From 39094281708e16b3c5b4fff8e6dfc01d89f2ef5d Mon Sep 17 00:00:00 2001 From: hello-chintan Date: Thu, 23 Mar 2023 16:34:42 -0700 Subject: [PATCH] Accurate odom WIP --- .../src/hello_helpers/base_move_by.py | 171 ++++++++++++++++++ stretch_core/launch/base_move_by.launch | 21 +++ 2 files changed, 192 insertions(+) create mode 100755 hello_helpers/src/hello_helpers/base_move_by.py create mode 100644 stretch_core/launch/base_move_by.launch diff --git a/hello_helpers/src/hello_helpers/base_move_by.py b/hello_helpers/src/hello_helpers/base_move_by.py new file mode 100755 index 0000000..ccf4945 --- /dev/null +++ b/hello_helpers/src/hello_helpers/base_move_by.py @@ -0,0 +1,171 @@ +#!/usr/bin/env python3 + +from stretch_body.robot import Robot +import hello_helpers.hello_misc as hm +from nav_msgs.msg import Odometry +from sensor_msgs.msg import JointState +from geometry_msgs.msg import Pose2D, Twist +from control_msgs.msg import FollowJointTrajectoryGoal +from trajectory_msgs.msg import JointTrajectoryPoint +import rospy +import time +import sys +from math import pow, sqrt, pi + +class BaseMoveBy(hm.HelloNode): + def _init_(self): + hm.HelloNode.__init__(self) + self.joint_state = None + self.robot_pose = None + self.command_sent = False + + def base_translate(self, trans): + print('Base translate command received') + command = {'joint': 'translate_mobile_base', 'inc': trans} + # self.send_command(command) + self.base_controller(command) + + def base_rotate(self, rot): + print('Base rotate command received') + command = {'joint': 'rotate_mobile_base', 'inc': rot} + # self.send_command(command) + self.base_controller(command) + + def base_controller(self, command): + self.twist = Twist() + self.twist.linear.x = 0.0 + self.twist.linear.y = 0.0 + self.twist.linear.z = 0.0 + self.twist.angular.x = 0.0 + self.twist.angular.y = 0.0 + self.twist.angular.z = 0.0 + + if command['joint'] == 'translate_mobile_base': + x_i = self.robot_pose.x + y_i = self.robot_pose.y + dist_travelled = 0 + dist_err = command['inc'] + while abs(dist_err) >= 0.02: + # limit translation velocity between 0.05 and 0.2 m/s + t_vel = dist_err + if command['inc'] > 0: + t_vel = min(t_vel, 0.2) + t_vel = max(t_vel, 0.05) + else: + t_vel = min(t_vel, -0.05) + t_vel = max(t_vel, -0.2) + + self.twist.linear.x = t_vel + self.base_vel.publish(self.twist) + dist_travelled = sqrt(pow(x_i-self.robot_pose.x, 2) + pow(y_i-self.robot_pose.y, 2)) + if command['inc'] > 0: + dist_err = command['inc'] - dist_travelled + else: # Could introduce a bug where if the goal is overshot, the robot keeps going ahead + dist_err = -(abs(command['inc']) - dist_travelled) + + self.twist.linear.x = 0.0 + self.base_vel.publish(self.twist) + + else: + if command['inc'] > pi or command['inc'] < -pi: + print("Requested angle out of bounds") + print("The goal angle must be in the range -3.141 to 3.141") + sys.exit(1) + + crossover = None + theta_travelled = 0 + theta_i = self.robot_pose.theta + if theta_i + command['inc'] < -pi: + crossover = 'positive' + if theta_i + command['inc'] > pi: + crossover = 'negative' + theta_err = command['inc'] + while abs(theta_err) >= 0.02: + # limit rotational velocity between 0.05 rad/s and 0.25 rad/s + r_vel = theta_err + if theta_err > 0: + r_vel = min(r_vel, 0.25) + r_vel = max(r_vel, 0.05) + else: + r_vel = min(r_vel, -0.05) + r_vel = max(r_vel, -0.25) + + self.twist.angular.z = r_vel + self.base_vel.publish(self.twist) + + if crossover == 'negative': + if self.robot_pose.theta > 0: + theta_travelled = self.robot_pose.theta - theta_i + else: + theta_travelled = pi - theta_i + pi - abs(self.robot_pose.theta) + elif crossover == 'positive': + if self.robot_pose.theta < 0: + theta_travelled = -self.robot_pose.theta + theta_i + else: + theta_travelled = pi + theta_i + pi - self.robot_pose.theta + else: + if command['inc'] < 0: + theta_travelled = theta_i - self.robot_pose.theta + else: + theta_travelled = self.robot_pose.theta - theta_i + + if command['inc'] > 0: + theta_err = command['inc'] - theta_travelled + else: # Could cause a bug where if the goal is overshot, the robot keeps turning + theta_err = -(abs(command['inc']) - theta_travelled) + + print(theta_err) + + self.twist.angular.z = 0.0 + self.base_vel.publish(self.twist) + + def joint_states_callback(self, joint_state): + self.joint_state = joint_state + + def pose2d_callback(self, pose): + self.robot_pose = pose + + def send_command(self, command): + print('Moving the base') + joint_state = self.joint_state + if (joint_state is not None) and (command is not None): + point = JointTrajectoryPoint() + point.time_from_start = rospy.Duration(0.0) + trajectory_goal = FollowJointTrajectoryGoal() + trajectory_goal.goal_time_tolerance = rospy.Time(1.0) + + joint_name = command['joint'] + trajectory_goal.trajectory.joint_names = [joint_name] + if 'inc' in command: + inc = command['inc'] + new_value = inc + point.positions = [new_value] + trajectory_goal.trajectory.points = [point] + trajectory_goal.trajectory.header.stamp = rospy.Time.now() + self.trajectory_client.send_goal(trajectory_goal) + + def main(self): + hm.HelloNode.main(self, 'base_control', 'base_control', wait_for_first_pointcloud=False) + rospy.Subscriber('/stretch/joint_states', JointState, self.joint_states_callback) + rospy.Subscriber('/pose2D', Pose2D, self.pose2d_callback) + self.base_vel = rospy.Publisher('/stretch/cmd_vel', Twist, queue_size=1) #/stretch_diff_drive_controller/cmd_vel for gazebo + + self.command_sent = False + + for i in range(5): + time.sleep(2) + self.base_translate(0.5) + time.sleep(2) + self.base_rotate(-3.14) + time.sleep(2) + self.base_translate(0.5) + time.sleep(2) + self.base_rotate(-3.14) + + +if __name__ == '__main__': + try: + base = BaseMoveBy() + base.main() + except KeyboardInterrupt: + rospy.loginfo('interrupt received, so shutting down') \ No newline at end of file diff --git a/stretch_core/launch/base_move_by.launch b/stretch_core/launch/base_move_by.launch new file mode 100644 index 0000000..5669881 --- /dev/null +++ b/stretch_core/launch/base_move_by.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file