nppilot: added the ROS package skeleton
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cmake_minimum_required(VERSION 2.8.3)
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project(nppilot)
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## Compile as C++11, supported in ROS Kinetic and newer
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# add_compile_options(-std=c++11)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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std_msgs
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a exec_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# std_msgs
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# )
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if your package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES nppilot
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# CATKIN_DEPENDS roscpp rospy std_msgs
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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# include
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${catkin_INCLUDE_DIRS}
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)
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## Declare a C++ library
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# add_library(${PROJECT_NAME}
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# src/${PROJECT_NAME}/nppilot.cpp
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# )
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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# add_executable(${PROJECT_NAME}_node src/nppilot_node.cpp)
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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## target back to the shorter version for ease of user use
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## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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# target_link_libraries(${PROJECT_NAME}_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_nppilot.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)
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Kp: 0
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Ki: 0
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Kd: 0
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upper_limit: 0.5
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lower_limit: 0
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windup_limit: 0.5
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setpoint_topic: /v/sp
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topic_from_plant: /v/pv
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topic_from_controller: /v/u
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Kp: 0
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Ki: 0
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Kd: 0
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upper_limit: 1
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lower_limit: -1
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windup_limit: 0.5
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setpoint_topic: /yaw_rate/sp
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topic_from_plant: /yaw_rate/pv
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topic_from_controller: /yaw_rate/u
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<launch>
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<node name="yaw_rate_pid" pkg="pid" type="controller">
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<rosparam command="load" file="$(find nppilot)/config/yaw_rate_pid.yaml"/>
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</node>
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<node name="v_pid" pkg="pid" type="controller">
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<rosparam command="load" file="$(find nppilot)/config/v_pid.yaml"/>
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</node>
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<node pkg="nppilot" name="revo" type="revo.py" output="screen">
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</node>
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</launch>
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<?xml version="1.0"?>
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<package format="2">
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<name>nppilot</name>
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<version>0.0.0</version>
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<description>The nppilot package</description>
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<!-- One maintainer tag required, multiple allowed, one person per tag -->
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<!-- Example: -->
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<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
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<maintainer email="michaelh@todo.todo">michaelh</maintainer>
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<!-- One license tag required, multiple allowed, one license per tag -->
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<!-- Commonly used license strings: -->
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<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
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<license>TODO</license>
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<!-- Url tags are optional, but multiple are allowed, one per tag -->
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<!-- Optional attribute type can be: website, bugtracker, or repository -->
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<!-- Example: -->
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<!-- <url type="website">http://wiki.ros.org/nppilot</url> -->
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<!-- Author tags are optional, multiple are allowed, one per tag -->
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<!-- Authors do not have to be maintainers, but could be -->
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<!-- Example: -->
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<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
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<!-- The *depend tags are used to specify dependencies -->
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<!-- Dependencies can be catkin packages or system dependencies -->
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<!-- Examples: -->
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<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
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<!-- <depend>roscpp</depend> -->
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<!-- Note that this is equivalent to the following: -->
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<!-- <build_depend>roscpp</build_depend> -->
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<!-- <exec_depend>roscpp</exec_depend> -->
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<!-- Use build_depend for packages you need at compile time: -->
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<!-- <build_depend>message_generation</build_depend> -->
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<!-- Use build_export_depend for packages you need in order to build against this package: -->
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<!-- <build_export_depend>message_generation</build_export_depend> -->
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<!-- Use buildtool_depend for build tool packages: -->
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<!-- <buildtool_depend>catkin</buildtool_depend> -->
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<!-- Use exec_depend for packages you need at runtime: -->
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<!-- <exec_depend>message_runtime</exec_depend> -->
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<!-- Use test_depend for packages you need only for testing: -->
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<!-- <test_depend>gtest</test_depend> -->
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<!-- Use doc_depend for packages you need only for building documentation: -->
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<!-- <doc_depend>doxygen</doc_depend> -->
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>rospy</build_depend>
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<build_depend>std_msgs</build_depend>
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<build_depend>rosflight_msgs</build_depend>
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<build_export_depend>roscpp</build_export_depend>
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<build_export_depend>rospy</build_export_depend>
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<build_export_depend>std_msgs</build_export_depend>
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<exec_depend>roscpp</exec_depend>
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<exec_depend>rospy</exec_depend>
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<exec_depend>std_msgs</exec_depend>
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<exec_depend>rosflight_msgs</exec_depend>
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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<!-- Other tools can request additional information be placed here -->
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</export>
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</package>
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#!/usr/bin/env python
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"""Revo adapts from high level demands into calibrated demands for the
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rover.
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"""
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from __future__ import division, with_statement, print_function
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import time
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import types
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import Queue as queue
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import enum
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import rospy
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import std_msgs
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from std_msgs.msg import Float32, Float64, Bool
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from geometry_msgs.msg import Vector3Stamped
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from rosflight_msgs.msg import Command, RCRaw, Status
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class RCChannel(enum.IntEnum):
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roll = 0
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pitch = 1
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throttle = 2
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yaw = 3
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mode = 5
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def _scale(x, scale):
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"""Scale a -1 to 1 number to the given (low, zero, high) range.
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>>> _scale(-0.5, (-3, 0, 4))
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-1.5
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>>> _scale(-0.5, (0.1, 0.3, 0.9))
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0.2
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>>> round(_scale(0.5, (0.1, 0.3, 0.9)), 5)
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0.6
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>>> round(_scale(0.8, (-0.8, 0.1, 0.9)), 5)
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0.74
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"""
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low, zero, high = scale
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if x <= -1:
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return low
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if x >= 1:
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return high
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if x < 0:
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return low + (low - zero) * x
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return zero + (high - zero) * x
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def _scale_rc(x):
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"""Scale a RC time in us to [-1..1].
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>>> round(_scale_rc(1500), 5)
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0.0
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>>> round(_scale_rc(1100), 5)
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-0.8
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>>> round(_scale_rc(1800), 5)
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0.6
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"""
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if x <= 1000:
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return -1
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if x >= 2000:
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return 1
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return -1 + (x - 1000) / 500
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class SlewLimiter:
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def __init__(self, rate, now=time.time):
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self._rate = rate
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self._a = None
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self._t = None
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self._now = now
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def __call__(self, v):
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if self._rate == None:
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return v
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now = self._now()
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if self._t == None:
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self._v = v
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else:
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limit = self._rate * (now - self._t)
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delta = min(limit, max(-limit, v - self._v))
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self._v += delta
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self._t = now
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return self._v
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class Controller:
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def __init__(self):
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rospy.init_node('revo', anonymous=True)
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self._command_pub = rospy.Publisher('command', Command, queue_size=10)
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self._mode = rospy.Publisher('mode', Float64, queue_size=10)
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self._override_z = rospy.Publisher('override_z', Bool, queue_size=10)
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self._override_f = rospy.Publisher('override_f', Bool, queue_size=10)
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self._cmd = [0] * 4
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self._scales = [
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(-0.9, 0, 0.9),
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(-0.9, 0, 0.9),
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(-0.9, 0, 0.9),
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(0.1, 0.3, 0.9),
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]
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max_accel = [
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None,
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None,
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None,
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1,
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]
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self._accel_limiter = [SlewLimiter(x) for x in max_accel]
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self._rc_trim = [0] * 8
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self._rc = [0] * 8
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self._armed = False
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def cmd_z(self, msg):
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self._cmd[2] = msg.data
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def cmd_f(self, msg):
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self._cmd[3] = msg.data
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def rc_raw(self, msg):
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rc = [_scale_rc(x) for x in msg.values]
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rc = [x + trim for x, trim in zip(rc, self._rc_trim)]
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self._rc = rc
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def status(self, msg):
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self._armed = msg.armed
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def send_command(self):
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h = std_msgs.msg.Header()
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h.stamp = rospy.Time.now()
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cmd = [_scale(x, s) for x, s in zip(self._cmd, self._scales)]
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cmd = [f(x) for x, f in zip(cmd, self._accel_limiter)]
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self._command_pub.publish(Command(h, 0, 0, *cmd))
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def send_override(self):
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self._override_z.publish(abs(self._rc[RCChannel.roll]) > 0.1)
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self._override_f.publish((abs(self._rc[RCChannel.throttle]) > 0.1)
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or not self._armed)
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def send_mode(self):
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switch = self._rc[RCChannel.mode]
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if switch < -0.3:
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mode = 0
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elif switch < 0.3:
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mode = 1
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else:
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mode = 2
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self._mode.publish(mode)
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def run(self):
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q = queue.Queue()
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rospy.Subscriber('cmd_z', Float64, lambda x: q.put((self.cmd_z, x)))
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rospy.Subscriber('cmd_f', Float64, lambda x: q.put((self.cmd_f, x)))
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rospy.Subscriber('rc_raw', RCRaw, lambda x: q.put((self.rc_raw, x)))
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rospy.Subscriber('status', Status, lambda x: q.put((self.status, x)))
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rate = rospy.Rate(20)
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cycle = 0
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while not rospy.is_shutdown():
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try:
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while True:
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f, msg = q.get_nowait()
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f(msg)
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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()
|
Loading…
Reference in New Issue