nppilot: added the ROS package skeleton

master
Michael Hope 4 years ago
parent 5bd1dabef4
commit 9f5d1878fa

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cmake_minimum_required(VERSION 2.8.3)
project(nppilot)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES nppilot
# CATKIN_DEPENDS roscpp rospy std_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/nppilot.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/nppilot_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_nppilot.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

@ -0,0 +1,11 @@
Kp: 0
Ki: 0
Kd: 0
upper_limit: 0.5
lower_limit: 0
windup_limit: 0.5
setpoint_topic: /v/sp
topic_from_plant: /v/pv
topic_from_controller: /v/u

@ -0,0 +1,11 @@
Kp: 0
Ki: 0
Kd: 0
upper_limit: 1
lower_limit: -1
windup_limit: 0.5
setpoint_topic: /yaw_rate/sp
topic_from_plant: /yaw_rate/pv
topic_from_controller: /yaw_rate/u

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<launch>
<node name="yaw_rate_pid" pkg="pid" type="controller">
<rosparam command="load" file="$(find nppilot)/config/yaw_rate_pid.yaml"/>
</node>
<node name="v_pid" pkg="pid" type="controller">
<rosparam command="load" file="$(find nppilot)/config/v_pid.yaml"/>
</node>
<node pkg="nppilot" name="revo" type="revo.py" output="screen">
</node>
</launch>

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<?xml version="1.0"?>
<package format="2">
<name>nppilot</name>
<version>0.0.0</version>
<description>The nppilot package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="michaelh@todo.todo">michaelh</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/nppilot</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>rosflight_msgs</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>rosflight_msgs</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>

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#!/usr/bin/env python
"""Revo adapts from high level demands into calibrated demands for the
rover.
"""
from __future__ import division, with_statement, print_function
import time
import types
import Queue as queue
import enum
import rospy
import std_msgs
from std_msgs.msg import Float32, Float64, Bool
from geometry_msgs.msg import Vector3Stamped
from rosflight_msgs.msg import Command, RCRaw, Status
class RCChannel(enum.IntEnum):
roll = 0
pitch = 1
throttle = 2
yaw = 3
mode = 5
def _scale(x, scale):
"""Scale a -1 to 1 number to the given (low, zero, high) range.
>>> _scale(-0.5, (-3, 0, 4))
-1.5
>>> _scale(-0.5, (0.1, 0.3, 0.9))
0.2
>>> round(_scale(0.5, (0.1, 0.3, 0.9)), 5)
0.6
>>> round(_scale(0.8, (-0.8, 0.1, 0.9)), 5)
0.74
"""
low, zero, high = scale
if x <= -1:
return low
if x >= 1:
return high
if x < 0:
return low + (low - zero) * x
return zero + (high - zero) * x
def _scale_rc(x):
"""Scale a RC time in us to [-1..1].
>>> round(_scale_rc(1500), 5)
0.0
>>> round(_scale_rc(1100), 5)
-0.8
>>> round(_scale_rc(1800), 5)
0.6
"""
if x <= 1000:
return -1
if x >= 2000:
return 1
return -1 + (x - 1000) / 500
class SlewLimiter:
def __init__(self, rate, now=time.time):
self._rate = rate
self._a = None
self._t = None
self._now = now
def __call__(self, v):
if self._rate == None:
return v
now = self._now()
if self._t == None:
self._v = v
else:
limit = self._rate * (now - self._t)
delta = min(limit, max(-limit, v - self._v))
self._v += delta
self._t = now
return self._v
class Controller:
def __init__(self):
rospy.init_node('revo', anonymous=True)
self._command_pub = rospy.Publisher('command', Command, queue_size=10)
self._mode = rospy.Publisher('mode', Float64, queue_size=10)
self._override_z = rospy.Publisher('override_z', Bool, queue_size=10)
self._override_f = rospy.Publisher('override_f', Bool, queue_size=10)
self._cmd = [0] * 4
self._scales = [
(-0.9, 0, 0.9),
(-0.9, 0, 0.9),
(-0.9, 0, 0.9),
(0.1, 0.3, 0.9),
]
max_accel = [
None,
None,
None,
1,
]
self._accel_limiter = [SlewLimiter(x) for x in max_accel]
self._rc_trim = [0] * 8
self._rc = [0] * 8
self._armed = False
def cmd_z(self, msg):
self._cmd[2] = msg.data
def cmd_f(self, msg):
self._cmd[3] = msg.data
def rc_raw(self, msg):
rc = [_scale_rc(x) for x in msg.values]
rc = [x + trim for x, trim in zip(rc, self._rc_trim)]
self._rc = rc
def status(self, msg):
self._armed = msg.armed
def send_command(self):
h = std_msgs.msg.Header()
h.stamp = rospy.Time.now()
cmd = [_scale(x, s) for x, s in zip(self._cmd, self._scales)]
cmd = [f(x) for x, f in zip(cmd, self._accel_limiter)]
self._command_pub.publish(Command(h, 0, 0, *cmd))
def send_override(self):
self._override_z.publish(abs(self._rc[RCChannel.roll]) > 0.1)
self._override_f.publish((abs(self._rc[RCChannel.throttle]) > 0.1)
or not self._armed)
def send_mode(self):
switch = self._rc[RCChannel.mode]
if switch < -0.3:
mode = 0
elif switch < 0.3:
mode = 1
else:
mode = 2
self._mode.publish(mode)
def run(self):
q = queue.Queue()
rospy.Subscriber('cmd_z', Float64, lambda x: q.put((self.cmd_z, x)))
rospy.Subscriber('cmd_f', Float64, lambda x: q.put((self.cmd_f, x)))
rospy.Subscriber('rc_raw', RCRaw, lambda x: q.put((self.rc_raw, x)))
rospy.Subscriber('status', Status, lambda x: q.put((self.status, x)))
rate = rospy.Rate(20)
cycle = 0
while not rospy.is_shutdown():
try:
while True:
f, msg = q.get_nowait()
f(msg)
except queue.Empty:
pass
self.send_command()
if cycle % 5 == 0:
self.send_override()
self.send_mode()
cycle += 1
if cycle >= 100:
cycle = 0
rate.sleep()
def main():
c = Controller()
c.run()
if __name__ == '__main__':
main()
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