--- /dev/null
+cmake_minimum_required(VERSION 3.0.2)
+project(tatuira_ident)
+
+## 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
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+find_package(Eigen3 REQUIRED)
+
+
+## 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 # Or other packages containing 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 tatuira_ident
+# CATKIN_DEPENDS roscpp
+# DEPENDS Eigen3
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+ ${catkin_INCLUDE_DIRS}
+# TODO: Check names of system library include directories (Eigen3)
+ ${EIGEN3_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/tatuira_ident.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(tatuira_ident src/tatuira_ident.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${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(tatuira_ident
+ ${catkin_LIBRARIES}
+# ${Eigen3_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
+# catkin_install_python(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+install(TARGETS tatuira_ident
+ RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${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_tatuira_ident.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
--- /dev/null
+# Watch-out: The indentation here is relevant to the semantic!
+
+tatuira_ident:
+ wheel_separation: 0.322
+ wheel_radius: [0.075, 0.075]
--- /dev/null
+<launch>
+ <arg name="paused" default="true"/>
+ <arg name="headless" default="false"/>
+ <arg name="use_sim_time" default="true"/>
+
+ <remap from="/left_wheel_controller/command" to="/left_wheel_command"/>
+ <remap from="/right_wheel_controller/command" to="/right_wheel_command"/>
+
+ <remap from="/ident/left_wheel_command" to="/left_wheel_command"/>
+ <remap from="/ident/right_wheel_command" to="/right_wheel_command"/>
+
+ <include file="$(find tatuira_bringup)/launch/gazebo.launch" >
+ <arg name="paused" value="$(arg paused)"/>
+ <arg name="headless" value="$(arg headless)"/>
+ <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+ <arg name="controller" value="bypass"/>
+ </include>
+
+ <rosparam file="$(find tatuira_ident)/config/ident.yaml" command="load" />
+ <include file="$(find tatuira_ident)/launch/ident.launch"/>
+</launch>
--- /dev/null
+<launch>
+ <node name="tatuira_ident" pkg="tatuira_ident" type="tatuira_ident" output="screen"/>
+</launch>
--- /dev/null
+<?xml version="1.0"?>
+<package format="2">
+ <name>tatuira_ident</name>
+ <version>0.0.1</version>
+ <description>The tatuira_ident package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</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>GPLv3</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/tatuira_ident</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> -->
+ <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</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>Eigen3</build_depend>
+ <build_depend>roscpp</build_depend>
+ <build_export_depend>Eigen3</build_export_depend>
+ <build_export_depend>roscpp</build_export_depend>
+ <exec_depend>Eigen3</exec_depend>
+ <exec_depend>roscpp</exec_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
--- /dev/null
+/******************************************************************************
+ ROS tatuira_ident Package
+ Tatuira Dynamics Model
+ Copyright (C) 2020 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************/
+
+#include <ros/ros.h>
+
+#include <Eigen/Dense>
+
+#include <std_msgs/Float64.h>
+#include <std_msgs/Float64MultiArray.h>
+#include <sensor_msgs/JointState.h>
+
+class Prbs
+{
+ int index_;
+ unsigned int nd_;
+ unsigned char *sh_;
+
+ public:
+
+ Prbs(unsigned int n=10,unsigned int seed=0);
+ ~Prbs(void);
+
+ void seed(unsigned int s) { index_=s % nd_; };
+
+ operator int(void);
+};
+
+
+Prbs::Prbs(unsigned int n,unsigned int seed)
+{
+ nd_=n;
+ index_=seed % nd_;
+ sh_=new unsigned char[nd_];
+ for(unsigned int i=0; i < nd_;i++) sh_[i]=1;
+ for(unsigned int i=0; i < 98;i++) (int) *this; // call operator int() to exercise
+}
+
+Prbs::~Prbs(void)
+{
+// delete[] sh;
+}
+
+Prbs::operator int(void)
+{
+ unsigned char s=sh_[nd_-1]+sh_[nd_-2];
+ if(s > 1) s=0;
+ for(int j=nd_-2;j >= 0;j--) sh_[j+1]=sh_[j];
+ sh_[0]=s;
+ return sh_[index_];
+}
+
+
+class Ident
+{
+ public:
+ Ident(ros::NodeHandle node);
+ ~Ident(void);
+ void setCommand(void);
+
+ private:
+ ros::NodeHandle node_;
+
+ ros::Subscriber jointStatesSubscriber_;
+ ros::Publisher dynParamPublisher_;
+ ros::Publisher leftWheelCommandPublisher_;
+ ros::Publisher rightWheelCommandPublisher_;
+
+ const int nJoints_;
+
+ Eigen::VectorXd u_;
+ Eigen::VectorXd thetaEst1_;
+ Eigen::VectorXd thetaEst2_;
+ Eigen::MatrixXd P1_;
+ Eigen::MatrixXd P2_;
+
+ std::vector<Prbs> prbs_;
+ int iter_;
+
+ ros::Time lastTime_;
+
+ std::vector<double> wheelRadius_;
+ double wheelBase_;
+
+ void jointStatesCB(const sensor_msgs::JointState::ConstPtr &jointStates);
+ void resetCovariance(void);
+};
+
+
+Ident::Ident(ros::NodeHandle node):
+ nJoints_(2),u_(nJoints_),thetaEst1_(nJoints_),thetaEst2_(nJoints_),P1_(nJoints_,nJoints_),P2_(nJoints_,nJoints_),prbs_(nJoints_),wheelRadius_(nJoints_)
+{
+ node_=node;
+
+ ros::NodeHandle n("~");
+ if(!n.getParam("wheel_separation",wheelBase_))
+ {
+ ROS_ERROR("No 'wheel_separation' in node %s.",node_.getNamespace().c_str());
+ return;
+ }
+
+ if(!n.getParam("wheel_radius",wheelRadius_))
+ {
+ ROS_ERROR("No 'wheel_radius' in node %s.",node_.getNamespace().c_str());
+ return;
+ }
+
+ jointStatesSubscriber_=node_.subscribe("joint_states",1000,&Ident::jointStatesCB,this);
+ dynParamPublisher_=node_.advertise<std_msgs::Float64MultiArray>("dynamic_parameters",1000);
+ leftWheelCommandPublisher_=node_.advertise<std_msgs::Float64>("left_wheel_command",1000);
+ rightWheelCommandPublisher_=node_.advertise<std_msgs::Float64>("right_wheel_command",1000);
+
+ u_.setZero();
+ thetaEst1_.setZero();
+ thetaEst2_.setZero();
+ resetCovariance();
+
+ lastTime_=ros::Time::now();
+}
+
+Ident::~Ident(void)
+{
+ jointStatesSubscriber_.shutdown();
+}
+
+void Ident::resetCovariance(void)
+{
+ P1_.setIdentity();
+ P1_*=1;
+ P2_.setIdentity();
+ P2_*=1;
+ iter_=0;
+}
+
+void Ident::jointStatesCB(const sensor_msgs::JointState::ConstPtr &jointStates)
+{
+ ros::Duration dt=jointStates->header.stamp-lastTime_;
+ lastTime_=jointStates->header.stamp;
+
+ Eigen::VectorXd y=-u_; //y(k+1)=(u(k+1)-u(k))/dt
+
+ Eigen::VectorXd Phi1(nJoints_);
+ Eigen::VectorXd Phi2(nJoints_);
+ Phi1[0]=u_[1]*u_[1]; // u2^2(k)
+ Phi2[0]=u_[0]*u_[1]; // u1(k)*u2(k)
+
+ Eigen::VectorXd torque(nJoints_);
+
+ // u(k+1)
+ // jointStates->velocity[0] is left wheel
+ // jointStates->velocity[1] is right wheel
+ u_[0]=(jointStates->velocity[0]*wheelRadius_[0]+jointStates->velocity[1]*wheelRadius_[1])/2.0;
+ u_[1]=(jointStates->velocity[1]*wheelRadius_[1]-jointStates->velocity[0]*wheelRadius_[0])/wheelBase_;
+
+ for(int i=0;i < nJoints_;i++)
+ torque[i]=jointStates->effort[i]; // torque(k)
+
+ y+=u_;
+ y/=dt.toSec();
+
+ Phi1[1]=torque[0]+torque[1];
+ Phi2[1]=torque[0]-torque[1];
+
+ double yEst1=Phi1.transpose()*thetaEst1_;
+ Eigen::VectorXd K1=P1_*Phi1/(1+Phi1.transpose()*P1_*Phi1);
+ thetaEst1_+=K1*(y[0]-yEst1);
+ P1_-=K1*Phi1.transpose()*P1_;
+
+ double yEst2=Phi2.transpose()*thetaEst2_;
+ Eigen::VectorXd K2=P2_*Phi2/(1+Phi2.transpose()*P2_*Phi2);
+ thetaEst2_+=K2*(y[1]-yEst2);
+ P2_-=K2*Phi2.transpose()*P2_;
+
+ std_msgs::Float64MultiArray dynParam;
+ dynParam.layout.dim.push_back(std_msgs::MultiArrayDimension());
+ dynParam.layout.dim[0].label="K5 K6 K7 K8 P55 P66 P77 P88";
+ dynParam.layout.dim[0].size=nJoints_*4;
+ dynParam.layout.dim[0].stride=1;
+ dynParam.layout.data_offset=0;
+ for(int i=0;i < nJoints_;i++)
+ {
+ dynParam.data.push_back(thetaEst1_[i]);
+ dynParam.data.push_back(thetaEst2_[i]);
+ }
+ for(int i=0;i < nJoints_;i++)
+ {
+ dynParam.data.push_back(P1_(i,i));
+ dynParam.data.push_back(P2_(i,i));
+ }
+ dynParamPublisher_.publish(dynParam);
+
+// if(iter++ > 2048) resetCovariance();
+}
+
+void Ident::setCommand(void)
+{
+ std_msgs::Float64 leftCommand;
+ std_msgs::Float64 rightCommand;
+ leftCommand.data=5*prbs_[0]-2.5;
+ rightCommand.data=5*prbs_[1]-2.5;
+ leftWheelCommandPublisher_.publish(leftCommand);
+ rightWheelCommandPublisher_.publish(rightCommand);
+}
+
+int main(int argc,char* argv[])
+{
+ ros::init(argc,argv,"tatuira_ident");
+ ros::NodeHandle node;
+
+ Ident ident(node);
+
+ ros::Rate loop(100);
+ while(ros::ok())
+ {
+ ident.setCommand();
+
+ ros::spinOnce();
+ loop.sleep();
+ }
+ return 0;
+}
projects / tatuira.git / commitdiff