag_; bool force_landing_flag_; + bool gimbal_set_flag_; AttitudeController att_controller_; #ifndef SIMULATION StateEstimate* estimator_; + KondoServo* kondo_servo_; BatteryStatus* bat_; TIM_HandleTypeDef* pwm_htim1_; TIM_HandleTypeDef* pwm_htim2_; @@ -229,7 +238,17 @@ class FlightControl void uavInfoConfigCallback(const spinal::UavInfo& config_msg) { setUavModel(config_msg.uav_model); - setMotorNumber(config_msg.motor_num); + setMotorNumber(config_msg.motor_num * (att_controller_.getGimbalDof() + 1) ); + } + +/* get DoF of gimbal rotation */ +void gimbalDofCallback(const std_msgs::UInt8& gimbal_msg) + { + if(gimbal_msg.data && !gimbal_set_flag_) + { + att_controller_.setGimbalDof(gimbal_msg.data); + gimbal_set_flag_ = true; + } } }; diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/kondo_servo/kondo_servo.h b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/kondo_servo/kondo_servo.h new file mode 100644 index 000000000..6c6c8b67e --- /dev/null +++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/kondo_servo/kondo_servo.h @@ -0,0 +1,224 @@ +/* +****************************************************************************** +* File Name : kondo_servo.h +* Description : kondo servo interface +****************************************************************************** +*/ + +#ifndef __cplusplus +#error "Please define __cplusplus, because this is a c++ based file " +#endif + +#ifndef __KONDO_SERVO_H +#define __KONDO_SERVO_H + +#include "config.h" +#include +#include +#include +#include + +#define MAX_SERVO_NUM 32 +#define KONDO_SERVO_UPDATE_INTERVAL 10 +#define KONDO_SERVO_POSITION_MIN 3500 +#define KONDO_SERVO_POSITION_MAX 11500 +#define KONDO_SERVO_ANGLE_MIN -2.36 +#define KONDO_SERVO_ANGLE_MAX 2.36 +#define SERVO_STATE_PUB_INTERVAL 200 //100ms + +class KondoServo +{ +private: + UART_HandleTypeDef* port_; + spinal::ServoStates servo_state_msg_; + ros::NodeHandle* nh_; + ros::Subscriber kondo_servo_control_sub_; + ros::Publisher servo_state_pub_; + uint16_t target_position_[MAX_SERVO_NUM]; + uint16_t current_position_[MAX_SERVO_NUM]; + bool activated_[MAX_SERVO_NUM]; + uint32_t servo_state_pub_last_time_; +public: + ~KondoServo(){} + KondoServo(): + kondo_servo_control_sub_("kondo_servo_cmd", &KondoServo::servoControlCallback, this), + servo_state_pub_("kondo_servo_states", &servo_state_msg_) + { + } + + void init(UART_HandleTypeDef* port, ros::NodeHandle* nh) + { + port_ = port; + nh_ = nh; + + nh_->subscribe(kondo_servo_control_sub_); + nh_->advertise(servo_state_pub_); + + // /* TODO: add search process to access only existing motors*/ + // for(int i = 0; i < MAX_SERVO_NUM; i++) + // { + // target_position_[i] = readPosition(i); + // activated_[i] = false; + // } + + /* TODO: define the msg size dynamically depending on avilable servo numer*/ + servo_state_msg_.servos_length = 5; + servo_state_msg_.servos = new spinal::ServoState[5]; + servo_state_pub_last_time_ = 0; + } + + void update() + { + for(int i = 0; i < MAX_SERVO_NUM; i++) + { + if(activated_[i]) + { + setPosition(i, target_position_[i]); + } else + { + setPosition(i, 0); //freed + } + } + if(HAL_GetTick() - servo_state_pub_last_time_ > SERVO_STATE_PUB_INTERVAL) + { + servo_state_pub_last_time_ = HAL_GetTick(); + sendServoState(); + } + } + + void setPosition(int id, uint16_t target_position) + { + int tx_size = 3, rx_size = 3; + uint8_t tx_buff[tx_size], rx_buff[rx_size]; + uint8_t ret; + + tx_buff[0] = 0x80 + id; + tx_buff[1] = (uint8_t)((target_position & 0x3f80) >> 7); // higher 7 bits of 14 bits + tx_buff[2] = (uint8_t)(target_position & 0x007f); // lower 7 bits of 14 bits + + HAL_HalfDuplex_EnableTransmitter(port_); + ret = HAL_UART_Transmit(port_, tx_buff, tx_size, 1); + // if(ret == HAL_OK) + // { + // HAL_HalfDuplex_EnableReceiver(port_); + // } + // ret = HAL_UART_Receive(port_, rx_buff, rx_size, 1); + //TODO:DMA + } + + uint16_t readPosition(int id) + { + int tx_size = 2, rx_size = 4; + uint8_t tx_buff[tx_size], rx_buff[rx_size]; + uint8_t ret; + tx_buff[0] = 0xA0 + id; + tx_buff[1] = 0x05; + + HAL_HalfDuplex_EnableTransmitter(port_); + ret = HAL_UART_Transmit(port_, tx_buff, tx_size, 1); + if(ret == HAL_OK) + { + HAL_HalfDuplex_EnableReceiver(port_); + } + ret = HAL_UART_Receive(port_, rx_buff, rx_size, 1); + + if(id == (rx_buff[0] & 0x1f)) + { + uint16_t current_position = (uint16_t)((0x7f & rx_buff[2]) << 7) + (uint16_t)(0x7f & rx_buff[3]); + current_position_[id] = current_position; + return current_position; + } else + { + return 0; + } + } + + void servoControlCallback(const spinal::ServoControlCmd& cmd_msg) + { + for(int i = 0; i < cmd_msg.index_length; i++) + { + if(0 <= cmd_msg.index[i] && cmd_msg.index[i] < MAX_SERVO_NUM) + { + if(KONDO_SERVO_POSITION_MIN <= cmd_msg.angles[i] && cmd_msg.angles[i] <= KONDO_SERVO_POSITION_MAX) + { + activated_[cmd_msg.index[i]] = true; + target_position_[cmd_msg.index[i]] = cmd_msg.angles[i]; + } + else if(cmd_msg.angles[i] == 0) + { + activated_[cmd_msg.index[i]] = false; + } + } + } + } + + void sendServoState() + { + servo_state_msg_.stamp = nh_->now(); + bool send_flag = false; + for (unsigned int i = 0; i < 5; i++) + { + if(activated_[i]) + { + send_flag = true; + spinal::ServoState servo; + servo.index = i; + servo.angle = target_position_[i]; + servo_state_msg_.servos[i] = servo; + } + if(send_flag) servo_state_pub_.publish(&servo_state_msg_); + } + } + + void setTargetPos(const std::map& servo_map) + { + for(auto servo : servo_map) { + uint16_t id = servo.first; + float angle = servo.second; + uint16_t target_pos = rad2KondoPosConv(angle); + + // temporary command to free servo is angle = 100.0 + if(angle == 100.0) + { + activated_[id] = false; + target_position_[id] = 7500; + // char buf[100]; + // sprintf(buf, "servo id: %d is freed!", id); + // nh_->l + } + else if(KONDO_SERVO_POSITION_MIN <= target_pos && target_pos <= KONDO_SERVO_POSITION_MAX) + { + activated_[id] = true; + target_position_[id] = target_pos; + } + } + } + + + uint16_t rad2KondoPosConv(float angle) + { + uint16_t kondo_pos = (uint16_t)((KONDO_SERVO_POSITION_MAX-KONDO_SERVO_POSITION_MIN)*(-angle - KONDO_SERVO_ANGLE_MIN)/(KONDO_SERVO_ANGLE_MAX - KONDO_SERVO_ANGLE_MIN) + KONDO_SERVO_POSITION_MIN); //min-max normarization + return kondo_pos; + } + + float kondoPos2RadConv(int pos) + { + float angle = -(float)((KONDO_SERVO_ANGLE_MAX-KONDO_SERVO_ANGLE_MIN)*(pos - KONDO_SERVO_POSITION_MIN)/(KONDO_SERVO_POSITION_MAX - KONDO_SERVO_POSITION_MIN) + KONDO_SERVO_ANGLE_MIN); //min-max normarization + + return angle; + } + + void inactivate(int id) + { + activated_[id] = false; + } + + void activate(int id) + { + activated_[id] = true; + target_position_[id] = readPosition(id); + } + +}; + +#endif diff --git a/aerial_robot_noetic.rosinstall b/aerial_robot_noetic.rosinstall index b07b161d4..12e9754bf 100644 --- a/aerial_robot_noetic.rosinstall +++ b/aerial_robot_noetic.rosinstall @@ -31,8 +31,32 @@ uri: https://github.com/tongtybj/rosserial.git version: rosservice_server +# livox ros driver +# modification for quick build of ROS1 version +- git: + local-name: livox_ros_driver2 + uri: https://github.com/tongtybj/livox_ros_driver2.git + version: PR/ros1 + +# fast lio +# modification for fast odometry based on EKF +- git: + local-name: fast_lio + uri: https://github.com/tongtybj/FAST_LIO + version: PR/odometry + # realsense #- git: # local-name: realsense-ros # uri: https://github.com/tongtybj/realsense-ros.git # version: multi_realsense_t265 + +# docking_mechanism +- git: + local-name: gazebo-pkgs + uri: https://github.com/sugihara-16/gazebo-pkgs.git + version: 85ec0f5 +- git: + local-name: general-message-pkgs + uri: https://github.com/JenniferBuehler/general-message-pkgs.git + version: f0c7a0c diff --git a/robots/beetle/CMakeLists.txt b/robots/beetle/CMakeLists.txt new file mode 100644 index 000000000..f7a290330 --- /dev/null +++ b/robots/beetle/CMakeLists.txt @@ -0,0 +1,71 @@ +cmake_minimum_required(VERSION 3.0.2) +project(beetle) + +add_compile_options(-std=c++17) + +find_package(catkin REQUIRED COMPONENTS + aerial_robot_control + aerial_robot_estimation + aerial_robot_model + aerial_robot_msgs + gimbalrotor + diagnostic_msgs + std_msgs + geometry_msgs + message_generation + ) + +find_package(Eigen3 REQUIRED) + +add_message_files(FILES + TaggedWrench.msg + ) + +catkin_python_setup() + +## Generate added messages and services +generate_messages(DEPENDENCIES std_msgs geometry_msgs) + + +catkin_package( + INCLUDE_DIRS include + LIBRARIES beetle_robot_model beetle_controller beetle_navigation + CATKIN_DEPENDS aerial_robot_control aerial_robot_model aerial_robot_msgs pluginlib roscpp gimbalrotor diagnostic_msgs std_msgs geometry_msgs message_runtime +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} + ) + +add_library(beetle_sensor_pluginlib src/sensor/imu.cpp) +target_link_libraries(beetle_sensor_pluginlib ${catkin_LIBRARIES}) +add_dependencies(beetle_sensor_pluginlib aerial_robot_msgs_generate_messages_cpp spinal_generate_messages_cpp beetle_generate_messages_cpp) + +add_library(beetle_controller src/control/beetle_controller.cpp) +target_link_libraries(beetle_controller beetle_sensor_pluginlib ${catkin_LIBRARIES}) + +add_library(beetle_robot_model src/model/beetle_robot_model.cpp) +target_link_libraries(beetle_robot_model ${catkin_LIBRARIES}) + +add_library(beetle_navigation src/beetle_navigation.cpp) +target_link_libraries(beetle_navigation ${catkin_LIBRARIES}) + +install(TARGETS beetle_sensor_pluginlib beetle_robot_model beetle_controller beetle_navigation + DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) + +install(DIRECTORY config plugins launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + USE_SOURCE_PERMISSIONS + ) + +install(DIRECTORY script + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + USE_SOURCE_PERMISSIONS +) + +# catkin_install_python(PROGRAMS script/beetle/kondo_control.py +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) diff --git a/robots/beetle/config/Battery.yaml b/robots/beetle/config/Battery.yaml new file mode 100644 index 000000000..6f4d0ce65 --- /dev/null +++ b/robots/beetle/config/Battery.yaml @@ -0,0 +1,5 @@ +bat_info: + bat_cell: 6 + bat_resistance: 0.08 # [m Ohm] + hovering_current: 45 #[A], MN3510, prop14inch, 3 ~ 4.5 + low_voltage_thre: 2 #[100%] \ No newline at end of file diff --git a/robots/beetle/config/BeetleControl.yaml b/robots/beetle/config/BeetleControl.yaml new file mode 100644 index 000000000..082ce8fab --- /dev/null +++ b/robots/beetle/config/BeetleControl.yaml @@ -0,0 +1,79 @@ +aerial_robot_control_name: aerial_robot_control/beetle_controller + +controller: + torque_allocation_matrix_inv_pub_interval: 0.05 + wrench_allocation_matrix_pub_interval: 0.1 + gimbal_calc_in_fc : true + wrench_estimate_update_rate: 100 + momentum_observer_force_weight: 3 + momentum_observer_torque_weight: 2.5 + wrench_estimate_flag: true + comp_term_update_freq: 40 + + pd_wrench_comp_mode: true + + external_force_upper_limit: 0.0 + external_force_lower_limit: 0.0 + external_torque_lower_limit: 0.0 + external_torque_lower_limit: 0.0 + + cutoff_freq: 1.0 + sample_freq: 40.0 + + wrench_comp: + p_gain: 0.1 + d_gain: 0.07 + i_gain: 0.0 + xy: + p_gain: 10.0 + i_gain: 0.2 + d_gain: 5.0 + limit_sum: 4.0 + limit_p: 12.0 + limit_i: 5.0 + limit_d: 12.0 + + z: + p_gain: 8.0 + i_gain: 1.5 + d_gain: 5.0 + limit_err_p: 1.0 + limit_sum: 25.0 # N for clamping thrust force + limit_p: 25.0 + limit_i: 20.0 + limit_d: 25.0 + force_landing_descending_rate: -0.5 + + roll: + p_gain: 17.0 #8~25 + i_gain: 5.0 + d_gain: 15.0 #4~11 + limit_sum: 0.0 + limit_p: 20.0 + limit_i: 10.0 + limit_d: 20.0 + + start_rp_integration_height: 0.01 + + pitch: + p_gain: 17.0 #8~25 + i_gain: 5.0 + d_gain: 12.0 #4~11 + limit_sum: 20.0 + limit_p: 20.0 + limit_i: 10.0 + limit_d: 20.0 + + start_rp_integration_height: 0.01 + + yaw: + p_gain: 15.0 + i_gain: 1.0 + d_gain: 10.0 + limit_err_p: 0.4 + limit_sum: 20.0 + limit_p: 20.0 + limit_i: 5.0 + limit_d: 20.0 + + need_d_control: true diff --git a/robots/beetle/config/BeetleControl_sim.yaml b/robots/beetle/config/BeetleControl_sim.yaml new file mode 100644 index 000000000..3d8de1e31 --- /dev/null +++ b/robots/beetle/config/BeetleControl_sim.yaml @@ -0,0 +1,79 @@ +aerial_robot_control_name: aerial_robot_control/beetle_controller + +controller: + torque_allocation_matrix_inv_pub_interval: 0.05 + wrench_allocation_matrix_pub_interval: 0.1 + gimbal_calc_in_fc : false + i_term_rp_calc_in_pc: true + wrench_estimate_update_rate: 100 + momentum_observer_force_weight: 3 + momentum_observer_torque_weight: 2.5 + wrench_estimate_flag: true + comp_term_update_freq: 40 + + pd_wrench_comp_mode: true + + external_force_upper_limit: 0.0 + external_force_lower_limit: 0.0 + external_torque_lower_limit: 0.0 + external_torque_lower_limit: 0.0 + cutoff_freq: 1.0 + sample_freq: 40.0 + + wrench_comp: + p_gain: 0.1 + d_gain: 0.07 + i_gain: 0.00 + xy: + p_gain: 1.5 + i_gain: 0.05 + d_gain: 1.0 + limit_sum: 4.0 + limit_p: 12.0 + limit_i: 5.0 + limit_d: 12.0 + + z: + p_gain: 5.0 + i_gain: 1.0 + d_gain: 2.5 + limit_err_p: 1.0 + limit_sum: 25.0 # N for clamping thrust force + limit_p: 25.0 + limit_i: 20.0 + limit_d: 25.0 + force_landing_descending_rate: -0.5 + + roll: + p_gain: 8.0 #8~25 + i_gain: 1.0 + d_gain: 5.0 #4~11 + limit_sum: 20.0 + limit_p: 20.0 + limit_i: 10.0 + limit_d: 20.0 + + start_rp_integration_height: 0.01 + + pitch: + p_gain: 8.0 #8~25 + i_gain: 1.0 + d_gain: 6.0 #4~11 + limit_sum: 20.0 + limit_p: 20.0 + limit_i: 10.0 + limit_d: 20.0 + + start_rp_integration_height: 0.01 + + yaw: + p_gain: 7.0 + i_gain: 1.0 + d_gain: 5.0 + limit_err_p: 0.4 + limit_sum: 20.0 + limit_p: 20.0 + limit_i: 5.0 + limit_d: 20.0 + + need_d_control: true diff --git a/robots/beetle/config/MotorInfo.yaml b/robots/beetle/config/MotorInfo.yaml new file mode 100644 index 000000000..580766751 --- /dev/null +++ b/robots/beetle/config/MotorInfo.yaml @@ -0,0 +1,32 @@ +motor_info: + min_pwm: 0.5 # 1000 [ms] + max_pwm: 0.85 # 1700 [ms] + min_thrust: 2.0 # [N] + force_landing_thrust: 6.0 #[N] + m_f_rate: -0.0157 + pwm_conversion_mode: 0 # SQRT Mode + vel_ref_num: 4 + ref1: + voltage: 24.2 + max_thrust: 21.37 # N + polynominal2: 0.164519167 # x10 + polynominal1: -16.225736115 # x10 + polynominal0: 40.4484933567 # x1 + ref2: + voltage: 23.2 + max_thrust: 19.97 # N + polynominal2: 0.157560162 # x10 + polynominal1: -15.703193407 # x10 + polynominal0: 39.6576127189 # x1 + ref3: + voltage: 22.2 + max_thrust: 18.44 # N + polynominal2: 0.145649905 # x10 + polynominal1: -14.480281285 # x10 + polynominal0: 36.4201880726 # x1 + ref4: + voltage: 21.2 + max_thrust: 17.2 # N + polynominal2: 0.127998309 # x10 + polynominal1: -12.364605078 # x10 + polynominal0: 29.8408179290 # x1 diff --git a/robots/beetle/config/NavigationConfig.yaml b/robots/beetle/config/NavigationConfig.yaml new file mode 100644 index 000000000..f464e3f86 --- /dev/null +++ b/robots/beetle/config/NavigationConfig.yaml @@ -0,0 +1,39 @@ +# Teleop Basic Param + +navigation: + xy_control_mode: 0 + # World Pos Control Mode: 0 + # World Vel Control Mode: 2 + # Local Vel Control Mode: 3 + # Attitude Control Mode: 4 + + + takeoff_height: 1.0 #1.0 + outdoor_takeoff_height: 1.5 + convergent_duration: 10.0 + land_descend_vel: -0.15 + + # teleop operation + max_target_vel: 0.5 + joy_target_vel_interval: 0.005 # 0.2 / 20 = 0.01, 0.005 ~ 0.01 m/s + joy_target_z_interval: 0.01 + max_target_yaw_rate: 0.1 # 0.05 + max_target_roll_pitch_rate: 0.0005 # 0.05 + teleop_local_frame: fc + force_landing_to_halt_du: 0.01 + + cmd_vel_lev2_gain : 2.0 + nav_vel_limit : 0.2 + vel_nav_threshold : 0.05 + + gain_tunning_mode: 0 + max_target_tilt_angle: 0.2 + cmd_angle_lev2_gain : 1.5 + + # gps waypoint + gps_waypoint_threshold: 3.0 + gps_waypoint_check_du: 1.0 + + # desire tilt + baselink_rot_pub_interval: 0.5 + baselink_rot_change_thresh: 0.01 # 0.2 hz -> 0.04; 0.01 hz-> 0.02 diff --git a/robots/beetle/config/RobotModel.yaml b/robots/beetle/config/RobotModel.yaml new file mode 100644 index 000000000..8bd0f7d15 --- /dev/null +++ b/robots/beetle/config/RobotModel.yaml @@ -0,0 +1,5 @@ +# robot model plugin +robot_model_plugin_name: beetle_robot_model # multirotor_robot_model + +wrench_mat_det_thre: 0 + diff --git a/robots/beetle/config/RvizInit.yaml b/robots/beetle/config/RvizInit.yaml new file mode 100644 index 000000000..944fc4aad --- /dev/null +++ b/robots/beetle/config/RvizInit.yaml @@ -0,0 +1,7 @@ +zeros: + gimbal1: 0 + gimbal2: 0 + gimbal3: 0 + gimbal4: 0 + + diff --git a/robots/beetle/config/Servo.yaml b/robots/beetle/config/Servo.yaml new file mode 100644 index 000000000..1219a4389 --- /dev/null +++ b/robots/beetle/config/Servo.yaml @@ -0,0 +1,39 @@ +servo_controller: + gimbals: + ctrl_pub_topic: servo/target_states + torque_pub_topic: servo/torque_enable + angle_sgn: -1 + angle_scale: 0.001534 + zero_point_offset: 2047 + + controller1: + id: 1 + name: gimbal1 + simulation: + pid: {p: 5.0, i: 0.1, d: 0.1, i_clamp_max: 2.0, i_clamp_min: -2.0} + init_value: 0 + type: effort_controllers/JointPositionController + + controller2: + id: 2 + name: gimbal2 + simulation: + pid: {p: 5.0, i: 0.1, d: 0.1, i_clamp_max: 2.0, i_clamp_min: -2.0} + init_value: 0 + type: effort_controllers/JointPositionController + + controller3: + id: 3 + name: gimbal3 + simulation: + pid: {p: 5.0, i: 0.1, d: 0.1, i_clamp_max: 2.0, i_clamp_min: -2.0} + init_value: 0 + type: effort_controllers/JointPositionController + controller4: + id: 4 + name: gimbal4 + simulation: + pid: {p: 5.0, i: 0.1, d: 0.1, i_clamp_max: 2.0, i_clamp_min: -2.0} + init_value: 0 + type: effort_controllers/JointPositionController + diff --git a/robots/beetle/config/Simulation.yaml b/robots/beetle/config/Simulation.yaml new file mode 100644 index 000000000..3a515001a --- /dev/null +++ b/robots/beetle/config/Simulation.yaml @@ -0,0 +1,28 @@ +# overwrite parameter for simulation + +sensor_plugin: + mocap: + ground_truth_sub_name: ground_truth + gps: + estimate_mode: 4 #1 << 2 + ned_flag: true # hector_gazebo_plugins/GPS + +# ground truth parameter +# global namespace +simulation: + # gaussian noise + ground_truth_pos_noise: 0.001 + ground_truth_vel_noise: 0.005 + ground_truth_rot_noise: 0.001 + ground_truth_angular_noise: 0.005 + + # drift model: e^(-dt * drift_frequency) * curr_drift + dt * gaussian_kernel(sqrt( 2 * drift_frequency) * drfit)) + # drift diviation: + ground_truth_vel_drift: 0 + ground_truth_rot_drift: 0 + ground_truth_angular_drift: 0 + + # drift frequency: + ground_truth_vel_drift_frequency: 0 + ground_truth_rot_drift_frequency: 0 + ground_truth_angular_drift_frequency: 0 \ No newline at end of file diff --git a/robots/beetle/config/StateEstimation.yaml b/robots/beetle/config/StateEstimation.yaml new file mode 100644 index 000000000..4f0e89b3d --- /dev/null +++ b/robots/beetle/config/StateEstimation.yaml @@ -0,0 +1,52 @@ +# Sensor Fuser Loader +estimation: + # sensor plugin + sensor_list: + - sensor_plugin/beetle_imu + - sensor_plugin/mocap + - sensor_plugin/alt + + # egomotion estimation + egomotion_list: + - kalman_filter/kf_pos_vel_acc + - kalman_filter/kf_pos_vel_acc + - kalman_filter/kf_pos_vel_acc + + # experiment estimation + experiment_list: + - kalman_filter/kf_pos_vel_acc + - kalman_filter/kf_pos_vel_acc + - kalman_filter/kf_pos_vel_acc + + # specific id(int) of sensor fuser, axis for kf + fuser_egomotion_id1: 8 # 1 << 3 + fuser_egomotion_id2: 16 # 1 << 4 + fuser_egomotion_id3: 32 # 1 << 5 + + fuser_experiment_id1: 8 # 1 << 3 + fuser_experiment_id2: 16 # 1 << 4 + fuser_experiment_id3: 32 # 1 << 5 + + # specific name of sensor fuser + fuser_egomotion_name1: /ee/x + fuser_egomotion_name2: /ee/y + fuser_egomotion_name3: /ee/z + + fuser_experiment_name1: /ex/x + fuser_experiment_name2: /ex/y + fuser_experiment_name3: /ex/z + + +# EGOMOTION_ESTIMATION_MODE = 0 +# EXPERIMENT_MODE = 1 +# GROUND_TRUTH_MODE = 2 + +sensor_plugin: + imu: + estimate_mode: 3 # 1<<0 + 1<<1 + sample_freq: 200.0 + cutoff_freq: 10.0 + mocap: + estimate_mode: 6 # 1<<1 + 1<<2 + alt: + estimate_mode: 1 # 1<<0 diff --git a/robots/beetle/config/rviz_config b/robots/beetle/config/rviz_config new file mode 100644 index 000000000..04de4d9bf --- /dev/null +++ b/robots/beetle/config/rviz_config @@ -0,0 +1,232 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /TF1 + Splitter Ratio: 0.5 + Tree Height: 579 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 0.5 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + Name: RobotModel + Robot Description: beetle/robot_description + TF Prefix: beetle + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: true + beetle/base_link: + Value: true + beetle/cog: + Value: true + beetle/dummy_arm: + Value: true + beetle/dummy_palm: + Value: true + beetle/dummy_gripper: + Value: true + beetle/fc: + Value: true + beetle/gimbal_link1: + Value: true + beetle/gimbal_link2: + Value: true + beetle/gimbal_link3: + Value: true + beetle/gimbal_link4: + Value: true + beetle/root: + Value: true + beetle/rotor_arm1: + Value: true + beetle/rotor_arm2: + Value: true + beetle/rotor_arm3: + Value: true + beetle/rotor_arm4: + Value: true + beetle/rotor_parent1: + Value: true + beetle/rotor_parent2: + Value: true + beetle/rotor_parent3: + Value: true + beetle/rotor_parent4: + Value: true + beetle/thrust1: + Value: true + beetle/thrust2: + Value: true + beetle/thrust3: + Value: true + beetle/thrust4: + Value: true + world: + Value: true + Marker Alpha: 1 + Marker Scale: 0.5 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + world: + beetle/root: + beetle/base_link: + beetle/dummy_arm: + beetle/dummy_palm: + beetle/dummy_gripper: + {} + beetle/fc: + {} + beetle/rotor_arm1: + beetle/gimbal_link1: + beetle/rotor_parent1: + beetle/thrust1: + {} + beetle/rotor_arm2: + beetle/gimbal_link2: + beetle/rotor_parent2: + beetle/thrust2: + {} + beetle/rotor_arm3: + beetle/gimbal_link3: + beetle/rotor_parent3: + beetle/thrust3: + {} + beetle/rotor_arm4: + beetle/gimbal_link4: + beetle/rotor_parent4: + beetle/thrust4: + {} + beetle/cog: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 0.898408830165863 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 0.10354865342378616 + Y: -0.26649904251098633 + Z: 0.19377431273460388 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.21539746224880219 + Target Frame: + Yaw: 4.933584690093994 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 882 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1267 + X: 67 + Y: 161 diff --git a/robots/beetle/config/sensors/imu/spinal.yaml b/robots/beetle/config/sensors/imu/spinal.yaml new file mode 100644 index 000000000..4686f1444 --- /dev/null +++ b/robots/beetle/config/sensors/imu/spinal.yaml @@ -0,0 +1,12 @@ +sensor_plugin: + imu: + imu_board: 1 #d_board + imu_topic_name: imu + level_acc_noise_sigma: 0.05 + z_acc_noise_sigma: 0.05 + level_acc_bias_noise_sigma: 0.001 # (> 0 means to do the acc bias estimation by kalman filter) + z_acc_bias_noise_sigma: 0 # (= 0 means not to do the acc bias estimation by kalman filter) + + angle_bias_noise_sigma: 0.0002 #good for EKF + calib_time: 2.0 + cutoff_freq: 10.0 diff --git a/robots/beetle/include/beetle/beetle_navigation.h b/robots/beetle/include/beetle/beetle_navigation.h new file mode 100644 index 000000000..4d45bc1be --- /dev/null +++ b/robots/beetle/include/beetle/beetle_navigation.h @@ -0,0 +1,65 @@ +// -*- mode: c++ -*- + +#pragma once + +#include +#include +#include + +namespace aerial_robot_navigation +{ + /* target frmae*/ + enum target_framea + { + COG, + BASE_LINK, + CONTACT_POINT, + CENTER_OF_MOVING + }; + class BeetleNavigator : public GimbalrotorNavigator + { + public: + BeetleNavigator(); + ~BeetleNavigator(){} + + void initialize(ros::NodeHandle nh, ros::NodeHandle nhp, + boost::shared_ptr robot_model, + boost::shared_ptr estimator, + double loop_du) override; + + void update() override; + + inline void setTargetPosCandX( float value){ target_pos_candidate_.setX(value);} + inline void setTargetPosCandY( float value){ target_pos_candidate_.setY(value);} + inline void setTargetPosCandZ( float value){ target_pos_candidate_.setZ(value);} + inline void setTargetPosCand( tf::Vector3 value){ target_pos_candidate_ = value ;} + inline tf::Vector3 getTargetPosCand() {return target_pos_candidate_;} + + protected: + void rosParamInit() override; + + private: + tf::Vector3 target_pos_candidate_; + tf::Vector3 pre_target_pos_; + ros::NodeHandle nh_; + ros::NodeHandle nhp_; + ros::Subscriber assembly_nav_sub_; + ros::Subscriber assembly_target_rot_sub_; + + double max_target_roll_pitch_rate_; + + bool roll_pitch_control_flag_; + bool pre_assembled_ ; + + void naviCallback(const aerial_robot_msgs::FlightNavConstPtr & msg) override; + void assemblyNavCallback(const aerial_robot_msgs::FlightNavConstPtr & msg); + void setAssemblyFinalTargetBaselinkRotCallback(const spinal::DesireCoordConstPtr & msg); + void joyStickControl(const sensor_msgs::JoyConstPtr & joy_msg) override; + void rotateContactPointFrame(); + tf2_ros::TransformBroadcaster br_; + boost::shared_ptr beetle_robot_model_; + map assembly_flag_subs_; + void assemblyFlagCallback(const diagnostic_msgs::KeyValue & msg); + void convertTargetPosFromCoG2CoM(); + }; +}; diff --git a/robots/beetle/include/beetle/control/beetle_controller.h b/robots/beetle/include/beetle/control/beetle_controller.h new file mode 100644 index 000000000..0e14958e0 --- /dev/null +++ b/robots/beetle/include/beetle/control/beetle_controller.h @@ -0,0 +1,81 @@ +// -*- mode: c++ -*- + +#pragma once +#include +#include +#include +#include + +namespace aerial_robot_control +{ + enum + { + FX = YAW +1, + FY, + FZ, + TX, + TY, + TZ, + }; + + class BeetleController: public GimbalrotorController + { + public: + BeetleController(); + ~BeetleController() = default; + + void initialize(ros::NodeHandle nh, ros::NodeHandle nhp, + boost::shared_ptr robot_model, + boost::shared_ptr estimator, + boost::shared_ptr navigator, + double ctrl_loop_rate + ) override; + private: + boost::shared_ptr beetle_robot_model_; + + ros::Publisher external_wrench_compensation_pub_; + ros::Publisher tagged_external_wrench_pub_; + ros::Publisher whole_external_wrench_pub_; + ros::Publisher internal_wrench_pub_; + ros::Publisher wrench_comp_pid_pub_; + map ff_inter_wrench_subs_; + + aerial_robot_msgs::PoseControlPid wrench_pid_msg_; + + map est_wrench_subs_; + + /* external wrench compensation */ + bool pd_wrench_comp_mode_; + Eigen::VectorXd external_wrench_upper_limit_; + Eigen::VectorXd external_wrench_lower_limit_; + + int pre_module_state_; + + std::map est_wrench_list_; + std::map inter_wrench_list_; + std::map wrench_comp_list_; + std::map ff_inter_wrench_list_; + + double comp_term_update_freq_; + double prev_comp_update_time_; + double wrench_comp_p_gain_; + double wrench_comp_i_gain_; + double wrench_comp_d_gain_; + double I_comp_Fx_; + double I_comp_Fy_; + double I_comp_Fz_; + double I_comp_Tx_; + double I_comp_Ty_; + double I_comp_Tz_; + + void controlCore() override; + void calcInteractionWrench(); + void estExternalWrenchCallback(const beetle::TaggedWrench & msg); + + protected: + virtual void ffInterWrenchCallback(const beetle::TaggedWrench & msg); + void rosParamInit() override; + void externalWrenchEstimate() override; + void reset() override; + }; +}; diff --git a/robots/beetle/include/beetle/model/beetle_robot_model.h b/robots/beetle/include/beetle/model/beetle_robot_model.h new file mode 100644 index 000000000..b456b22ad --- /dev/null +++ b/robots/beetle/include/beetle/model/beetle_robot_model.h @@ -0,0 +1,113 @@ +// -*- mode: c++ -*- + +#pragma once + +#include +#include +#include +#include +#include +using namespace aerial_robot_model; + +enum module_state + { + SEPARATED, + FOLLOWER, + LEADER + }; + +class BeetleRobotModel : public GimbalrotorRobotModel{ +public: + BeetleRobotModel(bool init_with_rosparam = true, + bool verbose = false, + double fc_t_min_thre = 0, + double epsilon = 10); + virtual ~BeetleRobotModel() = default; + + template T getContactFrame(); + template T getCog2Cp(); + template T getCog2CoM(); + bool getCurrentAssembled(){return current_assembled_;} + int getModuleState(){return module_state_;} + int getReconfigFlag(){return reconfig_flag_;} + int getMyID(){return my_id_;} + int getLeaderID(){return leader_id_;} + std::vector getModuleIDs(){return assembled_modules_ids_;} + bool getControlFlag(){return control_flag_;} + int getModuleNum(){return module_num_;} + + + void setContactFrame(const KDL::Frame contact_frame){contact_frame_ = contact_frame;} + void setCog2Cp(const KDL::Frame Cog2Cp){Cog2Cp_ = Cog2Cp;} + void setCog2CoM(const KDL::Frame Cog2CoM){Cog2CoM_ = Cog2CoM;} + void setModuleNum(const int module_num){module_num_ = module_num;} + void setAssemblyFlag(const int key, const bool value){ + assembly_flags_[key] = value; + } + void setControlFlag(const bool control_flag){control_flag_ = control_flag;} + void setLeaderID(const int leader_id){ + leader_id_ = leader_id; + leader_fix_flag_ = true; + } + + void setLeaderFixFlag(const bool leader_fix_flag){ + leader_fix_flag_ = leader_fix_flag; + } + + std::map getAssemblyFlags(){return assembly_flags_;} + int getMaxModuleNum(){return max_modules_num_;} + + void calcCenterOfMoving(); + +private: + ros::NodeHandle nh_; + ros::Publisher cog_com_dist_pub_; + KDL::Frame contact_frame_; + KDL::Frame Cog2Cp_; + KDL::Frame Cog2CoM_; + std::mutex mutex_contact_frame_; + std::mutex mutex_cog2cp_; + std::mutex mutex_cog2com_; + tf2_ros::TransformListener tfListener_; + tf2_ros::Buffer tfBuffer_; + tf2_ros::TransformBroadcaster br_; + int max_modules_num_ = 4; //TODO: get the value from rosparam + int pre_assembled_modules_; + int my_id_; + int leader_id_; + std::map assembly_flags_; + bool reconfig_flag_; + bool current_assembled_; + bool control_flag_; + bool leader_fix_flag_; + std::vector assembled_modules_ids_; + int module_state_; + int module_num_; + + +protected: + void updateRobotModelImpl(const KDL::JntArray& joint_positions) override; +}; + +template<> inline KDL::Frame BeetleRobotModel::getContactFrame() +{ + std::lock_guard lock(mutex_contact_frame_); + return contact_frame_; +} + +template<> inline KDL::Frame BeetleRobotModel::getCog2Cp() +{ + std::lock_guard lock(mutex_cog2cp_); + return Cog2Cp_; +} + +template<> inline KDL::Frame BeetleRobotModel::getCog2CoM() +{ + std::lock_guard lock(mutex_cog2com_); + return Cog2CoM_; +} + +template<> inline geometry_msgs::TransformStamped BeetleRobotModel::getContactFrame() +{ + return aerial_robot_model::kdlToMsg(BeetleRobotModel::getContactFrame()); +} diff --git a/robots/beetle/include/beetle/sensor/imu.h b/robots/beetle/include/beetle/sensor/imu.h new file mode 100644 index 000000000..15164ab6c --- /dev/null +++ b/robots/beetle/include/beetle/sensor/imu.h @@ -0,0 +1,55 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2021, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#pragma once + +#include +#include + +using namespace Eigen; +using namespace std; + +namespace sensor_plugin +{ + class BeetleImu :public sensor_plugin::Imu + { + public: + + void initialize(ros::NodeHandle nh, + boost::shared_ptr robot_model, + boost::shared_ptr estimator, + string sensor_name, int index) override; + }; +}; diff --git a/robots/beetle/launch/assembly_tasks/assembly_demo.launch b/robots/beetle/launch/assembly_tasks/assembly_demo.launch new file mode 100644 index 000000000..124541031 --- /dev/null +++ b/robots/beetle/launch/assembly_tasks/assembly_demo.launch @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/robots/beetle/launch/assembly_tasks/eight_module_test.launch b/robots/beetle/launch/assembly_tasks/eight_module_test.launch new file mode 100644 index 000000000..728748466 --- /dev/null +++ b/robots/beetle/launch/assembly_tasks/eight_module_test.launch @@ -0,0 +1,130 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/robots/beetle/launch/assembly_tasks/four_module_test.launch b/robots/beetle/launch/assembly_tasks/four_module_test.launch new file mode 100644 index 000000000..e2930b002 --- /dev/null +++ b/robots/beetle/launch/assembly_tasks/four_module_test.launch @@ -0,0 +1,66 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/robots/beetle/launch/assembly_tasks/switch_cmd.launch b/robots/beetle/launch/assembly_tasks/switch_cmd.launch new file mode 100644 index 000000000..f67a9c778 --- /dev/null +++ b/robots/beetle/launch/assembly_tasks/switch_cmd.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/robots/beetle/launch/assembly_tasks/three_module_test.launch b/robots/beetle/launch/assembly_tasks/three_module_test.launch new file mode 100644 index 000000000..515e16553 --- /dev/null +++ b/robots/beetle/launch/assembly_tasks/three_module_test.launch @@ -0,0 +1,52 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/robots/beetle/launch/assembly_tasks/two_module_test.launch b/robots/beetle/launch/assembly_tasks/two_module_test.launch new file mode 100644 index 000000000..e80984d20 --- /dev/null +++ b/robots/beetle/launch/assembly_tasks/two_module_test.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/robots/beetle/launch/bringup.launch b/robots/beetle/launch/bringup.launch new file mode 100644 index 000000000..6b0a157a6 --- /dev/null +++ b/robots/beetle/launch/bringup.launch @@ -0,0 +1,101 @@ + + + ########### launch config ########### + + + + + + + + + + + + + + + + + + + ########### Parameters ########### + + # EGOMOTION_ESTIMATE = 0 + # EXPERIMENT_ESTIMATE = 1. for unstable mocap, use this mode + # GROUND_TRUTH = 2 + + ########### Basic Param ########### + + + + ########### Robot Model ########### + + + ########### Motor Config ########### + + + ########### Servo Config ########### + + + ########### Battery Config ########### + + + ########### Control ########### + + + ########### Sensor Fusion ########### + + + + ########### Navigation ########### + + + + + + ########### Base Platform ########### + + + + + + + + ########### Robot Model ########### + + + + + + + + + + + + ########## Sensors ########## + + + + + + + + ########### Servo Bridge ########### + + + ########## Simulation in Gazebo ######### + + + + + + + + + + + + + diff --git a/robots/beetle/launch/include/sensors.launch.xml b/robots/beetle/launch/include/sensors.launch.xml new file mode 100644 index 000000000..0293268d3 --- /dev/null +++ b/robots/beetle/launch/include/sensors.launch.xml @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/robots/beetle/launch/joy_stick.launch b/robots/beetle/launch/joy_stick.launch new file mode 100644 index 000000000..743ec4117 --- /dev/null +++ b/robots/beetle/launch/joy_stick.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/robots/beetle/msg/TaggedWrench.msg b/robots/beetle/msg/TaggedWrench.msg new file mode 100644 index 000000000..03b13caf1 --- /dev/null +++ b/robots/beetle/msg/TaggedWrench.msg @@ -0,0 +1,2 @@ +uint8 index +geometry_msgs/WrenchStamped wrench diff --git a/robots/beetle/package.xml b/robots/beetle/package.xml new file mode 100644 index 000000000..e0b1ea7b7 --- /dev/null +++ b/robots/beetle/package.xml @@ -0,0 +1,45 @@ + + + beetle + 1.3.2 + The beetle package + + Junichiro Sugihara + BSD + https://github.com/jsk-ros-pkg/jsk_aerial_robot + Junichiro Sugihara + + catkin + aerial_robot_control + aerial_robot_model + aerial_robot_msgs + gimbalrotor + pluginlib + pluginlib + diagnostic_msgs + geometry_msgs + std_msgs + message_runtime + + aerial_robot_control + aerial_robot_model + aerial_robot_msgs + aerial_robot_estimation + aerial_robot_simulation + aerial_robot_base + gimbalrotor + roscpp + pluginlib + diagnostic_msgs + geometry_msgs + std_msgs + message_runtime + + + + + + + + + diff --git a/robots/beetle/plugins/control_plugins.xml b/robots/beetle/plugins/control_plugins.xml new file mode 100644 index 000000000..c4032383b --- /dev/null +++ b/robots/beetle/plugins/control_plugins.xml @@ -0,0 +1,5 @@ + + + plugin for beetle control + + diff --git a/robots/beetle/plugins/navigation_plugin.xml b/robots/beetle/plugins/navigation_plugin.xml new file mode 100644 index 000000000..4a391e1b5 --- /dev/null +++ b/robots/beetle/plugins/navigation_plugin.xml @@ -0,0 +1,5 @@ + + + plugin for beetle navigation + + diff --git a/robots/beetle/plugins/robot_model_plugins.xml b/robots/beetle/plugins/robot_model_plugins.xml new file mode 100644 index 000000000..cbc69a31e --- /dev/null +++ b/robots/beetle/plugins/robot_model_plugins.xml @@ -0,0 +1,5 @@ + + + plugin for beetle robot model + + diff --git a/robots/beetle/plugins/sensor_plugins.xml b/robots/beetle/plugins/sensor_plugins.xml new file mode 100644 index 000000000..89775179a --- /dev/null +++ b/robots/beetle/plugins/sensor_plugins.xml @@ -0,0 +1,7 @@ + + + + Beetle IMU sensor plugin. + + + diff --git a/robots/beetle/robots/beetle.gazebo.xacro b/robots/beetle/robots/beetle.gazebo.xacro new file mode 100644 index 000000000..92673a5a6 --- /dev/null +++ b/robots/beetle/robots/beetle.gazebo.xacro @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + docking_mech + dummy_palm + dummy_gripper + + 90 + 50 + 0 + 1 + 1 + false + __default_topic__ + + + + + diff --git a/robots/beetle/robots/beetle.urdf.xacro b/robots/beetle/robots/beetle.urdf.xacro new file mode 100644 index 000000000..09bba0e5c --- /dev/null +++ b/robots/beetle/robots/beetle.urdf.xacro @@ -0,0 +1,138 @@ + + + + + + + + + + + + + + ##### dummy grasp links #### + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/robots/beetle/script/FMM.py b/robots/beetle/script/FMM.py new file mode 100755 index 000000000..12af1e2a8 --- /dev/null +++ b/robots/beetle/script/FMM.py @@ -0,0 +1,331 @@ +#!/usr/bin/env python +import rospy +import numpy as np +import matplotlib.pyplot as plt +import tf, math, warnings, heapq +from nav_msgs.msg import Odometry +from enum import Enum +warnings.filterwarnings('ignore') + +class Labels(Enum): + FIX = 1 + NEAR = 2 + FAR = 3 +class Labeled_Heap: + def __init__(self): + self.heap_list = [] #[(x,y),T] + + def add(self, item): + self.heap_list.append(item) + # self._heap_up() + + def extract_min(self): + if len(self.heap_list) == 0: + return None + + min_value = self.heap_list[0] + last_item = self.heap_list.pop() + + if len(self.heap_list) > 0: + self.heap_list[0] = last_item + self._heap_down() + + return min_value + + def _heap_up(self): + index = len(self.heap_list) - 1 + while index > 0: + parent_index = (index - 1) // 2 + if self.heap_list[index][1] < self.heap_list[parent_index][1]: + self.heap_list[index], self.heap_list[parent_index] = ( + self.heap_list[parent_index], + self.heap_list[index], + ) + index = parent_index + else: + break + + def _heap_down(self): + index = 0 + while index * 2 + 1 < len(self.heap_list): + left_child_index = index * 2 + 1 + right_child_index = index * 2 + 2 + + smaller_child_index = left_child_index + if ( + right_child_index < len(self.heap_list) + and self.heap_list[right_child_index][1] < self.heap_list[left_child_index][1] + ): + smaller_child_index = right_child_index + + if self.heap_list[index][1] > self.heap_list[smaller_child_index][1]: + self.heap_list[index], self.heap_list[smaller_child_index] = ( + self.heap_list[smaller_child_index], + self.heap_list[index], + ) + index = smaller_child_index + else: + break + def is_empty(self): + return len(self.heap_list) == 0 + + def size(self): + return len(self.heap_list) + + def get_heap(self): + return self.heap_list + + +class FMM(): + def __init__(self): + #node init + rospy.init_node("FMM_node") + #subscriber + self.module_2_odom_sub = rospy.Subscriber("beetle2/uav/cog/odom", Odometry, self.obstacleCb) + self.module_1_odom_sub = rospy.Subscriber("beetle1/uav/cog/odom", Odometry, self.agentPosCb) + #transformations + self.listener = tf.TransformListener() + self.br = tf.TransformBroadcaster() + #param + self.obs_x = 0 + self.obs_y = 0 + self.agt_x = 0 + self.agt_y = 0 + self.start_index = (0,0) + self.goal_x = 0 + self.goal_y = 0 + self.goal_index = (0,0) + self.obs_size =0.73 #diagonal dimension + self.frame_size = 0.52 + self.v_max = 0.5 + self.x_offset = 0.2 + self.y_offset = 0 + self.z_offset = 0 + self.target_offset = np.array([self.frame_size/2.0 + self.x_offset, self.y_offset, self.z_offset]) + self.root_fc_dis = 0.129947 + self.leader = "beetle2" + #heap + self.heap = Labeled_Heap() + #grid + self.step = 0.1 + self.grid_size= 40 + self.x_range = np.arange(-self.step * self.grid_size/2.0, self.step * self.grid_size/2.0+self.step, self.step) + self.y_range = np.arange(-self.step * self.grid_size/2.0, self.step * self.grid_size/2.0+self.step, self.step) + self.discrete_coord = np.full((len(self.x_range), len(self.y_range),2),(0,0),dtype = object) + self.velo_grid = np.zeros((self.grid_size, self.grid_size)) + self.fnn_grid = np.full((self.grid_size, self.grid_size,2),(10e5,"far"), dtype = object) #(time, label) + self.time_grid = np.zeros((self.grid_size, self.grid_size)) + ##route + self.route_x = [] + self.route_y = [] + #plot + plt.ion() + + def obstacleCb(self, msg): + pose = msg.pose.pose + position = pose.position + self.obs_x = position.x + self.obs_y = position.y + + + def agentPosCb(self, msg): + pose = msg.pose.pose + position = pose.position + self.agt_x = position.x + self.agt_y = position.y + + def velocityFunc(self,dis): + if dis >=self.obs_size/2.0: # supposing obstacle shape as circle + f = self.v_max * (math.tanh((dis-self.obs_size/2.0)-math.e) + 1)/2 + else: + f = 10e-5 + return f + + def setGoalPos(self): + self.br.sendTransform((self.target_offset[0], self.target_offset[1] , self.target_offset[2] + self.root_fc_dis), + tf.transformations.quaternion_from_euler(0, 0, 0), + rospy.Time.now(), + "follower_target_odom", + self.leader+"/root") + + try: + homo_transformed_target_odom = self.listener.lookupTransform('/world', '/follower_target_odom', rospy.Time(0)) + self.goal_x = homo_transformed_target_odom[0][0] + self.goal_y = homo_transformed_target_odom[0][1] + except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): + print("") + d_min = 100 + for x in range(self.grid_size): + for y in range(self.grid_size): + coord_x = self.discrete_coord[x][y][0] + coord_y = self.discrete_coord[x][y][1] + d = np.sqrt((coord_x - self.goal_x)**2 + (coord_y - self.goal_y)**2) + if d < d_min: + d_min = d + self.goal_index = (x,y) + + def calcDiscretPos(self,pos_x,pos_y): + discrete_x = math.floor(pos_x * 10.0)*0.1 + discrete_y = math.floor(pos_y * 10.0)*0.1 + if discrete_x < -2.0: + discrete_x = -2.0 + elif discrete_x >2.0: + discrete_x = 2.0 + if discrete_y < -2.0: + discrete_y = -2.0 + elif discrete_y >2.0: + discrete_y = 2.0 + # index = (np.sum(self.x_range < discrete_x),np.sum(self.y_range < discrete_y)) + index_x = (int)(-(discrete_y-2.0)/self.step) -1 + index_y = (int)((discrete_x+2.0)/self.step) - 1 + if discrete_x > pos_x: + index_x = index_x -1 + if discrete_y > pos_y: + index_y = index_y +1 + index = (index_x,index_y) + return discrete_x, discrete_y, index + + def initFnnGrid(self): + self.fnn_grid[self.goal_index[0]][self.goal_index[1]] = (0,"fix") + self.FixGrid(self.goal_index[0],self.goal_index[1]) + + def FixGrid(self,fix_i,fix_j): + self.fnn_grid[fix_i][fix_j][1] = 'fix' + for (i,j) in {(fix_i,fix_j+1),(fix_i,fix_j-1),(fix_i+1,fix_j),(fix_i-1,fix_j)}: + if i >=self.grid_size or j >=self.grid_size or i <0 or j<0: + continue + if self.fnn_grid[i][j][1] == 'fix': + continue + self.updateGrid(i,j) + if self.fnn_grid[i][j][1] == 'far': + self.fnn_grid[i][j][1] = 'near' + self.heap.add([(i,j),float(self.fnn_grid[i][j][0])]) + else: + self.heap._heap_up() + def updateGrid(self,i,j): + if i-1 <0: + t_h = float(self.fnn_grid[i+1][j][0]) + elif i+1 >= self.grid_size: + t_h = float(self.fnn_grid[i-1][j][0]) + else: + t_h = min(float(self.fnn_grid[i-1][j][0]),float(self.fnn_grid[i+1][j][0])) + if j-1 <0: + t_v = float(self.fnn_grid[i][j+1][0]) + elif j+1 >= self.grid_size: + t_v = float(self.fnn_grid[i][j-1][0]) + else: + t_v = min(float(self.fnn_grid[i][j-1][0]),float(self.fnn_grid[i][j+1][0])) + f_ij = 1.0/self.velo_grid[i][j] + if f_ij > abs(t_h - t_v): + t_ij = (t_h+t_v+math.sqrt(pow(f_ij,2) - pow((t_h-t_v),2)))/2.0 + else: + t_ij = f_ij + min(t_h,t_v) + self.fnn_grid[i][j][0] = float(t_ij) + + def calcFnn(self): + while not self.heap.is_empty(): + item = self.heap.extract_min() + self.FixGrid(item[0][0],item[0][1]) + + def calcRoute(self): + self.route_x = [] + self.route_y = [] + x,y,index = self.calcDiscretPos(self.agt_x, self.agt_y) + current_t = self.fnn_grid[index[0]][index[1]][0] + count = 80000 + while current_t > 100 and count > 0: + count = count-1 + ''' + t4 t3 t2 + t5 t0 t1 + t6 t7 t8 + ''' + i = index[0] + j = index[1] + # t_0 = self.fnn_grid[i][j][0] + # if i + 1 >= self.grid_size: + # t_1 = t_2 = 10e5 + # else: + # t_1 = self.fnn_grid[i+1][j][0] + # if j+1 >=self.grid_size: + # t_2 = t_3 = 10e5 + # else: + # t_3 = self.fnn_grid[i][j+1][0] + # if i+1 < self.grid_size and j+1 < self.grid_size: + # t_2 = self.fnn_grid[i+1][j+1][0] + + # dt_dx = ((i+1-y) * (t_3 - t_0)+(y-i) * (t_2-t_1)) + # dt_dy = ((j+1-x) * (t_1 - t_0)+(x-j) * (t_2-t_3)) + # dl = np.array([dt_dx,dt_dy])/np.linalg.norm(np.array([dt_dx,dt_dy])) * self.step * 0.2 + # print(current_t) + # x = x + dl[0] + # y = y+ dl[1] + # x_d,y_d,index = self.calcDiscretPos(x, y) #update discrete pos and index + # current_t = self.fnn_grid[i][j][0] #update time + + t_min = 10e5 + for (k,l) in {(i+1,j),(i+1,j+1),(i,j+1),(i-1,j+1),(i-1,j),(i-1,j-1),(i,j-1),(i+1,j-1)}: + if k >= self.grid_size or k < 0 or l >= self.grid_size or l < 0 : + continue + t = self.fnn_grid[k][l][0] + if t < t_min: + t_min = t + index = (k,l) + x = self.discrete_coord[index[0]][index[1]][0] + y = self.discrete_coord[index[0]][index[1]][1] + current_t = t_min + + self.route_x.append(x) + self.route_y.append(y) + + def main(self): + r = rospy.Rate(40) + #init discrete coord + for i, y in enumerate(self.y_range): + for j, x in enumerate(self.x_range): + self.discrete_coord[i, j] = (x,-y) + while not rospy.is_shutdown(): + self.fnn_grid = np.full((self.grid_size, self.grid_size,2),(10e5,"far"), dtype = object) + self.setGoalPos() + for x in range(self.grid_size): + for y in range(self.grid_size): + coord_x = self.discrete_coord[x][y][0] + coord_y = self.discrete_coord[x][y][1] + distance = np.sqrt((coord_x - self.obs_x)**2 + (coord_y - self.obs_y)**2) + self.velo_grid[x, y] = self.velocityFunc(distance) + self.initFnnGrid() + self.calcFnn() + self.calcRoute() + self.time_grid = self.fnn_grid[:,:,0].astype(np.float32) + #plot + plt.clf() + plt.subplot(1, 2, 1) + plt.imshow(self.velo_grid, cmap='jet', extent=[-2, 2, -2, 2], vmin=0, vmax=np.max(self.velo_grid)) + plt.colorbar(label='Velocity') + + plt.subplot(1, 2, 2) + plt.imshow(self.time_grid, cmap='jet', extent=[-2, 2, -2, 2], vmin=0, vmax=np.max(self.time_grid)) + plt.colorbar(label='Time') + + plt.subplot(1, 2, 1) + plt.title('Velocity Field') + plt.xlabel('X') + plt.ylabel('Y') + + plt.subplot(1, 2, 2) + plt.scatter(self.route_x,self.route_y,color = '#66ff00',marker = 'o', s = 10) + plt.scatter([self.agt_x],[self.agt_y],color = 'red',marker = 'o', s = 10) + plt.scatter([self.goal_x],[self.goal_y],color = 'red',marker = 'o', s = 10) + plt.title('Time Field') + plt.xlabel('X') + plt.ylabel('Y') + + plt.tight_layout() + plt.pause(0.1) + + r.sleep() +if __name__ == '__main__': + try: + fmm = FMM(); + fmm.main() + except rospy.ROSInterruptException: pass diff --git a/robots/beetle/script/analysis/wrench_est_filtering.py b/robots/beetle/script/analysis/wrench_est_filtering.py new file mode 100755 index 000000000..e4a34575a --- /dev/null +++ b/robots/beetle/script/analysis/wrench_est_filtering.py @@ -0,0 +1,59 @@ +#!/usr/bin/env python +import rospy,math +import numpy as np +from geometry_msgs.msg import WrenchStamped + +force_1 = np.array([0,0,0]) +torque_1 = np.array([0,0,0]) +force_2 = np.array([0,0,0]) +torque_2 = np.array([0,0,0]) +filtered_force_1 = np.array([0,0,0]) +filtered_torque_1 = np.array([0,0,0]) +filtered_force_2 = np.array([0,0,0]) +filtered_torque_2 = np.array([0,0,0]) + +def main(): + global force_1, torque_1, force_2, torque_2 + est_wrench_sub_1 = rospy.Subscriber("/beetle1/estimated_external_wrench",WrenchStamped,estWrenchCb1) + est_wrench_sub_2 = rospy.Subscriber("/beetle2/estimated_external_wrench",WrenchStamped,estWrenchCb2) + filtered_wrench_pub_1 = rospy.Publisher("/beetle1/filtered_est_wrench", WrenchStamped, queue_size = 1) + filtered_wrench_pub_2 = rospy.Publisher("/beetle2/filtered_est_wrench", WrenchStamped, queue_size = 1) + r = rospy.Rate(40) + while not rospy.is_shutdown(): + filtered_force_1 = (force_1 - force_2)/2.0 + filtered_force_2 = -(force_1 - force_2)/2.0 + filtered_torque_1 = (torque_1 - torque_2)/2.0 + filtered_torque_2 = -(torque_1 - torque_2)/2.0 + wrench_msg_1 = WrenchStamped() + wrench_msg_1.wrench.force.x = filtered_force_1[0] + wrench_msg_1.wrench.force.y = filtered_force_1[1] + wrench_msg_1.wrench.force.z = filtered_force_1[2] + wrench_msg_1.wrench.torque.x = filtered_torque_1[0] + wrench_msg_1.wrench.torque.y = filtered_torque_1[1] + wrench_msg_1.wrench.torque.z = filtered_torque_1[2] + filtered_wrench_pub_1.publish(wrench_msg_1) + wrench_msg_2 = WrenchStamped() + wrench_msg_2.wrench.force.x = filtered_force_2[0] + wrench_msg_2.wrench.force.y = filtered_force_2[1] + wrench_msg_2.wrench.force.z = filtered_force_2[2] + wrench_msg_2.wrench.torque.x = filtered_torque_2[0] + wrench_msg_2.wrench.torque.y = filtered_torque_2[1] + wrench_msg_2.wrench.torque.z = filtered_torque_2[2] + filtered_wrench_pub_2.publish(wrench_msg_2) + r.sleep() + +def estWrenchCb1(msg): + global force_1, torque_1 + force_1 = np.array([msg.wrench.force.x,msg.wrench.force.y,msg.wrench.force.z]) + torque_1 = np.array([msg.wrench.torque.x,msg.wrench.torque.y,msg.wrench.torque.z]) + +def estWrenchCb2(msg): + global force_2, torque_2 + force_2 = np.array([msg.wrench.force.x,msg.wrench.force.y,msg.wrench.force.z]) + torque_2 = np.array([msg.wrench.torque.x,msg.wrench.torque.y,msg.wrench.torque.z]) + + +if __name__ == '__main__': + rospy.init_node("filtering_wrench") + main() + diff --git a/robots/beetle/script/assembled_nav.py b/robots/beetle/script/assembled_nav.py new file mode 100755 index 000000000..d33c31fde --- /dev/null +++ b/robots/beetle/script/assembled_nav.py @@ -0,0 +1,74 @@ +#!/usr/bin/env python +from std_msgs.msg import Empty +from std_msgs.msg import UInt16 +from std_msgs.msg import UInt8 +from aerial_robot_msgs.msg import FlightNav +from spinal.msg import DesireCoord +from geometry_msgs.msg import PoseStamped + +import rospy +import numpy as np +import tf +import rosgraph +import sys, select, termios, tty, time +import math + + +class AssembledNav(): + def __init__(self): + master = rosgraph.Master('/rostopic') + try: + _, subs, _ = master.getSystemState() + except socket.error: + raise ROSTopicIOException("Unable to communicate with master!") + + teleop_topics = [topic[0] for topic in subs if 'teleop_command/start' in topic[0]] + robot_names = [topic.split('/teleop')[0] for topic in teleop_topics] + self.nav_pubs = [] + self.rot_pubs = [] + for name in robot_names: + ns = name + self.nav_pubs.append(rospy.Publisher(ns + '/uav/nav', FlightNav, queue_size=1)) + self.rot_pubs.append(rospy.Publisher(ns + '/final_target_baselink_rot', DesireCoord, queue_size=1)) + + self.nav_sub = rospy.Subscriber("assembled/uav/nav",FlightNav, self.navCb) + self.rot_sub = rospy.Subscriber("assembled/final_target_baselink_rot",DesireCoord, self.rotCb) + self.nav_rate = rospy.Rate(40) + + self.flight_nav = FlightNav() + self.flight_nav.target = FlightNav.BASELINK + + self.target_rot = DesireCoord() + time.sleep(0.5) + + def navCb(self, msg): + self.flight_nav.pos_xy_nav_mode = msg.pos_xy_nav_mode + self.flight_nav.pos_z_nav_mode = msg.pos_z_nav_mode + self.flight_nav.yaw_nav_mode = msg.yaw_nav_mode + self.flight_nav.target_pos_x = msg.target_pos_x + self.flight_nav.target_pos_y = msg.target_pos_y + self.flight_nav.target_vel_x = msg.target_vel_x + self.flight_nav.target_vel_y = msg.target_vel_y + self.flight_nav.target_pos_z = msg.target_pos_z + self.flight_nav.target_omega_z = msg.target_omega_z + self.flight_nav.target_yaw = msg.target_yaw + for nav_pub in self.nav_pubs: + nav_pub.publish(self.flight_nav) + def rotCb(self, msg): + self.target_rot.roll = msg.roll + self.target_rot.pitch = msg.pitch + for rot_pub in self.rot_pubs: + rot_pub.publish(self.target_rot) + def main(self): + rospy.spin() + + +if __name__ == "__main__": + + rospy.init_node("assembled_nav") + + nav = AssembledNav() + nav.main() + + + diff --git a/robots/beetle/script/beetle/__init__.py b/robots/beetle/script/beetle/__init__.py new file mode 100755 index 000000000..e69de29bb diff --git a/robots/beetle/script/beetle/assembly.py b/robots/beetle/script/beetle/assembly.py new file mode 100755 index 000000000..0208e45f1 --- /dev/null +++ b/robots/beetle/script/beetle/assembly.py @@ -0,0 +1,462 @@ +#!/usr/bin/env python + +import rospy +import smach +import smach_ros +import math,time +from std_msgs.msg import Empty, String, Bool +from aerial_robot_msgs.msg import FlightNav +from spinal.msg import DesireCoord +from geometry_msgs.msg import PoseStamped +from diagnostic_msgs.msg import KeyValue +from beetle.kondo_control import KondoControl +import numpy as np +import tf + +#### state classes #### + +""" +Standby -> Approach -> Assembly + ^ | | + | _ _ _ _ _ _|_ _ _ _ _ | + +""" + +class StandbyState(smach.State): + def __init__(self, + robot_name = 'beetle1', + robot_id = 1, + male_servo_id = 5, + female_servo_id = 6, + real_machine = True, + unlock_servo_angle_male = 7000, + lock_servo_angle_male = 8800, + unlock_servo_angle_female = 11000, + lock_servo_angle_female = 5600, + leader = 'beetle2', + leader_id = 2, + airframe_size = 0.52, + x_offset = 0.12, + y_offset = 0, + z_offset = 0, + x_tol = 0.01, + y_tol = 0.01, + z_tol = 0.01, + roll_tol = 0.08, + pitch_tol = 0.08, + yaw_tol = 0.08, + root_fc_dis = 0.129947, + attach_dir = -1.0): + + smach.State.__init__(self, outcomes=['done','in_process','emergency']) + + self.robot_name = robot_name + self.robot_id = robot_id + self.male_servo_id = male_servo_id + self.female_servo_id = female_servo_id + self.real_machine = real_machine + self.unlock_servo_angle_male = unlock_servo_angle_male + self.lock_servo_angle_male = lock_servo_angle_male + self.unlock_servo_angle_female = unlock_servo_angle_female + self.lock_servo_angle_female = lock_servo_angle_female + self.leader = leader + self.leader_id = leader_id + self.airframe_size = airframe_size + self.x_offset = x_offset + self.y_offset = y_offset + self.z_offset = z_offset + self.x_tol = x_tol + self.y_tol = y_tol + self.z_tol = z_tol + self.roll_tol = roll_tol + self.pitch_tol = pitch_tol + self.yaw_tol = yaw_tol + self.root_fc_dis = root_fc_dis + self.attach_dir = attach_dir + + # flags + self.emergency_flag = False + self.follower_male_mech_activated = False + + # tf listener and broadcaster + self.listener = tf.TransformListener() + self.br = tf.TransformBroadcaster() + + # publisher + self.follower_nav_pub = rospy.Publisher(self.robot_name+"/uav/nav", FlightNav, queue_size=10) + self.follower_att_pub = rospy.Publisher(self.robot_name+"/final_target_baselink_rot", DesireCoord, queue_size=10) + if(self.attach_dir < 0): + self.follower_docking_pub = rospy.Publisher(self.robot_name+"/docking_cmd", Bool, queue_size=10) + self.kondo_servo = KondoControl(self.leader,self.leader_id,self.female_servo_id,self.real_machine) + else: + self.follower_docking_pub = rospy.Publisher(self.leader+"/docking_cmd", Bool, queue_size=10) + self.kondo_servo = KondoControl(self.robot_name,self.robot_id,self.female_servo_id,self.real_machine) + + # subscriber + self.emergency_stop_sub = rospy.Subscriber("/emergency_assembly_interuption",Empty,self.emergencyCb) + + # messages + self.docking_msg = Bool() + + # position offset while StandbyState + if(self.attach_dir < 0): + self.target_offset = np.array([-(self.airframe_size + self.x_offset), self.y_offset, self.z_offset]) + else: + self.target_offset = np.array([(self.airframe_size + self.x_offset), self.y_offset, self.z_offset]) + self.pos_error_tol = np.array([self.x_tol, self.y_tol, self.z_tol]) # position error torelance + self.att_error_tol = np.array([self.roll_tol, self.pitch_tol, self.yaw_tol]) # attitude error torelance + + def execute(self, userdata): + if not self.follower_male_mech_activated: + if self.real_machine: + self.kondo_servo.sendTargetAngle(self.lock_servo_angle_female) + else: + self.docking_msg.data = True + self.follower_docking_pub.publish(self.docking_msg) + self.follower_male_mech_activated = True + # calculate current follower position in leader coordinate + #TODO: determine leader namespace dynamically + try: + leader_from_world = self.listener.lookupTransform('/world', self.leader+'/root', rospy.Time(0)) + except (tf.LookupException, tf_from_neighboring.ConnectivityException, tf.ExtrapolationException): + return 'in_process' + try: + follower_from_leader = self.listener.lookupTransform(self.leader+'/root', self.robot_name+'/root', rospy.Time(0)) + except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): + return 'in_process' + + # set target odom in leader coordinate + #TODO: determine leader namespace dynamically + self.br.sendTransform((self.target_offset[0], self.target_offset[1] , self.target_offset[2] + self.root_fc_dis), + tf.transformations.quaternion_from_euler(0, 0, 0), + rospy.Time.now(), + "follower_target_odom", + self.leader+"/root") + + # convert target position from leader coord to world coord + try: + homo_transformed_target_odom = self.listener.lookupTransform('/world', '/follower_target_odom', rospy.Time(0)) + except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): + return 'in_process' + target_pos = homo_transformed_target_odom[0] + target_att = tf.transformations.euler_from_quaternion(homo_transformed_target_odom[1]) + + pos_error = np.array(self.target_offset - follower_from_leader[0]) + if(pos_error[0] * self.attach_dir > 0): + pos_error[0] = 0.0 + att_error = np.array([0,0,0])-tf.transformations.euler_from_quaternion(follower_from_leader[1]) + rospy.loginfo(pos_error) + #check if pos and att error are within the torrelance + if np.all(np.less(np.abs(pos_error),self.pos_error_tol)) and np.all(np.less(np.abs(att_error),self.att_error_tol)): + return 'done' + elif self.emergency_flag: + return 'emergency' + else: + # x,y,z and yaw + nav_msg_follower = FlightNav() + nav_msg_follower.target = 0 + nav_msg_follower.control_frame = 0 + nav_msg_follower.pos_xy_nav_mode=2 + nav_msg_follower.pos_z_nav_mode=2 + nav_msg_follower.yaw_nav_mode = 2 + nav_msg_follower.target_pos_x = target_pos[0] + nav_msg_follower.target_pos_y = target_pos[1] + nav_msg_follower.target_pos_z = target_pos[2] + nav_msg_follower.target_yaw = target_att[2] + self.follower_nav_pub.publish(nav_msg_follower) + + # roll and pitch + link_rot_follower = DesireCoord() + link_rot_follower.roll = target_att[0] + link_rot_follower.pitch = target_att[1] + # self.follower_att_pub.publish(link_rot_follower) + return 'in_process' + + def emergencyCb(self,msg): + nav_msg_follower = FlightNav() + nav_msg_follower.target = 0 + nav_msg_follower.control_frame = 0 + nav_msg_follower.pos_xy_nav_mode=2 + if self.attach_dir < 0: + nav_msg_follower.target_pos_x = -1.5 + else: + nav_msg_follower.target_pos_x = 1.5 + nav_msg_follower.target_pos_y = 0 + self.follower_nav_pub.publish(nav_msg_follower) + self.emergency_flag = True + +class ApproachState(smach.State): + def __init__(self, + robot_name = 'beetle1', + robot_id = 1, + male_servo_id = 5, + female_servo_id = 6, + real_machine = True, + unlock_servo_angle_male = 7000, + lock_servo_angle_male = 8800, + unlock_servo_angle_female = 11000, + lock_servo_angle_female = 5600, + leader = 'beetle2', + leader_id = 2, + airframe_size = 0.52, + x_offset = 0, + y_offset = 0, + z_offset = 0, + x_tol = 0.02, + y_tol = 0.02, + z_tol = 0.02, + roll_tol = 0.08, + pitch_tol = 0.08, + yaw_tol = 0.08, + root_fc_dis = 0.129947, + x_danger_thre = 0.02, + y_danger_thre = 0.1, + z_danger_thre = 0.1, + roll_danger_thre = 0.35, + pitch_danger_thre = 0.35, + yaw_danger_thre = 0.35, + attach_dir = -1.0): + + smach.State.__init__(self, outcomes=['done','in_process','fail','emergency']) + + self.robot_name = robot_name + self.robot_id = robot_id + self.male_servo_id = male_servo_id + self.female_servo_id = female_servo_id + self.real_machine = real_machine + self.unlock_servo_angle_male = unlock_servo_angle_male + self.lock_servo_angle_male = lock_servo_angle_male + self.unlock_servo_angle_female = unlock_servo_angle_female + self.lock_servo_angle_female = lock_servo_angle_female + self.leader = leader + self.leader_id = leader_id + self.airframe_size = airframe_size + self.x_offset = x_offset + self.y_offset = y_offset + self.z_offset = z_offset + self.x_tol = x_tol + self.y_tol = y_tol + self.z_tol = z_tol + self.roll_tol = roll_tol + self.pitch_tol = pitch_tol + self.yaw_tol = yaw_tol + self.root_fc_dis = root_fc_dis + self.x_danger_thre = x_danger_thre + self.y_danger_thre = y_danger_thre + self.z_danger_thre = z_danger_thre + self.roll_danger_thre = roll_danger_thre + self.pitch_danger_thre = pitch_danger_thre + self.yaw_danger_thre = yaw_danger_thre + self.attach_dir = attach_dir + + # flags + self.emergency_flag = False + + # tf listener and broadcaster + self.listener = tf.TransformListener() + self.br = tf.TransformBroadcaster() + + # publisher + self.follower_nav_pub = rospy.Publisher(self.robot_name+"/uav/nav", FlightNav, queue_size=10) + self.follower_att_pub = rospy.Publisher(self.robot_name+"/final_target_baselink_rot", DesireCoord, queue_size=10) + + # subscriber + self.emergency_stop_sub = rospy.Subscriber("/emergency_assembly_interuption",Empty,self.emergencyCb) + + # position offset while ApproachState + if(self.attach_dir < 0): + self.target_offset = np.array([-(self.airframe_size + self.x_offset), self.y_offset, self.z_offset]) + else: + self.target_offset = np.array([(self.airframe_size + self.x_offset), self.y_offset, self.z_offset]) + # position error torelance + self.pos_error_tol = np.array([self.x_tol, self.y_tol, self.z_tol]) + # attitude error torelance + self.att_error_tol = np.array([self.roll_tol, self.pitch_tol, self.yaw_tol]) + # position danger threshold + self.pos_danger_thre = np.array([self.x_danger_thre, self.y_danger_thre, self.z_danger_thre]) + # attitude danger threshold + self.att_danger_thre = np.array([self.roll_danger_thre, self.pitch_danger_thre, self.yaw_danger_thre]) + + def execute(self, userdata): + # calculate now follower position in leader coordinate + #TODO: determine leader namespace dynamically + try: + follower_from_leader = self.listener.lookupTransform(self.leader+'/root', self.robot_name+'/root', rospy.Time(0)) + except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): + return 'in_process' + + # set target odom in leader coordinate + #TODO: determine leader namespace dynamically + self.br.sendTransform((self.target_offset[0] - 0.05 * self.attach_dir, self.target_offset[1] , self.target_offset[2] + self.root_fc_dis), + tf.transformations.quaternion_from_euler(0, 0, 0), + rospy.Time.now(), + "follower_target_odom", + self.leader+"/root") + + # convert target position from leader coord to world coord + try: + homo_transformed_target_odom = self.listener.lookupTransform('/world', '/follower_target_odom', rospy.Time(0)) + except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): + return 'in process' + target_pos = homo_transformed_target_odom[0] + target_att = tf.transformations.euler_from_quaternion(homo_transformed_target_odom[1]) + + pos_error = np.array(self.target_offset - follower_from_leader[0]) + att_error = att_error = np.array([0,0,0])-tf.transformations.euler_from_quaternion(follower_from_leader[1]) + + rospy.loginfo(pos_error) + + #check if pos and att error are within the torrelance + if np.all(np.less(np.abs(pos_error),self.pos_error_tol)) and np.all(np.less(np.abs(att_error),self.att_error_tol)): + return 'done' + elif self.emergency_flag: + return 'emergency' + elif np.all(np.greater(np.abs(pos_error),self.pos_danger_thre)) or np.all(np.greater(np.abs(att_error),self.att_danger_thre)): + return 'fail' + else: + # x,y,z and yaw + nav_msg_follower = FlightNav() + nav_msg_follower.target = 0 + nav_msg_follower.control_frame = 0 + nav_msg_follower.pos_xy_nav_mode=2 + nav_msg_follower.pos_z_nav_mode=2 + nav_msg_follower.yaw_nav_mode = 2 + nav_msg_follower.target_pos_x = target_pos[0] + nav_msg_follower.target_pos_y = target_pos[1] + nav_msg_follower.target_pos_z = target_pos[2] + nav_msg_follower.target_yaw = target_att[2] + self.follower_nav_pub.publish(nav_msg_follower) + + # roll and pitch + link_rot_follower = DesireCoord() + link_rot_follower.roll = target_att[0] + link_rot_follower.pitch = target_att[1] + # self.follower_att_pub.publish(link_rot_follower) + + return 'in_process' + + def emergencyCb(self,msg): + nav_msg_follower = FlightNav() + nav_msg_follower.target = 0 + nav_msg_follower.control_frame = 0 + nav_msg_follower.pos_xy_nav_mode=2 + if self.attach_dir < 0: + nav_msg_follower.target_pos_x = -1.5 + else: + nav_msg_follower.target_pos_x = 1.5 + nav_msg_follower.target_pos_y = 0 + self.follower_nav_pub.publish(nav_msg_follower) + self.emergency_flag = True + +class AssemblyState(smach.State): + def __init__(self, + robot_name = 'beetle1', + robot_id = 1, + male_servo_id = 5, + female_servo_id = 6, + real_machine = True, + unlock_servo_angle_male = 7000, + lock_servo_angle_male = 8800, + unlock_servo_angle_female = 11000, + lock_servo_angle_female = 5600, + leader = 'beetle2', + leader_id = 2, + attach_dir = -1.0): + smach.State.__init__(self, outcomes=['done','emergency']) + + self.robot_name = robot_name + self.robot_id = robot_id + self.male_servo_id = male_servo_id + self.female_servo_id = female_servo_id + self.real_machine = real_machine + self.unlock_servo_angle_male = unlock_servo_angle_male + self.lock_servo_angle_male = lock_servo_angle_male + self.unlock_servo_angle_female = unlock_servo_angle_female + self.lock_servo_angle_female = lock_servo_angle_female + self.leader = leader + self.leader_id = leader_id + self.attach_dir = attach_dir + + # flags + self.emergency_flag = False + + # publisher + self.follower_docking_pub = rospy.Publisher(self.robot_name+"/docking_cmd", Bool, queue_size=10) + self.follower_nav_pub = rospy.Publisher(self.robot_name+"/uav/nav", FlightNav, queue_size=10) + self.leader_nav_pub = rospy.Publisher(self.leader+"/uav/nav", FlightNav, queue_size=10) + self.assembly_nav_pub = rospy.Publisher("/assembly/uav/nav", FlightNav, queue_size=10) + if(self.attach_dir < 0): + self.kondo_servo = KondoControl(self.robot_name,self.robot_id,self.male_servo_id,self.real_machine) + else: + self.kondo_servo = KondoControl(self.leader,self.leader_id,self.male_servo_id,self.real_machine) + self.flag_pub = rospy.Publisher('/' + self.robot_name + '/assembly_flag', KeyValue, queue_size = 1) + self.flag_pub_leader = rospy.Publisher('/' + self.leader + '/assembly_flag', KeyValue, queue_size = 1) + + # subscriber + self.emergency_stop_sub = rospy.Subscriber("/emergency_assembly_interuption",Empty,self.emergencyCb) + + #messeges + self.flag_msg = KeyValue() + self.docking_msg = Bool() + #messages + self.nav_msg = FlightNav() + time.sleep(0.5) + + def execute(self, userdata): + if self.emergency_flag: + return 'emergency' + if self.real_machine: + self.kondo_servo.sendTargetAngle(self.lock_servo_angle_male) + time.sleep(1.0) + if not self.real_machine: + rospy.sleep(5.0) + self.nav_msg.pos_xy_nav_mode= 6 + self.follower_nav_pub.publish(self.nav_msg) + self.leader_nav_pub.publish(self.nav_msg) + self.assembly_nav_pub.publish(self.nav_msg) + rospy.sleep(1.0) + self.flag_msg.key = str(self.robot_id) + self.flag_msg.value = '1' + self.flag_pub.publish(self.flag_msg) + self.flag_msg.key = str(self.leader_id) + self.flag_msg.value = '1' + self.flag_pub_leader.publish(self.flag_msg) + rospy.sleep(5.0) + return 'done' + + def emergencyCb(self,msg): + nav_msg_follower = FlightNav() + nav_msg_follower.target = 0 + nav_msg_follower.control_frame = 0 + nav_msg_follower.pos_xy_nav_mode=2 + if self.attach_dir < 0: + nav_msg_follower.target_pos_x = -1.5 + else: + nav_msg_follower.target_pos_x = 1.5 + nav_msg_follower.target_pos_y = 0 + self.follower_nav_pub.publish(nav_msg_follower) + self.emergency_flag = True + +#### main class #### +class AssembleDemo(): + def __init__(self): + rospy.init_node("assemble_demo") + + def main(self): + sm_top = smach.StateMachine(outcomes=['succeeded','interupted']) + with sm_top: + smach.StateMachine.add('StandbyState', StandbyState(), transitions={'done':'ApproachState', 'in_process':'StandbyState', 'emergency':'interupted'}) + smach.StateMachine.add('ApproachState', ApproachState(), transitions={'done':'AssemblyState', 'in_process':'ApproachState', 'fail':'StandbyState', 'emergency':'interupted'}) + smach.StateMachine.add('AssemblyState', AssemblyState(), transitions={'done':'succeeded', 'emergency':'interupted'}) + + sis = smach_ros.IntrospectionServer('smach_server', sm_top, '/SM_ROOT') + sis.start() + outcome = sm_top.execute() + rospy.spin() + sis.stop() + +if __name__ == '__main__': + try: + assemble_demo = AssembleDemo(); + assemble_demo.main() + except rospy.ROSInterruptException: pass diff --git a/robots/beetle/script/beetle/disassembly.py b/robots/beetle/script/beetle/disassembly.py new file mode 100755 index 000000000..0a4b9ba35 --- /dev/null +++ b/robots/beetle/script/beetle/disassembly.py @@ -0,0 +1,170 @@ +#!/usr/bin/env python + +import rospy +import smach +import smach_ros +import math,time,logging +from std_msgs.msg import Empty, String, Bool +from aerial_robot_msgs.msg import FlightNav +from spinal.msg import ServoControlCmd +from diagnostic_msgs.msg import KeyValue +from beetle.kondo_control import KondoControl +import numpy as np +import tf + + +#### state classes #### + +""""""""""""""""""""""""""" +Switch -> Separate -> Stop +""""""""""""""""""""""""""" + +class Filter(logging.Filter): + def filter(self, record): + return 'State machine transitioning' not in record.msg + +class SwitchState(smach.State): + # release docking mechanism and switch control mode + def __init__(self, + robot_name = 'beetle1', + robot_id = 1, + male_servo_id = 5, + real_machine = False, + unlock_servo_angle_male = 7000, + lock_servo_angle_male = 8300, + unlock_servo_angle_female = 11000, + lock_servo_angle_female = 5600, + neighboring = 'beetle2', + neighboring_id = 2, + female_servo_id = 6, + separate_dir = -1): + smach.State.__init__(self, outcomes=['done']) + + self.robot_name = robot_name + self.robot_id = robot_id + self.male_servo_id = male_servo_id + self.real_machine = real_machine + self.unlock_servo_angle_male = unlock_servo_angle_male + self.lock_servo_angle_male = lock_servo_angle_male + self.unlock_servo_angle_female = unlock_servo_angle_female + self.lock_servo_angle_female = lock_servo_angle_female + self.neighboring = neighboring + self.neighboring_id = neighboring_id + self.female_servo_id = female_servo_id + self.separate_dir = separate_dir + + if(separate_dir > 0): + self.kondo_servo = KondoControl(self.robot_name,self.robot_id,self.female_servo_id,self.real_machine) + self.kondo_servo_neighboring = KondoControl(self.neighboring,self.neighboring_id,self.male_servo_id,self.real_machine) + else: + self.kondo_servo = KondoControl(self.robot_name,self.robot_id,self.male_servo_id,self.real_machine) + self.kondo_servo_neighboring = KondoControl(self.neighboring,self.neighboring_id,self.female_servo_id,self.real_machine) + + self.flag_pub = rospy.Publisher('/' + self.robot_name + '/assembly_flag', KeyValue, queue_size = 1) + self.flag_pub_neighboring = rospy.Publisher('/' + self.neighboring + '/assembly_flag', KeyValue, queue_size = 1) + + if(separate_dir > 0): + self.docking_pub = rospy.Publisher('/' + self.neighboring + '/docking_cmd', Bool, queue_size = 1) + else: + self.docking_pub = rospy.Publisher('/' + self.robot_name + '/docking_cmd', Bool, queue_size = 1) + + #messeges + self.flag_msg = KeyValue() + self.docking_msg = Bool() + time.sleep(0.5) + + def execute(self, userdata): + self.flag_msg.key = str(self.robot_id) + self.flag_msg.value = '0' + self.flag_pub.publish(self.flag_msg) + rospy.loginfo("ok-1") + if self.real_machine: + if(self.separate_dir > 0): + rospy.loginfo("ok0") + self.kondo_servo.sendTargetAngle(self.unlock_servo_angle_female) + self.kondo_servo_neighboring.sendTargetAngle(self.unlock_servo_angle_male) + else: + rospy.loginfo("ok-1") + self.kondo_servo.sendTargetAngle(self.unlock_servo_angle_male) + self.kondo_servo_neighboring.sendTargetAngle(self.unlock_servo_angle_female) + else: + self.docking_msg.data = False + self.docking_pub.publish(self.docking_msg) + time.sleep(5.0) + return 'done' + +class SeparateState(smach.State): + # keep away target robot from leader + def __init__(self, + robot_name = 'beetle1', + robot_id = 1, + separate_vel = -0.5, + neighboring = 'beetle2', + target_dist_from_neighboring = 1.25): + + smach.State.__init__(self, outcomes=['done','in_process']) + + self.robot_name = robot_name + self.robot_id = robot_id + self.separate_vel = separate_vel + self.neighboring = neighboring + self.target_dist_from_neighboring = target_dist_from_neighboring + + # tf listener and broadcaster + self.listener = tf.TransformListener() + self.br = tf.TransformBroadcaster() + + # publisher + self.nav_pub = rospy.Publisher('/' + self.robot_name+"/uav/nav", FlightNav, queue_size=10) + self.nav_pub_neighboring = rospy.Publisher('/' + self.neighboring+"/uav/nav", FlightNav, queue_size=10) + + #messages + self.nav_msg = FlightNav() + + def execute(self, userdata): + x_dist = 0 + try: + tf_from_neighboring = self.listener.lookupTransform('/' + self.neighboring+'/root', '/' + self.robot_name+'/root', rospy.Time(0)) + x_dist = math.fabs(tf_from_neighboring[0][0]) + rospy.loginfo("tf is fine") + except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): + x_dist = 0 + rospy.loginfo('out') + return 'in_process' + if x_dist <= self.target_dist_from_neighboring: + self.nav_msg.target = 1 + self.nav_msg.control_frame = 1 #local frame + self.nav_msg.pos_xy_nav_mode= 1 + self.nav_msg.target_vel_x = self.separate_vel + self.nav_pub.publish(self.nav_msg) + return 'in_process' + else: + self.nav_msg.pos_xy_nav_mode= 6 + self.nav_pub.publish(self.nav_msg) + return 'done' + + +#### main class #### +class DisassembleDemo(): + def __init__(self): + rospy.init_node("disassemble_demo") + + def main(self): + sm_top = smach.StateMachine(outcomes=['succeeded']) + with sm_top: + smach.StateMachine.add('SwitchState', SwitchState(), transitions={'done':'SeparateState'}) + + smach.StateMachine.add('SeparateState', SeparateState(), transitions={'done':'succeeded','in_process':'SeparateState'}) + + sis = smach_ros.IntrospectionServer('smach_server', sm_top, '/SM_ROOT') + sis.start() + outcome = sm_top.execute() + rospy.spin() + sis.stop() + +if __name__ == '__main__': + try: + logging.getLogger('rosout').addFilter(Filter()) + disassemble_demo = DisassembleDemo(); + disassemble_demo.main() + except rospy.ROSInterruptException: pass diff --git a/robots/beetle/script/beetle/kondo_control.py b/robots/beetle/script/beetle/kondo_control.py new file mode 100755 index 000000000..ac0a8e182 --- /dev/null +++ b/robots/beetle/script/beetle/kondo_control.py @@ -0,0 +1,47 @@ +#!/usr/bin/env python + +from spinal.msg import ServoControlCmd +from sensor_msgs.msg import JointState + +import rospy +import numpy as np +import math +import time + +class KondoControl(): + def __init__(self,robot_name,robot_id,servo_id,real_machine): + + self.KONDO_SERVO_POSITION_MIN = 3500 + self.KONDO_SERVO_POSITION_MAX = 11500 + self.KONDO_SERVO_ANGLE_MIN = -2.36 + self.KONDO_SERVO_ANGLE_MAX = 2.36 + self.real_machine = real_machine + self.robot_name = robot_name + self.robot_id = robot_id + self.servo_id = servo_id + self.servo_name = 'gimbal' + str(robot_id) + + self.kondo_pub = rospy.Publisher('/' + self.robot_name +'/kondo_servo_cmd', ServoControlCmd, queue_size=1) + self.gimbal_pub = rospy.Publisher('/' + self.robot_name + '/gimbals_ctrl', JointState, queue_size=1) + + self.servo_cmd_msg = ServoControlCmd() + self.servo_cmd_msg.index = [self.servo_id] + + self.joint_state_cmd_msg = JointState() + self.joint_state_cmd_msg.name = [self.servo_name] + + time.sleep(0.5) + + def rad2KondoPosConv(self,angle): + kondo_pos = int((self.KONDO_SERVO_POSITION_MAX-self.KONDO_SERVO_POSITION_MIN)*(-angle - self.KONDO_SERVO_ANGLE_MIN)/(self.KONDO_SERVO_ANGLE_MAX - self.KONDO_SERVO_ANGLE_MIN) + self.KONDO_SERVO_POSITION_MIN) + return kondo_pos + + def sendTargetAngle(self,target_angle): + self.servo_cmd_msg.angles = [target_angle] + self.joint_state_cmd_msg.position = [target_angle] + if self.real_machine: + self.kondo_pub.publish(self.servo_cmd_msg) + else: + self.gimbal_pub.publish(self.joint_state_cmd_msg) + + diff --git a/robots/beetle/script/demos/assembly_demo.py b/robots/beetle/script/demos/assembly_demo.py new file mode 100755 index 000000000..9de431748 --- /dev/null +++ b/robots/beetle/script/demos/assembly_demo.py @@ -0,0 +1,62 @@ +#!/usr/bin/env python + +import rospy +import smach +import smach_ros +import math +import numpy as np +from beetle.assembly import * + +class AssemblyDemo(): + def __init__(self): + rospy.init_node("assembly_demo") + + def main(self): + sm_top = smach.StateMachine(outcomes=['succeeded','interupted']) + with sm_top: + sm_sub2 = smach.StateMachine(outcomes=['succeeded_2_3','interupted_2_3']) # module2 depart from module3 + sm_sub1 = smach.StateMachine(outcomes=['succeeded_1_2','interupted_1_2']) # module1 depart from module2 + + with sm_sub1: + smach.StateMachine.add('StandbyState1_2', + StandbyState(robot_name = 'beetle1', robot_id = 1, leader = 'beetle2', leader_id = 2, attach_dir = -1.0), + transitions={'done':'ApproachState1_2', 'in_process': 'StandbyState1_2', 'emergency':'interupted_1_2'}) + + smach.StateMachine.add('ApproachState1_2', + ApproachState(robot_name = 'beetle1', robot_id = 1, leader = 'beetle2', leader_id = 2, attach_dir = -1.0), + transitions={'done':'AssemblyState1_2', 'in_process':'ApproachState1_2', 'fail':'StandbyState1_2', 'emergency':'interupted_1_2'}) + + smach.StateMachine.add('AssemblyState1_2', AssemblyState(robot_name = 'beetle1', robot_id = 1, leader = 'beetle2', leader_id = 2, attach_dir = -1.0), + transitions={'done':'succeeded_1_2', 'emergency':'interupted_1_2'}) + + with sm_sub2: + smach.StateMachine.add('StandbyState2_3', + StandbyState(robot_name = 'beetle3', robot_id = 3, leader = 'beetle2', leader_id = 2, attach_dir = 1.0), + transitions={'done':'ApproachState2_3', 'in_process': 'StandbyState2_3', 'emergency':'interupted_2_3'}) + + smach.StateMachine.add('ApproachState2_3', + ApproachState(robot_name = 'beetle3', robot_id = 3, leader = 'beetle2', leader_id = 2, attach_dir = 1.0), + transitions={'done':'AssemblyState2_3', 'in_process':'ApproachState2_3', 'fail':'StandbyState2_3', 'emergency':'interupted_2_3'}) + + smach.StateMachine.add('AssemblyState2_3', AssemblyState(robot_name = 'beetle3', robot_id = 3, leader = 'beetle2', leader_id = 2, attach_dir = 1.0), + transitions={'done':'succeeded_2_3', 'emergency':'interupted_2_3'}) + + + smach.StateMachine.add('SUB2', + sm_sub2, + transitions={'succeeded_2_3':'SUB1', 'interupted_2_3':'interupted'}) + + smach.StateMachine.add('SUB1', + sm_sub1, + transitions={'succeeded_1_2':'succeeded', 'interupted_1_2':'interupted'}) + + sis = smach_ros.IntrospectionServer('smach_server', sm_top, '/SM_ROOT') + sis.start() + outcome = sm_top.execute() + rospy.spin() + sis.stop() +if __name__ == '__main__': + try: + demo = AssemblyDemo(); + demo.main() + except rospy.ROSInterruptException: pass diff --git a/robots/beetle/script/demos/disassembly_demo.py b/robots/beetle/script/demos/disassembly_demo.py new file mode 100755 index 000000000..8381588d1 --- /dev/null +++ b/robots/beetle/script/demos/disassembly_demo.py @@ -0,0 +1,57 @@ +#!/usr/bin/env python + +import rospy +import smach +import smach_ros +import math +import numpy as np +from beetle.disassembly import * + +class DisassemblyDemo(): + def __init__(self): + rospy.init_node("disassembly_demo") + + def main(self): + sm_top = smach.StateMachine(outcomes=['succeeded']) + with sm_top: + sm_sub2 = smach.StateMachine(outcomes=['succeeded_2_3']) # module2 depart from module3 + sm_sub1 = smach.StateMachine(outcomes=['succeeded_1_2']) # module1 depart from module2 + + with sm_sub1: + smach.StateMachine.add('SwitchState1_2', + SwitchState(robot_name = 'beetle1', robot_id = 1, neighboring = 'beetle2', neighboring_id = 2, separate_dir = -1), + transitions={'done':'SeparateState1_2'}) + + smach.StateMachine.add('SeparateState1_2', + SeparateState(robot_name = 'beetle1', robot_id = 1, neighboring = 'beetle2'), + transitions={'done':'succeeded_1_2','in_process':'SeparateState1_2'}) + + with sm_sub2: + smach.StateMachine.add('SwitchState2_3', + SwitchState(robot_name = 'beetle3', robot_id = 3, neighboring = 'beetle2', neighboring_id = 2, separate_dir = 1), + transitions={'done':'SeparateState2_3'}) + + smach.StateMachine.add('SeparateState2_3', + SeparateState(robot_name = 'beetle3', robot_id = 3, neighboring = 'beetle2',separate_vel = 0.12), + transitions={'done':'succeeded_2_3','in_process':'SeparateState2_3'}) + + smach.StateMachine.add('SUB2', + sm_sub2, + transitions={'succeeded_2_3':'SUB1'}) + + smach.StateMachine.add('SUB1', + sm_sub1, + transitions={'succeeded_1_2':'succeeded'}) + + + sis = smach_ros.IntrospectionServer('smach_server', sm_top, '/SM_ROOT') + sis.start() + outcome = sm_top.execute() + rospy.spin() + sis.stop() +if __name__ == '__main__': + try: + logging.getLogger('rosout').addFilter(Filter()) + demo = DisassemblyDemo(); + demo.main() + except rospy.ROSInterruptException: pass diff --git a/robots/beetle/script/four_modules_bridge.py b/robots/beetle/script/four_modules_bridge.py new file mode 100755 index 000000000..107f0b9a8 --- /dev/null +++ b/robots/beetle/script/four_modules_bridge.py @@ -0,0 +1,322 @@ +#!/usr/bin/env python + +import rospy +import smach +import smach_ros +import math +from std_msgs.msg import Empty, String, Bool +from aerial_robot_msgs.msg import FlightNav +from aerial_robot_msgs.msg import FlightNav +from spinal.msg import DesireCoord +from geometry_msgs.msg import PoseStamped +import numpy as np +import tf + +#### state classes #### + +""" +Contact -> Standby -> Approach -> Assembly + ^ | | + | _ _ _ _ _ _|_ _ _ _ _ | +""" +class ContactState(smach.State): + def __init__(self, edge_module): + smach.State.__init__(self, outcomes=['done','in_process']) + self.edge_module = edge_module + + # tf listener and broadcaster + self.listener = tf.TransformListener() + self.br = tf.TransformBroadcaster() + # publisher + self.edge_nav_pub = rospy.Publisher(self.edge_module+"/uav/nav", FlightNav, queue_size=10) + self.edge_att_pub = rospy.Publisher(self.edge_module+"/final_target_baselink_rot", DesireCoord, queue_size=10) + # parameters + self.target_x = 3.3 + self.target_y = 1.5 + self.target_z = 1.0 + self.target_roll = 0 + self.target_pitch = 0.5 + self.target_yaw = 0 + self.x_tol = 0.23 + self.y_tol = 0.23 + self.z_tol = 0.01 + self.roll_tol = 0.08 + self.pich_tol = 0.08 + self.yaw_tol = 0.08 + self.target_pos = np.array([self.target_x, self.target_y, self.target_z]) + self.target_att = np.array([self.target_roll, self.target_pitch, self.target_yaw]) + self.pos_error_tol = np.array([self.x_tol, self.y_tol, self.z_tol]) # position error torelance + self.att_error_tol = np.array([self.roll_tol, self.pich_tol, self.yaw_tol]) # attitude error torelance + + def execute(self, userdata): + try: + baselink_from_world = self.listener.lookupTransform('/world', self.edge_module+'/root', rospy.Time(0)) + except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): + return 'in_process' + try: + edge_from_world = self.listener.lookupTransform('/world', self.edge_module+'/contact_point', rospy.Time(0)) + except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): + return 'in_process' + pos_error = np.array(self.target_pos - edge_from_world[0]) + rospy.loginfo(pos_error) + att_error = np.array(self.target_att)-tf.transformations.euler_from_quaternion(baselink_from_world[1]) + + if np.all(np.less(np.abs(pos_error),self.pos_error_tol)) and np.all(np.less(np.abs(att_error),self.att_error_tol)): + return 'done' + else: + # x,y,z and yaw + nav_msg = FlightNav() + nav_msg.target = 2 + nav_msg.control_frame = 0 + nav_msg.pos_xy_nav_mode=2 + nav_msg.pos_z_nav_mode=2 + nav_msg.yaw_nav_mode = 2 + nav_msg.target_pos_x = self.target_pos[0] + nav_msg.target_pos_y = self.target_pos[1] + nav_msg.target_pos_z = self.target_pos[2] + nav_msg.target_yaw = self.target_att[2] + self.edge_nav_pub.publish(nav_msg) + + # roll and pitch + link_rot = DesireCoord() + link_rot.roll = self.target_att[0] + link_rot.pitch = self.target_att[1] + self.edge_att_pub.publish(link_rot) + + return 'in_process' + +class StandbyState(smach.State): + def __init__(self, leader, follower): + smach.State.__init__(self, outcomes=['done','in_process']) + #rosparams + self.leader = leader + self.follower = follower + # tf listener and broadcaster + self.listener = tf.TransformListener() + self.br = tf.TransformBroadcaster() + # publisher + self.follower_nav_pub = rospy.Publisher(self.follower+"/uav/nav", FlightNav, queue_size=10) + self.follower_att_pub = rospy.Publisher(self.follower+"/final_target_baselink_rot", DesireCoord, queue_size=10) + # parameters + self.frame_size = 0.52 + self.x_offset = 0.02 + self.y_offset = 0 + self.z_offset = 0 + self.x_tol = 0.005 + self.y_tol = 0.005 + self.z_tol = 0.005 + self.roll_tol = 0.08 + self.pich_tol = 0.08 + self.yaw_tol = 0.08 + self.root_fc_dis = 0.129947 #set from urdf + self.target_offset = np.array([-(self.frame_size + self.x_offset), self.y_offset, self.z_offset]) # position offset while StandbyState + self.pos_error_tol = np.array([self.x_tol, self.y_tol, self.z_tol]) # position error torelance + self.att_error_tol = np.array([self.roll_tol, self.pich_tol, self.yaw_tol]) # attitude error torelance + + def execute(self, userdata): + # rospy.loginfo('Executing state STATE1') + # rospy.sleep(2.0) + + # calculate now follower position in leader coordinate + #TODO: determine leader namespace dynamically + try: + leader_from_world = self.listener.lookupTransform('/world', self.leader+'/root', rospy.Time(0)) + except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): + return 'in_process' + try: + follower_from_leader = self.listener.lookupTransform(self.leader+'/root', self.follower+'/root', rospy.Time(0)) + except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): + return 'in_process' + + # set target odom in leader coordinate + #TODO: determine leader namespace dynamically + self.br.sendTransform((self.target_offset[0], self.target_offset[1] , self.target_offset[2] + self.root_fc_dis), + tf.transformations.quaternion_from_euler(0, 0, 0), + rospy.Time.now(), + "follower_target_odom", + self.leader+"/root") + + # convert target position from leader coord to world coord + try: + homo_transformed_target_odom = self.listener.lookupTransform('/world', '/follower_target_odom', rospy.Time(0)) + except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): + return 'in_process' + target_pos = homo_transformed_target_odom[0] + target_att = tf.transformations.euler_from_quaternion(homo_transformed_target_odom[1]) + + pos_error = np.array(self.target_offset - follower_from_leader[0]) + att_error = np.array([0,0,0])-tf.transformations.euler_from_quaternion(follower_from_leader[1]) + + #check if pos and att error are within the torrelance + if np.all(np.less(np.abs(pos_error),self.pos_error_tol)) and np.all(np.less(np.abs(att_error),self.att_error_tol)): + return 'done' + else: + # x,y,z and yaw + nav_msg_follower = FlightNav() + nav_msg_follower.target = 0 + nav_msg_follower.control_frame = 0 + nav_msg_follower.pos_xy_nav_mode=2 + nav_msg_follower.pos_z_nav_mode=2 + nav_msg_follower.yaw_nav_mode = 2 + nav_msg_follower.target_pos_x = target_pos[0] + nav_msg_follower.target_pos_y = target_pos[1] + nav_msg_follower.target_pos_z = target_pos[2] + nav_msg_follower.target_yaw = target_att[2] + self.follower_nav_pub.publish(nav_msg_follower) + + # roll and pitch + link_rot_follower = DesireCoord() + link_rot_follower.roll = target_att[0] + link_rot_follower.pitch = target_att[1] + self.follower_att_pub.publish(link_rot_follower) + + return 'in_process' + +class ApproachState(smach.State): + def __init__(self,leader,follower): + smach.State.__init__(self, outcomes=['done','in_process','fail']) + # rosparam + self.leader = leader + self.follower = follower + # tf listener and broadcaster + self.listener = tf.TransformListener() + self.br = tf.TransformBroadcaster() + # publisher + self.follower_nav_pub = rospy.Publisher(self.follower+"/uav/nav", FlightNav, queue_size=10) + self.follower_att_pub = rospy.Publisher(self.follower+"/final_target_baselink_rot", DesireCoord, queue_size=10) + # parameters + self.frame_size = 0.52 + self.x_offset = 0 + self.y_offset = 0 + self.z_offset = 0 + self.x_tol = 0.02 + self.y_tol = 0.1 + self.z_tol = 0.1 + self.roll_tol = 0.5 + self.pich_tol = 0.5 + self.yaw_tol = 0.5 + self.root_fc_dis = 0.129947 + self.x_danger_thre = 0.02 + self.y_danger_thre = 0.05 + self.z_danger_thre = 0.05 + self.roll_danger_thre = 0.35 + self.pich_danger_thre = 0.35 + self.yaw_danger_thre = 0.35 + self.target_offset = np.array([-(self.frame_size + self.x_offset), self.y_offset, self.z_offset]) # position offset while ApproachState + self.pos_error_tol = np.array([self.x_tol, self.y_tol, self.z_tol]) # position error torelance + self.att_error_tol = np.array([self.roll_tol, self.pich_tol, self.yaw_tol]) # attitude error torelance + self.pos_danger_thre = np.array([self.x_danger_thre, self.y_danger_thre, self.z_danger_thre]) # position danger threshold + self.att_danger_thre = np.array([self.roll_danger_thre, self.pich_danger_thre, self.yaw_danger_thre]) # attitude danger threshold + + def execute(self, userdata): + # rospy.loginfo('Executing state STATE1') + # rospy.sleep(2.0) + + # calculate now follower position in leader coordinate + #TODO: determine leader namespace dynamically + try: + follower_from_leader = self.listener.lookupTransform(self.leader+'/root', self.follower+'/root', rospy.Time(0)) + except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): + return 'in_process' + + # set target odom in leader coordinate + #TODO: determine leader namespace dynamically + self.br.sendTransform((self.target_offset[0] + 0.05, self.target_offset[1] , self.target_offset[2] + self.root_fc_dis), + tf.transformations.quaternion_from_euler(0, 0, 0), + rospy.Time.now(), + "follower_target_odom", + self.leader+"/root") + + # convert target position from leader coord to world coord + try: + homo_transformed_target_odom = self.listener.lookupTransform('/world', '/follower_target_odom', rospy.Time(0)) + except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): + return 'in process' + target_pos = homo_transformed_target_odom[0] + target_att = tf.transformations.euler_from_quaternion(homo_transformed_target_odom[1]) + + pos_error = np.array(self.target_offset - follower_from_leader[0]) + att_error = att_error = np.array([0,0,0])-tf.transformations.euler_from_quaternion(follower_from_leader[1]) + + #check if pos and att error are within the torrelance + if np.all(np.less(np.abs(pos_error),self.pos_error_tol)) and np.all(np.less(np.abs(att_error),self.att_error_tol)): + return 'done' + elif np.all(np.greater(np.abs(pos_error),self.pos_danger_thre)) or np.all(np.greater(np.abs(att_error),self.att_danger_thre)): + return 'fail' + else: + # x,y,z and yaw + nav_msg_follower = FlightNav() + nav_msg_follower.target = 0 + nav_msg_follower.control_frame = 0 + nav_msg_follower.pos_xy_nav_mode=2 + nav_msg_follower.pos_z_nav_mode=2 + nav_msg_follower.yaw_nav_mode = 2 + nav_msg_follower.target_pos_x = target_pos[0] + nav_msg_follower.target_pos_y = target_pos[1] + nav_msg_follower.target_pos_z = target_pos[2] + nav_msg_follower.target_yaw = target_att[2] + self.follower_nav_pub.publish(nav_msg_follower) + + # roll and pitch + link_rot_follower = DesireCoord() + link_rot_follower.roll = target_att[0] + link_rot_follower.pitch = target_att[1] + self.follower_att_pub.publish(link_rot_follower) + + return 'in_process' + +class AssemblyState(smach.State): + def __init__(self,leader,follower): + smach.State.__init__(self, outcomes=['done']) + # rosparam + self.leader = leader + self.follower = follower + # publisher + self.follower_peg_pub = rospy.Publisher(self.follower+"/peg_insertion", Bool, queue_size=10) + self.follower_docking_pub = rospy.Publisher(self.follower+"/docking_cmd", Bool, queue_size=10) + self.follower_nav_pub = rospy.Publisher(self.follower+"/uav/nav", FlightNav, queue_size=10) + + def execute(self, userdata): + rospy.loginfo('assembled!') + self.follower_peg_pub.publish(True) + self.follower_docking_pub.publish(True) + rospy.sleep(2.0) + return 'done' + +#### main class #### +class AssembleDemo(): + def __init__(self): + rospy.init_node("assemble_demo") + + def main(self): + sm_top = smach.StateMachine(outcomes=['succeeded']) + with sm_top: + # contact + smach.StateMachine.add('ContactState', ContactState(edge_module='beetle4'), transitions={'done':'StandbyState_3_4', 'in_process':'ContactState'}) + + # module3 -> module4 + smach.StateMachine.add('StandbyState_3_4', StandbyState(leader='beetle4',follower='beetle3'), transitions={'done':'ApproachState_3_4', 'in_process':'StandbyState_3_4'}) + smach.StateMachine.add('ApproachState_3_4', ApproachState(leader='beetle4',follower='beetle3'), transitions={'done':'AssemblyState_3_4', 'in_process':'ApproachState_3_4', 'fail':'StandbyState_3_4'}) + smach.StateMachine.add('AssemblyState_3_4', AssemblyState('beetle4','beetle3'), transitions={'done':'StandbyState_2_3'}) + + # module2 -> module3 + smach.StateMachine.add('StandbyState_2_3', StandbyState(leader='beetle3',follower='beetle2'), transitions={'done':'ApproachState_2_3', 'in_process':'StandbyState_2_3'}) + smach.StateMachine.add('ApproachState_2_3', ApproachState(leader='beetle3',follower='beetle2'), transitions={'done':'AssemblyState_2_3', 'in_process':'ApproachState_2_3', 'fail':'StandbyState_2_3'}) + smach.StateMachine.add('AssemblyState_2_3', AssemblyState('beetle3','beetle2'), transitions={'done':'StandbyState_1_2'}) + + # module1 -> module2 + smach.StateMachine.add('StandbyState_1_2', StandbyState(leader='beetle2',follower='beetle1'), transitions={'done':'ApproachState_1_2', 'in_process':'StandbyState_1_2'}) + smach.StateMachine.add('ApproachState_1_2', ApproachState(leader='beetle2',follower='beetle1'), transitions={'done':'AssemblyState_1_2', 'in_process':'ApproachState_1_2', 'fail':'StandbyState_1_2'}) + smach.StateMachine.add('AssemblyState_1_2', AssemblyState('beetle2','beetle1'), transitions={'done':'succeeded'}) + + sis = smach_ros.IntrospectionServer('smach_server', sm_top, '/SM_ROOT') + sis.start() + outcome = sm_top.execute() + rospy.spin() + sis.stop() + +if __name__ == '__main__': + try: + assemble_demo = AssembleDemo(); + assemble_demo.main() + except rospy.ROSInterruptException: pass diff --git a/robots/beetle/script/joy.py b/robots/beetle/script/joy.py new file mode 100755 index 000000000..a83815bc8 --- /dev/null +++ b/robots/beetle/script/joy.py @@ -0,0 +1,67 @@ +#!/usr/bin/env python +from std_msgs.msg import Empty +from std_msgs.msg import UInt16 +from std_msgs.msg import UInt8 +from aerial_robot_msgs.msg import FlightNav +from spinal.msg import DesireCoord +from geometry_msgs.msg import PoseStamped +from sensor_msgs.msg import Joy +from sensor_msgs.msg import JoyFeedbackArray + +import rospy +import numpy as np +import tf +import rosgraph +import sys, select, termios, tty, time +import math + + +class BeetleJoy(): + def __init__(self): + master = rosgraph.Master('/rostopic') + try: + _, subs, _ = master.getSystemState() + except socket.error: + raise ROSTopicIOException("Unable to communicate with master!") + + teleop_topics = [topic[0] for topic in subs if 'teleop_command/start' in topic[0]] + robot_names = [topic.split('/teleop')[0] for topic in teleop_topics] + self.joy_pubs = [] + self.joy_fb_pubs = [] + for name in robot_names: + ns = name + self.joy_pubs.append(rospy.Publisher(ns + '/joy', Joy, queue_size=1)) + self.joy_fb_pubs.append(rospy.Publisher(ns + '/joy/set_feedback', JoyFeedbackArray, queue_size=1)) + + self.joy_sub = rospy.Subscriber("/beetle1/joy",Joy, self.joyCb) + self.joy_fb_sub = rospy.Subscriber("/beetle1/joy/set_feedback",JoyFeedbackArray, self.joyFbCb) + self.nav_rate = rospy.Rate(40) + + self.joy = Joy() + self.joy_fb = JoyFeedbackArray() + + time.sleep(0.5) + + def joyCb(self, msg): + self.joy = msg + + def joyFbCb(self, msg): + self.joy_fb = msg + + def main(self): + while not rospy.is_shutdown(): + for joy_pub in self.joy_pubs: + joy_pub.publish(self.joy) + for joy_fb_pub in self.joy_fb_pubs: + joy_fb_pub.publish(self.joy_fb) + self.nav_rate.sleep() + +if __name__ == "__main__": + + rospy.init_node("beetle_joy") + + joy = BeetleJoy() + joy.main() + + + diff --git a/robots/beetle/script/keyboard_command.py b/robots/beetle/script/keyboard_command.py new file mode 100755 index 000000000..ba9b33bbf --- /dev/null +++ b/robots/beetle/script/keyboard_command.py @@ -0,0 +1,96 @@ +#!/usr/bin/env python +import rospy + +from std_msgs.msg import Empty +from std_msgs.msg import Int8 +from std_msgs.msg import UInt16 +from std_msgs.msg import UInt8 +import rosgraph + +import sys, select, termios, tty + +def getKey(): + tty.setraw(sys.stdin.fileno()) + select.select([sys.stdin], [], [], 0) + key = sys.stdin.read(1) + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) + return key + +if __name__=="__main__": + settings = termios.tcgetattr(sys.stdin) + rospy.init_node("keyboard_command") + + master = rosgraph.Master('/rostopic') + try: + _, subs, _ = master.getSystemState() + + except socket.error: + raise ROSTopicIOException("Unable to communicate with master!") + + teleop_topics = [topic[0] for topic in subs if 'teleop_command/start' in topic[0]] + robot_names = [topic.split('/teleop')[0] for topic in teleop_topics] + + land_pubs = [] + halt_pubs = [] + start_pubs = [] + takeoff_pubs = [] + force_landing_pubs = [] + ctrl_mode_pubs = [] + motion_start_pubs =[] + for name in robot_names: + ns = name + "/teleop_command" + land_pubs.append(rospy.Publisher(ns + '/land', Empty, queue_size=1)) + halt_pubs.append(rospy.Publisher(ns + '/halt', Empty, queue_size=1)) + start_pubs.append(rospy.Publisher(ns + '/start', Empty, queue_size=1)) + takeoff_pubs.append(rospy.Publisher(ns + '/takeoff', Empty, queue_size=1)) + force_landing_pubs.append(rospy.Publisher(ns + '/force_landing', Empty, queue_size=1)) + ctrl_mode_pubs.append(rospy.Publisher(ns + '/ctrl_mode', Int8, queue_size=1)) + motion_start_pubs.append(rospy.Publisher('task_start', Empty, queue_size=1)) + + #the way to write publisher in python + comm=Int8() + gain=UInt16() + try: + while(True): + key = getKey() + print("the key value is {}".format(ord(key))) + # takeoff and landing + if key == 'l': + for land_pub in land_pubs: + land_pub.publish(Empty()) + #for hydra joints + if key == 'r': + for start_pub in start_pubs: + start_pub.publish(Empty()) + #for hydra joints + if key == 'h': + for halt_pub in halt_pubs: + halt_pub.publish(Empty()) + #for hydra joints + if key == 'f': + for force_landing_pub in force_landing_pubs: + force_landing_pub.publish(Empty()) + if key == 't': + for takeoff_pub in takeoff_pubs: + takeoff_pub.publish(Empty()) + if key == 'x': + for motion_start_pub in motion_start_pubs: + motion_start_pub.publish() + if key == 'v': + comm.data = 1 + for ctrl_mode_pub in ctrl_mode_pubs: + ctrl_mode_pub.publish(comm) + if key == 'p': + comm.data = 0 + for ctrl_mode_pub in ctrl_mode_pubs: + ctrl_mode_pub.publish(comm) + if key == '\x03': + break + rospy.sleep(0.001) + + except Exception as e: + print(repr(e)) + finally: + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) + + diff --git a/robots/beetle/script/switch_cmd_pub.py b/robots/beetle/script/switch_cmd_pub.py new file mode 100755 index 000000000..822916a2c --- /dev/null +++ b/robots/beetle/script/switch_cmd_pub.py @@ -0,0 +1,75 @@ +#!/usr/bin/env python + +import rospy +import time +from diagnostic_msgs.msg import KeyValue +from std_msgs.msg import Bool +from beetle.kondo_control import KondoControl + +if __name__=="__main__": + rospy.init_node("switch_cmd_pub") + real_machine = rospy.get_param("real_machine",False) + switch_type = rospy.get_param("/switch_type",1) # 1 -> assembly, 2->disassembly + print(switch_type) + + male_servo_id = rospy.get_param("male_serve_id",5) + female_servo_id = rospy.get_param("female_serve_id",6) + unlock_servo_angle_male = rospy.get_param("unlock_servo_angle_male",7000) + lock_servo_angle_male = rospy.get_param("lock_servo_angle_male",8300) + unlock_servo_angle_female = rospy.get_param("unlock_servo_angle_female",11000) + lock_servo_angle_female = rospy.get_param("lock_servo_angle_female",5600) + + left_edge_id = rospy.get_param("left_edge_id",1) + right_edge_id = rospy.get_param("right_edge_id",3) + + robot_ids = list(range(left_edge_id, right_edge_id + 1)) + print(robot_ids) + flag_pubs = [] + docking_pubs =[] + male_servo_handlers = [] + female_servo_handlers = [] + + flag_msg = KeyValue() + docking_msg = Bool() + + for index, id in enumerate(robot_ids): + robot_name = 'beetle' + str(id) + flag_pubs.append(rospy.Publisher('/' +robot_name + '/assembly_flag', KeyValue, queue_size=1)) + docking_pubs.append(rospy.Publisher('/' +robot_name + '/docking_cmd', Bool, queue_size=1)) + male_servo_handlers.append(KondoControl(robot_name,id,male_servo_id,real_machine)) + female_servo_handlers.append(KondoControl(robot_name,id,female_servo_id,real_machine)) + + for index, id in enumerate(robot_ids): + flag_msg.key = str(id) + if switch_type: + flag_msg.value = '1' + else: + flag_msg.value = '0' + flag_pubs[index].publish(flag_msg) + if real_machine: + if id == left_edge_id: + if switch_type: + male_servo_handlers[index].sendTargetAngle(lock_servo_angle_male) + else: + male_servo_handlers[index].sendTargetAngle(unlock_servo_angle_male) + elif id == right_edge_id: + if switch_type: + female_servo_handlers[index].sendTargetAngle(lock_servo_angle_female) + else: + female_servo_handlers[index].sendTargetAngle(unlock_servo_angle_female) + else: + if switch_type: + female_servo_handlers[index].sendTargetAngle(lock_servo_angle_female) + time.sleep(1.0) + male_servo_handlers[index].sendTargetAngle(lock_servo_angle_male) + else: + female_servo_handlers[index].sendTargetAngle(unlock_servo_angle_female) + time.sleep(1.0) + male_servo_handlers[index].sendTargetAngle(unlock_servo_angle_male) + else: + if switch_type: + docking_msg.data = True + else: + docking_msg.data = False + docking_pubs[index].publish(docking_msg) + diff --git a/robots/beetle/script/test/flight_stability.py b/robots/beetle/script/test/flight_stability.py new file mode 100644 index 000000000..3bd7992e6 --- /dev/null +++ b/robots/beetle/script/test/flight_stability.py @@ -0,0 +1,33 @@ +#!/usr/bin/env python + +import sys +import time +import rospy +import math +import signal +from aerial_robot_msgs.msg import FlightNav, PoseControlPid +from spinal.msg import DesireCoord + +class RotTrack(): + def __init__(self): + self.rate = rospy.Rate(10) + self.rot_pub = rospy.Publisher('assembled/final_target_baselink_rot', DesireCoord, queue_size=1) + self.target_rot = DesireCoord() + self.t = 0 + def main(self): + while not rospy.is_shutdown(): + self.t = self.t + 0.1 + self.target_rot.roll = 0 + self.target_rot.pitch = math.sin(self.t) + self.rot_pub.publish(self.target_rot) + self.rate.sleep() + + +if __name__ == "__main__": + + rospy.init_node("rot_track") + rot_track = RotTrack() + rot_track.main() + + + diff --git a/robots/beetle/script/test/gimbal_actuation_test.py b/robots/beetle/script/test/gimbal_actuation_test.py new file mode 100755 index 000000000..af2efc4af --- /dev/null +++ b/robots/beetle/script/test/gimbal_actuation_test.py @@ -0,0 +1,63 @@ +#!/usr/bin/env python + +from spinal.msg import ServoControlCmd +from sensor_msgs.msg import JointState + +import rospy +import numpy as np +import math +import time + +class GimbalTest(): + def __init__(self): + + self.KONDO_SERVO_POSITION_MIN = 3500 + self.KONDO_SERVO_POSITION_MAX = 11500 + self.KONDO_SERVO_ANGLE_MIN = -2.36 + self.KONDO_SERVO_ANGLE_MAX = 2.36 + + self.test_angle_max = 1.0 + + self.real_machine = True + + self.kondo_pub = rospy.Publisher('/beetle1/kondo_servo_cmd', ServoControlCmd, queue_size=1) + self.gimbal_pub = rospy.Publisher('/beetle1/gimbals_ctrl', JointState, queue_size=1) + self.nav_rate = rospy.Rate(40) + + self.servo_cmd_msg = ServoControlCmd() + self.servo_cmd_msg.index = [1,2,3,4] + + self.joint_state_cmd_msg = JointState() + self.joint_state_cmd_msg.name = ['gimbal1', 'gimbal2', 'gimbal3', 'gimbal4'] + + self.t = 0 + + time.sleep(0.5) + + def rad2KondoPosConv(self,angle): + kondo_pos = int((self.KONDO_SERVO_POSITION_MAX-self.KONDO_SERVO_POSITION_MIN)*(-angle - self.KONDO_SERVO_ANGLE_MIN)/(self.KONDO_SERVO_ANGLE_MAX - self.KONDO_SERVO_ANGLE_MIN) + self.KONDO_SERVO_POSITION_MIN) + return kondo_pos + + def main(self): + while not rospy.is_shutdown(): + self.t = self.t + 0.04 + target_angle = self.test_angle_max * math.sin(self.t) + target_kondo_pos = self.rad2KondoPosConv(target_angle) + self.servo_cmd_msg.angles = [target_kondo_pos,target_kondo_pos,target_kondo_pos,target_kondo_pos] + self.joint_state_cmd_msg.position = [target_angle,target_angle,target_angle,target_angle] + + if self.real_machine: + self.kondo_pub.publish(self.servo_cmd_msg) + else: + self.gimbal_pub.publish(self.joint_state_cmd_msg) + self.nav_rate.sleep() + +if __name__ == "__main__": + + rospy.init_node("gimbale_test") + + gimbal_test = GimbalTest() + gimbal_test.main() + + + diff --git a/robots/beetle/script/test/servo_test.py b/robots/beetle/script/test/servo_test.py new file mode 100755 index 000000000..e4092f040 --- /dev/null +++ b/robots/beetle/script/test/servo_test.py @@ -0,0 +1,37 @@ +#!/usr/bin/env python + +import rospy +import numpy as np +import math +import time +from modules.kondo_control import KondoControl + +class GimbalTest(): + def __init__(self): + + self.kondo = KondoControl('beetle2',2, 1, False) + + self.test_angle_max = 1.0 + + self.nav_rate = rospy.Rate(40) + + self.t = 0 + + time.sleep(0.5) + + def main(self): + while not rospy.is_shutdown(): + self.t = self.t + 0.04 + target_angle = self.test_angle_max * math.sin(self.t) + self.kondo.sendTargetAngle(target_angle) + self.nav_rate.sleep() + +if __name__ == "__main__": + + rospy.init_node("gimbale_test") + + gimbal_test = GimbalTest() + gimbal_test.main() + + + diff --git a/robots/beetle/script/test/trajectory_tracking_test.py b/robots/beetle/script/test/trajectory_tracking_test.py new file mode 100755 index 000000000..a05122a83 --- /dev/null +++ b/robots/beetle/script/test/trajectory_tracking_test.py @@ -0,0 +1,81 @@ +#!/usr/bin/env python + +import sys +import time +import rospy +import math +import signal +import numpy as np +from aerial_robot_msgs.msg import FlightNav, PoseControlPid + +class LemniTrajFollow(): + def __init__(self): + self.period = 80.0 + self.radius = 1.0 + self.init_theta = 0.0 + + self.nav_pub = rospy.Publisher("/assembly/uav/nav", FlightNav, queue_size=1) + + self.center_pos_x = 0.0 + self.center_pos_y = 0.0 + + self.omega = math.pi / self.period + self.nav_rate = 1.0/ 40.0 + + self.flight_nav = FlightNav() + self.flight_nav.target = FlightNav.COG + self.flight_nav.pos_xy_nav_mode = FlightNav.POS_VEL_MODE + + time.sleep(0.5) + + def lemniscate_polar(self, theta, a): + r = np.sqrt(self.radius**2 * np.cos(2 * theta)) + return r + + def polar_to_cartesian(self, r, theta): + x = r * np.cos(theta) + y = r * np.sin(theta) + return x, y + + + def main(self): + t = 0.0 + while not rospy.is_shutdown(): + if t > self.period / self.nav_rate: + return + theta_cand = self.init_theta + t * self.nav_rate * self.omega + theta = 0.0 + if 0 < theta_cand and theta_cand < math.pi/ 4.0: + theta = theta_cand + elif math.pi/ 4.0 <= theta_cand < math.pi / 2.0: + theta = 3 * math.pi / 2 - theta_cand + elif math.pi/ 2.0 <= theta_cand < 3 * math.pi/ 4.0: + theta = 3 * math.pi / 2.0 - theta_cand + elif 3 * math.pi/ 4.0 <= theta_cand < math.pi: + theta = math.pi + theta_cand + elif theta_cand >= math.pi: + return + r = self.lemniscate_polar(theta, self.radius) + x, y = self.polar_to_cartesian(r, theta) + + if not (math.isnan(x) or math.isnan(y)): + self.target_pos_x = self.center_pos_x + x + self.target_pos_y = self.center_pos_y + y + rospy.loginfo(theta_cand) + rospy.loginfo(self.target_pos_x) + self.flight_nav.target_pos_x = self.target_pos_x + self.flight_nav.target_pos_y = self.target_pos_y + self.nav_pub.publish(self.flight_nav) + t = t+1 + time.sleep(self.nav_rate) + + +if __name__ == "__main__": + + rospy.init_node("lemni_trajectory_follow") + + Tracker = LemniTrajFollow() + Tracker.main() + + + diff --git a/robots/beetle/setup.py b/robots/beetle/setup.py new file mode 100644 index 000000000..b618ad8c1 --- /dev/null +++ b/robots/beetle/setup.py @@ -0,0 +1,8 @@ +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +setup_args = generate_distutils_setup( + packages=['beetle'], + package_dir={'': 'script'}) + +setup(**setup_args) diff --git a/robots/beetle/src/beetle_navigation.cpp b/robots/beetle/src/beetle_navigation.cpp new file mode 100644 index 000000000..2a6fe97e0 --- /dev/null +++ b/robots/beetle/src/beetle_navigation.cpp @@ -0,0 +1,401 @@ +// -*- mode: c++ -*- + +#include + +using namespace aerial_robot_model; +using namespace aerial_robot_navigation; + +BeetleNavigator::BeetleNavigator(): + GimbalrotorNavigator(), + roll_pitch_control_flag_(false), + pre_assembled_(false) +{ +} + +void BeetleNavigator::initialize(ros::NodeHandle nh, ros::NodeHandle nhp, + boost::shared_ptr robot_model, + boost::shared_ptr estimator, + double loop_du) +{ + GimbalrotorNavigator::initialize(nh, nhp, robot_model, estimator, loop_du); + nh_ = nh; + nhp_ = nhp; + beetle_robot_model_ = boost::dynamic_pointer_cast(robot_model); + int max_modules_num = beetle_robot_model_->getMaxModuleNum(); + assembly_nav_sub_ = nh_.subscribe("/assembly/uav/nav", 1, &BeetleNavigator::assemblyNavCallback, this); + assembly_target_rot_sub_ = nh_.subscribe("/assembly/final_target_baselink_rot", 1, &BeetleNavigator::setAssemblyFinalTargetBaselinkRotCallback, this); + for(int i = 0; i < max_modules_num; i++){ + std::string module_name = string("/beetle") + std::to_string(i+1); + assembly_flag_subs_.insert(make_pair(module_name, nh_.subscribe( module_name + string("/assembly_flag"), 1, &BeetleNavigator::assemblyFlagCallback, this))); + } + +} + +void BeetleNavigator::joyStickControl(const sensor_msgs::JoyConstPtr & joy_msg) +{ + sensor_msgs::Joy joy_cmd; + if(joy_msg->axes.size() == PS3_AXES && joy_msg->buttons.size() == PS3_BUTTONS) + { + joy_cmd = (*joy_msg); + } + else if(joy_msg->axes.size() == PS4_AXES && joy_msg->buttons.size() == PS4_BUTTONS) + { + joy_cmd = ps4joyToPs3joyConvert(*joy_msg); + } + else + { + ROS_WARN("the joystick type is not supported (buttons: %d, axes: %d)", (int)joy_msg->buttons.size(), (int)joy_msg->axes.size()); + return; + } + + /* Motion: Roll and Pitch*/ + /* this is the roll and pitch_angle control */ + if(joy_cmd.buttons[PS3_BUTTON_REAR_LEFT_1] == 1) + { + tf::Vector3 target_roll_pitch; + // create another command to control roll direction + // target_roll_pitch.setX(getFinalTargetBaselinkRot().x() + // + joy_cmd.axes[PS3_AXIS_STICK_LEFT_LEFTWARDS] * max_target_roll_pitch_rate_ + // ); + + target_roll_pitch.setY(getFinalTargetBaselinkRot().y() + + joy_cmd.axes[PS3_AXIS_STICK_LEFT_UPWARDS] * max_target_roll_pitch_rate_ + ); + + setFinalTargetBaselinkRot(target_roll_pitch); + roll_pitch_control_flag_ = true; + joy_rotation_flag_ = true; + } + else + { + if(roll_pitch_control_flag_) + { + roll_pitch_control_flag_= false; + ROS_INFO("Joy Control: fixed roll pich state, target roll angle is %f, pitch angle is %f", getFinalTargetBaselinkRot().x(),getFinalTargetBaselinkRot().y()); + } + } + if(joy_cmd.buttons[PS3_BUTTON_REAR_LEFT_1] == 1 && joy_cmd.buttons[PS3_BUTTON_REAR_RIGHT_1] == 1) + { + tf::Vector3 target_roll_pitch; + target_roll_pitch.setX(0.0); + target_roll_pitch.setY(0.0); + setFinalTargetBaselinkRot(target_roll_pitch); + } + + BaseNavigator::joyStickControl(joy_msg); + joy_rotation_flag_ = false; +} + +void BeetleNavigator::naviCallback(const aerial_robot_msgs::FlightNavConstPtr & msg) +{ if(getNaviState() == TAKEOFF_STATE || BaseNavigator::getNaviState() == LAND_STATE) return; + + gps_waypoint_ = false; + + if(force_att_control_flag_) return; + + /* yaw */ + if(msg->yaw_nav_mode == aerial_robot_msgs::FlightNav::POS_MODE) + { + setTargetYaw(angles::normalize_angle(msg->target_yaw)); + setTargetOmegaZ(0); + } + if(msg->yaw_nav_mode == aerial_robot_msgs::FlightNav::VEL_MODE) + { + setTargetOmegaZ(msg->target_omega_z); + + teleop_reset_time_ = teleop_reset_duration_ + ros::Time::now().toSec(); + } + if(msg->yaw_nav_mode == aerial_robot_msgs::FlightNav::POS_VEL_MODE) + { + setTargetYaw(angles::normalize_angle(msg->target_yaw)); + setTargetOmegaZ(msg->target_omega_z); + trajectory_mode_ = true; + trajectory_reset_time_ = trajectory_reset_duration_ + ros::Time::now().toSec(); + } + + /* xy control */ + switch(msg->pos_xy_nav_mode) + { + case aerial_robot_msgs::FlightNav::POS_MODE: + { + tf::Vector3 target_cog_pos(msg->target_pos_x, msg->target_pos_y, 0); + if(msg->target == aerial_robot_msgs::FlightNav::BASELINK) + { + /* check the transformation */ + tf::Transform cog2baselink_tf; + tf::transformKDLToTF(robot_model_->getCog2Baselink(), cog2baselink_tf); + target_cog_pos -= tf::Matrix3x3(tf::createQuaternionFromYaw(getTargetRPY().z())) + * cog2baselink_tf.getOrigin(); + } + else if(msg->target == CONTACT_POINT) + { + /* check the transformation */ + tf::Transform cog2cp_tf; + tf::transformKDLToTF(beetle_robot_model_->getCog2Cp(), cog2cp_tf); + target_cog_pos -= cog2cp_tf.getOrigin(); + } + + tf::Vector3 target_delta = getTargetPos() - target_cog_pos; + target_delta.setZ(0); + + if(target_delta.length() > vel_nav_threshold_) + { + ROS_WARN("start vel nav control for waypoint"); + vel_based_waypoint_ = true; + xy_control_mode_ = VEL_CONTROL_MODE; + } + + if(!vel_based_waypoint_) + xy_control_mode_ = POS_CONTROL_MODE; + + setTargetPosCandX(target_cog_pos.x()); + setTargetPosCandY(target_cog_pos.y()); + setTargetVelX(0); + setTargetVelY(0); + + break; + } + case aerial_robot_msgs::FlightNav::VEL_MODE: + { + /* do not switch to pure vel mode */ + xy_control_mode_ = POS_CONTROL_MODE; + + teleop_reset_time_ = teleop_reset_duration_ + ros::Time::now().toSec(); + + switch(msg->control_frame) + { + case WORLD_FRAME: + { + setTargetVelX(msg->target_vel_x); + setTargetVelY(msg->target_vel_y); + break; + } + case LOCAL_FRAME: + { + double yaw_angle = estimator_->getState(State::YAW_COG, estimate_mode_)[0]; + tf::Vector3 target_vel = frameConversion(tf::Vector3(msg->target_vel_x, msg->target_vel_y, 0), yaw_angle); + setTargetVelX(target_vel.x()); + setTargetVelY(target_vel.y()); + break; + } + default: + { + break; + } + } + break; + } + case aerial_robot_msgs::FlightNav::POS_VEL_MODE: + { + xy_control_mode_ = POS_CONTROL_MODE; + setTargetPosCandX(msg->target_pos_x); + setTargetPosCandY(msg->target_pos_y); + setTargetVelX(msg->target_vel_x); + setTargetVelY(msg->target_vel_y); + + trajectory_mode_ = true; + trajectory_reset_time_ = trajectory_reset_duration_ + ros::Time::now().toSec(); + + break; + } + case aerial_robot_msgs::FlightNav::ACC_MODE: + { + /* should be in COG frame */ + xy_control_mode_ = ACC_CONTROL_MODE; + prev_xy_control_mode_ = ACC_CONTROL_MODE; + + switch(msg->control_frame) + { + case WORLD_FRAME: + { + target_acc_.setValue(msg->target_acc_x, msg->target_acc_y, 0); + break; + } + case LOCAL_FRAME: + { + tf::Vector3 target_acc = frameConversion(tf::Vector3(msg->target_acc_x, msg->target_acc_y, 0), estimator_->getState(State::YAW_COG, estimate_mode_)[0]); + setTargetAccX(target_acc.x()); + setTargetAccY(target_acc.y()); + break; + } + default: + { + break; + } + } + break; + } + case aerial_robot_msgs::FlightNav::STAY_HERE_MODE: + { + xy_control_mode_ = POS_CONTROL_MODE; + setTargetVelX(0); + setTargetVelY(0); + setTargetXyFromCurrentState(); + break; + } + case aerial_robot_msgs::FlightNav::GPS_WAYPOINT_MODE: + { + target_wp_ = geodesy::toMsg(msg->target_pos_x, msg->target_pos_y); + gps_waypoint_ = true; + + break; + } + } + if(msg->pos_xy_nav_mode != aerial_robot_msgs::FlightNav::ACC_MODE) target_acc_.setValue(0,0,0); + + /* z */ + if(msg->pos_z_nav_mode == aerial_robot_msgs::FlightNav::VEL_MODE) + { + /* special */ + addTargetPosZ(msg->target_pos_diff_z); + setTargetVelZ(0); + } + else if(msg->pos_z_nav_mode == aerial_robot_msgs::FlightNav::POS_MODE) + { + tf::Vector3 target_cog_pos(0, 0, msg->target_pos_z); + if(msg->target == aerial_robot_msgs::FlightNav::BASELINK) + { + /* check the transformation */ + tf::Transform cog2baselink_tf; + tf::transformKDLToTF(robot_model_->getCog2Baselink(), cog2baselink_tf); + target_cog_pos -= cog2baselink_tf.getOrigin(); + } + else if(msg->target == CONTACT_POINT) + { + /* check the transformation */ + tf::Transform cog2cp_tf; + tf::transformKDLToTF(beetle_robot_model_->getCog2Cp(), cog2cp_tf); + target_cog_pos -= cog2cp_tf.getOrigin(); + } + + setTargetPosCandZ(target_cog_pos.z()); + setTargetVelZ(0); + + } + else if(msg->pos_z_nav_mode == aerial_robot_msgs::FlightNav::POS_VEL_MODE) + { + setTargetPosCandZ(msg->target_pos_z); + setTargetVelZ(msg->target_vel_z); + } + + +} + +void BeetleNavigator::assemblyNavCallback(const aerial_robot_msgs::FlightNavConstPtr & msg) +{ + if(beetle_robot_model_->getModuleState() != SEPARATED) BeetleNavigator::naviCallback(msg); +} + +void BeetleNavigator::setAssemblyFinalTargetBaselinkRotCallback(const spinal::DesireCoordConstPtr & msg) +{ + if(beetle_robot_model_->getModuleState() != SEPARATED) GimbalrotorNavigator::setFinalTargetBaselinkRotCallback(msg); +} + + +void BeetleNavigator::assemblyFlagCallback(const diagnostic_msgs::KeyValue & msg) +{ + int module_id = std::stoi(msg.key); + int assembly_flag = std::stoi(msg.value); + beetle_robot_model_->setAssemblyFlag(module_id,assembly_flag); +} + +void BeetleNavigator::update() +{ + rotateContactPointFrame(); + beetle_robot_model_->calcCenterOfMoving(); + convertTargetPosFromCoG2CoM(); + GimbalrotorNavigator::update(); + beetle_robot_model_->setControlFlag((getNaviState() == HOVER_STATE || getNaviState() == TAKEOFF_STATE || getNaviState() == LAND_STATE) ? true : false); +} + +void BeetleNavigator::rotateContactPointFrame() +{ + geometry_msgs::TransformStamped tf = beetle_robot_model_-> getContactFrame(); + tf.header.stamp = ros::Time::now(); + tf.header.frame_id = tf::resolve(std::string(nh_.getNamespace()), beetle_robot_model_->getRootFrameName()); + tf.child_frame_id = tf::resolve(std::string(nh_.getNamespace()), std::string("contact_point")); + br_.sendTransform(tf); +} + +void BeetleNavigator::convertTargetPosFromCoG2CoM() +{ + //TODO: considering correct rotaion axis + + tf::Transform cog2com_tf; + tf::transformKDLToTF(beetle_robot_model_->getCog2CoM(), cog2com_tf); + tf::Matrix3x3 cog_orientation_tf; + tf::matrixEigenToTF(beetle_robot_model_->getCogDesireOrientation(),cog_orientation_tf); + tf::Vector3 com_conversion = cog_orientation_tf * tf::Matrix3x3(tf::createQuaternionFromYaw(getTargetRPY().z())) * cog2com_tf.getOrigin(); + bool current_assembled = beetle_robot_model_->getCurrentAssembled(); + bool reconfig_flag = beetle_robot_model_->getReconfigFlag(); + + KDL::Frame empty_frame; + + if(pre_assembled_ && !current_assembled){ //disassembly process + setTargetPosCandX(getTargetPos().x()); + setTargetPosCandY(getTargetPos().y()); + setTargetPosCandZ(getTargetPos().z()); + ROS_INFO("switched"); + pre_assembled_ = current_assembled; + } else if((!pre_assembled_ && current_assembled) || (current_assembled && reconfig_flag)){ //assembly or reconfig process + int my_id = beetle_robot_model_->getMyID(); + tf::Vector3 pos_cog = estimator_->getPos(Frame::COG, estimate_mode_); + tf::Vector3 orientation_err = getTargetRPY() - estimator_ ->getEuler(Frame::COG, estimate_mode_); + ROS_INFO_STREAM("ID: " << my_id << "'s orientation_err is "<< "(" << orientation_err.x() << ", " << orientation_err.y() << ", " << orientation_err.z() << ")"); + tf::Matrix3x3 att_err_mat = tf::Matrix3x3(tf::createQuaternionFromRPY(orientation_err.x(), orientation_err.y(),orientation_err.z())); + tf::Vector3 corrected_target_pos = tf::Matrix3x3(tf::createQuaternionFromRPY(orientation_err.x(), orientation_err.y(),orientation_err.z())) * pos_cog; + if(getNaviState() == HOVER_STATE){ + setTargetPosCandX(pos_cog.x() + (att_err_mat.inverse() * com_conversion).x()); + setTargetPosCandY(pos_cog.y() + (att_err_mat.inverse() * com_conversion).y()); + setTargetPosCandZ(pos_cog.z() + (att_err_mat.inverse() * com_conversion).z()); + } + ROS_INFO("switched"); + pre_assembled_ = current_assembled; + }else if(beetle_robot_model_->getCog2CoM() == empty_frame && getNaviState() != HOVER_STATE){ + return; + } + + + /* Check whether the target value was changed by someway other than uav nav */ + /* Target pos candidate represents a target pos in a assembly frame */ + if( int(pre_target_pos_.x() * 1000) != int(getTargetPos().x() * 1000)){ + float target_x_com = getTargetPos().x() + com_conversion.x(); + setTargetPosCandX(target_x_com); + } + + if( int(pre_target_pos_.y() * 1000) != int(getTargetPos().y() * 1000)){ + float target_y_com = getTargetPos().y() + com_conversion.y(); + setTargetPosCandY(target_y_com); + } + + if( int(pre_target_pos_.z() * 1000) != int(getTargetPos().z() * 1000)){ + float target_z_com = getTargetPos().z() + com_conversion.z(); + setTargetPosCandZ(target_z_com); + } + + tf::Vector3 target_cog_pos = getTargetPosCand(); + target_cog_pos -= com_conversion; + + if( getNaviState() == HOVER_STATE || + getNaviState() == TAKEOFF_STATE){ + setTargetPosX(target_cog_pos.x()); + setTargetPosY(target_cog_pos.y()); + setTargetPosZ(target_cog_pos.z()); + } + + pre_target_pos_.setX(target_cog_pos.x()); + pre_target_pos_.setY(target_cog_pos.y()); + pre_target_pos_.setZ(target_cog_pos.z()); +} + +void BeetleNavigator::rosParamInit() +{ + ros::NodeHandle nh(nh_, "navigation"); + getParam(nh, "max_target_roll_pitch_rate", max_target_roll_pitch_rate_, 0.0); + GimbalrotorNavigator::rosParamInit(); +} + + +/* plugin registration */ +#include +PLUGINLIB_EXPORT_CLASS(aerial_robot_navigation::BeetleNavigator, aerial_robot_navigation::BaseNavigator); diff --git a/robots/beetle/src/control/beetle_controller.cpp b/robots/beetle/src/control/beetle_controller.cpp new file mode 100644 index 000000000..5e6c803f0 --- /dev/null +++ b/robots/beetle/src/control/beetle_controller.cpp @@ -0,0 +1,461 @@ +#include + +using namespace std; + +namespace aerial_robot_control +{ + BeetleController::BeetleController(): + GimbalrotorController(), + pd_wrench_comp_mode_(false), + pre_module_state_(SEPARATED) + { + } + + void BeetleController::initialize(ros::NodeHandle nh, ros::NodeHandle nhp, + boost::shared_ptr robot_model, + boost::shared_ptr estimator, + boost::shared_ptr navigator, + double ctrl_loop_rate + ) + { + GimbalrotorController::initialize(nh, nhp, robot_model, estimator, navigator, ctrl_loop_rate); + wrench_pid_msg_.x.total.resize(1); + wrench_pid_msg_.x.p_term.resize(1); + wrench_pid_msg_.x.i_term.resize(1); + wrench_pid_msg_.x.d_term.resize(1); + wrench_pid_msg_.y.total.resize(1); + wrench_pid_msg_.y.p_term.resize(1); + wrench_pid_msg_.y.i_term.resize(1); + wrench_pid_msg_.y.d_term.resize(1); + wrench_pid_msg_.z.total.resize(1); + wrench_pid_msg_.z.p_term.resize(1); + wrench_pid_msg_.z.i_term.resize(1); + wrench_pid_msg_.z.d_term.resize(1); + wrench_pid_msg_.roll.total.resize(1); + wrench_pid_msg_.roll.p_term.resize(1); + wrench_pid_msg_.roll.i_term.resize(1); + wrench_pid_msg_.roll.d_term.resize(1); + wrench_pid_msg_.pitch.total.resize(1); + wrench_pid_msg_.pitch.p_term.resize(1); + wrench_pid_msg_.pitch.i_term.resize(1); + wrench_pid_msg_.pitch.d_term.resize(1); + wrench_pid_msg_.yaw.total.resize(1); + wrench_pid_msg_.yaw.p_term.resize(1); + wrench_pid_msg_.yaw.i_term.resize(1); + wrench_pid_msg_.yaw.d_term.resize(1); + + beetle_robot_model_ = boost::dynamic_pointer_cast(robot_model); + external_wrench_lower_limit_ = Eigen::VectorXd::Zero(6); + external_wrench_upper_limit_ = Eigen::VectorXd::Zero(6); + rosParamInit(); + if(pd_wrench_comp_mode_) ROS_ERROR("PD & Wrench comp mode"); + external_wrench_compensation_pub_ = nh_.advertise("external_wrench_compensation", 1); + tagged_external_wrench_pub_ = nh_.advertise("tagged_wrench", 1); + whole_external_wrench_pub_ = nh_.advertise("whole_wrench", 1); + internal_wrench_pub_ = nh_.advertise("internal_wrench", 1); + wrench_comp_pid_pub_ = nh_.advertise("debug/wrench_comp/pid", 1); + int max_modules_num = beetle_robot_model_->getMaxModuleNum(); + for(int i = 0; i < max_modules_num; i++){ + std::string module_name = string("/beetle") + std::to_string(i+1); + est_wrench_subs_.insert(make_pair(module_name, nh_.subscribe( module_name + string("/tagged_wrench"), 1, &BeetleController::estExternalWrenchCallback, this))); + Eigen::VectorXd wrench = Eigen::VectorXd::Zero(6); + est_wrench_list_.insert(make_pair(i+1, wrench)); + inter_wrench_list_.insert(make_pair(i+1, wrench)); + wrench_comp_list_.insert(make_pair(i+1, wrench)); + ff_inter_wrench_list_.insert(make_pair(i+1, wrench)); + ff_inter_wrench_subs_.insert(make_pair(module_name, nh_.subscribe( module_name + string("/ff_inter_wrench"), 1, &BeetleController::ffInterWrenchCallback, this))); + } + pid_controllers_.push_back(PID("f_x", wrench_comp_p_gain_, wrench_comp_i_gain_, wrench_comp_d_gain_)); + pid_controllers_.push_back(PID("f_y", wrench_comp_p_gain_, wrench_comp_i_gain_, wrench_comp_d_gain_)); + pid_controllers_.push_back(PID("f_z", wrench_comp_p_gain_, wrench_comp_i_gain_, wrench_comp_d_gain_)); + pid_controllers_.push_back(PID("t_x", wrench_comp_p_gain_, wrench_comp_i_gain_, wrench_comp_d_gain_)); + pid_controllers_.push_back(PID("t_y", wrench_comp_p_gain_, wrench_comp_i_gain_, wrench_comp_d_gain_)); + pid_controllers_.push_back(PID("t_z", wrench_comp_p_gain_, wrench_comp_i_gain_, wrench_comp_d_gain_)); + + ros::NodeHandle control_nh(nh_, "controller"); + ros::NodeHandle wrench_nh(control_nh, "wrench_comp"); + std::vector indices = {FX, FY, FZ, TX, TY, TZ}; + pid_reconf_servers_.push_back(boost::make_shared(wrench_nh)); + pid_reconf_servers_.back()->setCallback(boost::bind(&BeetleController::cfgPidCallback, this, _1, _2, indices)); + + prev_comp_update_time_ = -1; + } + + void BeetleController::controlCore() + { + std::map assembly_flag = beetle_robot_model_->getAssemblyFlags(); + int max_modules_num = beetle_robot_model_->getMaxModuleNum(); + int module_state = beetle_robot_model_-> getModuleState(); + bool comp_update_flag = false; + double comp_update_interval = 1 / comp_term_update_freq_; + if(beetle_robot_model_->getControlFlag() && + module_state != SEPARATED){ + calcInteractionWrench(); + comp_update_flag = true; + }else{ + for(int i = 0; i < max_modules_num; i++){ + est_wrench_list_[i+1] = Eigen::VectorXd::Zero(6); + inter_wrench_list_[i+1] = Eigen::VectorXd::Zero(6); + wrench_comp_list_[i+1] = Eigen::VectorXd::Zero(6); + } + } + + double mass_inv = 1 / beetle_robot_model_->getMass(); + Eigen::Matrix3d inertia_inv = (beetle_robot_model_->getInertia()).inverse(); + int my_id = beetle_robot_model_->getMyID(); + + if(module_state == FOLLOWER && + pd_wrench_comp_mode_ && + beetle_robot_model_->getControlFlag()){ + + /* set proper gains for wrench comp */ + int module_num = 0; + for(const auto & item : est_wrench_list_){ + if(assembly_flag[item.first]){ + module_num ++; + } + } + std::vector wrench_indices = {FX, FY, FZ, TX, TY, TZ}; + for(const auto& index: wrench_indices) + { + pid_controllers_.at(index).setPGain(wrench_comp_p_gain_ / std::pow(2, module_num -2) ); + pid_controllers_.at(index).setDGain(wrench_comp_d_gain_ / std::pow(2, module_num -2) ); + pid_controllers_.at(index).setIGain(wrench_comp_i_gain_ / std::pow(2, module_num -2) ); + } + Eigen::VectorXd wrench_comp_term = wrench_comp_list_[my_id]; + + /* current version: I term reconfig mehod */ + Eigen::VectorXd I_reconfig_acc_cog_term = Eigen::VectorXd::Zero(6); + I_reconfig_acc_cog_term.head(3) = mass_inv * wrench_comp_term.head(3); + I_reconfig_acc_cog_term.tail(3) = inertia_inv * wrench_comp_term.tail(3); //inavailable + + double IGain_Fx = pid_controllers_.at(X).getIGain(); + double IGain_Fy = pid_controllers_.at(Y).getIGain(); + double IGain_Fz = pid_controllers_.at(Z).getIGain(); + double IGain_Tx = pid_controllers_.at(ROLL).getIGain(); + double IGain_Ty = pid_controllers_.at(PITCH).getIGain(); + double IGain_Tz = pid_controllers_.at(YAW).getIGain(); + + double du; + if(prev_comp_update_time_ < 0){ + prev_comp_update_time_ = ros::Time::now().toSec(); + return; + }else{ + du = ros::Time::now().toSec() - prev_comp_update_time_; + prev_comp_update_time_ = ros::Time::now().toSec(); + } + + pid_controllers_.at(FX).updateWoVel(I_reconfig_acc_cog_term(0) / IGain_Fx, du); + pid_controllers_.at(FY).updateWoVel(I_reconfig_acc_cog_term(1) / IGain_Fy, du); + pid_controllers_.at(FZ).updateWoVel(I_reconfig_acc_cog_term(2) / IGain_Fz, du); + pid_controllers_.at(TX).updateWoVel(I_reconfig_acc_cog_term(3) / IGain_Tx, du); + pid_controllers_.at(TY).updateWoVel(I_reconfig_acc_cog_term(4) / IGain_Ty, du); + pid_controllers_.at(TZ).updateWoVel(I_reconfig_acc_cog_term(5) / IGain_Tz, du); + + I_comp_Fx_ = pid_controllers_.at(FX).result(); + I_comp_Fy_ = pid_controllers_.at(FY).result(); + I_comp_Fz_ = pid_controllers_.at(FZ).result(); + I_comp_Tx_ = pid_controllers_.at(TX).result(); + I_comp_Ty_ = pid_controllers_.at(TY).result(); + I_comp_Tz_ = pid_controllers_.at(TZ).result(); + + pid_controllers_.at(X).setICompTerm(I_comp_Fx_); + pid_controllers_.at(Y).setICompTerm(I_comp_Fy_); + pid_controllers_.at(Z).setICompTerm(I_comp_Fz_); + pid_controllers_.at(ROLL).setICompTerm(I_comp_Tx_); + pid_controllers_.at(PITCH).setICompTerm(I_comp_Ty_); + pid_controllers_.at(YAW).setICompTerm(I_comp_Tz_); + + geometry_msgs::WrenchStamped wrench_msg; + wrench_msg.header.stamp.fromSec(estimator_->getImuLatestTimeStamp()); + wrench_msg.wrench.force.x = I_reconfig_acc_cog_term(0); + wrench_msg.wrench.force.y = I_reconfig_acc_cog_term(1); + wrench_msg.wrench.force.z = I_reconfig_acc_cog_term(2); + wrench_msg.wrench.torque.x = I_reconfig_acc_cog_term(3); + wrench_msg.wrench.torque.y = I_reconfig_acc_cog_term(4); + wrench_msg.wrench.torque.z = I_reconfig_acc_cog_term(5); + external_wrench_compensation_pub_.publish(wrench_msg); + + /* publish wrench comp pid value*/ + wrench_pid_msg_.header.stamp.fromSec(estimator_->getImuLatestTimeStamp()); + wrench_pid_msg_.x.total.at(0) = pid_controllers_.at(FX).result(); + wrench_pid_msg_.x.p_term.at(0) = pid_controllers_.at(FX).getPTerm(); + wrench_pid_msg_.x.i_term.at(0) = pid_controllers_.at(FX).getITerm(); + wrench_pid_msg_.x.d_term.at(0) = pid_controllers_.at(FX).getDTerm(); + + wrench_pid_msg_.y.total.at(0) = pid_controllers_.at(FY).result(); + wrench_pid_msg_.y.p_term.at(0) = pid_controllers_.at(FY).getPTerm(); + wrench_pid_msg_.y.i_term.at(0) = pid_controllers_.at(FY).getITerm(); + wrench_pid_msg_.y.d_term.at(0) = pid_controllers_.at(FY).getDTerm(); + + wrench_pid_msg_.z.total.at(0) = pid_controllers_.at(FZ).result(); + wrench_pid_msg_.z.p_term.at(0) = pid_controllers_.at(FZ).getPTerm(); + wrench_pid_msg_.z.i_term.at(0) = pid_controllers_.at(FZ).getITerm(); + wrench_pid_msg_.z.d_term.at(0) = pid_controllers_.at(FZ).getDTerm(); + + wrench_pid_msg_.roll.total.at(0) = pid_controllers_.at(TX).result(); + wrench_pid_msg_.roll.p_term.at(0) = pid_controllers_.at(TX).getPTerm(); + wrench_pid_msg_.roll.i_term.at(0) = pid_controllers_.at(TX).getITerm(); + wrench_pid_msg_.roll.d_term.at(0) = pid_controllers_.at(TX).getDTerm(); + + wrench_pid_msg_.pitch.total.at(0) = pid_controllers_.at(TY).result(); + wrench_pid_msg_.pitch.p_term.at(0) = pid_controllers_.at(TY).getPTerm(); + wrench_pid_msg_.pitch.i_term.at(0) = pid_controllers_.at(TY).getITerm(); + wrench_pid_msg_.pitch.d_term.at(0) = pid_controllers_.at(TY).getDTerm(); + + wrench_pid_msg_.yaw.total.at(0) = pid_controllers_.at(TZ).result(); + wrench_pid_msg_.yaw.p_term.at(0) = pid_controllers_.at(TZ).getPTerm(); + wrench_pid_msg_.yaw.i_term.at(0) = pid_controllers_.at(TZ).getITerm(); + wrench_pid_msg_.yaw.d_term.at(0) = pid_controllers_.at(TZ).getDTerm(); + + wrench_comp_pid_pub_.publish(wrench_pid_msg_); + + }else{ + pid_controllers_.at(FX).reset(); + pid_controllers_.at(FY).reset(); + pid_controllers_.at(FZ).reset(); + pid_controllers_.at(TX).reset(); + pid_controllers_.at(TY).reset(); + pid_controllers_.at(TZ).reset(); + pid_controllers_.at(X).setICompTerm(0.0); + pid_controllers_.at(Y).setICompTerm(0.0); + pid_controllers_.at(Z).setICompTerm(0.0); + pid_controllers_.at(ROLL).setICompTerm(0.0); + pid_controllers_.at(PITCH).setICompTerm(0.0); + pid_controllers_.at(YAW).setICompTerm(0.0); + } + + GimbalrotorController::controlCore(); + pre_module_state_ = module_state; + + } + + void BeetleController::reset() + { + GimbalrotorController::reset(); + pid_controllers_.at(FX).reset(); + pid_controllers_.at(FY).reset(); + pid_controllers_.at(FZ).reset(); + pid_controllers_.at(TX).reset(); + pid_controllers_.at(TY).reset(); + pid_controllers_.at(TZ).reset(); + pid_controllers_.at(X).setICompTerm(0.0); + pid_controllers_.at(Y).setICompTerm(0.0); + pid_controllers_.at(Z).setICompTerm(0.0); + pid_controllers_.at(ROLL).setICompTerm(0.0); + pid_controllers_.at(PITCH).setICompTerm(0.0); + pid_controllers_.at(YAW).setICompTerm(0.0); + } + + void BeetleController::calcInteractionWrench() + { + /* 1. calculate external wrench W_w for whole system (e.g. ground effects, model error and etc..)*/ + Eigen::VectorXd W_w = Eigen::VectorXd::Zero(6); + Eigen::VectorXd W_sum = Eigen::VectorXd::Zero(6); + int module_num = 0; + std::map assembly_flag = beetle_robot_model_->getAssemblyFlags(); + + for(const auto & item : est_wrench_list_){ + if(assembly_flag[item.first]){ + W_sum += item.second; + module_num ++; + } + } + + if(!module_num) return; + W_w = W_sum / module_num; + geometry_msgs::WrenchStamped wrench_msg; + wrench_msg.header.stamp.fromSec(estimator_->getImuLatestTimeStamp()); + wrench_msg.wrench.force.x = W_w(0); + wrench_msg.wrench.force.y = W_w(1); + wrench_msg.wrench.force.z = W_w(2); + wrench_msg.wrench.torque.x = W_w(3); + wrench_msg.wrench.torque.y = W_w(4); + wrench_msg.wrench.torque.z = W_w(5); + whole_external_wrench_pub_.publish(wrench_msg); + + /* 2. calculate interactional wrench for each module*/ + Eigen::VectorXd left_inter_wrench = Eigen::VectorXd::Zero(6); + for(const auto & item : est_wrench_list_){ + if(assembly_flag[item.first]){ + Eigen::VectorXd right_inter_wrench = item.second - W_w + left_inter_wrench; + inter_wrench_list_[item.first] = right_inter_wrench; + left_inter_wrench = right_inter_wrench; + }else{ + inter_wrench_list_[item.first] = Eigen::VectorXd::Zero(6); + } + } + int my_id = beetle_robot_model_->getMyID(); + wrench_msg.wrench.force.x = inter_wrench_list_[my_id](0); + wrench_msg.wrench.force.y = inter_wrench_list_[my_id](1); + wrench_msg.wrench.force.z = inter_wrench_list_[my_id](2); + wrench_msg.wrench.torque.x = inter_wrench_list_[my_id](3); + wrench_msg.wrench.torque.y = inter_wrench_list_[my_id](4); + wrench_msg.wrench.torque.z = inter_wrench_list_[my_id](5); + internal_wrench_pub_.publish(wrench_msg); + /* 3. calculate wrench compensation term for each module*/ + int leader_id = beetle_robot_model_->getLeaderID(); + /* 3.1. process from leader to left*/ + int right_module_id = leader_id; + Eigen::VectorXd wrench_comp_sum_left = Eigen::VectorXd::Zero(6); + for(int i = leader_id-1; i > 0; i--){ + if(assembly_flag[i]){ + wrench_comp_sum_left += ff_inter_wrench_list_[i] + inter_wrench_list_[i]; + // wrench_comp_list_[i] += wrench_comp_gain_ * wrench_comp_sum_left; + wrench_comp_list_[i] = wrench_comp_sum_left; + right_module_id = i; + }else{ + wrench_comp_list_[i] = Eigen::VectorXd::Zero(6); + } + } + /* 3.2. process from leader to right*/ + int max_modules_num = beetle_robot_model_->getMaxModuleNum(); + int left_module_id = leader_id; + Eigen::VectorXd wrench_comp_sum_right = Eigen::VectorXd::Zero(6); + for(int i = leader_id+1; i <= max_modules_num; i++){ + if(assembly_flag[i]){ + wrench_comp_sum_right -= -ff_inter_wrench_list_[left_module_id] + inter_wrench_list_[left_module_id]; + // wrench_comp_list_[i] += wrench_comp_gain_ * wrench_comp_sum_right; + wrench_comp_list_[i] = wrench_comp_sum_right; + left_module_id = i; + }else{ + wrench_comp_list_[i] = Eigen::VectorXd::Zero(6); + } + } + } + void BeetleController::rosParamInit() + { + GimbalrotorController::rosParamInit(); + ros::NodeHandle control_nh(nh_, "controller"); + getParam(control_nh, "pd_wrench_comp_mode", pd_wrench_comp_mode_, false); + + double external_force_upper_limit, external_force_lower_limit, external_torque_upper_limit, external_torque_lower_limit; + getParam(control_nh, "external_force_upper_limit", external_force_upper_limit, 0.5); + getParam(control_nh, "external_force_lower_limit", external_force_lower_limit, -0.5); + getParam(control_nh, "external_torque_upper_limit", external_torque_upper_limit, 0.01); + getParam(control_nh, "external_torque_lower_limit", external_torque_lower_limit, -0.01); + external_wrench_upper_limit_.head(3) = Eigen::Vector3d::Constant(external_force_upper_limit); + external_wrench_upper_limit_.tail(3) = Eigen::Vector3d::Constant(external_torque_upper_limit); + external_wrench_lower_limit_.head(3) = Eigen::Vector3d::Constant(external_force_lower_limit); + external_wrench_lower_limit_.tail(3) = Eigen::Vector3d::Constant(external_torque_lower_limit); + ROS_INFO_STREAM("upper limit of external wrench : "<(control_nh, "comp_term_update_freq", comp_term_update_freq_, 10); + + ros::NodeHandle wrench_nh(control_nh, "wrench_comp"); + getParam(wrench_nh, "p_gain", wrench_comp_p_gain_, 0.1); + getParam(wrench_nh, "i_gain", wrench_comp_i_gain_, 0.005); + getParam(wrench_nh, "d_gain", wrench_comp_d_gain_, 0.07); + } + + void BeetleController::externalWrenchEstimate() + { + const Eigen::VectorXd target_wrench_acc_cog = getTargetWrenchAccCog(); + + if(navigator_->getNaviState() != aerial_robot_navigation::HOVER_STATE && + navigator_->getNaviState() != aerial_robot_navigation::TAKEOFF_STATE && + navigator_->getNaviState() != aerial_robot_navigation:: LAND_STATE) + { + prev_est_wrench_timestamp_ = 0; + integrate_term_ = Eigen::VectorXd::Zero(6); + return; + }else if(target_wrench_acc_cog.size() == 0){ + ROS_WARN("Target wrench value for wrench estimation is not setted."); + prev_est_wrench_timestamp_ = 0; + integrate_term_ = Eigen::VectorXd::Zero(6); + return; + } + + Eigen::Vector3d vel_w, omega_cog; // workaround: use the filtered value + auto imu_handler = boost::dynamic_pointer_cast(estimator_->getImuHandler(0)); + tf::vectorTFToEigen(imu_handler->getFilteredVelCog(), vel_w); + tf::vectorTFToEigen(imu_handler->getFilteredOmegaCog(), omega_cog); + Eigen::Matrix3d cog_rot; + tf::matrixTFToEigen(estimator_->getOrientation(Frame::COG, estimate_mode_), cog_rot); + + Eigen::Matrix3d inertia = robot_model_->getInertia(); + double mass = robot_model_->getMass(); + + Eigen::VectorXd sum_momentum = Eigen::VectorXd::Zero(6); + sum_momentum.head(3) = mass * vel_w; + sum_momentum.tail(3) = inertia * omega_cog; + + Eigen::VectorXd target_wrench_cog = Eigen::VectorXd::Zero(6); + target_wrench_cog.head(3) = mass * target_wrench_acc_cog.head(3); + target_wrench_cog.tail(3) = inertia * target_wrench_acc_cog.tail(3); + + Eigen::MatrixXd J_t = Eigen::MatrixXd::Identity(6,6); + J_t.topLeftCorner(3,3) = cog_rot; + + Eigen::VectorXd N = mass * robot_model_->getGravity(); + N.tail(3) = aerial_robot_model::skew(omega_cog) * (inertia * omega_cog); + + if(prev_est_wrench_timestamp_ == 0) + { + prev_est_wrench_timestamp_ = ros::Time::now().toSec(); + init_sum_momentum_ = sum_momentum; // not good + } + + double dt = ros::Time::now().toSec() - prev_est_wrench_timestamp_; + + integrate_term_ += (J_t * target_wrench_cog - N + est_external_wrench_) * dt; + + est_external_wrench_ = momentum_observer_matrix_ * (sum_momentum - init_sum_momentum_ - integrate_term_); + + Eigen::VectorXd est_external_wrench_cog = est_external_wrench_; + est_external_wrench_cog.head(3) = cog_rot.inverse() * est_external_wrench_.head(3); + + geometry_msgs::WrenchStamped wrench_msg; + wrench_msg.header.stamp.fromSec(estimator_->getImuLatestTimeStamp()); + wrench_msg.wrench.force.x = est_external_wrench_cog(0); + wrench_msg.wrench.force.y = est_external_wrench_cog(1); + wrench_msg.wrench.force.z = est_external_wrench_cog(2); + wrench_msg.wrench.torque.x = est_external_wrench_cog(3); + wrench_msg.wrench.torque.y = est_external_wrench_cog(4); + wrench_msg.wrench.torque.z = est_external_wrench_cog(5); + estimate_external_wrench_pub_.publish(wrench_msg); + + beetle::TaggedWrench tagged_wrench; + tagged_wrench.index = beetle_robot_model_->getMyID(); + tagged_wrench.wrench = wrench_msg; + tagged_external_wrench_pub_.publish(tagged_wrench); + + prev_est_wrench_timestamp_ = ros::Time::now().toSec(); + } + + void BeetleController::estExternalWrenchCallback(const beetle::TaggedWrench & msg) + { + int id = msg.index; + geometry_msgs::Wrench wrench_msg = msg.wrench.wrench; + double time_stamp = msg.wrench.header.stamp.toSec(); + Eigen::VectorXd wrench = Eigen::VectorXd::Zero(6); + wrench(0) = wrench_msg.force.x; + wrench(1) = wrench_msg.force.y; + wrench(2) = wrench_msg.force.z; + wrench(3) = wrench_msg.torque.x; + wrench(4) = wrench_msg.torque.y; + wrench(5) = wrench_msg.torque.z; + est_wrench_list_[id] = wrench; + } + + void BeetleController::ffInterWrenchCallback(const beetle::TaggedWrench & msg) + { + int id = msg.index; + geometry_msgs::Wrench wrench_msg = msg.wrench.wrench; + double time_stamp = msg.wrench.header.stamp.toSec(); + Eigen::VectorXd wrench = Eigen::VectorXd::Zero(6); + wrench(0) = wrench_msg.force.x; + wrench(1) = wrench_msg.force.y; + wrench(2) = wrench_msg.force.z; + wrench(3) = wrench_msg.torque.x; + wrench(4) = wrench_msg.torque.y; + wrench(5) = wrench_msg.torque.z; + ff_inter_wrench_list_[id] = wrench; + } + +} //namespace aerial_robot_controller + +/* plugin registration */ +#include +PLUGINLIB_EXPORT_CLASS(aerial_robot_control::BeetleController, aerial_robot_control::ControlBase); diff --git a/robots/beetle/src/model/beetle_robot_model.cpp b/robots/beetle/src/model/beetle_robot_model.cpp new file mode 100644 index 000000000..fd2197b7b --- /dev/null +++ b/robots/beetle/src/model/beetle_robot_model.cpp @@ -0,0 +1,132 @@ +#include + +BeetleRobotModel::BeetleRobotModel(bool init_with_rosparam, bool verbose, double fc_t_min_thre, double epsilon) : + GimbalrotorRobotModel(init_with_rosparam, verbose, fc_t_min_thre, epsilon), + tfBuffer_(), + tfListener_(tfBuffer_), + current_assembled_(false), + module_state_(SEPARATED), + leader_fix_flag_(false) +{ + for(int i = 0; i < max_modules_num_; i++){ + assembly_flags_.insert(std::make_pair(i+1,false)); + } + nh_.getParam("robot_id", my_id_); + cog_com_dist_pub_ = nh_.advertise("cog_com_dist", 1); +} + +void BeetleRobotModel::updateRobotModelImpl(const KDL::JntArray& joint_positions) +{ + GimbalrotorRobotModel::updateRobotModelImpl(joint_positions); + + const auto seg_tf_map = getSegmentsTf(); + KDL::Frame fix_cp_frame = seg_tf_map.at("contact_point"); + KDL::Frame variable_cp_frame; + variable_cp_frame.M = fix_cp_frame.M * getCogDesireOrientation().Inverse(); + variable_cp_frame.p = fix_cp_frame.p; + setContactFrame(variable_cp_frame); + KDL::Frame Cog2Cp; + setCog2Cp(getCog().Inverse() * variable_cp_frame); + + // calcCenterOfMoving(); +} + +void BeetleRobotModel::calcCenterOfMoving() +{ + std::string cog_name = "beetle" + std::to_string(my_id_) + "/cog"; + Eigen::Vector3f center_of_moving = Eigen::Vector3f::Zero(); + int assembled_module = 0; + geometry_msgs::Point cog_com_dist_msg; + assembled_modules_ids_.clear(); + for(const auto & item : assembly_flags_){ + geometry_msgs::TransformStamped transformStamped; + int id = item.first; + bool value = item.second; + if(!value) continue; + try + { + transformStamped = tfBuffer_.lookupTransform(cog_name, "beetle" + std::to_string(id) + std::string("/cog") , ros::Time(0)); + auto& trans = transformStamped.transform.translation; + Eigen::Vector3f module_root(trans.x,trans.y,trans.z); + center_of_moving += module_root; + assembled_module ++; + assembled_modules_ids_.push_back(id); + } + catch (tf2::TransformException& ex) + { + ROS_ERROR_STREAM("not exist module is mentioned. ID is "<(assembled_modules_ids_.data(), assembled_modules_ids_.size()); + for(const auto & item : assembly_flags_){ + if(item.second) + { + std::cout << "id: " << item.first << " -> assembled"<< std::endl; + } else { + std::cout << "id: " << item.first << " -> separated"<< std::endl; + } + } + ROS_INFO_STREAM(id_vector); + ROS_INFO_STREAM("Leader's ID is " < +PLUGINLIB_EXPORT_CLASS(BeetleRobotModel, aerial_robot_model::RobotModel); diff --git a/robots/beetle/src/sensor/imu.cpp b/robots/beetle/src/sensor/imu.cpp new file mode 100644 index 000000000..007de52b0 --- /dev/null +++ b/robots/beetle/src/sensor/imu.cpp @@ -0,0 +1,52 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2021, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include + +namespace sensor_plugin +{ + void BeetleImu::initialize(ros::NodeHandle nh, + boost::shared_ptr robot_model, + boost::shared_ptr estimator, + string sensor_name, int index) + { + Imu::initialize(nh, robot_model, estimator, std::string("sensor_plugin/imu"), index); + } + + +}; +/* plugin registration */ +#include +PLUGINLIB_EXPORT_CLASS(sensor_plugin::BeetleImu, sensor_plugin::SensorBase); diff --git a/robots/beetle/urdf/beetle.urdf.xacro b/robots/beetle/urdf/beetle.urdf.xacro new file mode 100644 index 000000000..b627fddc4 --- /dev/null +++ b/robots/beetle/urdf/beetle.urdf.xacro @@ -0,0 +1,217 @@ + + + + + ## dummy + + + + + + + + + + + + + + + ## link + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ## rotor arm macro + + ## link + + + + + + + + ## joint + + + + + + + + + ## dummy rotor arms + + + + + + ## dummy link for the contact point coordinate + + + + + + + + + + + + + + + + + + + ## link + #### rotor parent link (virtual) #### + + + + + + + + + + + + + + + + + + + + + + ## rotor parent link (virtual) + + + + + + + + + ## thrust link (virtual) + + + + + + + + + + #### joints #### + + #### gimbal joints #### + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + #### rotor parent link joint (virtual) #### + + + + + + + + #### rotor joint (virtual) #### + + + + + + + + + + transmission_interface/SimpleTransmission + + RotorInterface + + + RotorInterface + 1 + + + + + diff --git a/robots/beetle/urdf/common.xacro b/robots/beetle/urdf/common.xacro new file mode 100644 index 000000000..6d925350b --- /dev/null +++ b/robots/beetle/urdf/common.xacro @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + 0.1 + 0.1 + + + + + + 0.00 + + + diff --git a/robots/beetle/urdf/mesh/base_link.STL b/robots/beetle/urdf/mesh/base_link.STL new file mode 100644 index 000000000..7da55c301 Binary files /dev/null and b/robots/beetle/urdf/mesh/base_link.STL differ diff --git a/robots/beetle/urdf/mesh/base_link.dae b/robots/beetle/urdf/mesh/base_link.dae new file mode 100644 index 000000000..8a05cb863 --- /dev/null +++ b/robots/beetle/urdf/mesh/base_link.dae @@ -0,0 +1,13668 @@ + + + + + Blender User + Blender 2.93.18 commit date:2023-05-22, commit time:12:04, hash:cb886aba06d5 + + 2023-07-01T17:47:01 + 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2643 254 3655 171 2655 171 2653 171 2391 132 2389 132 3654 132 3654 132 2389 132 3395 132 3654 132 3395 132 2641 132 2641 255 3395 255 2643 255 3655 132 2653 132 3393 132 2653 246 2651 246 3393 246 3393 241 2651 241 2649 241 3393 132 2649 132 3395 132 3395 251 2649 251 2647 251 3395 249 2647 249 2645 249 2663 239 2661 239 3654 239 3654 252 2661 252 2659 252 3654 132 2659 132 3655 132 3655 150 2659 150 2657 150 3655 151 2657 151 2655 151 2909 132 2907 132 3393 132 3393 266 2907 266 2905 266 3393 132 2905 132 3655 132 3655 245 2905 245 2927 245 2927 239 2925 239 3655 239 3655 252 2925 252 2923 252 3655 132 2923 132 3656 132 3656 150 2923 150 2921 150 3656 151 2921 151 2919 151 2917 256 2915 256 3391 256 3391 241 2915 241 2913 241 3391 132 2913 132 3393 132 3393 251 2913 251 2911 251 3393 249 2911 249 2909 249 3656 257 3169 257 3191 257 3173 132 3171 132 3391 132 2919 132 2917 132 3656 132 3656 132 2917 132 3391 132 3656 132 3391 132 3169 132 3169 267 3391 267 3171 267 3576 268 3183 268 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3571 132 3572 132 571 132 3572 132 573 132 549 276 547 276 3647 276 3647 132 547 132 3648 132 3647 132 3648 132 559 132 559 132 3648 132 561 132 557 132 555 132 3647 132 3647 245 555 245 553 245 3647 280 553 280 3572 280 3572 245 553 245 575 245 3572 278 575 278 573 278 833 132 831 132 3658 132 829 137 827 137 3649 137 3649 162 827 162 825 162 823 132 821 132 3648 132 833 275 3658 275 835 275 835 132 3658 132 3571 132 835 132 3571 132 837 132 813 276 811 276 3648 276 3648 132 811 132 3649 132 3648 132 3649 132 823 132 823 132 3649 132 825 132 821 132 819 132 3648 132 3648 245 819 245 817 245 3648 280 817 280 3571 280 3571 257 817 257 839 257 3571 278 839 278 837 278 3658 257 1081 257 1103 257 1091 132 3650 132 1093 132 1093 281 3650 281 3659 281 1093 137 3659 137 1095 137 831 135 829 135 3658 135 3658 279 829 279 3649 279 3658 280 3649 280 1081 280 1081 142 3649 142 1083 142 1091 132 1089 132 3650 132 3650 282 1089 282 1087 282 3650 132 1087 132 3649 132 3649 252 1087 252 1085 252 3649 283 1085 283 1083 283 1103 132 1101 132 3658 132 3658 284 1101 284 1099 284 3658 132 1099 132 3659 132 3659 285 1099 285 1097 285 3659 162 1097 162 1095 162 3650 257 1347 257 1345 257 1357 135 1355 135 3651 135 3650 277 1345 277 3659 277 3659 245 1345 245 1367 245 3659 278 1367 278 1365 278 1363 132 1361 132 3660 132 3660 162 1361 162 1359 162 1355 132 1353 132 3651 132 3651 282 1353 282 1351 282 3651 132 1351 132 3650 132 3650 252 1351 252 1349 252 3650 278 1349 278 1347 278 1629 132 3660 132 1631 132 1631 144 3660 144 1609 144 1621 286 1619 286 3652 286 1625 132 1623 132 3661 132 1625 275 3661 275 1627 275 1359 137 1357 137 3660 137 3660 287 1357 287 3651 287 3660 277 3651 277 1609 277 1609 142 3651 142 1611 142 1619 132 1617 132 3652 132 3652 282 1617 282 1615 282 3652 132 1615 132 3651 132 3651 235 1615 235 1613 235 3651 283 1613 283 1611 283 1877 132 1875 132 3652 132 3661 288 1873 288 1895 288 2141 132 2139 132 1881 132 1623 286 1621 286 3661 286 3661 279 1621 279 3652 279 3661 277 3652 277 1873 277 1873 139 3652 139 1875 139 2149 135 2147 135 3653 135 3653 212 2147 212 2145 212 3653 282 2145 282 2143 282 1877 289 3652 289 1879 289 1879 132 3652 132 3653 132 1879 132 3653 132 1881 132 1881 290 3653 290 2143 290 1881 132 2143 132 2141 132 1889 169 1887 169 2137 169 2137 132 1887 132 1885 132 2137 132 1885 132 2139 132 2139 132 1885 132 1883 132 2139 132 1883 132 1881 132 2155 132 2153 132 3570 132 3570 162 2153 162 2151 162 1895 132 1893 132 3661 132 3661 284 1893 284 1891 284 3661 263 1891 263 2157 263 2157 132 1891 132 1889 132 2157 132 1889 132 2159 132 2159 132 1889 132 2137 132 3570 257 2401 257 2423 257 3654 171 2413 171 2411 171 2151 291 2149 291 3570 291 3570 279 2149 279 3653 279 3570 292 3653 292 2401 292 2401 142 3653 142 2403 142 2423 132 2421 132 3570 132 3570 284 2421 284 2419 284 3570 132 2419 132 3569 132 3569 285 2419 285 2417 285 3569 162 2417 162 2415 162 2411 132 2409 132 3654 132 3654 282 2409 282 2407 282 3654 132 2407 132 3653 132 3653 235 2407 235 2405 235 3653 278 2405 278 2403 278 2677 135 2675 135 3655 135 3569 293 2665 293 2687 293 2415 137 2413 137 3569 137 3569 287 2413 287 3654 287 3569 277 3654 277 2665 277 2665 142 3654 142 2667 142 2675 132 2673 132 3655 132 3655 282 2673 282 2671 282 3655 132 2671 132 3654 132 3654 235 2671 235 2669 235 3654 283 2669 283 2667 283 2687 132 2685 132 3569 132 3569 284 2685 284 2683 284 3569 132 2683 132 3568 132 3568 285 2683 285 2681 285 3568 162 2681 162 2679 162 3568 293 2929 293 2951 293 2941 286 2939 286 3656 286 2679 137 2677 137 3568 137 3568 287 2677 287 3655 287 3568 277 3655 277 2929 277 2929 142 3655 142 2931 142 2951 132 2949 132 3568 132 3568 284 2949 284 2947 284 3568 132 2947 132 3567 132 3567 285 2947 285 2945 285 3567 162 2945 162 2943 162 2939 132 2937 132 3656 132 3656 282 2937 282 2935 282 3656 132 2935 132 3655 132 3655 235 2935 235 2933 235 3655 283 2933 283 2931 283 3207 294 3205 294 3566 294 3567 288 3193 288 3215 288 3205 294 3203 294 3576 294 2943 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3562 132 3562 309 331 309 329 309 3562 151 329 151 327 151 323 151 321 151 3572 151 3572 285 321 285 319 285 3572 132 319 132 3573 132 3573 284 319 284 317 284 3573 310 317 310 315 310 325 158 3572 158 3562 158 3562 277 3572 277 577 277 3562 245 577 245 599 245 589 132 587 132 3571 132 3561 188 591 188 589 188 599 239 597 239 3562 239 3562 276 597 276 595 276 3562 132 595 132 3561 132 3561 311 595 311 593 311 3561 312 593 312 591 312 587 313 585 313 3571 313 3571 285 585 285 583 285 3571 132 583 132 3572 132 3572 284 583 284 581 284 3572 239 581 239 579 239 589 314 3571 314 3561 314 3561 277 3571 277 841 277 3561 257 841 257 863 257 853 132 851 132 3658 132 3673 188 855 188 853 188 863 239 861 239 3561 239 3561 315 861 315 859 315 3561 132 859 132 3673 132 3673 309 859 309 857 309 3673 151 857 151 855 151 851 151 849 151 3658 151 3658 285 849 285 847 285 3658 132 847 132 3571 132 3571 284 847 284 845 284 3571 239 845 239 843 239 3658 288 1107 288 1105 288 853 314 3658 314 3673 314 3673 277 3658 277 1105 277 3673 257 1105 257 1127 257 1121 309 3674 309 1123 309 1123 132 3674 132 3673 132 1123 132 3673 132 1125 132 1125 316 3673 316 1127 316 1115 132 3659 132 1117 132 1117 158 3659 158 3674 158 1117 137 3674 137 1119 137 1119 151 3674 151 1121 151 1115 151 1113 151 3659 151 3659 285 1113 285 1111 285 3659 132 1111 132 3658 132 3658 284 1111 284 1109 284 3658 239 1109 239 1107 239 1385 317 1383 317 3560 317 1375 132 1373 132 3659 132 1381 132 1379 132 3660 132 3660 312 1379 312 1377 312 1385 309 3560 309 1387 309 1387 132 3560 132 3674 132 1387 132 3674 132 1389 132 1365 318 1363 318 3659 318 3659 132 1363 132 3660 132 3659 132 3660 132 1375 132 1375 132 3660 132 1377 132 1373 132 1371 132 3659 132 3659 288 1371 288 1369 288 3659 306 1369 306 3674 306 3674 257 1369 257 1391 257 3674 239 1391 239 1389 239 1637 132 1635 132 3660 132 3560 245 1633 245 1655 245 1637 318 3660 318 1639 318 1383 135 1381 135 3560 135 3560 287 1381 287 3660 287 3560 306 3660 306 1633 306 1633 132 3660 132 1635 132 1649 309 3675 309 1651 309 1651 132 3675 132 3560 132 1651 132 3560 132 1653 132 1653 319 3560 319 1655 319 1629 318 1627 318 3660 318 3660 132 1627 132 3661 132 3660 132 3661 132 1639 132 1639 132 3661 132 1641 132 1649 317 1647 317 3675 317 3675 320 1647 320 1645 320 3675 321 1645 321 3661 321 3661 320 1645 320 1643 320 3661 312 1643 312 1641 312 1903 132 1901 132 3661 132 1919 139 3675 139 1897 139 1897 322 3675 322 3661 322 1897 132 3661 132 1899 132 1899 323 3661 323 1901 323 2173 132 2171 132 3570 132 1919 239 1917 239 3675 239 3675 324 1917 324 1915 324 3675 325 1915 325 2181 325 2181 132 1915 132 1913 132 2181 132 1913 132 2183 132 2183 132 1913 132 2161 132 2157 326 2155 326 3661 326 3661 132 2155 132 3570 132 3661 132 3570 132 1903 132 1903 132 3570 132 1905 132 2179 132 2177 132 3559 132 3559 312 2177 312 2175 312 3559 171 2175 171 2173 171 2171 151 2169 151 3570 151 3570 285 2169 285 2167 285 3570 327 2167 327 1905 327 1905 132 2167 132 2165 132 1905 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306 3568 306 2953 306 3676 245 2953 245 2975 245 2965 132 2963 132 3567 132 2975 307 2973 307 3676 307 3676 324 2973 324 2971 324 3676 132 2971 132 3557 132 2971 132 2969 132 3557 132 3557 312 2969 312 2967 312 3557 320 2967 320 2965 320 2963 170 2961 170 3567 170 3567 285 2961 285 2959 285 3567 132 2959 132 3568 132 3568 284 2959 284 2957 284 3568 239 2957 239 2955 239 3229 132 3227 132 3566 132 2965 314 3567 314 3557 314 3557 306 3567 306 3217 306 3557 330 3217 330 3239 330 3556 331 3231 331 3229 331 3239 239 3237 239 3557 239 3557 276 3237 276 3235 276 3557 132 3235 132 3556 132 3556 332 3235 332 3233 332 3556 333 3233 333 3231 333 3227 333 3225 333 3566 333 3566 334 3225 334 3223 334 3566 132 3223 132 3567 132 3567 284 3223 284 3221 284 3567 310 3221 310 3219 310 3229 335 3566 335 3556 335 3556 336 3566 336 3565 336 3556 337 3565 337 3677 337 3678 132 3665 132 3679 132 3679 335 3665 335 3680 335 3679 338 3680 338 3681 338 3677 339 3682 339 3556 339 3556 340 3682 340 3683 340 3556 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132 3561 132 865 132 3551 257 865 257 887 257 881 132 3688 132 883 132 883 132 3688 132 3551 132 883 132 3551 132 885 132 885 132 3551 132 887 132 875 132 3673 132 877 132 877 132 3673 132 3688 132 877 132 3688 132 879 132 879 313 3688 313 881 313 875 151 873 151 3673 151 3673 132 873 132 871 132 3673 132 871 132 3561 132 3561 132 871 132 869 132 3561 239 869 239 867 239 1145 132 3689 132 1147 132 1147 132 3689 132 3688 132 1147 132 3688 132 1149 132 1149 132 3688 132 1151 132 1145 132 1143 132 3689 132 3689 188 1143 188 1141 188 3689 132 1141 132 3674 132 3674 343 1141 343 1139 343 1151 132 3688 132 1129 132 1129 132 3688 132 3673 132 1129 132 3673 132 1131 132 1139 151 1137 151 3674 151 3674 132 1137 132 1135 132 3674 132 1135 132 3673 132 3673 132 1135 132 1133 132 3673 239 1133 239 1131 239 1413 132 1411 132 3689 132 3674 238 1395 238 1393 238 3689 132 1411 132 3550 132 1411 132 1409 132 3550 132 3550 151 1409 151 1407 151 3550 211 1407 211 1405 211 3560 211 1405 211 1403 211 3674 132 1393 132 3689 132 3689 257 1393 257 1415 257 3689 323 1415 323 1413 323 1403 151 1401 151 3560 151 3560 132 1401 132 1399 132 3560 132 1399 132 3674 132 3674 132 1399 132 1397 132 3674 239 1397 239 1395 239 1405 132 3560 132 3550 132 3550 132 3560 132 1657 132 3550 344 1657 344 1679 344 1679 239 1677 239 3550 239 3550 132 1677 132 1675 132 3550 132 1675 132 3549 132 1669 132 1667 132 3675 132 1675 132 1673 132 3549 132 3549 151 1673 151 1671 151 3549 343 1671 343 1669 343 1667 151 1665 151 3675 151 3675 132 1665 132 1663 132 3675 132 1663 132 3560 132 3560 132 1663 132 1661 132 3560 239 1661 239 1659 239 1669 132 3675 132 3549 132 3549 132 3675 132 1921 132 3549 288 1921 288 1943 288 2197 132 2195 132 3559 132 3690 132 3549 132 2203 132 2203 132 3549 132 2205 132 2203 132 2201 132 3690 132 3690 187 2201 187 2199 187 3690 345 2199 345 2197 345 1943 323 1941 323 3549 323 3549 132 1941 132 1939 132 3549 132 1939 132 2205 132 2205 132 1939 132 1937 132 2205 132 1937 132 2207 132 2207 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2389 132 3654 132 3654 132 2389 132 3395 132 3654 132 3395 132 2641 132 2641 132 3395 132 2643 132 3655 132 2653 132 3393 132 2653 132 2651 132 3393 132 3393 214 2651 214 2649 214 3393 132 2649 132 3395 132 3395 221 2649 221 2647 221 3395 220 2647 220 2645 220 2663 132 2661 132 3654 132 3654 222 2661 222 2659 222 3654 132 2659 132 3655 132 3655 140 2659 140 2657 140 3655 132 2657 132 2655 132 2909 132 2907 132 3393 132 3393 132 2907 132 2905 132 3393 213 2905 213 3655 213 3655 132 2905 132 2927 132 2927 132 2925 132 3655 132 3655 222 2925 222 2923 222 3655 132 2923 132 3656 132 3656 140 2923 140 2921 140 3656 132 2921 132 2919 132 2917 132 2915 132 3391 132 3391 214 2915 214 2913 214 3391 132 2913 132 3393 132 3393 221 2913 221 2911 221 3393 220 2911 220 2909 220 3656 132 3169 132 3191 132 3173 132 3171 132 3391 132 2919 132 2917 132 3656 132 3656 132 2917 132 3391 132 3656 132 3391 132 3169 132 3169 132 3391 132 3171 132 3576 132 3183 132 3181 132 3181 132 3179 132 3389 132 3389 229 3179 229 3177 229 3389 132 3177 132 3391 132 3391 221 3177 221 3175 221 3391 230 3175 230 3173 230 3191 132 3189 132 3656 132 3656 222 3189 222 3187 222 3656 132 3187 132 3576 132 3576 231 3187 231 3185 231 3576 132 3185 132 3183 132 3181 132 3389 132 3576 132 3576 132 3389 132 3387 132 3576 132 3387 132 3657 132 295 132 293 132 3585 132 305 132 303 132 3572 132 3572 132 303 132 301 132 3572 132 301 132 3647 132 3647 232 301 232 299 232 3647 154 299 154 297 154 305 132 3572 132 307 132 307 132 3572 132 3573 132 307 132 3573 132 309 132 285 132 283 132 3585 132 3585 132 283 132 3647 132 3585 132 3647 132 295 132 295 132 3647 132 297 132 293 132 291 132 3585 132 3585 135 291 135 289 135 3585 132 289 132 3573 132 3573 132 289 132 311 132 3573 233 311 233 309 233 559 132 557 132 3647 132 569 132 567 132 3571 132 3571 132 567 132 565 132 3571 132 565 132 3648 132 3648 149 565 149 563 149 3648 191 563 191 561 191 569 132 3571 132 571 132 571 132 3571 132 3572 132 571 132 3572 132 573 132 549 132 547 132 3647 132 3647 132 547 132 3648 132 3647 132 3648 132 559 132 559 132 3648 132 561 132 557 132 555 132 3647 132 3647 234 555 234 553 234 3647 132 553 132 3572 132 3572 132 553 132 575 132 3572 233 575 233 573 233 833 132 831 132 3658 132 829 149 827 149 3649 149 3649 154 827 154 825 154 823 132 821 132 3648 132 833 132 3658 132 835 132 835 132 3658 132 3571 132 835 132 3571 132 837 132 813 132 811 132 3648 132 3648 132 811 132 3649 132 3648 132 3649 132 823 132 823 132 3649 132 825 132 821 132 819 132 3648 132 3648 234 819 234 817 234 3648 132 817 132 3571 132 3571 132 817 132 839 132 3571 233 839 233 837 233 3658 132 1081 132 1103 132 1091 232 3650 232 1093 232 1093 132 3650 132 3659 132 1093 132 3659 132 1095 132 831 132 829 132 3658 132 3658 132 829 132 3649 132 3658 132 3649 132 1081 132 1081 234 3649 234 1083 234 1091 177 1089 177 3650 177 3650 235 1089 235 1087 235 3650 132 1087 132 3649 132 3649 222 1087 222 1085 222 3649 236 1085 236 1083 236 1103 233 1101 233 3658 233 3658 237 1101 237 1099 237 3658 132 1099 132 3659 132 3659 238 1099 238 1097 238 3659 154 1097 154 1095 154 3650 135 1347 135 1345 135 1357 232 1355 232 3651 232 3650 132 1345 132 3659 132 3659 132 1345 132 1367 132 3659 233 1367 233 1365 233 1363 132 1361 132 3660 132 3660 154 1361 154 1359 154 1355 154 1353 154 3651 154 3651 235 1353 235 1351 235 3651 132 1351 132 3650 132 3650 222 1351 222 1349 222 3650 233 1349 233 1347 233 1629 132 3660 132 1631 132 1631 132 3660 132 1609 132 1621 239 1619 239 3652 239 1625 132 1623 132 3661 132 1625 132 3661 132 1627 132 1359 132 1357 132 3660 132 3660 132 1357 132 3651 132 3660 132 3651 132 1609 132 1609 234 3651 234 1611 234 1619 154 1617 154 3652 154 3652 235 1617 235 1615 235 3652 132 1615 132 3651 132 3651 240 1615 240 1613 240 3651 236 1613 236 1611 236 1877 132 1875 132 3652 132 3661 132 1873 132 1895 132 2141 132 2139 132 1881 132 1623 132 1621 132 3661 132 3661 132 1621 132 3652 132 3661 132 3652 132 1873 132 1873 133 3652 133 1875 133 2149 232 2147 232 3653 232 3653 191 2147 191 2145 191 3653 235 2145 235 2143 235 1877 132 3652 132 1879 132 1879 132 3652 132 3653 132 1879 132 3653 132 1881 132 1881 132 3653 132 2143 132 1881 132 2143 132 2141 132 1889 157 1887 157 2137 157 2137 132 1887 132 1885 132 2137 132 1885 132 2139 132 2139 132 1885 132 1883 132 2139 132 1883 132 1881 132 2155 132 2153 132 3570 132 3570 154 2153 154 2151 154 1895 241 1893 241 3661 241 3661 237 1893 237 1891 237 3661 226 1891 226 2157 226 2157 132 1891 132 1889 132 2157 132 1889 132 2159 132 2159 132 1889 132 2137 132 3570 132 2401 132 2423 132 3654 232 2413 232 2411 232 2151 132 2149 132 3570 132 3570 132 2149 132 3653 132 3570 132 3653 132 2401 132 2401 234 3653 234 2403 234 2423 233 2421 233 3570 233 3570 237 2421 237 2419 237 3570 132 2419 132 3569 132 3569 238 2419 238 2417 238 3569 154 2417 154 2415 154 2411 154 2409 154 3654 154 3654 235 2409 235 2407 235 3654 132 2407 132 3653 132 3653 240 2407 240 2405 240 3653 233 2405 233 2403 233 2677 232 2675 232 3655 232 3569 132 2665 132 2687 132 2415 132 2413 132 3569 132 3569 132 2413 132 3654 132 3569 132 3654 132 2665 132 2665 234 3654 234 2667 234 2675 154 2673 154 3655 154 3655 235 2673 235 2671 235 3655 132 2671 132 3654 132 3654 240 2671 240 2669 240 3654 236 2669 236 2667 236 2687 233 2685 233 3569 233 3569 237 2685 237 2683 237 3569 132 2683 132 3568 132 3568 238 2683 238 2681 238 3568 154 2681 154 2679 154 3568 132 2929 132 2951 132 2941 239 2939 239 3656 239 2679 132 2677 132 3568 132 3568 132 2677 132 3655 132 3568 132 3655 132 2929 132 2929 234 3655 234 2931 234 2951 233 2949 233 3568 233 3568 237 2949 237 2947 237 3568 132 2947 132 3567 132 3567 238 2947 238 2945 238 3567 154 2945 154 2943 154 2939 154 2937 154 3656 154 3656 235 2937 235 2935 235 3656 132 2935 132 3655 132 3655 240 2935 240 2933 240 3655 236 2933 236 2931 236 3207 132 3205 132 3566 132 3567 132 3193 132 3215 132 3205 242 3203 242 3576 242 2943 132 2941 132 3567 132 3567 132 2941 132 3656 132 3567 132 3656 132 3193 132 3193 133 3656 133 3195 133 3215 241 3213 241 3567 241 3567 237 3213 237 3211 237 3567 132 3211 132 3566 132 3566 243 3211 243 3209 243 3566 244 3209 244 3207 244 3203 245 3201 245 3576 245 3576 246 3201 246 3199 246 3576 132 3199 132 3656 132 3656 222 3199 222 3197 222 3656 236 3197 236 3195 236 3205 132 3576 132 3566 132 3566 132 3576 132 3575 132 3566 132 3575 132 3662 132 3663 247 3657 247 3664 247 3664 132 3657 132 3665 132 3664 132 3665 132 3666 132 3663 248 3667 248 3657 248 3657 246 3667 246 3668 246 3657 132 3668 132 3576 132 3576 249 3668 249 3669 249 3576 250 3669 250 3574 250 3662 251 3670 251 3566 251 3566 252 3670 252 3671 252 3566 132 3671 132 3665 132 3665 243 3671 243 3672 243 3665 253 3672 253 3666 253 61 132 3573 132 3563 132 3563 132 3573 132 313 132 3563 132 313 132 335 132 325 132 323 132 3572 132 3562 132 327 132 325 132 335 254 333 254 3563 254 3563 255 333 255 331 255 3563 132 331 132 3562 132 3562 256 331 256 329 256 3562 177 329 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132 1121 132 3674 132 1123 132 1123 132 3674 132 3673 132 1123 132 3673 132 1125 132 1125 132 3673 132 1127 132 1115 132 3659 132 1117 132 1117 132 3659 132 3674 132 1117 132 3674 132 1119 132 1119 177 3674 177 1121 177 1115 132 1113 132 3659 132 3659 238 1113 238 1111 238 3659 132 1111 132 3658 132 3658 237 1111 237 1109 237 3658 132 1109 132 1107 132 1385 132 1383 132 3560 132 1375 132 1373 132 3659 132 1381 132 1379 132 3660 132 3660 132 1379 132 1377 132 1385 132 3560 132 1387 132 1387 132 3560 132 3674 132 1387 132 3674 132 1389 132 1365 132 1363 132 3659 132 3659 132 1363 132 3660 132 3659 132 3660 132 1375 132 1375 132 3660 132 1377 132 1373 132 1371 132 3659 132 3659 132 1371 132 1369 132 3659 132 1369 132 3674 132 3674 132 1369 132 1391 132 3674 257 1391 257 1389 257 1637 132 1635 132 3660 132 3560 132 1633 132 1655 132 1637 132 3660 132 1639 132 1383 132 1381 132 3560 132 3560 132 1381 132 3660 132 3560 132 3660 132 1633 132 1633 132 3660 132 1635 132 1649 132 3675 132 1651 132 1651 132 3675 132 3560 132 1651 132 3560 132 1653 132 1653 132 3560 132 1655 132 1629 132 1627 132 3660 132 3660 132 1627 132 3661 132 3660 132 3661 132 1639 132 1639 132 3661 132 1641 132 1649 132 1647 132 3675 132 3675 132 1647 132 1645 132 3675 132 1645 132 3661 132 3661 132 1645 132 1643 132 3661 132 1643 132 1641 132 1903 132 1901 132 3661 132 1919 132 3675 132 1897 132 1897 132 3675 132 3661 132 1897 132 3661 132 1899 132 1899 132 3661 132 1901 132 2173 132 2171 132 3570 132 1919 257 1917 257 3675 257 3675 140 1917 140 1915 140 3675 262 1915 262 2181 262 2181 132 1915 132 1913 132 2181 132 1913 132 2183 132 2183 132 1913 132 2161 132 2157 132 2155 132 3661 132 3661 132 2155 132 3570 132 3661 132 3570 132 1903 132 1903 132 3570 132 1905 132 2179 132 2177 132 3559 132 3559 260 2177 260 2175 260 3559 132 2175 132 2173 132 2171 132 2169 132 3570 132 3570 238 2169 238 2167 238 3570 173 2167 173 1905 173 1905 132 2167 132 2165 132 1905 132 2165 132 1907 132 1907 132 2165 132 2163 132 1907 132 2163 132 1909 132 1909 132 2163 132 2161 132 1909 132 2161 132 1911 132 1911 132 2161 132 1913 132 2437 132 2435 132 3569 132 2173 132 3570 132 3559 132 3559 132 3570 132 2425 132 3559 132 2425 132 2447 132 3558 132 2439 132 2437 132 2447 257 2445 257 3559 257 3559 258 2445 258 2443 258 3559 132 2443 132 3558 132 3558 256 2443 256 2441 256 3558 260 2441 260 2439 260 2435 132 2433 132 3569 132 3569 238 2433 238 2431 238 3569 132 2431 132 3570 132 3570 237 2431 237 2429 237 3570 132 2429 132 2427 132 2703 132 2701 132 3676 132 2437 132 3569 132 3558 132 3558 132 3569 132 2689 132 3558 132 2689 132 2711 132 2701 132 2699 132 3568 132 2711 254 2709 254 3558 254 3558 140 2709 140 2707 140 3558 132 2707 132 3676 132 3676 256 2707 256 2705 256 3676 260 2705 260 2703 260 2699 132 2697 132 3568 132 3568 238 2697 238 2695 238 3568 132 2695 132 3569 132 3569 237 2695 237 2693 237 3569 132 2693 132 2691 132 2701 132 3568 132 3676 132 3676 132 3568 132 2953 132 3676 132 2953 132 2975 132 2965 132 2963 132 3567 132 2975 254 2973 254 3676 254 3676 140 2973 140 2971 140 3676 132 2971 132 3557 132 2971 132 2969 132 3557 132 3557 260 2969 260 2967 260 3557 132 2967 132 2965 132 2963 132 2961 132 3567 132 3567 238 2961 238 2959 238 3567 132 2959 132 3568 132 3568 237 2959 237 2957 237 3568 132 2957 132 2955 132 3229 132 3227 132 3566 132 2965 132 3567 132 3557 132 3557 132 3567 132 3217 132 3557 132 3217 132 3239 132 3556 132 3231 132 3229 132 3239 257 3237 257 3557 257 3557 258 3237 258 3235 258 3557 132 3235 132 3556 132 3556 263 3235 263 3233 263 3556 248 3233 248 3231 248 3227 132 3225 132 3566 132 3566 264 3225 264 3223 264 3566 132 3223 132 3567 132 3567 237 3223 237 3221 237 3567 132 3221 132 3219 132 3229 132 3566 132 3556 132 3556 132 3566 132 3565 132 3556 132 3565 132 3677 132 3678 132 3665 132 3679 132 3679 132 3665 132 3680 132 3679 132 3680 132 3681 132 3677 265 3682 265 3556 265 3556 231 3682 231 3683 231 3556 132 3683 132 3680 132 3680 263 3683 263 3684 263 3680 266 3684 266 3681 266 3678 132 3685 132 3665 132 3665 264 3685 264 3686 264 3665 132 3686 132 3566 132 3566 267 3686 267 3687 267 3566 132 3687 132 3564 132 85 132 3563 132 3553 132 3553 132 3563 132 337 132 3553 132 337 132 359 132 349 132 347 132 3562 132 359 132 357 132 3553 132 3553 178 357 178 355 178 3553 132 355 132 3552 132 355 132 353 132 3552 132 3552 132 353 132 351 132 3552 132 351 132 349 132 347 132 345 132 3562 132 3562 172 345 172 343 172 3562 132 343 132 3563 132 3563 178 343 178 341 178 3563 132 341 132 339 132 349 132 3562 132 3552 132 3552 132 3562 132 601 132 3552 132 601 132 623 132 613 132 611 132 3561 132 623 132 621 132 3552 132 3552 240 621 240 619 240 3552 132 619 132 3551 132 619 132 617 132 3551 132 3551 132 617 132 615 132 3551 132 615 132 613 132 611 132 609 132 3561 132 3561 172 609 172 607 172 3561 132 607 132 3562 132 3562 178 607 178 605 178 3562 132 605 132 603 132 613 132 3561 132 3551 132 3551 132 3561 132 865 132 3551 132 865 132 887 132 881 268 3688 268 883 268 883 132 3688 132 3551 132 883 132 3551 132 885 132 885 132 3551 132 887 132 875 132 3673 132 877 132 877 132 3673 132 3688 132 877 132 3688 132 879 132 879 132 3688 132 881 132 875 132 873 132 3673 132 3673 172 873 172 871 172 3673 132 871 132 3561 132 3561 178 871 178 869 178 3561 132 869 132 867 132 1145 268 3689 268 1147 268 1147 132 3689 132 3688 132 1147 132 3688 132 1149 132 1149 132 3688 132 1151 132 1145 132 1143 132 3689 132 3689 132 1143 132 1141 132 3689 132 1141 132 3674 132 3674 132 1141 132 1139 132 1151 132 3688 132 1129 132 1129 132 3688 132 3673 132 1129 132 3673 132 1131 132 1139 132 1137 132 3674 132 3674 172 1137 172 1135 172 3674 132 1135 132 3673 132 3673 178 1135 178 1133 178 3673 132 1133 132 1131 132 1413 269 1411 269 3689 269 3674 132 1395 132 1393 132 3689 132 1411 132 3550 132 1411 132 1409 132 3550 132 3550 132 1409 132 1407 132 3550 132 1407 132 1405 132 3560 132 1405 132 1403 132 3674 132 1393 132 3689 132 3689 132 1393 132 1415 132 3689 132 1415 132 1413 132 1403 132 1401 132 3560 132 3560 172 1401 172 1399 172 3560 132 1399 132 3674 132 3674 178 1399 178 1397 178 3674 132 1397 132 1395 132 1405 132 3560 132 3550 132 3550 132 3560 132 1657 132 3550 132 1657 132 1679 132 1679 132 1677 132 3550 132 3550 183 1677 183 1675 183 3550 132 1675 132 3549 132 1669 132 1667 132 3675 132 1675 132 1673 132 3549 132 3549 132 1673 132 1671 132 3549 132 1671 132 1669 132 1667 132 1665 132 3675 132 3675 172 1665 172 1663 172 3675 132 1663 132 3560 132 3560 178 1663 178 1661 178 3560 132 1661 132 1659 132 1669 132 3675 132 3549 132 3549 132 3675 132 1921 132 3549 132 1921 132 1943 132 2197 132 2195 132 3559 132 3690 132 3549 132 2203 132 2203 132 3549 132 2205 132 2203 132 2201 132 3690 132 3690 132 2201 132 2199 132 3690 132 2199 132 2197 132 1943 132 1941 132 3549 132 3549 183 1941 183 1939 183 3549 270 1939 270 2205 270 2205 132 1939 132 1937 132 2205 132 1937 132 2207 132 2207 132 1937 132 1935 132 2207 132 1935 132 2185 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183 3548 132 2731 132 3547 132 3547 235 2731 235 2729 235 3547 132 2729 132 2727 132 2723 132 2721 132 3676 132 3676 172 2721 172 2719 172 3676 132 2719 132 3558 132 3558 178 2719 178 2717 178 3558 132 2717 132 2715 132 2989 132 2987 132 3557 132 3547 132 2977 132 2999 132 3546 132 2991 132 2989 132 2727 132 2725 132 3547 132 3547 132 2725 132 3676 132 3547 132 3676 132 2977 132 2977 132 3676 132 2979 132 2999 132 2997 132 3547 132 3547 183 2997 183 2995 183 3547 132 2995 132 3546 132 3546 235 2995 235 2993 235 3546 132 2993 132 2991 132 2987 132 2985 132 3557 132 3557 172 2985 172 2983 172 3557 132 2983 132 3676 132 3676 178 2983 178 2981 178 3676 132 2981 132 2979 132 2989 132 3557 132 3546 132 3546 132 3557 132 3241 132 3546 132 3241 132 3263 132 3253 132 3251 132 3556 132 3263 132 3261 132 3546 132 3546 271 3261 271 3259 271 3546 132 3259 132 3545 132 3259 132 3257 132 3545 132 3545 132 3257 132 3255 132 3545 132 3255 132 3253 132 3251 132 3249 132 3556 132 3556 272 3249 272 3247 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/robots/dragon/config/quad/control/FullVectoringControlConfig.yaml b/robots/dragon/config/quad/control/FullVectoringControlConfig.yaml index 23f44009b..82b959f62 100644 --- a/robots/dragon/config/quad/control/FullVectoringControlConfig.yaml +++ b/robots/dragon/config/quad/control/FullVectoringControlConfig.yaml @@ -10,6 +10,7 @@ controller: allocation_refine_max_iteration: 5 allocation_refine_threshold: 0.0001 + wrench_estimate_flag: true wrench_estimate_update_rate: 100 momentum_observer_force_weight: 3 # heavy delay, less noise, 2, 2.5, 3, light delay, more noise. The old parameter 5 has bug momentum_observer_torque_weight: 2.5 diff --git a/robots/dragon/include/dragon/control/full_vectoring_control.h b/robots/dragon/include/dragon/control/full_vectoring_control.h index 380b3dd14..0450155f9 100644 --- a/robots/dragon/include/dragon/control/full_vectoring_control.h +++ b/robots/dragon/include/dragon/control/full_vectoring_control.h @@ -52,11 +52,7 @@ namespace aerial_robot_control { public: DragonFullVectoringController(); - ~DragonFullVectoringController() - { - wrench_estimate_thread_.interrupt(); - wrench_estimate_thread_.join(); - } + ~DragonFullVectoringController() = default; void initialize(ros::NodeHandle nh, ros::NodeHandle nhp, boost::shared_ptr robot_model, @@ -69,7 +65,6 @@ namespace aerial_robot_control ros::Publisher flight_cmd_pub_; //for spinal ros::Publisher gimbal_control_pub_; ros::Publisher target_vectoring_force_pub_; - ros::Publisher estimate_external_wrench_pub_; ros::Publisher rotor_interfere_wrench_pub_; ros::Publisher interfrence_marker_pub_; @@ -82,16 +77,6 @@ namespace aerial_robot_control bool gimbal_vectoring_check_flag_; double allocation_refine_threshold_; int allocation_refine_max_iteration_; - Eigen::VectorXd target_wrench_acc_cog_; - - /* external wrench */ - std::mutex wrench_mutex_; - boost::thread wrench_estimate_thread_; - Eigen::VectorXd init_sum_momentum_; - Eigen::VectorXd est_external_wrench_; - Eigen::MatrixXd momentum_observer_matrix_; - Eigen::VectorXd integrate_term_; - double prev_est_wrench_timestamp_; bool rotor_interfere_compensate_; double fz_bias_; @@ -115,7 +100,6 @@ namespace aerial_robot_control double overlap_dist_inter_joint_thresh_; - void externalWrenchEstimate(); const Eigen::VectorXd getTargetWrenchAccCog() { std::lock_guard lock(wrench_mutex_); diff --git a/robots/dragon/include/dragon/sensor/imu.h b/robots/dragon/include/dragon/sensor/imu.h index 148f38a7d..7eaa5c0da 100644 --- a/robots/dragon/include/dragon/sensor/imu.h +++ b/robots/dragon/include/dragon/sensor/imu.h @@ -51,43 +51,6 @@ namespace sensor_plugin boost::shared_ptr robot_model, boost::shared_ptr estimator, string sensor_name, int index) override; - - void setFilteredOmegaCog(const tf::Vector3 filtered_omega_cog) - { - boost::lock_guard lock(omega_mutex_); - filtered_omega_cog_ = filtered_omega_cog; - } - - void setFilteredVelCog(const tf::Vector3 filtered_vel_cog) - { - boost::lock_guard lock(vel_mutex_); - filtered_vel_cog_ = filtered_vel_cog; - } - - const tf::Vector3 getFilteredOmegaCog() - { - boost::lock_guard lock(omega_mutex_); - return filtered_omega_cog_; - } - - const tf::Vector3 getFilteredVelCog() - { - boost::lock_guard lock(vel_mutex_); - return filtered_vel_cog_; - } - - protected: - - void ImuCallback(const spinal::ImuConstPtr& imu_msg) override; - - // work around to obtain filter states - boost::mutex omega_mutex_; - boost::mutex vel_mutex_; - tf::Vector3 filtered_vel_cog_; - tf::Vector3 filtered_omega_cog_; - IirFilter lpf_omega_; // for gyro - - ros::Publisher omega_filter_pub_; // debug }; }; diff --git a/robots/dragon/src/control/full_vectoring_control.cpp b/robots/dragon/src/control/full_vectoring_control.cpp index bbd11799b..078ba547d 100644 --- a/robots/dragon/src/control/full_vectoring_control.cpp +++ b/robots/dragon/src/control/full_vectoring_control.cpp @@ -27,31 +27,13 @@ void DragonFullVectoringController::initialize(ros::NodeHandle nh, ros::NodeHand gimbal_control_pub_ = nh_.advertise("gimbals_ctrl", 1); flight_cmd_pub_ = nh_.advertise("four_axes/command", 1); target_vectoring_force_pub_ = nh_.advertise("debug/target_vectoring_force", 1); - estimate_external_wrench_pub_ = nh_.advertise("estimated_external_wrench", 1); rotor_interfere_wrench_pub_ = nh_.advertise("rotor_interfere_wrench", 1); interfrence_marker_pub_ = nh_.advertise("interference_markers", 1); rotor_interfere_comp_wrench_ = Eigen::VectorXd::Zero(6); // reset - est_external_wrench_ = Eigen::VectorXd::Zero(6); - init_sum_momentum_ = Eigen::VectorXd::Zero(6); - integrate_term_ = Eigen::VectorXd::Zero(6); - prev_est_wrench_timestamp_ = 0; fz_bias_ = 0; tx_bias_ = 0; ty_bias_ = 0; - wrench_estimate_thread_ = boost::thread([this]() - { - ros::NodeHandle control_nh(nh_, "controller"); - double update_rate; - control_nh.param ("wrench_estimate_update_rate", update_rate, 100.0); - - ros::Rate loop_rate(update_rate); - while(ros::ok()) - { - externalWrenchEstimate(); - loop_rate.sleep(); - } - }); } void DragonFullVectoringController::rotorInterfereCompensation() @@ -780,70 +762,6 @@ void DragonFullVectoringController::controlCore() #endif } -void DragonFullVectoringController::externalWrenchEstimate() -{ - if(navigator_->getNaviState() != aerial_robot_navigation::HOVER_STATE && - navigator_->getNaviState() != aerial_robot_navigation::LAND_STATE) - { - prev_est_wrench_timestamp_ = 0; - integrate_term_ = Eigen::VectorXd::Zero(6); - return; - } - - Eigen::Vector3d vel_w, omega_cog; // workaround: use the filtered value - auto imu_handler = boost::dynamic_pointer_cast(estimator_->getImuHandler(0)); - tf::vectorTFToEigen(imu_handler->getFilteredVelCog(), vel_w); - tf::vectorTFToEigen(imu_handler->getFilteredOmegaCog(), omega_cog); - Eigen::Matrix3d cog_rot; - tf::matrixTFToEigen(estimator_->getOrientation(Frame::COG, estimate_mode_), cog_rot); - - Eigen::Matrix3d inertia = robot_model_->getInertia(); - double mass = robot_model_->getMass(); - - Eigen::VectorXd sum_momentum = Eigen::VectorXd::Zero(6); - sum_momentum.head(3) = mass * vel_w; - sum_momentum.tail(3) = inertia * omega_cog; - - Eigen::MatrixXd J_t = Eigen::MatrixXd::Identity(6,6); - J_t.topLeftCorner(3,3) = cog_rot; - - Eigen::VectorXd N = mass * robot_model_->getGravity(); - N.tail(3) = aerial_robot_model::skew(omega_cog) * (inertia * omega_cog); - - const Eigen::VectorXd target_wrench_acc_cog = getTargetWrenchAccCog(); - Eigen::VectorXd target_wrench_cog = Eigen::VectorXd::Zero(6); - target_wrench_cog.head(3) = mass * target_wrench_acc_cog.head(3); - target_wrench_cog.tail(3) = inertia * target_wrench_acc_cog.tail(3); - - if(prev_est_wrench_timestamp_ == 0) - { - prev_est_wrench_timestamp_ = ros::Time::now().toSec(); - init_sum_momentum_ = sum_momentum; // not good - } - - double dt = ros::Time::now().toSec() - prev_est_wrench_timestamp_; - - integrate_term_ += (J_t * target_wrench_cog - N + est_external_wrench_) * dt; - - est_external_wrench_ = momentum_observer_matrix_ * (sum_momentum - init_sum_momentum_ - integrate_term_); - - Eigen::VectorXd est_external_wrench_cog = est_external_wrench_; - est_external_wrench_cog.head(3) = cog_rot.inverse() * est_external_wrench_.head(3); - - geometry_msgs::WrenchStamped wrench_msg; - wrench_msg.header.stamp.fromSec(estimator_->getImuLatestTimeStamp()); - wrench_msg.wrench.force.x = est_external_wrench_(0); - wrench_msg.wrench.force.y = est_external_wrench_(1); - wrench_msg.wrench.force.z = est_external_wrench_(2); - wrench_msg.wrench.torque.x = est_external_wrench_(3); - wrench_msg.wrench.torque.y = est_external_wrench_(4); - wrench_msg.wrench.torque.z = est_external_wrench_(5); - estimate_external_wrench_pub_.publish(wrench_msg); - - prev_est_wrench_timestamp_ = ros::Time::now().toSec(); -} - - void DragonFullVectoringController::sendCmd() { PoseLinearController::sendCmd(); @@ -896,13 +814,6 @@ void DragonFullVectoringController::rosParamInit() getParam(control_nh, "allocation_refine_threshold", allocation_refine_threshold_, 0.01); getParam(control_nh, "allocation_refine_max_iteration", allocation_refine_max_iteration_, 1); - momentum_observer_matrix_ = Eigen::MatrixXd::Identity(6,6); - double force_weight, torque_weight; - getParam(control_nh, "momentum_observer_force_weight", force_weight, 10.0); - getParam(control_nh, "momentum_observer_torque_weight", torque_weight, 10.0); - momentum_observer_matrix_.topRows(3) *= force_weight; - momentum_observer_matrix_.bottomRows(3) *= torque_weight; - getParam(control_nh, "rotor_interfere_compensate", rotor_interfere_compensate_, true); getParam(control_nh, "external_wrench_lpf_rate", wrench_lpf_rate_, 0.5); getParam(control_nh, "external_fz_bias_thresh", fz_bias_thresh_, 1.0); diff --git a/robots/dragon/src/sensor/imu.cpp b/robots/dragon/src/sensor/imu.cpp index 7006624f1..561f82697 100644 --- a/robots/dragon/src/sensor/imu.cpp +++ b/robots/dragon/src/sensor/imu.cpp @@ -48,65 +48,6 @@ namespace sensor_plugin string sensor_name, int index) { Imu::initialize(nh, robot_model, estimator, std::string("sensor_plugin/imu"), index); - - //low pass filter - double sample_freq, cutoff_freq; - getParam("cutoff_freq", cutoff_freq, 20.0); - getParam("sample_freq", sample_freq, 200.0); - lpf_omega_ = IirFilter(sample_freq, cutoff_freq, 3); - - // debug - omega_filter_pub_ = indexed_nhp_.advertise(string("filter_angular_velocity"), 1); - } - - - // override to get filtred gyro data - void DragonImu::ImuCallback(const spinal::ImuConstPtr& imu_msg) - { - imu_stamp_ = imu_msg->stamp; - tf::Vector3 filtered_omega; - - for(int i = 0; i < 3; i++) - { - if(std::isnan(imu_msg->acc_data[i]) || std::isnan(imu_msg->angles[i]) || - std::isnan(imu_msg->gyro_data[i]) || std::isnan(imu_msg->mag_data[i])) - { - ROS_ERROR_THROTTLE(1.0, "IMU sensor publishes Nan value!"); - return; - } - - acc_b_[i] = imu_msg->acc_data[i]; - euler_[i] = imu_msg->angles[i]; - omega_[i] = imu_msg->gyro_data[i]; - mag_[i] = imu_msg->mag_data[i]; - } - - if(first_flag) - { - lpf_omega_.setInitValues(omega_); - first_flag = false; - } - filtered_omega = lpf_omega_.filterFunction(omega_); - geometry_msgs::Vector3Stamped omega_msg; - omega_msg.header.stamp = imu_msg->stamp; - tf::vector3TFToMsg(filtered_omega, omega_msg.vector); - omega_filter_pub_.publish(omega_msg); - - // workaround: use raw roll&pitch omega (not filtered in spinal) for both angular and linear CoG velocity estimation, yaw is still filtered - // note: this is different with hydrus-like control which use filtered omega for CoG estimation - omega_.setZ(filtered_omega.z()); - - // get filtered angular and linear velocity of CoG - tf::Transform cog2baselink_tf; - tf::transformKDLToTF(robot_model_->getCog2Baselink(), cog2baselink_tf); - int estimate_mode = estimator_->getEstimateMode(); - setFilteredOmegaCog(cog2baselink_tf.getBasis() * filtered_omega); - setFilteredVelCog(estimator_->getVel(Frame::BASELINK, estimate_mode) - + estimator_->getOrientation(Frame::BASELINK, estimate_mode) - * (filtered_omega.cross(cog2baselink_tf.inverse().getOrigin()))); - - estimateProcess(); - updateHealthStamp(); } }; diff --git a/robots/gimbalrotor/CMakeLists.txt b/robots/gimbalrotor/CMakeLists.txt new file mode 100644 index 000000000..57a64adb0 --- /dev/null +++ b/robots/gimbalrotor/CMakeLists.txt @@ -0,0 +1,40 @@ +cmake_minimum_required(VERSION 3.0.2) +project(gimbalrotor) + +add_compile_options(-std=c++17) + +find_package(catkin REQUIRED COMPONENTS + aerial_robot_control + aerial_robot_estimation + aerial_robot_model + aerial_robot_msgs + pluginlib + roscpp + ) + +find_package(Eigen3 REQUIRED) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES gimbalrotor_robot_model gimbalrotor_controller gimbalrotor_navigation + CATKIN_DEPENDS aerial_robot_control aerial_robot_estimation aerial_robot_model aerial_robot_msgs pluginlib roscpp +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ) + +add_library(gimbalrotor_controller src/control/gimbalrotor_controller.cpp) +target_link_libraries(gimbalrotor_controller ${catkin_LIBRARIES}) + +add_library(gimbalrotor_robot_model src/model/gimbalrotor_robot_model.cpp) +target_link_libraries(gimbalrotor_robot_model ${catkin_LIBRARIES}) + +add_library(gimbalrotor_navigation src/gimbalrotor_navigation.cpp) +target_link_libraries(gimbalrotor_navigation ${catkin_LIBRARIES}) + +install(DIRECTORY config plugins launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + USE_SOURCE_PERMISSIONS + ) diff --git a/robots/gimbalrotor/config/Battery.yaml b/robots/gimbalrotor/config/Battery.yaml new file mode 100644 index 000000000..2f9868484 --- /dev/null +++ b/robots/gimbalrotor/config/Battery.yaml @@ -0,0 +1,5 @@ +bat_info: + bat_cell: 6 + bat_resistance: 0.08 # [m Ohm] + hovering_current: 10 #[A], MN3510, prop14inch, 3 ~ 4.5 + low_voltage_thre: 2 #[100%] \ No newline at end of file diff --git a/robots/gimbalrotor/config/GimbalrotorControl.yaml b/robots/gimbalrotor/config/GimbalrotorControl.yaml new file mode 100644 index 000000000..82a75d96d --- /dev/null +++ b/robots/gimbalrotor/config/GimbalrotorControl.yaml @@ -0,0 +1,49 @@ +aerial_robot_control_name: aerial_robot_control/gimbalrotor_controller + +controller: + torque_allocation_matrix_inv_pub_interval: 0.05 + wrench_allocation_matrix_pub_interval: 0.1 + gimbal_calc_in_fc : true + + xy: + p_gain: 1.5 + i_gain: 0.05 + d_gain: 1.0 + limit_sum: 4.0 + limit_p: 12.0 + limit_i: 12.0 + limit_d: 12.0 + + z: + p_gain: 5.0 + i_gain: 1.0 + d_gain: 2.5 + limit_err_p: 1.0 + limit_sum: 25.0 # N for clamping thrust force + limit_p: 25.0 + limit_i: 25.0 + limit_d: 25.0 + force_landing_descending_rate: -0.5 + + roll_pitch: + p_gain: 10.0 + i_gain: 1.0 + d_gain: 4.0 + limit_sum: 20.0 + limit_p: 20.0 + limit_i: 20.0 + limit_d: 20.0 + + start_rp_integration_height: 0.01 + + yaw: + p_gain: 1.0 + i_gain: 1.0 + d_gain: 4.0 + limit_err_p: 0.4 + limit_sum: 20.0 + limit_p: 20.0 + limit_i: 20.0 + limit_d: 20.0 + + need_d_control: true diff --git a/robots/gimbalrotor/config/GimbalrotorControl_sim.yaml b/robots/gimbalrotor/config/GimbalrotorControl_sim.yaml new file mode 100644 index 000000000..a5e6ea268 --- /dev/null +++ b/robots/gimbalrotor/config/GimbalrotorControl_sim.yaml @@ -0,0 +1,49 @@ +aerial_robot_control_name: aerial_robot_control/gimbalrotor_controller + +controller: + torque_allocation_matrix_inv_pub_interval: 0.05 + wrench_allocation_matrix_pub_interval: 0.1 + gimbal_calc_in_fc : true + + xy: + p_gain: 2.0 + i_gain: 0.05 + d_gain: 1.5 + limit_sum: 4.0 + limit_p: 12.0 + limit_i: 12.0 + limit_d: 12.0 + + z: + p_gain: 5.0 + i_gain: 1.0 + d_gain: 2.5 + limit_err_p: 1.0 + limit_sum: 25.0 # N for clamping thrust force + limit_p: 25.0 + limit_i: 25.0 + limit_d: 25.0 + force_landing_descending_rate: -0.5 + + roll_pitch: + p_gain: 15.0 + i_gain: 1.0 + d_gain: 10.0 + limit_sum: 20.0 + limit_p: 20.0 + limit_i: 20.0 + limit_d: 20.0 + + start_rp_integration_height: 0.01 + + yaw: + p_gain: 5.0 + i_gain: 1.0 + d_gain: 4.0 + limit_err_p: 0.4 + limit_sum: 20.0 + limit_p: 20.0 + limit_i: 20.0 + limit_d: 20.0 + + need_d_control: true diff --git a/robots/gimbalrotor/config/MotorInfo.yaml b/robots/gimbalrotor/config/MotorInfo.yaml new file mode 100644 index 000000000..61a7e377f --- /dev/null +++ b/robots/gimbalrotor/config/MotorInfo.yaml @@ -0,0 +1,32 @@ +motor_info: + min_pwm: 0.59 # 1180 [ms] + max_pwm: 0.9375 # 1875 [ms] + min_thrust: 1.0 # [N] + force_landing_thrust: 6.5 #[N] + m_f_rate: -0.0172 + pwm_conversion_mode: 0 # SQRT Mode + vel_ref_num: 4 + ref1: + voltage: 25.2 + max_thrust: 20 # N + polynominal2: 0.07983707 # x10 + polynominal1: -6.627443098 # x10 + polynominal0: 12.3593793002 # x1 + ref2: + voltage: 24.2 + max_thrust: 19 # N + polynominal2: 0.078085358 # x10 + polynominal1: -6.641338225 # x10 + polynominal0: 12.9797798522 # x1 + ref3: + voltage: 23.2 + max_thrust: 18 # N + polynominal2: 0.074527175 # x10 + polynominal1: -6.440853637 # x10 + polynominal0: 12.9565178437 # x1 + ref4: + voltage: 22.2 + max_thrust: 16.8 # N + polynominal2: 0.071758366 # x10 + polynominal1: -6.346135548 # x10 + polynominal0: 13.2669467083 # x1 diff --git a/robots/gimbalrotor/config/NavigationConfig.yaml b/robots/gimbalrotor/config/NavigationConfig.yaml new file mode 100644 index 000000000..458112b44 --- /dev/null +++ b/robots/gimbalrotor/config/NavigationConfig.yaml @@ -0,0 +1,35 @@ +# Teleop Basic Param + +navigation: + xy_control_mode: 0 + # World Pos Control Mode: 0 + # World Vel Control Mode: 2 + # Local Vel Control Mode: 3 + # Attitude Control Mode: 4 + + + takeoff_height: 1.2 #1.0 + outdoor_takeoff_height: 1.5 + + # teleop operation + max_target_vel: 0.5 + joy_target_vel_interval: 0.005 # 0.2 / 20 = 0.01, 0.005 ~ 0.01 m/s + joy_target_z_interval: 0.02 + max_target_yaw_rate: 0.1 # 0.05 + teleop_local_frame: fc + + cmd_vel_lev2_gain : 2.0 + nav_vel_limit : 0.2 + vel_nav_threshold : 0.01 + + gain_tunning_mode: 0 + max_target_tilt_angle: 0.2 + cmd_angle_lev2_gain : 1.5 + + # gps waypoint + gps_waypoint_threshold: 3.0 + gps_waypoint_check_du: 1.0 + + # desire tilt + baselink_rot_pub_interval: 0.2 + baselink_rot_change_thresh: 0.04 # 0.2 hz -> 0.04; 0.01 hz-> 0.02 diff --git a/robots/gimbalrotor/config/RobotModel.yaml b/robots/gimbalrotor/config/RobotModel.yaml new file mode 100644 index 000000000..2cdecb067 --- /dev/null +++ b/robots/gimbalrotor/config/RobotModel.yaml @@ -0,0 +1,5 @@ +# robot model plugin +robot_model_plugin_name: gimbalrotor_robot_model # multirotor_robot_model + +wrench_mat_det_thre: 0 + diff --git a/robots/gimbalrotor/config/RvizInit.yaml b/robots/gimbalrotor/config/RvizInit.yaml new file mode 100644 index 000000000..280853bc3 --- /dev/null +++ b/robots/gimbalrotor/config/RvizInit.yaml @@ -0,0 +1,6 @@ +zeros: + gimbal1: 0 + gimbal2: 0 + gimbal3: 0 + + diff --git a/robots/gimbalrotor/config/Servo.yaml b/robots/gimbalrotor/config/Servo.yaml new file mode 100644 index 000000000..1219a4389 --- /dev/null +++ b/robots/gimbalrotor/config/Servo.yaml @@ -0,0 +1,39 @@ +servo_controller: + gimbals: + ctrl_pub_topic: servo/target_states + torque_pub_topic: servo/torque_enable + angle_sgn: -1 + angle_scale: 0.001534 + zero_point_offset: 2047 + + controller1: + id: 1 + name: gimbal1 + simulation: + pid: {p: 5.0, i: 0.1, d: 0.1, i_clamp_max: 2.0, i_clamp_min: -2.0} + init_value: 0 + type: effort_controllers/JointPositionController + + controller2: + id: 2 + name: gimbal2 + simulation: + pid: {p: 5.0, i: 0.1, d: 0.1, i_clamp_max: 2.0, i_clamp_min: -2.0} + init_value: 0 + type: effort_controllers/JointPositionController + + controller3: + id: 3 + name: gimbal3 + simulation: + pid: {p: 5.0, i: 0.1, d: 0.1, i_clamp_max: 2.0, i_clamp_min: -2.0} + init_value: 0 + type: effort_controllers/JointPositionController + controller4: + id: 4 + name: gimbal4 + simulation: + pid: {p: 5.0, i: 0.1, d: 0.1, i_clamp_max: 2.0, i_clamp_min: -2.0} + init_value: 0 + type: effort_controllers/JointPositionController + diff --git a/robots/gimbalrotor/config/Simulation.yaml b/robots/gimbalrotor/config/Simulation.yaml new file mode 100644 index 000000000..3a515001a --- /dev/null +++ b/robots/gimbalrotor/config/Simulation.yaml @@ -0,0 +1,28 @@ +# overwrite parameter for simulation + +sensor_plugin: + mocap: + ground_truth_sub_name: ground_truth + gps: + estimate_mode: 4 #1 << 2 + ned_flag: true # hector_gazebo_plugins/GPS + +# ground truth parameter +# global namespace +simulation: + # gaussian noise + ground_truth_pos_noise: 0.001 + ground_truth_vel_noise: 0.005 + ground_truth_rot_noise: 0.001 + ground_truth_angular_noise: 0.005 + + # drift model: e^(-dt * drift_frequency) * curr_drift + dt * gaussian_kernel(sqrt( 2 * drift_frequency) * drfit)) + # drift diviation: + ground_truth_vel_drift: 0 + ground_truth_rot_drift: 0 + ground_truth_angular_drift: 0 + + # drift frequency: + ground_truth_vel_drift_frequency: 0 + ground_truth_rot_drift_frequency: 0 + ground_truth_angular_drift_frequency: 0 \ No newline at end of file diff --git a/robots/gimbalrotor/config/StateEstimation.yaml b/robots/gimbalrotor/config/StateEstimation.yaml new file mode 100644 index 000000000..6ea67de87 --- /dev/null +++ b/robots/gimbalrotor/config/StateEstimation.yaml @@ -0,0 +1,50 @@ +# Sensor Fuser Loader +estimation: + # sensor plugin + sensor_list: + - sensor_plugin/imu + - sensor_plugin/mocap + - sensor_plugin/alt + + # egomotion estimation + egomotion_list: + - kalman_filter/kf_pos_vel_acc + - kalman_filter/kf_pos_vel_acc + - kalman_filter/kf_pos_vel_acc + + # experiment estimation + experiment_list: + - kalman_filter/kf_pos_vel_acc + - kalman_filter/kf_pos_vel_acc + - kalman_filter/kf_pos_vel_acc + + # specific id(int) of sensor fuser, axis for kf + fuser_egomotion_id1: 8 # 1 << 3 + fuser_egomotion_id2: 16 # 1 << 4 + fuser_egomotion_id3: 32 # 1 << 5 + + fuser_experiment_id1: 8 # 1 << 3 + fuser_experiment_id2: 16 # 1 << 4 + fuser_experiment_id3: 32 # 1 << 5 + + # specific name of sensor fuser + fuser_egomotion_name1: /ee/x + fuser_egomotion_name2: /ee/y + fuser_egomotion_name3: /ee/z + + fuser_experiment_name1: /ex/x + fuser_experiment_name2: /ex/y + fuser_experiment_name3: /ex/z + + +# EGOMOTION_ESTIMATION_MODE = 0 +# EXPERIMENT_MODE = 1 +# GROUND_TRUTH_MODE = 2 + +sensor_plugin: + imu: + estimate_mode: 3 # 1<<0 + 1<<1 + mocap: + estimate_mode: 6 # 1<<1 + 1<<2 + alt: + estimate_mode: 1 # 1<<0 diff --git a/robots/gimbalrotor/config/quad/GimbalrotorControl.yaml b/robots/gimbalrotor/config/quad/GimbalrotorControl.yaml new file mode 100644 index 000000000..82a75d96d --- /dev/null +++ b/robots/gimbalrotor/config/quad/GimbalrotorControl.yaml @@ -0,0 +1,49 @@ +aerial_robot_control_name: aerial_robot_control/gimbalrotor_controller + +controller: + torque_allocation_matrix_inv_pub_interval: 0.05 + wrench_allocation_matrix_pub_interval: 0.1 + gimbal_calc_in_fc : true + + xy: + p_gain: 1.5 + i_gain: 0.05 + d_gain: 1.0 + limit_sum: 4.0 + limit_p: 12.0 + limit_i: 12.0 + limit_d: 12.0 + + z: + p_gain: 5.0 + i_gain: 1.0 + d_gain: 2.5 + limit_err_p: 1.0 + limit_sum: 25.0 # N for clamping thrust force + limit_p: 25.0 + limit_i: 25.0 + limit_d: 25.0 + force_landing_descending_rate: -0.5 + + roll_pitch: + p_gain: 10.0 + i_gain: 1.0 + d_gain: 4.0 + limit_sum: 20.0 + limit_p: 20.0 + limit_i: 20.0 + limit_d: 20.0 + + start_rp_integration_height: 0.01 + + yaw: + p_gain: 1.0 + i_gain: 1.0 + d_gain: 4.0 + limit_err_p: 0.4 + limit_sum: 20.0 + limit_p: 20.0 + limit_i: 20.0 + limit_d: 20.0 + + need_d_control: true diff --git a/robots/gimbalrotor/config/quad/GimbalrotorControl_sim.yaml b/robots/gimbalrotor/config/quad/GimbalrotorControl_sim.yaml new file mode 100644 index 000000000..86faffb0c --- /dev/null +++ b/robots/gimbalrotor/config/quad/GimbalrotorControl_sim.yaml @@ -0,0 +1,49 @@ +aerial_robot_control_name: aerial_robot_control/gimbalrotor_controller + +controller: + torque_allocation_matrix_inv_pub_interval: 0.05 + wrench_allocation_matrix_pub_interval: 0.1 + gimbal_calc_in_fc : false + + xy: + p_gain: 2.0 + i_gain: 0.05 + d_gain: 1.5 + limit_sum: 4.0 + limit_p: 12.0 + limit_i: 12.0 + limit_d: 12.0 + + z: + p_gain: 5.0 + i_gain: 1.0 + d_gain: 2.5 + limit_err_p: 1.0 + limit_sum: 25.0 # N for clamping thrust force + limit_p: 25.0 + limit_i: 25.0 + limit_d: 25.0 + force_landing_descending_rate: -0.5 + + roll_pitch: + p_gain: 15.0 + i_gain: 1.0 + d_gain: 10.0 + limit_sum: 20.0 + limit_p: 20.0 + limit_i: 20.0 + limit_d: 20.0 + + start_rp_integration_height: 0.01 + + yaw: + p_gain: 5.0 + i_gain: 1.0 + d_gain: 4.0 + limit_err_p: 0.4 + limit_sum: 20.0 + limit_p: 20.0 + limit_i: 20.0 + limit_d: 20.0 + + need_d_control: true diff --git a/robots/gimbalrotor/config/quad/Servo.yaml b/robots/gimbalrotor/config/quad/Servo.yaml new file mode 100644 index 000000000..1219a4389 --- /dev/null +++ b/robots/gimbalrotor/config/quad/Servo.yaml @@ -0,0 +1,39 @@ +servo_controller: + gimbals: + ctrl_pub_topic: servo/target_states + torque_pub_topic: servo/torque_enable + angle_sgn: -1 + angle_scale: 0.001534 + zero_point_offset: 2047 + + controller1: + id: 1 + name: gimbal1 + simulation: + pid: {p: 5.0, i: 0.1, d: 0.1, i_clamp_max: 2.0, i_clamp_min: -2.0} + init_value: 0 + type: effort_controllers/JointPositionController + + controller2: + id: 2 + name: gimbal2 + simulation: + pid: {p: 5.0, i: 0.1, d: 0.1, i_clamp_max: 2.0, i_clamp_min: -2.0} + init_value: 0 + type: effort_controllers/JointPositionController + + controller3: + id: 3 + name: gimbal3 + simulation: + pid: {p: 5.0, i: 0.1, d: 0.1, i_clamp_max: 2.0, i_clamp_min: -2.0} + init_value: 0 + type: effort_controllers/JointPositionController + controller4: + id: 4 + name: gimbal4 + simulation: + pid: {p: 5.0, i: 0.1, d: 0.1, i_clamp_max: 2.0, i_clamp_min: -2.0} + init_value: 0 + type: effort_controllers/JointPositionController + diff --git a/robots/gimbalrotor/config/rviz_config b/robots/gimbalrotor/config/rviz_config new file mode 100644 index 000000000..280604a71 --- /dev/null +++ b/robots/gimbalrotor/config/rviz_config @@ -0,0 +1,250 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /TF1 + Splitter Ratio: 0.5 + Tree Height: 579 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 0.5 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fc: + Alpha: 1 + Show Axes: false + Show Trail: false + gimbal_link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gimbal_link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gimbal_link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + root: + Alpha: 1 + Show Axes: false + Show Trail: false + rotor_parent1: + Alpha: 1 + Show Axes: false + Show Trail: false + rotor_parent2: + Alpha: 1 + Show Axes: false + Show Trail: false + rotor_parent3: + Alpha: 1 + Show Axes: false + Show Trail: false + thrust1: + Alpha: 1 + Show Axes: false + Show Trail: false + thrust2: + Alpha: 1 + Show Axes: false + Show Trail: false + thrust3: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + Robot Description: gimbalrotor/robot_description + TF Prefix: gimbalrotor + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + gimbalrotor/base_link: + Value: true + gimbalrotor/cog: + Value: true + gimbalrotor/fc: + Value: true + gimbalrotor/gimbal_link1: + Value: true + gimbalrotor/gimbal_link2: + Value: true + gimbalrotor/gimbal_link3: + Value: true + gimbalrotor/root: + Value: true + gimbalrotor/rotor_parent1: + Value: true + gimbalrotor/rotor_parent2: + Value: true + gimbalrotor/rotor_parent3: + Value: true + gimbalrotor/thrust1: + Value: true + gimbalrotor/thrust2: + Value: true + gimbalrotor/thrust3: + Value: true + world: + Value: true + Marker Scale: 0.5 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + world: + gimbalrotor/root: + gimbalrotor/base_link: + gimbalrotor/fc: + {} + gimbalrotor/gimbal_link1: + gimbalrotor/rotor_parent1: + gimbalrotor/thrust1: + {} + gimbalrotor/gimbal_link2: + gimbalrotor/rotor_parent2: + gimbalrotor/thrust2: + {} + gimbalrotor/gimbal_link3: + gimbalrotor/rotor_parent3: + gimbalrotor/thrust3: + {} + gimbalrotor/cog: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 0.934616208076477 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.17488805949687958 + Y: -0.28426408767700195 + Z: 0.3226085901260376 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.0403972864151 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.7635817527771 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 882 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1267 + X: 67 + Y: 360 diff --git a/robots/gimbalrotor/config/sensors/imu/spinal.yaml b/robots/gimbalrotor/config/sensors/imu/spinal.yaml new file mode 100644 index 000000000..0729d8926 --- /dev/null +++ b/robots/gimbalrotor/config/sensors/imu/spinal.yaml @@ -0,0 +1,11 @@ +sensor_plugin: + imu: + imu_board: 1 #d_board + imu_topic_name: imu + level_acc_noise_sigma: 0.05 + z_acc_noise_sigma: 0.05 + level_acc_bias_noise_sigma: 0.001 # (> 0 means to do the acc bias estimation by kalman filter) + z_acc_bias_noise_sigma: 0 # (= 0 means not to do the acc bias estimation by kalman filter) + + angle_bias_noise_sigma: 0.0002 #good for EKF + calib_time: 2.0 diff --git a/robots/gimbalrotor/config/tri/GimbalrotorControl.yaml b/robots/gimbalrotor/config/tri/GimbalrotorControl.yaml new file mode 100644 index 000000000..253e5123b --- /dev/null +++ b/robots/gimbalrotor/config/tri/GimbalrotorControl.yaml @@ -0,0 +1,49 @@ +aerial_robot_control_name: aerial_robot_control/gimbalrotor_controller + +controller: + torque_allocation_matrix_inv_pub_interval: 0.05 + wrench_allocation_matrix_pub_interval: 0.1 + gimbal_calc_in_fc : true + + xy: + p_gain: 6.0 + i_gain: 0.05 + d_gain: 1.5 + limit_sum: 4.0 + limit_p: 12.0 + limit_i: 12.0 + limit_d: 12.0 + + z: + p_gain: 5.0 + i_gain: 1.0 + d_gain: 2.5 + limit_err_p: 1.0 + limit_sum: 25.0 # N for clamping thrust force + limit_p: 25.0 + limit_i: 25.0 + limit_d: 25.0 + force_landing_descending_rate: -0.5 + + roll_pitch: + p_gain: 30.0 + i_gain: 5.0 + d_gain: 14.0 + limit_sum: 20.0 + limit_p: 20.0 + limit_i: 20.0 + limit_d: 20.0 + + start_rp_integration_height: 0.01 + + yaw: + p_gain: 8.0 + i_gain: 1.0 + d_gain: 4.0 + limit_err_p: 0.4 + limit_sum: 20.0 + limit_p: 20.0 + limit_i: 20.0 + limit_d: 20.0 + + need_d_control: true \ No newline at end of file diff --git a/robots/gimbalrotor/config/tri/GimbalrotorControl_sim.yaml b/robots/gimbalrotor/config/tri/GimbalrotorControl_sim.yaml new file mode 100644 index 000000000..76996c201 --- /dev/null +++ b/robots/gimbalrotor/config/tri/GimbalrotorControl_sim.yaml @@ -0,0 +1,49 @@ +aerial_robot_control_name: aerial_robot_control/gimbalrotor_controller + +controller: + torque_allocation_matrix_inv_pub_interval: 0.05 + wrench_allocation_matrix_pub_interval: 0.1 + gimbal_calc_in_fc : true + + xy: + p_gain: 3.0 + i_gain: 0.05 + d_gain: 1.5 + limit_sum: 4.0 + limit_p: 12.0 + limit_i: 12.0 + limit_d: 12.0 + + z: + p_gain: 5.0 + i_gain: 1.0 + d_gain: 2.5 + limit_err_p: 1.0 + limit_sum: 25.0 # N for clamping thrust force + limit_p: 25.0 + limit_i: 25.0 + limit_d: 25.0 + force_landing_descending_rate: -0.5 + + roll_pitch: + p_gain: 22.0 + i_gain: 1.0 + d_gain: 14.0 + limit_sum: 20.0 + limit_p: 20.0 + limit_i: 20.0 + limit_d: 20.0 + + start_rp_integration_height: 0.01 + + yaw: + p_gain: 5.0 + i_gain: 1.0 + d_gain: 4.0 + limit_err_p: 0.4 + limit_sum: 20.0 + limit_p: 20.0 + limit_i: 20.0 + limit_d: 20.0 + + need_d_control: true \ No newline at end of file diff --git a/robots/gimbalrotor/config/tri/Servo.yaml b/robots/gimbalrotor/config/tri/Servo.yaml new file mode 100644 index 000000000..5c9fef565 --- /dev/null +++ b/robots/gimbalrotor/config/tri/Servo.yaml @@ -0,0 +1,31 @@ +servo_controller: + gimbals: + ctrl_pub_topic: servo/target_states + torque_pub_topic: servo/torque_enable + angle_sgn: -1 + angle_scale: 0.001534 + zero_point_offset: 2047 + + controller1: + id: 1 + name: gimbal1 + simulation: + pid: {p: 5.0, i: 0.1, d: 0.1, i_clamp_max: 2.0, i_clamp_min: -2.0} + init_value: 0 + type: effort_controllers/JointPositionController + + controller2: + id: 2 + name: gimbal2 + simulation: + pid: {p: 5.0, i: 0.1, d: 0.1, i_clamp_max: 2.0, i_clamp_min: -2.0} + init_value: 0 + type: effort_controllers/JointPositionController + + controller3: + id: 3 + name: gimbal3 + simulation: + pid: {p: 5.0, i: 0.1, d: 0.1, i_clamp_max: 2.0, i_clamp_min: -2.0} + init_value: 0 + type: effort_controllers/JointPositionController \ No newline at end of file diff --git a/robots/gimbalrotor/include/gimbalrotor/control/gimbalrotor_controller.h b/robots/gimbalrotor/include/gimbalrotor/control/gimbalrotor_controller.h new file mode 100644 index 000000000..72cad1227 --- /dev/null +++ b/robots/gimbalrotor/include/gimbalrotor/control/gimbalrotor_controller.h @@ -0,0 +1,75 @@ +// -*- mode: c++ -*- + +#pragma once + +#include +#include +#include +#include +#include +#include + +namespace aerial_robot_control +{ + class GimbalrotorController: public PoseLinearController + { + public: + GimbalrotorController(); + ~GimbalrotorController() = default; + + void initialize(ros::NodeHandle nh, ros::NodeHandle nhp, + boost::shared_ptr robot_model, + boost::shared_ptr estimator, + boost::shared_ptr navigator, + double ctrl_loop_rate + ) override; + const Eigen::MatrixXd getIntegratedMapInvTrans() { + std::lock_guard lock(trans_map_inv_mutex_); + return integrated_map_inv_trans_; + } + const Eigen::MatrixXd getIntegratedMapInvRot() { + std::lock_guard lock(rot_map_inv_mutex_); + return integrated_map_inv_rot_; + } + + private: + std::mutex wrench_mutex_; + std::mutex trans_map_inv_mutex_; + std::mutex rot_map_inv_mutex_; + + ros::Publisher flight_cmd_pub_; + ros::Publisher gimbal_control_pub_; + ros::Publisher gimbal_state_pub_; + ros::Publisher target_vectoring_force_pub_; + ros::Publisher torque_allocation_matrix_inv_pub_; //for spinal + ros::Publisher gimbal_dof_pub_; //for spinal + + boost::shared_ptr gimbalerotor_robot_model_; + std::vector target_base_thrust_; + std::vector target_full_thrust_; + std::vector target_gimbal_angles_; + bool hovering_approximate_; + Eigen::VectorXd target_vectoring_f_; + Eigen::VectorXd target_vectoring_f_trans_; + Eigen::VectorXd target_vectoring_f_rot_; + Eigen::MatrixXd integrated_map_inv_trans_; + Eigen::MatrixXd integrated_map_inv_rot_; + double candidate_yaw_term_; + int gimbal_dof_; + + bool update() override; + void sendCmd() override; + void sendFourAxisCommand(); + void sendGimbalCommand(); + void sendTorqueAllocationMatrixInv(); + protected: + bool gimbal_calc_in_fc_; + bool i_term_rp_calc_in_pc_; + ros::Publisher rpy_gain_pub_; //for spinal + virtual void reset() override; + virtual void setAttitudeGains(); + virtual void rosParamInit(); + virtual void controlCore() override; + Eigen::VectorXd additional_wrench_acc_cog_term_; + }; +}; diff --git a/robots/gimbalrotor/include/gimbalrotor/gimbalrotor_navigation.h b/robots/gimbalrotor/include/gimbalrotor/gimbalrotor_navigation.h new file mode 100644 index 000000000..8e20fd79a --- /dev/null +++ b/robots/gimbalrotor/include/gimbalrotor/gimbalrotor_navigation.h @@ -0,0 +1,44 @@ +// -*- mode: c++ -*- + +#pragma once + +#include +#include + +namespace aerial_robot_navigation +{ + class GimbalrotorNavigator : public BaseNavigator + { + public: + GimbalrotorNavigator(); + ~GimbalrotorNavigator(){} + + void initialize(ros::NodeHandle nh, ros::NodeHandle nhp, + boost::shared_ptr robot_model, + boost::shared_ptr estimator, + double loop_du) override; + + void update() override; + + tf::Vector3 getCurrTargetBaselinkRot(){return curr_target_baselink_rot_;} + tf::Vector3 getFinalTargetBaselinkRot(){return final_target_baselink_rot_;} + + void setFinalTargetBaselinkRot(tf::Vector3 final_target_baselink_rot){final_target_baselink_rot_ = final_target_baselink_rot;} + protected: + void rosParamInit() override; + virtual void setFinalTargetBaselinkRotCallback(const spinal::DesireCoordConstPtr & msg); + + private: + ros::Publisher curr_target_baselink_rot_pub_; + ros::Subscriber final_target_baselink_rot_sub_; + + void baselinkRotationProcess(); + /* target baselink rotation */ + double prev_rotation_stamp_; + tf::Vector3 curr_target_baselink_rot_, final_target_baselink_rot_; + + /* rosparam */ + double baselink_rot_change_thresh_; + double baselink_rot_pub_interval_; + }; +}; diff --git a/robots/gimbalrotor/include/gimbalrotor/model/gimbalrotor_robot_model.h b/robots/gimbalrotor/include/gimbalrotor/model/gimbalrotor_robot_model.h new file mode 100644 index 000000000..0074842c0 --- /dev/null +++ b/robots/gimbalrotor/include/gimbalrotor/model/gimbalrotor_robot_model.h @@ -0,0 +1,43 @@ +// -*- mode: c++ -*- + +#pragma once + +#include + +using namespace aerial_robot_model; + +class GimbalrotorRobotModel : public aerial_robot_model::RobotModel{ +public: + GimbalrotorRobotModel(bool init_with_rosparam = true, + bool verbose = false, + double fc_t_min_thre = 0, + double epsilon = 10); + virtual ~GimbalrotorRobotModel() = default; + + template std::vector getLinksRotationFromCog(); + template std::vector getThrustCoordRot(); + +private: + + KDL::JntArray gimbal_processed_joint_; + std::vector links_rotation_from_cog_; + std::vector thrust_coords_rot_; + std::mutex links_rotation_mutex_; + std::mutex thrust_rotation_mutex_; + +protected: + void updateRobotModelImpl(const KDL::JntArray& joint_positions) override; + +}; + +template<> inline std::vector GimbalrotorRobotModel::getLinksRotationFromCog() +{ + std::lock_guard lock(links_rotation_mutex_); + return links_rotation_from_cog_; +} + +template<> inline std::vector GimbalrotorRobotModel::getThrustCoordRot() +{ + std::lock_guard lock(thrust_rotation_mutex_); + return thrust_coords_rot_; +} diff --git a/robots/gimbalrotor/launch/bringup.launch b/robots/gimbalrotor/launch/bringup.launch new file mode 100644 index 000000000..4cb4f01cb --- /dev/null +++ b/robots/gimbalrotor/launch/bringup.launch @@ -0,0 +1,108 @@ + + + ########### launch config ########### + + + + + + + + + + + + + + + + + + + + + + ########### Parameters ########### + + # EGOMOTION_ESTIMATE = 0 + # EXPERIMENT_ESTIMATE = 1. for unstable mocap, use this mode + # GROUND_TRUTH = 2 + + ########### Basic Param ########### + + + + ########### Robot Model ########### + + + ########### Motor Config ########### + + + ########### Servo Config ########### + + + + ########### Battery Config ########### + + + ########### Control ########### + + + + + + + ########### Sensor Fusion ########### + + + + ########### Navigation ########### + + + + + + ########### Base Platform ########### + + + + + + + ########### Robot Model ########### + + + + + + + + + + + + + ########## Sensors ########## + + + + + + + ########### Servo Bridge ########### + + + ########## Simulation in Gazebo ######### + + + + + + + + + + + + + diff --git a/robots/gimbalrotor/launch/include/sensors.launch.xml b/robots/gimbalrotor/launch/include/sensors.launch.xml new file mode 100644 index 000000000..37446871b --- /dev/null +++ b/robots/gimbalrotor/launch/include/sensors.launch.xml @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/robots/gimbalrotor/package.xml b/robots/gimbalrotor/package.xml new file mode 100644 index 000000000..792fa3964 --- /dev/null +++ b/robots/gimbalrotor/package.xml @@ -0,0 +1,35 @@ + + + gimbalrotor + 1.3.2 + The gimbalrotor package + + Bakui Chou + BSD + https://github.com/jsk-ros-pkg/jsk_aerial_robot + Junichiro Sugihara + + catkin + aerial_robot_control + aerial_robot_estimation + aerial_robot_model + aerial_robot_msgs + roscpp + pluginlib + + aerial_robot_control + aerial_robot_estimation + aerial_robot_model + aerial_robot_msgs + aerial_robot_simulation + aerial_robot_base + roscpp + pluginlib + + + + + + + + diff --git a/robots/gimbalrotor/plugins/control_plugins.xml b/robots/gimbalrotor/plugins/control_plugins.xml new file mode 100644 index 000000000..77341e712 --- /dev/null +++ b/robots/gimbalrotor/plugins/control_plugins.xml @@ -0,0 +1,5 @@ + + + plugin for gimbalrotor control + + diff --git a/robots/gimbalrotor/plugins/navigation_plugin.xml b/robots/gimbalrotor/plugins/navigation_plugin.xml new file mode 100644 index 000000000..fe7f0d802 --- /dev/null +++ b/robots/gimbalrotor/plugins/navigation_plugin.xml @@ -0,0 +1,5 @@ + + + plugin for gimbalrotor navigation + + diff --git a/robots/gimbalrotor/plugins/robot_model_plugins.xml b/robots/gimbalrotor/plugins/robot_model_plugins.xml new file mode 100644 index 000000000..f5991a86c --- /dev/null +++ b/robots/gimbalrotor/plugins/robot_model_plugins.xml @@ -0,0 +1,5 @@ + + + plugin for gimbalrotor robot model + + diff --git a/robots/gimbalrotor/robots/quad/gimbalrotor.gazebo.xacro b/robots/gimbalrotor/robots/quad/gimbalrotor.gazebo.xacro new file mode 100644 index 000000000..a8d09062a --- /dev/null +++ b/robots/gimbalrotor/robots/quad/gimbalrotor.gazebo.xacro @@ -0,0 +1,12 @@ + + + + + + + + + + + diff --git a/robots/gimbalrotor/robots/quad/gimbalrotor.urdf.xacro b/robots/gimbalrotor/robots/quad/gimbalrotor.urdf.xacro new file mode 100644 index 000000000..19876a703 --- /dev/null +++ b/robots/gimbalrotor/robots/quad/gimbalrotor.urdf.xacro @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/robots/gimbalrotor/robots/tri/gimbalrotor.gazebo.xacro b/robots/gimbalrotor/robots/tri/gimbalrotor.gazebo.xacro new file mode 100644 index 000000000..ce5c39adf --- /dev/null +++ b/robots/gimbalrotor/robots/tri/gimbalrotor.gazebo.xacro @@ -0,0 +1,12 @@ + + + + + + + + + + + diff --git a/robots/gimbalrotor/robots/tri/gimbalrotor.urdf.xacro b/robots/gimbalrotor/robots/tri/gimbalrotor.urdf.xacro new file mode 100644 index 000000000..e863dff5e --- /dev/null +++ b/robots/gimbalrotor/robots/tri/gimbalrotor.urdf.xacro @@ -0,0 +1,13 @@ + + + + + + + + + + + + diff --git a/robots/gimbalrotor/src/control/gimbalrotor_controller.cpp b/robots/gimbalrotor/src/control/gimbalrotor_controller.cpp new file mode 100644 index 000000000..51ddfd911 --- /dev/null +++ b/robots/gimbalrotor/src/control/gimbalrotor_controller.cpp @@ -0,0 +1,300 @@ +#include + +using namespace std; + +namespace aerial_robot_control +{ + GimbalrotorController::GimbalrotorController(): + PoseLinearController() + { + } + + void GimbalrotorController::initialize(ros::NodeHandle nh, ros::NodeHandle nhp, + boost::shared_ptr robot_model, + boost::shared_ptr estimator, + boost::shared_ptr navigator, + double ctrl_loop_rate + ) + { + PoseLinearController::initialize(nh, nhp, robot_model, estimator, navigator, ctrl_loop_rate); + gimbalerotor_robot_model_ = boost::dynamic_pointer_cast(robot_model); + + target_base_thrust_.resize(motor_num_ * 2); + target_full_thrust_.resize(motor_num_); + target_gimbal_angles_.resize(motor_num_, 0); + integrated_map_inv_trans_.resize(motor_num_ * 2, 3); + integrated_map_inv_rot_.resize(motor_num_ * 2, 3); + + GimbalrotorController::rosParamInit(); + + flight_cmd_pub_ = nh_.advertise("four_axes/command", 1); + + if(! gimbal_calc_in_fc_) gimbal_control_pub_ = nh_.advertise("gimbals_ctrl", 1); + gimbal_state_pub_ = nh_.advertise("joint_states", 1); + target_vectoring_force_pub_ = nh_.advertise("debug/target_vectoring_force", 1); + rpy_gain_pub_ = nh_.advertise("rpy/gain", 1); + torque_allocation_matrix_inv_pub_ = nh_.advertise("torque_allocation_matrix_inv", 1); + gimbal_dof_pub_ = nh_.advertise("gimbal_dof", 1); + } + + void GimbalrotorController::reset() + { + PoseLinearController::reset(); + + setAttitudeGains(); + } + + void GimbalrotorController::rosParamInit() + { + ros::NodeHandle control_nh(nh_, "controller"); + getParam(control_nh, "gimbal_dof", gimbal_dof_, 1); + getParam(control_nh, "gimbal_calc_in_fc", gimbal_calc_in_fc_, true); + getParam(control_nh, "i_term_rp_calc_in_pc", i_term_rp_calc_in_pc_, false); + } + + bool GimbalrotorController::update() + { + sendGimbalCommand(); + if(gimbal_calc_in_fc_){ + std_msgs::UInt8 msg; + msg.data = gimbal_dof_; + gimbal_dof_pub_.publish(msg); + } + + return PoseLinearController::update(); + } + + void GimbalrotorController::controlCore() + { + PoseLinearController::controlCore(); + + tf::Matrix3x3 uav_rot = estimator_->getOrientation(Frame::COG, estimate_mode_); + tf::Vector3 target_acc_w(pid_controllers_.at(X).result(), + pid_controllers_.at(Y).result(), + pid_controllers_.at(Z).result()); + tf::Vector3 target_acc_cog = uav_rot.inverse() * target_acc_w; + Eigen::VectorXd target_wrench_acc_cog = Eigen::VectorXd::Zero(6); + Eigen::VectorXd target_wrench_acc_cog_for_est = Eigen::VectorXd::Zero(6); + target_wrench_acc_cog.head(3) = Eigen::Vector3d(target_acc_cog.x(), target_acc_cog.y(), target_acc_cog.z()); + target_wrench_acc_cog_for_est.head(3) = Eigen::Vector3d(target_acc_cog.x(), target_acc_cog.y(), target_acc_cog.z()); + + double target_ang_acc_x, target_ang_acc_y, target_ang_acc_z; + if(gimbal_calc_in_fc_ && i_term_rp_calc_in_pc_){ + target_ang_acc_x = pid_controllers_.at(ROLL).getITerm(); + target_ang_acc_y = pid_controllers_.at(PITCH).getITerm(); + target_ang_acc_z = pid_controllers_.at(YAW).result(); + target_wrench_acc_cog.tail(3) = Eigen::Vector3d(target_ang_acc_x, target_ang_acc_y, 0.0); + }else{ + target_ang_acc_x = pid_controllers_.at(ROLL).result(); + target_ang_acc_y = pid_controllers_.at(PITCH).result(); + target_ang_acc_z = pid_controllers_.at(YAW).result(); + target_wrench_acc_cog.tail(3) = Eigen::Vector3d(target_ang_acc_x, target_ang_acc_y, target_ang_acc_z); + } + + double target_ang_acc_x_for_est = pid_controllers_.at(ROLL).result(); + double target_ang_acc_y_for_est = pid_controllers_.at(PITCH).result(); + double target_ang_acc_z_for_est = pid_controllers_.at(YAW).result(); + target_wrench_acc_cog_for_est.tail(3) = Eigen::Vector3d(target_ang_acc_x_for_est, target_ang_acc_y_for_est, target_ang_acc_z_for_est); + + setTargetWrenchAccCog(target_wrench_acc_cog_for_est); + + pid_msg_.roll.total.at(0) = target_ang_acc_x; + pid_msg_.roll.p_term.at(0) = pid_controllers_.at(ROLL).getPTerm(); + pid_msg_.roll.i_term.at(0) = pid_controllers_.at(ROLL).getITerm(); + pid_msg_.roll.d_term.at(0) = pid_controllers_.at(ROLL).getDTerm(); + pid_msg_.roll.target_p = target_rpy_.x(); + pid_msg_.roll.err_p = pid_controllers_.at(ROLL).getErrP(); + pid_msg_.roll.target_d = target_omega_.x(); + pid_msg_.roll.err_d = pid_controllers_.at(ROLL).getErrD(); + pid_msg_.pitch.total.at(0) = target_ang_acc_y; + pid_msg_.pitch.p_term.at(0) = pid_controllers_.at(PITCH).getPTerm(); + pid_msg_.pitch.i_term.at(0) = pid_controllers_.at(PITCH).getITerm(); + pid_msg_.pitch.d_term.at(0) = pid_controllers_.at(PITCH).getDTerm(); + pid_msg_.pitch.target_p = target_rpy_.y(); + pid_msg_.pitch.err_p = pid_controllers_.at(PITCH).getErrP(); + pid_msg_.pitch.target_d = target_omega_.y(); + pid_msg_.pitch.err_d = pid_controllers_.at(PITCH).getErrD(); + + Eigen::MatrixXd full_q_mat = Eigen::MatrixXd::Zero(6, 3 * motor_num_); + + double mass_inv = 1 / gimbalerotor_robot_model_->getMass(); + + Eigen::Matrix3d inertia_inv = (gimbalerotor_robot_model_->getInertia()).inverse(); + + double t = ros::Time::now().toSec(); + + + std::vector rotors_origin_from_cog = gimbalerotor_robot_model_->getRotorsOriginFromCog(); + + Eigen::MatrixXd wrench_map = Eigen::MatrixXd::Zero(6, 3); + wrench_map.block(0, 0, 3, 3) = Eigen::MatrixXd::Identity(3, 3); + int last_col = 0; + + /* calculate normal allocation */ + for(int i = 0; i < motor_num_; i++){ + wrench_map.block(3, 0, 3, 3) = aerial_robot_model::skew(rotors_origin_from_cog.at(i)); + full_q_mat.middleCols(last_col, 3) = wrench_map; + last_col += 3; + } + + full_q_mat.topRows(3) = mass_inv * full_q_mat.topRows(3); + full_q_mat.bottomRows(3) = inertia_inv * full_q_mat.bottomRows(3); + + /* calculate masked rotation matrix */ + std::vector thrust_coords_rot = gimbalerotor_robot_model_->getThrustCoordRot(); + std::vector masked_rot; + for(int i = 0; i < motor_num_; i++){ + tf::Quaternion r; tf::quaternionKDLToTF(thrust_coords_rot.at(i), r); + Eigen::Matrix3d conv_cog_from_thrust; tf::matrixTFToEigen(tf::Matrix3x3(r),conv_cog_from_thrust); + Eigen::MatrixXd mask(3, 2); + mask << 0, 0, 1, 0, 0, 1; + masked_rot.push_back(conv_cog_from_thrust * mask); + } + + /* calculate integrated allocation */ + Eigen::MatrixXd integrated_rot = Eigen::MatrixXd::Zero(3*motor_num_, 2 * motor_num_); + Eigen::MatrixXd integrated_map = Eigen::MatrixXd::Zero(6, 2 * motor_num_); + for(int i = 0; i< motor_num_; i++){ + integrated_rot.block(3*i,2*i,3,2) = masked_rot[i]; + } + integrated_map = full_q_mat * integrated_rot; + + Eigen::MatrixXd integrated_map_inv = aerial_robot_model::pseudoinverse(integrated_map); + integrated_map_inv_trans_ = integrated_map_inv.leftCols(3); + integrated_map_inv_rot_ = integrated_map_inv.rightCols(3); + target_vectoring_f_trans_ = integrated_map_inv_trans_ * target_wrench_acc_cog.topRows(3); + target_vectoring_f_rot_ = integrated_map_inv_rot_ * target_wrench_acc_cog.bottomRows(3); //debug + target_vectoring_f_ = target_vectoring_f_trans_ + target_vectoring_f_rot_; + last_col = 0; + + /* calculate target base thrust (considering only translational components)*/ + double max_yaw_scale = 0; // for reconstruct yaw control term in spinal + for(int i = 0; i < motor_num_; i++){ + Eigen::VectorXd f_i; + if(i_term_rp_calc_in_pc_){ + f_i = target_vectoring_f_.segment(last_col, 2); + }else{ + f_i = target_vectoring_f_trans_.segment(last_col, 2); + } + target_base_thrust_.at(2*i) = f_i[0]; + target_base_thrust_.at(2*i+1) = f_i[1]; + // target_gimbal_angles_.at(i) = atan2(-f_i[0], f_i[1]); + if(integrated_map_inv(i, YAW) > max_yaw_scale) max_yaw_scale = integrated_map_inv(i, YAW); + last_col += 2; + } + candidate_yaw_term_ = pid_controllers_.at(YAW).result() * max_yaw_scale; + + /* calculate target full thrusts and gimbal angles (considering full components)*/ + last_col = 0; + for(int i = 0; i < motor_num_; i++){ + Eigen::VectorXd f_i_integrated = target_vectoring_f_rot_.segment(last_col, 2) + target_vectoring_f_trans_.segment(last_col, 2); + target_full_thrust_.at(i) = f_i_integrated.norm(); + target_gimbal_angles_.at(i) = atan2(-f_i_integrated[0], f_i_integrated[1]); + last_col += 2; + } + } + + void GimbalrotorController::sendCmd() + { + PoseLinearController::sendCmd(); + + sendFourAxisCommand(); + + if(gimbal_calc_in_fc_){ + sendTorqueAllocationMatrixInv(); + } + else + { + sensor_msgs::JointState gimbal_control_msg; + gimbal_control_msg.header.stamp = ros::Time::now(); + for(int i = 0; i < motor_num_; i++){ + gimbal_control_msg.position.push_back(target_gimbal_angles_.at(i)); + } + gimbal_control_pub_.publish(gimbal_control_msg); + } + std_msgs::Float32MultiArray target_vectoring_force_msg; + for(int i = 0; i < target_vectoring_f_.size(); i++){ + target_vectoring_force_msg.data.push_back(target_vectoring_f_(i)); + } + target_vectoring_force_pub_.publish(target_vectoring_force_msg); + + } + + void GimbalrotorController::sendFourAxisCommand() + { + spinal::FourAxisCommand flight_command_data; + + if(gimbal_calc_in_fc_){ + flight_command_data.base_thrust = target_base_thrust_; + flight_command_data.angles[2] = candidate_yaw_term_; + } + else + { + flight_command_data.base_thrust = target_full_thrust_; + } + + flight_cmd_pub_.publish(flight_command_data); + } + + void GimbalrotorController::sendGimbalCommand() + { + sensor_msgs::JointState gimbal_state_msg; + gimbal_state_msg.header.stamp = ros::Time::now(); + for(int i = 0; i < motor_num_; i++){ + gimbal_state_msg.position.push_back(target_gimbal_angles_.at(i)); + std::string gimbal_name = "gimbal" + std::to_string(i+1); + gimbal_state_msg.name.push_back(gimbal_name); + } + gimbal_state_pub_.publish(gimbal_state_msg); + + } + + void GimbalrotorController::sendTorqueAllocationMatrixInv() + { + spinal::TorqueAllocationMatrixInv torque_allocation_matrix_inv_msg; + torque_allocation_matrix_inv_msg.rows.resize(motor_num_*2); + Eigen::MatrixXd torque_allocation_matrix_inv = integrated_map_inv_rot_; + if (torque_allocation_matrix_inv.cwiseAbs().maxCoeff() > INT16_MAX * 0.001f) + ROS_ERROR("Torque Allocation Matrix overflow"); + for (unsigned int i = 0; i < motor_num_*2; i++) + { + torque_allocation_matrix_inv_msg.rows.at(i).x = torque_allocation_matrix_inv(i,0) * 1000; + torque_allocation_matrix_inv_msg.rows.at(i).y = torque_allocation_matrix_inv(i,1) * 1000; + torque_allocation_matrix_inv_msg.rows.at(i).z = torque_allocation_matrix_inv(i,2) * 1000; + } + torque_allocation_matrix_inv_pub_.publish(torque_allocation_matrix_inv_msg); + } + + void GimbalrotorController::setAttitudeGains() + { + spinal::RollPitchYawTerms rpy_gain_msg; //for rosserial + /* to flight controller via rosserial scaling by 1000 */ + if(i_term_rp_calc_in_pc_ && gimbal_calc_in_fc_){ + rpy_gain_msg.motors.resize(1); + rpy_gain_msg.motors.at(0).roll_p = pid_controllers_.at(ROLL).getPGain() * 1000; + rpy_gain_msg.motors.at(0).roll_i = 0; + rpy_gain_msg.motors.at(0).roll_d = pid_controllers_.at(ROLL).getDGain() * 1000; + rpy_gain_msg.motors.at(0).pitch_p = pid_controllers_.at(PITCH).getPGain() * 1000; + rpy_gain_msg.motors.at(0).pitch_i = 0; + rpy_gain_msg.motors.at(0).pitch_d = pid_controllers_.at(PITCH).getDGain() * 1000; + rpy_gain_msg.motors.at(0).yaw_d = pid_controllers_.at(YAW).getDGain() * 1000; + rpy_gain_pub_.publish(rpy_gain_msg); + }else{ + rpy_gain_msg.motors.resize(1); + rpy_gain_msg.motors.at(0).roll_p = pid_controllers_.at(ROLL).getPGain() * 1000; + rpy_gain_msg.motors.at(0).roll_i = pid_controllers_.at(ROLL).getIGain() * 1000; + rpy_gain_msg.motors.at(0).roll_d = pid_controllers_.at(ROLL).getDGain() * 1000; + rpy_gain_msg.motors.at(0).pitch_p = pid_controllers_.at(PITCH).getPGain() * 1000; + rpy_gain_msg.motors.at(0).pitch_i = pid_controllers_.at(PITCH).getIGain() * 1000; + rpy_gain_msg.motors.at(0).pitch_d = pid_controllers_.at(PITCH).getDGain() * 1000; + rpy_gain_msg.motors.at(0).yaw_d = pid_controllers_.at(YAW).getDGain() * 1000; + rpy_gain_pub_.publish(rpy_gain_msg); + } + } +} //namespace aerial_robot_controller + + + +/* plugin registration */ +#include +PLUGINLIB_EXPORT_CLASS(aerial_robot_control::GimbalrotorController, aerial_robot_control::ControlBase); diff --git a/robots/gimbalrotor/src/gimbalrotor_navigation.cpp b/robots/gimbalrotor/src/gimbalrotor_navigation.cpp new file mode 100644 index 000000000..f49898591 --- /dev/null +++ b/robots/gimbalrotor/src/gimbalrotor_navigation.cpp @@ -0,0 +1,72 @@ +// -*- mode: c++ -*- + +#include + +using namespace aerial_robot_model; +using namespace aerial_robot_navigation; + +GimbalrotorNavigator::GimbalrotorNavigator(): + BaseNavigator(), + curr_target_baselink_rot_(0, 0, 0), + final_target_baselink_rot_(0, 0, 0) +{ +} + +void GimbalrotorNavigator::initialize(ros::NodeHandle nh, ros::NodeHandle nhp, + boost::shared_ptr robot_model, + boost::shared_ptr estimator, + double loop_du) +{ + /* initialize the flight control */ + BaseNavigator::initialize(nh, nhp, robot_model, estimator, loop_du); + + curr_target_baselink_rot_pub_ = nh_.advertise("desire_coordinate", 1); + final_target_baselink_rot_sub_ = nh_.subscribe("final_target_baselink_rot", 1, &GimbalrotorNavigator::setFinalTargetBaselinkRotCallback, this); + prev_rotation_stamp_ = ros::Time::now().toSec(); + +} + +void GimbalrotorNavigator::update() +{ + BaseNavigator::update(); + baselinkRotationProcess(); +} + +void GimbalrotorNavigator::setFinalTargetBaselinkRotCallback(const spinal::DesireCoordConstPtr & msg) +{ + final_target_baselink_rot_.setValue(msg->roll, msg->pitch, msg->yaw); +} + +void GimbalrotorNavigator::baselinkRotationProcess() +{ + if(curr_target_baselink_rot_ == final_target_baselink_rot_) return; + + if(ros::Time::now().toSec() - prev_rotation_stamp_ > baselink_rot_pub_interval_) + { + if((final_target_baselink_rot_- curr_target_baselink_rot_).length() > baselink_rot_change_thresh_) + curr_target_baselink_rot_ += ((final_target_baselink_rot_ - curr_target_baselink_rot_).normalize() * baselink_rot_change_thresh_); + else + curr_target_baselink_rot_ = final_target_baselink_rot_; + + spinal::DesireCoord target_baselink_rot_msg; + target_baselink_rot_msg.roll = curr_target_baselink_rot_.x(); + target_baselink_rot_msg.pitch = curr_target_baselink_rot_.y(); + curr_target_baselink_rot_pub_.publish(target_baselink_rot_msg); + + prev_rotation_stamp_ = ros::Time::now().toSec(); + } +} + +void GimbalrotorNavigator::rosParamInit() +{ + BaseNavigator::rosParamInit(); + + ros::NodeHandle navi_nh(nh_, "navigation"); + + getParam(navi_nh, "baselink_rot_change_thresh", baselink_rot_change_thresh_, 0.02); // the threshold to change the baselink rotation + getParam(navi_nh, "baselink_rot_pub_interval", baselink_rot_pub_interval_, 0.1); // the rate to pub baselink rotation command +} + +/* plugin registration */ +#include +PLUGINLIB_EXPORT_CLASS(aerial_robot_navigation::GimbalrotorNavigator, aerial_robot_navigation::BaseNavigator); diff --git a/robots/gimbalrotor/src/model/gimbalrotor_robot_model.cpp b/robots/gimbalrotor/src/model/gimbalrotor_robot_model.cpp new file mode 100644 index 000000000..e4a0fc8a3 --- /dev/null +++ b/robots/gimbalrotor/src/model/gimbalrotor_robot_model.cpp @@ -0,0 +1,34 @@ +#include + +GimbalrotorRobotModel::GimbalrotorRobotModel(bool init_with_rosparam, bool verbose, double fc_t_min_thre, double epsilon) : + RobotModel(init_with_rosparam, verbose, fc_t_min_thre, epsilon) +{ + const int rotor_num = getRotorNum(); + const int joint_num = getJointNum(); + + links_rotation_from_cog_.resize(rotor_num); + thrust_coords_rot_.resize(rotor_num); +} + +void GimbalrotorRobotModel::updateRobotModelImpl(const KDL::JntArray& joint_positions) +{ + KDL::TreeFkSolverPos_recursive fk_solver(getTree()); + // /* special process */ + KDL::Frame f_baselink; + fk_solver.JntToCart(joint_positions, f_baselink, getBaselinkName()); + const KDL::Rotation cog_frame = f_baselink.M * getCogDesireOrientation().Inverse(); + RobotModel::updateRobotModelImpl(joint_positions); + const auto seg_tf_map = getSegmentsTf(); + + /* get local coords of thrust links */ + for(int i = 0; i < getRotorNum(); ++i) + { + std::string thrust = "rotor_arm" + std::to_string(i + 1); + KDL::Frame f = seg_tf_map.at(thrust); + thrust_coords_rot_[i] = cog_frame.Inverse() * f.M; + } +} + +/* plugin registration */ +#include +PLUGINLIB_EXPORT_CLASS(GimbalrotorRobotModel, aerial_robot_model::RobotModel); diff --git a/robots/gimbalrotor/urdf/quad/common.xacro b/robots/gimbalrotor/urdf/quad/common.xacro new file mode 100644 index 000000000..0613e6309 --- /dev/null +++ b/robots/gimbalrotor/urdf/quad/common.xacro @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + 0.1 + 0.1 + + + + + + 0.00 + + + diff --git a/robots/gimbalrotor/urdf/quad/gimbalrotor.urdf.xacro b/robots/gimbalrotor/urdf/quad/gimbalrotor.urdf.xacro new file mode 100644 index 000000000..e40b7dd06 --- /dev/null +++ b/robots/gimbalrotor/urdf/quad/gimbalrotor.urdf.xacro @@ -0,0 +1,240 @@ + + + + + ## dummy + + + + + + + + + + + + + + + ## link + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ## dummy rotor arms + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ## link + #### rotor parent link (virtual) #### + + + + + + + + + + + + + + + + + + + + + + ## rotor parent link (virtual) + + + + + + + + + ## thrust link (virtual) + + + + + + + + + + #### joints #### + + #### gimbal joints #### + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + #### rotor parent link joint (virtual) #### + + + + + + + + #### rotor joint (virtual) #### + + + + + + + + + + transmission_interface/SimpleTransmission + + RotorInterface + + + RotorInterface + 1 + + + + + diff --git a/robots/gimbalrotor/urdf/quad/mesh/base_link.STL b/robots/gimbalrotor/urdf/quad/mesh/base_link.STL new file mode 100644 index 000000000..7da55c301 Binary files /dev/null and b/robots/gimbalrotor/urdf/quad/mesh/base_link.STL differ diff --git 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2643 254 3655 171 2655 171 2653 171 2391 132 2389 132 3654 132 3654 132 2389 132 3395 132 3654 132 3395 132 2641 132 2641 255 3395 255 2643 255 3655 132 2653 132 3393 132 2653 246 2651 246 3393 246 3393 241 2651 241 2649 241 3393 132 2649 132 3395 132 3395 251 2649 251 2647 251 3395 249 2647 249 2645 249 2663 239 2661 239 3654 239 3654 252 2661 252 2659 252 3654 132 2659 132 3655 132 3655 150 2659 150 2657 150 3655 151 2657 151 2655 151 2909 132 2907 132 3393 132 3393 266 2907 266 2905 266 3393 132 2905 132 3655 132 3655 245 2905 245 2927 245 2927 239 2925 239 3655 239 3655 252 2925 252 2923 252 3655 132 2923 132 3656 132 3656 150 2923 150 2921 150 3656 151 2921 151 2919 151 2917 256 2915 256 3391 256 3391 241 2915 241 2913 241 3391 132 2913 132 3393 132 3393 251 2913 251 2911 251 3393 249 2911 249 2909 249 3656 257 3169 257 3191 257 3173 132 3171 132 3391 132 2919 132 2917 132 3656 132 3656 132 2917 132 3391 132 3656 132 3391 132 3169 132 3169 267 3391 267 3171 267 3576 268 3183 268 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3571 132 3572 132 571 132 3572 132 573 132 549 276 547 276 3647 276 3647 132 547 132 3648 132 3647 132 3648 132 559 132 559 132 3648 132 561 132 557 132 555 132 3647 132 3647 245 555 245 553 245 3647 280 553 280 3572 280 3572 245 553 245 575 245 3572 278 575 278 573 278 833 132 831 132 3658 132 829 137 827 137 3649 137 3649 162 827 162 825 162 823 132 821 132 3648 132 833 275 3658 275 835 275 835 132 3658 132 3571 132 835 132 3571 132 837 132 813 276 811 276 3648 276 3648 132 811 132 3649 132 3648 132 3649 132 823 132 823 132 3649 132 825 132 821 132 819 132 3648 132 3648 245 819 245 817 245 3648 280 817 280 3571 280 3571 257 817 257 839 257 3571 278 839 278 837 278 3658 257 1081 257 1103 257 1091 132 3650 132 1093 132 1093 281 3650 281 3659 281 1093 137 3659 137 1095 137 831 135 829 135 3658 135 3658 279 829 279 3649 279 3658 280 3649 280 1081 280 1081 142 3649 142 1083 142 1091 132 1089 132 3650 132 3650 282 1089 282 1087 282 3650 132 1087 132 3649 132 3649 252 1087 252 1085 252 3649 283 1085 283 1083 283 1103 132 1101 132 3658 132 3658 284 1101 284 1099 284 3658 132 1099 132 3659 132 3659 285 1099 285 1097 285 3659 162 1097 162 1095 162 3650 257 1347 257 1345 257 1357 135 1355 135 3651 135 3650 277 1345 277 3659 277 3659 245 1345 245 1367 245 3659 278 1367 278 1365 278 1363 132 1361 132 3660 132 3660 162 1361 162 1359 162 1355 132 1353 132 3651 132 3651 282 1353 282 1351 282 3651 132 1351 132 3650 132 3650 252 1351 252 1349 252 3650 278 1349 278 1347 278 1629 132 3660 132 1631 132 1631 144 3660 144 1609 144 1621 286 1619 286 3652 286 1625 132 1623 132 3661 132 1625 275 3661 275 1627 275 1359 137 1357 137 3660 137 3660 287 1357 287 3651 287 3660 277 3651 277 1609 277 1609 142 3651 142 1611 142 1619 132 1617 132 3652 132 3652 282 1617 282 1615 282 3652 132 1615 132 3651 132 3651 235 1615 235 1613 235 3651 283 1613 283 1611 283 1877 132 1875 132 3652 132 3661 288 1873 288 1895 288 2141 132 2139 132 1881 132 1623 286 1621 286 3661 286 3661 279 1621 279 3652 279 3661 277 3652 277 1873 277 1873 139 3652 139 1875 139 2149 135 2147 135 3653 135 3653 212 2147 212 2145 212 3653 282 2145 282 2143 282 1877 289 3652 289 1879 289 1879 132 3652 132 3653 132 1879 132 3653 132 1881 132 1881 290 3653 290 2143 290 1881 132 2143 132 2141 132 1889 169 1887 169 2137 169 2137 132 1887 132 1885 132 2137 132 1885 132 2139 132 2139 132 1885 132 1883 132 2139 132 1883 132 1881 132 2155 132 2153 132 3570 132 3570 162 2153 162 2151 162 1895 132 1893 132 3661 132 3661 284 1893 284 1891 284 3661 263 1891 263 2157 263 2157 132 1891 132 1889 132 2157 132 1889 132 2159 132 2159 132 1889 132 2137 132 3570 257 2401 257 2423 257 3654 171 2413 171 2411 171 2151 291 2149 291 3570 291 3570 279 2149 279 3653 279 3570 292 3653 292 2401 292 2401 142 3653 142 2403 142 2423 132 2421 132 3570 132 3570 284 2421 284 2419 284 3570 132 2419 132 3569 132 3569 285 2419 285 2417 285 3569 162 2417 162 2415 162 2411 132 2409 132 3654 132 3654 282 2409 282 2407 282 3654 132 2407 132 3653 132 3653 235 2407 235 2405 235 3653 278 2405 278 2403 278 2677 135 2675 135 3655 135 3569 293 2665 293 2687 293 2415 137 2413 137 3569 137 3569 287 2413 287 3654 287 3569 277 3654 277 2665 277 2665 142 3654 142 2667 142 2675 132 2673 132 3655 132 3655 282 2673 282 2671 282 3655 132 2671 132 3654 132 3654 235 2671 235 2669 235 3654 283 2669 283 2667 283 2687 132 2685 132 3569 132 3569 284 2685 284 2683 284 3569 132 2683 132 3568 132 3568 285 2683 285 2681 285 3568 162 2681 162 2679 162 3568 293 2929 293 2951 293 2941 286 2939 286 3656 286 2679 137 2677 137 3568 137 3568 287 2677 287 3655 287 3568 277 3655 277 2929 277 2929 142 3655 142 2931 142 2951 132 2949 132 3568 132 3568 284 2949 284 2947 284 3568 132 2947 132 3567 132 3567 285 2947 285 2945 285 3567 162 2945 162 2943 162 2939 132 2937 132 3656 132 3656 282 2937 282 2935 282 3656 132 2935 132 3655 132 3655 235 2935 235 2933 235 3655 283 2933 283 2931 283 3207 294 3205 294 3566 294 3567 288 3193 288 3215 288 3205 294 3203 294 3576 294 2943 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3562 132 3562 309 331 309 329 309 3562 151 329 151 327 151 323 151 321 151 3572 151 3572 285 321 285 319 285 3572 132 319 132 3573 132 3573 284 319 284 317 284 3573 310 317 310 315 310 325 158 3572 158 3562 158 3562 277 3572 277 577 277 3562 245 577 245 599 245 589 132 587 132 3571 132 3561 188 591 188 589 188 599 239 597 239 3562 239 3562 276 597 276 595 276 3562 132 595 132 3561 132 3561 311 595 311 593 311 3561 312 593 312 591 312 587 313 585 313 3571 313 3571 285 585 285 583 285 3571 132 583 132 3572 132 3572 284 583 284 581 284 3572 239 581 239 579 239 589 314 3571 314 3561 314 3561 277 3571 277 841 277 3561 257 841 257 863 257 853 132 851 132 3658 132 3673 188 855 188 853 188 863 239 861 239 3561 239 3561 315 861 315 859 315 3561 132 859 132 3673 132 3673 309 859 309 857 309 3673 151 857 151 855 151 851 151 849 151 3658 151 3658 285 849 285 847 285 3658 132 847 132 3571 132 3571 284 847 284 845 284 3571 239 845 239 843 239 3658 288 1107 288 1105 288 853 314 3658 314 3673 314 3673 277 3658 277 1105 277 3673 257 1105 257 1127 257 1121 309 3674 309 1123 309 1123 132 3674 132 3673 132 1123 132 3673 132 1125 132 1125 316 3673 316 1127 316 1115 132 3659 132 1117 132 1117 158 3659 158 3674 158 1117 137 3674 137 1119 137 1119 151 3674 151 1121 151 1115 151 1113 151 3659 151 3659 285 1113 285 1111 285 3659 132 1111 132 3658 132 3658 284 1111 284 1109 284 3658 239 1109 239 1107 239 1385 317 1383 317 3560 317 1375 132 1373 132 3659 132 1381 132 1379 132 3660 132 3660 312 1379 312 1377 312 1385 309 3560 309 1387 309 1387 132 3560 132 3674 132 1387 132 3674 132 1389 132 1365 318 1363 318 3659 318 3659 132 1363 132 3660 132 3659 132 3660 132 1375 132 1375 132 3660 132 1377 132 1373 132 1371 132 3659 132 3659 288 1371 288 1369 288 3659 306 1369 306 3674 306 3674 257 1369 257 1391 257 3674 239 1391 239 1389 239 1637 132 1635 132 3660 132 3560 245 1633 245 1655 245 1637 318 3660 318 1639 318 1383 135 1381 135 3560 135 3560 287 1381 287 3660 287 3560 306 3660 306 1633 306 1633 132 3660 132 1635 132 1649 309 3675 309 1651 309 1651 132 3675 132 3560 132 1651 132 3560 132 1653 132 1653 319 3560 319 1655 319 1629 318 1627 318 3660 318 3660 132 1627 132 3661 132 3660 132 3661 132 1639 132 1639 132 3661 132 1641 132 1649 317 1647 317 3675 317 3675 320 1647 320 1645 320 3675 321 1645 321 3661 321 3661 320 1645 320 1643 320 3661 312 1643 312 1641 312 1903 132 1901 132 3661 132 1919 139 3675 139 1897 139 1897 322 3675 322 3661 322 1897 132 3661 132 1899 132 1899 323 3661 323 1901 323 2173 132 2171 132 3570 132 1919 239 1917 239 3675 239 3675 324 1917 324 1915 324 3675 325 1915 325 2181 325 2181 132 1915 132 1913 132 2181 132 1913 132 2183 132 2183 132 1913 132 2161 132 2157 326 2155 326 3661 326 3661 132 2155 132 3570 132 3661 132 3570 132 1903 132 1903 132 3570 132 1905 132 2179 132 2177 132 3559 132 3559 312 2177 312 2175 312 3559 171 2175 171 2173 171 2171 151 2169 151 3570 151 3570 285 2169 285 2167 285 3570 327 2167 327 1905 327 1905 132 2167 132 2165 132 1905 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306 3568 306 2953 306 3676 245 2953 245 2975 245 2965 132 2963 132 3567 132 2975 307 2973 307 3676 307 3676 324 2973 324 2971 324 3676 132 2971 132 3557 132 2971 132 2969 132 3557 132 3557 312 2969 312 2967 312 3557 320 2967 320 2965 320 2963 170 2961 170 3567 170 3567 285 2961 285 2959 285 3567 132 2959 132 3568 132 3568 284 2959 284 2957 284 3568 239 2957 239 2955 239 3229 132 3227 132 3566 132 2965 314 3567 314 3557 314 3557 306 3567 306 3217 306 3557 330 3217 330 3239 330 3556 331 3231 331 3229 331 3239 239 3237 239 3557 239 3557 276 3237 276 3235 276 3557 132 3235 132 3556 132 3556 332 3235 332 3233 332 3556 333 3233 333 3231 333 3227 333 3225 333 3566 333 3566 334 3225 334 3223 334 3566 132 3223 132 3567 132 3567 284 3223 284 3221 284 3567 310 3221 310 3219 310 3229 335 3566 335 3556 335 3556 336 3566 336 3565 336 3556 337 3565 337 3677 337 3678 132 3665 132 3679 132 3679 335 3665 335 3680 335 3679 338 3680 338 3681 338 3677 339 3682 339 3556 339 3556 340 3682 340 3683 340 3556 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132 3561 132 865 132 3551 257 865 257 887 257 881 132 3688 132 883 132 883 132 3688 132 3551 132 883 132 3551 132 885 132 885 132 3551 132 887 132 875 132 3673 132 877 132 877 132 3673 132 3688 132 877 132 3688 132 879 132 879 313 3688 313 881 313 875 151 873 151 3673 151 3673 132 873 132 871 132 3673 132 871 132 3561 132 3561 132 871 132 869 132 3561 239 869 239 867 239 1145 132 3689 132 1147 132 1147 132 3689 132 3688 132 1147 132 3688 132 1149 132 1149 132 3688 132 1151 132 1145 132 1143 132 3689 132 3689 188 1143 188 1141 188 3689 132 1141 132 3674 132 3674 343 1141 343 1139 343 1151 132 3688 132 1129 132 1129 132 3688 132 3673 132 1129 132 3673 132 1131 132 1139 151 1137 151 3674 151 3674 132 1137 132 1135 132 3674 132 1135 132 3673 132 3673 132 1135 132 1133 132 3673 239 1133 239 1131 239 1413 132 1411 132 3689 132 3674 238 1395 238 1393 238 3689 132 1411 132 3550 132 1411 132 1409 132 3550 132 3550 151 1409 151 1407 151 3550 211 1407 211 1405 211 3560 211 1405 211 1403 211 3674 132 1393 132 3689 132 3689 257 1393 257 1415 257 3689 323 1415 323 1413 323 1403 151 1401 151 3560 151 3560 132 1401 132 1399 132 3560 132 1399 132 3674 132 3674 132 1399 132 1397 132 3674 239 1397 239 1395 239 1405 132 3560 132 3550 132 3550 132 3560 132 1657 132 3550 344 1657 344 1679 344 1679 239 1677 239 3550 239 3550 132 1677 132 1675 132 3550 132 1675 132 3549 132 1669 132 1667 132 3675 132 1675 132 1673 132 3549 132 3549 151 1673 151 1671 151 3549 343 1671 343 1669 343 1667 151 1665 151 3675 151 3675 132 1665 132 1663 132 3675 132 1663 132 3560 132 3560 132 1663 132 1661 132 3560 239 1661 239 1659 239 1669 132 3675 132 3549 132 3549 132 3675 132 1921 132 3549 288 1921 288 1943 288 2197 132 2195 132 3559 132 3690 132 3549 132 2203 132 2203 132 3549 132 2205 132 2203 132 2201 132 3690 132 3690 187 2201 187 2199 187 3690 345 2199 345 2197 345 1943 323 1941 323 3549 323 3549 132 1941 132 1939 132 3549 132 1939 132 2205 132 2205 132 1939 132 1937 132 2205 132 1937 132 2207 132 2207 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2389 132 3654 132 3654 132 2389 132 3395 132 3654 132 3395 132 2641 132 2641 132 3395 132 2643 132 3655 132 2653 132 3393 132 2653 132 2651 132 3393 132 3393 214 2651 214 2649 214 3393 132 2649 132 3395 132 3395 221 2649 221 2647 221 3395 220 2647 220 2645 220 2663 132 2661 132 3654 132 3654 222 2661 222 2659 222 3654 132 2659 132 3655 132 3655 140 2659 140 2657 140 3655 132 2657 132 2655 132 2909 132 2907 132 3393 132 3393 132 2907 132 2905 132 3393 213 2905 213 3655 213 3655 132 2905 132 2927 132 2927 132 2925 132 3655 132 3655 222 2925 222 2923 222 3655 132 2923 132 3656 132 3656 140 2923 140 2921 140 3656 132 2921 132 2919 132 2917 132 2915 132 3391 132 3391 214 2915 214 2913 214 3391 132 2913 132 3393 132 3393 221 2913 221 2911 221 3393 220 2911 220 2909 220 3656 132 3169 132 3191 132 3173 132 3171 132 3391 132 2919 132 2917 132 3656 132 3656 132 2917 132 3391 132 3656 132 3391 132 3169 132 3169 132 3391 132 3171 132 3576 132 3183 132 3181 132 3181 132 3179 132 3389 132 3389 229 3179 229 3177 229 3389 132 3177 132 3391 132 3391 221 3177 221 3175 221 3391 230 3175 230 3173 230 3191 132 3189 132 3656 132 3656 222 3189 222 3187 222 3656 132 3187 132 3576 132 3576 231 3187 231 3185 231 3576 132 3185 132 3183 132 3181 132 3389 132 3576 132 3576 132 3389 132 3387 132 3576 132 3387 132 3657 132 295 132 293 132 3585 132 305 132 303 132 3572 132 3572 132 303 132 301 132 3572 132 301 132 3647 132 3647 232 301 232 299 232 3647 154 299 154 297 154 305 132 3572 132 307 132 307 132 3572 132 3573 132 307 132 3573 132 309 132 285 132 283 132 3585 132 3585 132 283 132 3647 132 3585 132 3647 132 295 132 295 132 3647 132 297 132 293 132 291 132 3585 132 3585 135 291 135 289 135 3585 132 289 132 3573 132 3573 132 289 132 311 132 3573 233 311 233 309 233 559 132 557 132 3647 132 569 132 567 132 3571 132 3571 132 567 132 565 132 3571 132 565 132 3648 132 3648 149 565 149 563 149 3648 191 563 191 561 191 569 132 3571 132 571 132 571 132 3571 132 3572 132 571 132 3572 132 573 132 549 132 547 132 3647 132 3647 132 547 132 3648 132 3647 132 3648 132 559 132 559 132 3648 132 561 132 557 132 555 132 3647 132 3647 234 555 234 553 234 3647 132 553 132 3572 132 3572 132 553 132 575 132 3572 233 575 233 573 233 833 132 831 132 3658 132 829 149 827 149 3649 149 3649 154 827 154 825 154 823 132 821 132 3648 132 833 132 3658 132 835 132 835 132 3658 132 3571 132 835 132 3571 132 837 132 813 132 811 132 3648 132 3648 132 811 132 3649 132 3648 132 3649 132 823 132 823 132 3649 132 825 132 821 132 819 132 3648 132 3648 234 819 234 817 234 3648 132 817 132 3571 132 3571 132 817 132 839 132 3571 233 839 233 837 233 3658 132 1081 132 1103 132 1091 232 3650 232 1093 232 1093 132 3650 132 3659 132 1093 132 3659 132 1095 132 831 132 829 132 3658 132 3658 132 829 132 3649 132 3658 132 3649 132 1081 132 1081 234 3649 234 1083 234 1091 177 1089 177 3650 177 3650 235 1089 235 1087 235 3650 132 1087 132 3649 132 3649 222 1087 222 1085 222 3649 236 1085 236 1083 236 1103 233 1101 233 3658 233 3658 237 1101 237 1099 237 3658 132 1099 132 3659 132 3659 238 1099 238 1097 238 3659 154 1097 154 1095 154 3650 135 1347 135 1345 135 1357 232 1355 232 3651 232 3650 132 1345 132 3659 132 3659 132 1345 132 1367 132 3659 233 1367 233 1365 233 1363 132 1361 132 3660 132 3660 154 1361 154 1359 154 1355 154 1353 154 3651 154 3651 235 1353 235 1351 235 3651 132 1351 132 3650 132 3650 222 1351 222 1349 222 3650 233 1349 233 1347 233 1629 132 3660 132 1631 132 1631 132 3660 132 1609 132 1621 239 1619 239 3652 239 1625 132 1623 132 3661 132 1625 132 3661 132 1627 132 1359 132 1357 132 3660 132 3660 132 1357 132 3651 132 3660 132 3651 132 1609 132 1609 234 3651 234 1611 234 1619 154 1617 154 3652 154 3652 235 1617 235 1615 235 3652 132 1615 132 3651 132 3651 240 1615 240 1613 240 3651 236 1613 236 1611 236 1877 132 1875 132 3652 132 3661 132 1873 132 1895 132 2141 132 2139 132 1881 132 1623 132 1621 132 3661 132 3661 132 1621 132 3652 132 3661 132 3652 132 1873 132 1873 133 3652 133 1875 133 2149 232 2147 232 3653 232 3653 191 2147 191 2145 191 3653 235 2145 235 2143 235 1877 132 3652 132 1879 132 1879 132 3652 132 3653 132 1879 132 3653 132 1881 132 1881 132 3653 132 2143 132 1881 132 2143 132 2141 132 1889 157 1887 157 2137 157 2137 132 1887 132 1885 132 2137 132 1885 132 2139 132 2139 132 1885 132 1883 132 2139 132 1883 132 1881 132 2155 132 2153 132 3570 132 3570 154 2153 154 2151 154 1895 241 1893 241 3661 241 3661 237 1893 237 1891 237 3661 226 1891 226 2157 226 2157 132 1891 132 1889 132 2157 132 1889 132 2159 132 2159 132 1889 132 2137 132 3570 132 2401 132 2423 132 3654 232 2413 232 2411 232 2151 132 2149 132 3570 132 3570 132 2149 132 3653 132 3570 132 3653 132 2401 132 2401 234 3653 234 2403 234 2423 233 2421 233 3570 233 3570 237 2421 237 2419 237 3570 132 2419 132 3569 132 3569 238 2419 238 2417 238 3569 154 2417 154 2415 154 2411 154 2409 154 3654 154 3654 235 2409 235 2407 235 3654 132 2407 132 3653 132 3653 240 2407 240 2405 240 3653 233 2405 233 2403 233 2677 232 2675 232 3655 232 3569 132 2665 132 2687 132 2415 132 2413 132 3569 132 3569 132 2413 132 3654 132 3569 132 3654 132 2665 132 2665 234 3654 234 2667 234 2675 154 2673 154 3655 154 3655 235 2673 235 2671 235 3655 132 2671 132 3654 132 3654 240 2671 240 2669 240 3654 236 2669 236 2667 236 2687 233 2685 233 3569 233 3569 237 2685 237 2683 237 3569 132 2683 132 3568 132 3568 238 2683 238 2681 238 3568 154 2681 154 2679 154 3568 132 2929 132 2951 132 2941 239 2939 239 3656 239 2679 132 2677 132 3568 132 3568 132 2677 132 3655 132 3568 132 3655 132 2929 132 2929 234 3655 234 2931 234 2951 233 2949 233 3568 233 3568 237 2949 237 2947 237 3568 132 2947 132 3567 132 3567 238 2947 238 2945 238 3567 154 2945 154 2943 154 2939 154 2937 154 3656 154 3656 235 2937 235 2935 235 3656 132 2935 132 3655 132 3655 240 2935 240 2933 240 3655 236 2933 236 2931 236 3207 132 3205 132 3566 132 3567 132 3193 132 3215 132 3205 242 3203 242 3576 242 2943 132 2941 132 3567 132 3567 132 2941 132 3656 132 3567 132 3656 132 3193 132 3193 133 3656 133 3195 133 3215 241 3213 241 3567 241 3567 237 3213 237 3211 237 3567 132 3211 132 3566 132 3566 243 3211 243 3209 243 3566 244 3209 244 3207 244 3203 245 3201 245 3576 245 3576 246 3201 246 3199 246 3576 132 3199 132 3656 132 3656 222 3199 222 3197 222 3656 236 3197 236 3195 236 3205 132 3576 132 3566 132 3566 132 3576 132 3575 132 3566 132 3575 132 3662 132 3663 247 3657 247 3664 247 3664 132 3657 132 3665 132 3664 132 3665 132 3666 132 3663 248 3667 248 3657 248 3657 246 3667 246 3668 246 3657 132 3668 132 3576 132 3576 249 3668 249 3669 249 3576 250 3669 250 3574 250 3662 251 3670 251 3566 251 3566 252 3670 252 3671 252 3566 132 3671 132 3665 132 3665 243 3671 243 3672 243 3665 253 3672 253 3666 253 61 132 3573 132 3563 132 3563 132 3573 132 313 132 3563 132 313 132 335 132 325 132 323 132 3572 132 3562 132 327 132 325 132 335 254 333 254 3563 254 3563 255 333 255 331 255 3563 132 331 132 3562 132 3562 256 331 256 329 256 3562 177 329 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132 1121 132 3674 132 1123 132 1123 132 3674 132 3673 132 1123 132 3673 132 1125 132 1125 132 3673 132 1127 132 1115 132 3659 132 1117 132 1117 132 3659 132 3674 132 1117 132 3674 132 1119 132 1119 177 3674 177 1121 177 1115 132 1113 132 3659 132 3659 238 1113 238 1111 238 3659 132 1111 132 3658 132 3658 237 1111 237 1109 237 3658 132 1109 132 1107 132 1385 132 1383 132 3560 132 1375 132 1373 132 3659 132 1381 132 1379 132 3660 132 3660 132 1379 132 1377 132 1385 132 3560 132 1387 132 1387 132 3560 132 3674 132 1387 132 3674 132 1389 132 1365 132 1363 132 3659 132 3659 132 1363 132 3660 132 3659 132 3660 132 1375 132 1375 132 3660 132 1377 132 1373 132 1371 132 3659 132 3659 132 1371 132 1369 132 3659 132 1369 132 3674 132 3674 132 1369 132 1391 132 3674 257 1391 257 1389 257 1637 132 1635 132 3660 132 3560 132 1633 132 1655 132 1637 132 3660 132 1639 132 1383 132 1381 132 3560 132 3560 132 1381 132 3660 132 3560 132 3660 132 1633 132 1633 132 3660 132 1635 132 1649 132 3675 132 1651 132 1651 132 3675 132 3560 132 1651 132 3560 132 1653 132 1653 132 3560 132 1655 132 1629 132 1627 132 3660 132 3660 132 1627 132 3661 132 3660 132 3661 132 1639 132 1639 132 3661 132 1641 132 1649 132 1647 132 3675 132 3675 132 1647 132 1645 132 3675 132 1645 132 3661 132 3661 132 1645 132 1643 132 3661 132 1643 132 1641 132 1903 132 1901 132 3661 132 1919 132 3675 132 1897 132 1897 132 3675 132 3661 132 1897 132 3661 132 1899 132 1899 132 3661 132 1901 132 2173 132 2171 132 3570 132 1919 257 1917 257 3675 257 3675 140 1917 140 1915 140 3675 262 1915 262 2181 262 2181 132 1915 132 1913 132 2181 132 1913 132 2183 132 2183 132 1913 132 2161 132 2157 132 2155 132 3661 132 3661 132 2155 132 3570 132 3661 132 3570 132 1903 132 1903 132 3570 132 1905 132 2179 132 2177 132 3559 132 3559 260 2177 260 2175 260 3559 132 2175 132 2173 132 2171 132 2169 132 3570 132 3570 238 2169 238 2167 238 3570 173 2167 173 1905 173 1905 132 2167 132 2165 132 1905 132 2165 132 1907 132 1907 132 2165 132 2163 132 1907 132 2163 132 1909 132 1909 132 2163 132 2161 132 1909 132 2161 132 1911 132 1911 132 2161 132 1913 132 2437 132 2435 132 3569 132 2173 132 3570 132 3559 132 3559 132 3570 132 2425 132 3559 132 2425 132 2447 132 3558 132 2439 132 2437 132 2447 257 2445 257 3559 257 3559 258 2445 258 2443 258 3559 132 2443 132 3558 132 3558 256 2443 256 2441 256 3558 260 2441 260 2439 260 2435 132 2433 132 3569 132 3569 238 2433 238 2431 238 3569 132 2431 132 3570 132 3570 237 2431 237 2429 237 3570 132 2429 132 2427 132 2703 132 2701 132 3676 132 2437 132 3569 132 3558 132 3558 132 3569 132 2689 132 3558 132 2689 132 2711 132 2701 132 2699 132 3568 132 2711 254 2709 254 3558 254 3558 140 2709 140 2707 140 3558 132 2707 132 3676 132 3676 256 2707 256 2705 256 3676 260 2705 260 2703 260 2699 132 2697 132 3568 132 3568 238 2697 238 2695 238 3568 132 2695 132 3569 132 3569 237 2695 237 2693 237 3569 132 2693 132 2691 132 2701 132 3568 132 3676 132 3676 132 3568 132 2953 132 3676 132 2953 132 2975 132 2965 132 2963 132 3567 132 2975 254 2973 254 3676 254 3676 140 2973 140 2971 140 3676 132 2971 132 3557 132 2971 132 2969 132 3557 132 3557 260 2969 260 2967 260 3557 132 2967 132 2965 132 2963 132 2961 132 3567 132 3567 238 2961 238 2959 238 3567 132 2959 132 3568 132 3568 237 2959 237 2957 237 3568 132 2957 132 2955 132 3229 132 3227 132 3566 132 2965 132 3567 132 3557 132 3557 132 3567 132 3217 132 3557 132 3217 132 3239 132 3556 132 3231 132 3229 132 3239 257 3237 257 3557 257 3557 258 3237 258 3235 258 3557 132 3235 132 3556 132 3556 263 3235 263 3233 263 3556 248 3233 248 3231 248 3227 132 3225 132 3566 132 3566 264 3225 264 3223 264 3566 132 3223 132 3567 132 3567 237 3223 237 3221 237 3567 132 3221 132 3219 132 3229 132 3566 132 3556 132 3556 132 3566 132 3565 132 3556 132 3565 132 3677 132 3678 132 3665 132 3679 132 3679 132 3665 132 3680 132 3679 132 3680 132 3681 132 3677 265 3682 265 3556 265 3556 231 3682 231 3683 231 3556 132 3683 132 3680 132 3680 263 3683 263 3684 263 3680 266 3684 266 3681 266 3678 132 3685 132 3665 132 3665 264 3685 264 3686 264 3665 132 3686 132 3566 132 3566 267 3686 267 3687 267 3566 132 3687 132 3564 132 85 132 3563 132 3553 132 3553 132 3563 132 337 132 3553 132 337 132 359 132 349 132 347 132 3562 132 359 132 357 132 3553 132 3553 178 357 178 355 178 3553 132 355 132 3552 132 355 132 353 132 3552 132 3552 132 353 132 351 132 3552 132 351 132 349 132 347 132 345 132 3562 132 3562 172 345 172 343 172 3562 132 343 132 3563 132 3563 178 343 178 341 178 3563 132 341 132 339 132 349 132 3562 132 3552 132 3552 132 3562 132 601 132 3552 132 601 132 623 132 613 132 611 132 3561 132 623 132 621 132 3552 132 3552 240 621 240 619 240 3552 132 619 132 3551 132 619 132 617 132 3551 132 3551 132 617 132 615 132 3551 132 615 132 613 132 611 132 609 132 3561 132 3561 172 609 172 607 172 3561 132 607 132 3562 132 3562 178 607 178 605 178 3562 132 605 132 603 132 613 132 3561 132 3551 132 3551 132 3561 132 865 132 3551 132 865 132 887 132 881 268 3688 268 883 268 883 132 3688 132 3551 132 883 132 3551 132 885 132 885 132 3551 132 887 132 875 132 3673 132 877 132 877 132 3673 132 3688 132 877 132 3688 132 879 132 879 132 3688 132 881 132 875 132 873 132 3673 132 3673 172 873 172 871 172 3673 132 871 132 3561 132 3561 178 871 178 869 178 3561 132 869 132 867 132 1145 268 3689 268 1147 268 1147 132 3689 132 3688 132 1147 132 3688 132 1149 132 1149 132 3688 132 1151 132 1145 132 1143 132 3689 132 3689 132 1143 132 1141 132 3689 132 1141 132 3674 132 3674 132 1141 132 1139 132 1151 132 3688 132 1129 132 1129 132 3688 132 3673 132 1129 132 3673 132 1131 132 1139 132 1137 132 3674 132 3674 172 1137 172 1135 172 3674 132 1135 132 3673 132 3673 178 1135 178 1133 178 3673 132 1133 132 1131 132 1413 269 1411 269 3689 269 3674 132 1395 132 1393 132 3689 132 1411 132 3550 132 1411 132 1409 132 3550 132 3550 132 1409 132 1407 132 3550 132 1407 132 1405 132 3560 132 1405 132 1403 132 3674 132 1393 132 3689 132 3689 132 1393 132 1415 132 3689 132 1415 132 1413 132 1403 132 1401 132 3560 132 3560 172 1401 172 1399 172 3560 132 1399 132 3674 132 3674 178 1399 178 1397 178 3674 132 1397 132 1395 132 1405 132 3560 132 3550 132 3550 132 3560 132 1657 132 3550 132 1657 132 1679 132 1679 132 1677 132 3550 132 3550 183 1677 183 1675 183 3550 132 1675 132 3549 132 1669 132 1667 132 3675 132 1675 132 1673 132 3549 132 3549 132 1673 132 1671 132 3549 132 1671 132 1669 132 1667 132 1665 132 3675 132 3675 172 1665 172 1663 172 3675 132 1663 132 3560 132 3560 178 1663 178 1661 178 3560 132 1661 132 1659 132 1669 132 3675 132 3549 132 3549 132 3675 132 1921 132 3549 132 1921 132 1943 132 2197 132 2195 132 3559 132 3690 132 3549 132 2203 132 2203 132 3549 132 2205 132 2203 132 2201 132 3690 132 3690 132 2201 132 2199 132 3690 132 2199 132 2197 132 1943 132 1941 132 3549 132 3549 183 1941 183 1939 183 3549 270 1939 270 2205 270 2205 132 1939 132 1937 132 2205 132 1937 132 2207 132 2207 132 1937 132 1935 132 2207 132 1935 132 2185 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183 3548 132 2731 132 3547 132 3547 235 2731 235 2729 235 3547 132 2729 132 2727 132 2723 132 2721 132 3676 132 3676 172 2721 172 2719 172 3676 132 2719 132 3558 132 3558 178 2719 178 2717 178 3558 132 2717 132 2715 132 2989 132 2987 132 3557 132 3547 132 2977 132 2999 132 3546 132 2991 132 2989 132 2727 132 2725 132 3547 132 3547 132 2725 132 3676 132 3547 132 3676 132 2977 132 2977 132 3676 132 2979 132 2999 132 2997 132 3547 132 3547 183 2997 183 2995 183 3547 132 2995 132 3546 132 3546 235 2995 235 2993 235 3546 132 2993 132 2991 132 2987 132 2985 132 3557 132 3557 172 2985 172 2983 172 3557 132 2983 132 3676 132 3676 178 2983 178 2981 178 3676 132 2981 132 2979 132 2989 132 3557 132 3546 132 3546 132 3557 132 3241 132 3546 132 3241 132 3263 132 3253 132 3251 132 3556 132 3263 132 3261 132 3546 132 3546 271 3261 271 3259 271 3546 132 3259 132 3545 132 3259 132 3257 132 3545 132 3545 132 3257 132 3255 132 3545 132 3255 132 3253 132 3251 132 3249 132 3556 132 3556 272 3249 272 3247 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-0,0 +1,223 @@ + + + + + ## dummy + + + + + + + + + + + + + + + ## link + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ## dummy rotor arms + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ## link + #### rotor parent link (virtual) #### + + + + + + + + + + + + + + + + + + + + + + ## rotor parent link (virtual) + + + + + + + + + ## thrust link (virtual) + + + + + + + + + + #### joints #### + + #### gimbal joints #### + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + #### rotor parent link joint (virtual) #### + + + + + + + + #### rotor joint (virtual) #### + + + + + + + + + + transmission_interface/SimpleTransmission + + RotorInterface + + + RotorInterface + 1 + + + + + diff --git a/robots/gimbalrotor/urdf/tri/mesh/thrust_link_left_straight.dae 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0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/robots/hydrus/config/quad/default_mode_201907/FlightControl.yaml b/robots/hydrus/config/quad/default_mode_201907/FlightControl.yaml index 715d1dd22..e000cb152 100644 --- a/robots/hydrus/config/quad/default_mode_201907/FlightControl.yaml +++ b/robots/hydrus/config/quad/default_mode_201907/FlightControl.yaml @@ -1,6 +1,7 @@ aerial_robot_control_name: aerial_robot_control/hydrus_tilted_lqi_controller controller: + wrench_estimate_flag: true xy: p_gain: 2.3 i_gain: 0.02 diff --git a/robots/hydrus/include/hydrus/hydrus_tilted_lqi_controller.h b/robots/hydrus/include/hydrus/hydrus_tilted_lqi_controller.h index 68540d51d..b2b2b5196 100644 --- a/robots/hydrus/include/hydrus/hydrus_tilted_lqi_controller.h +++ b/robots/hydrus/include/hydrus/hydrus_tilted_lqi_controller.h @@ -55,5 +55,6 @@ namespace aerial_robot_control protected: bool checkRobotModel() override; + void controlCore() override; }; }; diff --git a/robots/hydrus/src/hydrus_tilted_lqi_controller.cpp b/robots/hydrus/src/hydrus_tilted_lqi_controller.cpp index d9587a1ca..a8a573182 100644 --- a/robots/hydrus/src/hydrus_tilted_lqi_controller.cpp +++ b/robots/hydrus/src/hydrus_tilted_lqi_controller.cpp @@ -34,6 +34,26 @@ bool HydrusTiltedLQIController::checkRobotModel() return true; } +void HydrusTiltedLQIController::controlCore() +{ + UnderActuatedTiltedLQIController::controlCore(); + tf::Matrix3x3 uav_rot = estimator_->getOrientation(Frame::COG, estimate_mode_); + tf::Vector3 target_acc_w(pid_controllers_.at(X).result(), + pid_controllers_.at(Y).result(), + pid_controllers_.at(Z).result()); + tf::Vector3 target_acc_cog = uav_rot.inverse() * target_acc_w; + Eigen::VectorXd target_wrench_acc_cog = Eigen::VectorXd::Zero(6); + target_wrench_acc_cog.head(3) = Eigen::Vector3d(target_acc_cog.x(), target_acc_cog.y(), target_acc_cog.z()); + + double target_ang_acc_x = pid_controllers_.at(ROLL).result(); + double target_ang_acc_y = pid_controllers_.at(PITCH).result(); + double target_ang_acc_z = pid_controllers_.at(YAW).result(); + target_wrench_acc_cog.tail(3) = Eigen::Vector3d(target_ang_acc_x, target_ang_acc_y, target_ang_acc_z); + + setTargetWrenchAccCog(target_wrench_acc_cog); +} + + /* plugin registration */ #include PLUGINLIB_EXPORT_CLASS(aerial_robot_control::HydrusTiltedLQIController, aerial_robot_control::ControlBase); diff --git a/robots/mini_quadrotor/CMakeLists.txt b/robots/mini_quadrotor/CMakeLists.txt index 263c3bb9d..d8cc5a960 100644 --- a/robots/mini_quadrotor/CMakeLists.txt +++ b/robots/mini_quadrotor/CMakeLists.txt @@ -14,6 +14,11 @@ install(DIRECTORY config launch USE_SOURCE_PERMISSIONS ) +install(DIRECTORY bin + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + USE_SOURCE_PERMISSIONS +) + mujoco_model_convert( ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/config/mujoco_model.yaml) diff --git a/robots/mini_quadrotor/bin/rosbag_record.sh b/robots/mini_quadrotor/bin/rosbag_record.sh new file mode 100755 index 000000000..01044cfa4 --- /dev/null +++ b/robots/mini_quadrotor/bin/rosbag_record.sh @@ -0,0 +1,3 @@ +#!/bin/bash + +rosrun aerial_robot_base rosbag_control_data.sh ${1:-quadrotor} quadrotor/livox/lidar quadrotor/livox/imu quadrotor/Odometry quadrotor/Odometry_precede ${@:2} diff --git a/robots/mini_quadrotor/config/Battery.yaml b/robots/mini_quadrotor/config/Battery.yaml index cc7a84066..707e78ec5 100644 --- a/robots/mini_quadrotor/config/Battery.yaml +++ b/robots/mini_quadrotor/config/Battery.yaml @@ -1,5 +1,5 @@ bat_info: bat_cell: 3 - bat_resistance: 0.04 # [m Ohm] - hovering_current: 15 #[A] - low_voltage_thre: 10 #[100%] + bat_resistance: 0.05 # [m Ohm] + hovering_current: 22 #[A] + low_voltage_thre: 6 #[100%] diff --git a/robots/mini_quadrotor/config/FlightControl.yaml b/robots/mini_quadrotor/config/FlightControl.yaml index b1e1fe000..b41f6b2c9 100644 --- a/robots/mini_quadrotor/config/FlightControl.yaml +++ b/robots/mini_quadrotor/config/FlightControl.yaml @@ -4,7 +4,7 @@ controller: xy: p_gain: 5.0 i_gain: 0.05 - d_gain: 3.0 + d_gain: 5.0 limit_sum: 3 limit_p: 3 limit_i: 1.5 @@ -36,9 +36,9 @@ controller: gyro_moment_compensation: true clamp_gain: true - roll_pitch_p: 20 + roll_pitch_p: 15 # 20 roll_pitch_i: 0.5 - roll_pitch_d: 0.15 + roll_pitch_d: 0.5 # 1.0 #0.15 yaw_p: 60 yaw_i: 0.5 diff --git a/robots/mini_quadrotor/config/NavigationConfig.yaml b/robots/mini_quadrotor/config/NavigationConfig.yaml index 9431be56e..3be65b0c6 100644 --- a/robots/mini_quadrotor/config/NavigationConfig.yaml +++ b/robots/mini_quadrotor/config/NavigationConfig.yaml @@ -8,7 +8,7 @@ navigation: # Attitude Control Mode: 4 - takeoff_height: 1.0 #1.0 + takeoff_height: 0.6 #1.0 outdoor_takeoff_height: 1.5 # teleop operation diff --git a/robots/mini_quadrotor/config/StateEstimation.yaml b/robots/mini_quadrotor/config/StateEstimation.yaml index 2dc2b44ef..763b1c712 100644 --- a/robots/mini_quadrotor/config/StateEstimation.yaml +++ b/robots/mini_quadrotor/config/StateEstimation.yaml @@ -4,6 +4,7 @@ estimation: sensor_list: - sensor_plugin/imu - sensor_plugin/mocap + - sensor_plugin/vo # Fast LIO # egomotion estimation egomotion_list: @@ -45,3 +46,8 @@ sensor_plugin: estimate_mode: 3 # 1<<0 + 1<<1 mocap: estimate_mode: 6 # 1<<1 + 1<<2 + vo1: + estimate_mode: 1 # 1<<0 + # fusion_mode: 2 # ONLY_POS_MODE = 0, ONLY_VEL_MODE = 1, POS_VEL_MODE = 2 (default) + # param_verbose: true + throttle_rate: 120 # Hz diff --git a/robots/mini_quadrotor/launch/includes/sensors.launch.xml b/robots/mini_quadrotor/launch/includes/sensors.launch.xml index 50075cd09..83365d451 100644 --- a/robots/mini_quadrotor/launch/includes/sensors.launch.xml +++ b/robots/mini_quadrotor/launch/includes/sensors.launch.xml @@ -16,11 +16,20 @@ + + + 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