From: Walter Fetter Lages Date: Wed, 14 Mar 2018 15:47:30 +0000 (-0300) Subject: Initial version. X-Git-Tag: ROSBook2018final^0 X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=9f5cc2a75969aad8b3758b92c33636bbbb513ae6;p=arc_odometry.git Initial version. --- 9f5cc2a75969aad8b3758b92c33636bbbb513ae6 diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..35d74bb --- /dev/null +++ b/.gitignore @@ -0,0 +1,51 @@ +devel/ +logs/ +build/ +bin/ +lib/ +msg_gen/ +srv_gen/ +msg/*Action.msg +msg/*ActionFeedback.msg +msg/*ActionGoal.msg +msg/*ActionResult.msg +msg/*Feedback.msg +msg/*Goal.msg +msg/*Result.msg +msg/_*.py +build_isolated/ +devel_isolated/ + +# Generated by dynamic reconfigure +*.cfgc +/cfg/cpp/ +/cfg/*.py + +# Ignore generated docs +*.dox +*.wikidoc + +# eclipse stuff +.project +.cproject + +# qcreator stuff +CMakeLists.txt.user + +srv/_*.py +*.pcd +*.pyc +qtcreator-* +*.user + +/planning/cfg +/planning/docs +/planning/src + +*~ + +# Emacs +.#* + +# Catkin custom files +CATKIN_IGNORE diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..816a362 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,205 @@ +cmake_minimum_required(VERSION 2.8.3) +project(arc_odometry) + +## 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 + nav_msgs + sensor_msgs + tf +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + +find_package(cmake_modules REQUIRED) +find_package(Eigen 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 run_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 run_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 run_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 you 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 arc_odometry + CATKIN_DEPENDS roscpp nav_msgs sensor_msgs tf + DEPENDS Eigen +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${Eigen_INCLUDE_DIRS} +) + +## Declare a C++ library +add_library(${PROJECT_NAME} + src/diff_odometry.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} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +add_executable(odometry_publisher src/odometry_publisher.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${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(odometry_publisher ${PROJECT_NAME} + ${catkin_LIBRARIES} + ${Eigen_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_arc_odometry.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) diff --git a/config/odometry_publisher.yaml b/config/odometry_publisher.yaml new file mode 120000 index 0000000..2bfa2ed --- /dev/null +++ b/config/odometry_publisher.yaml @@ -0,0 +1 @@ +twil.yaml \ No newline at end of file diff --git a/config/twil.yaml b/config/twil.yaml new file mode 100644 index 0000000..c81d863 --- /dev/null +++ b/config/twil.yaml @@ -0,0 +1,9 @@ +# Watch-out: The indentation here is relevant to the semantic! + +odometry_publisher: + wheel_separation: 0.322 + wheel_radius: [0.075, 0.075] + odom_frame_id: "odom" + base_frame_id: "twil_origin" + publish_rate: 100 + \ No newline at end of file diff --git a/include/arc_odometry/diff_odometry.h b/include/arc_odometry/diff_odometry.h new file mode 100644 index 0000000..eefa29a --- /dev/null +++ b/include/arc_odometry/diff_odometry.h @@ -0,0 +1,59 @@ +/****************************************************************************** + ROS arc_odometry Package + Differential Drive Odometry Class + Copyright (C) 2018 Walter Fetter Lages + + 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 + . + +*******************************************************************************/ + +#ifndef DIFF_ODOMETRY_H +#define DIFF_ODOMETRY_H + +#include + +#include + +#include + +namespace arc_odometry +{ + class DiffOdometry + { + public: + DiffOdometry(double wheelBase,std::vector wheelRadius); + ~DiffOdometry(void); + + void update(double leftDisp,double rightDisp,const ros::Duration &duration); + void update(const Eigen::Vector2d &deltaPhi,const ros::Duration &duration); + double x(void) const {return x_[0];} + double y(void) const {return x_[1];} + double heading(void) const {return x_[2];} + void getPose(Eigen::Vector3d &x) const {x=x_;} + double linear(void) const {return u_[0];} + double angular(void) const {return u_[1];} + void getVelocity(Eigen::Vector2d &u) const {u=u_;} + void setParams(double wheelBase,std::vector wheelRadius); + void setPose(const Eigen::Vector3d &x) {x_=x;} + + private: + std::vectorwheelRadius_; + double wheelBase_; + + Eigen::Vector2d u_; + Eigen::Vector3d x_; + }; +} +#endif diff --git a/launch/gazebo8.launch b/launch/gazebo8.launch new file mode 100644 index 0000000..cb90f30 --- /dev/null +++ b/launch/gazebo8.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..271d74d --- /dev/null +++ b/package.xml @@ -0,0 +1,61 @@ + + + arc_odometry + 0.0.0 + The arc_odometry package + + + + + Walter Fetter Lages + + + + + + GPLv3 + + + + + + + + + + + + + Walter Fetter Lages + + + + + + + + + + + + + + catkin + roscpp + Eigen + nav_msgs + sensor_msgs + tf + roscpp + Eigen + nav_msgs + sensor_msgs + tf + + + + + + + + diff --git a/src/diff_odometry.cpp b/src/diff_odometry.cpp new file mode 100644 index 0000000..13b3241 --- /dev/null +++ b/src/diff_odometry.cpp @@ -0,0 +1,77 @@ +/****************************************************************************** + ROS arc_odometry Package + Differential Odometry Class + Copyright (C) 2018 Walter Fetter Lages + + 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 + . + +*******************************************************************************/ + +#include + +namespace arc_odometry +{ + DiffOdometry::DiffOdometry(double wheelBase,std::vector wheelRadius) + { + wheelBase_=wheelBase; + wheelRadius_=wheelRadius; + u_.setZero(); + x_.setZero(); + } + + DiffOdometry::~DiffOdometry(void) + { + + } + + // Incremental encoders sense angular displacement and + // not velocity + // deltaPhi[0] is the left wheel angular displacement + // deltaPhi[1] is the right wheel angular displacement + void DiffOdometry::update(const Eigen::Vector2d &deltaPhi,const ros::Duration &duration) + { + double dt=duration.toSec(); + + Eigen::Vector2d deltaU; + deltaU << (deltaPhi[0]*wheelRadius_[0]+deltaPhi[1]*wheelRadius_[1])/2.0, + (deltaPhi[1]*wheelRadius_[1]-deltaPhi[0]*wheelRadius_[0])/wheelBase_; + + double deltaS=(fabs(deltaU[1]) > DBL_EPSILON)? + deltaU[0]*sin(deltaU[1]/2)/(deltaU[1]/2):deltaU[0]; + + if(dt > DBL_EPSILON) u_ << deltaS/dt , deltaU[1]/dt; + + Eigen::Vector3d deltaX; + deltaX << deltaS*cos(x_[2]+deltaU[1]/2.0), + deltaS*sin(x_[2]+deltaU[1]/2.0), + deltaU[1]; + + x_+=deltaX; + } + + void DiffOdometry::update(double leftDisp,double rightDisp,const ros::Duration &duration) + { + Eigen::Vector2d deltaPhi; + deltaPhi << leftDisp, rightDisp; + + update(deltaPhi,duration); + } + + void DiffOdometry::setParams(double wheelBase,std::vector wheelRadius) + { + wheelBase_=wheelBase; + wheelRadius_=wheelRadius; + } +} diff --git a/src/odometry_publisher.cpp b/src/odometry_publisher.cpp new file mode 100644 index 0000000..f8cb7a5 --- /dev/null +++ b/src/odometry_publisher.cpp @@ -0,0 +1,208 @@ +/****************************************************************************** + ROS arc_odometry Package + Odometry Publisher Node + Copyright (C) 2018 Walter Fetter Lages + + 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 + . + +*******************************************************************************/ + +#include + +#include +#include +#include +#include +#include + +#include + +class OdometryPublisher +{ + public: + OdometryPublisher(ros::NodeHandle node); + ~OdometryPublisher(void); + void publish(void) const; + + private: + ros::NodeHandle node_; + + Eigen::Vector2d phi_; + + ros::Publisher odomPub_; + ros::Publisher tfPub_; + + ros::Subscriber jointStateSub_; + + std::vector wheelRadius_; + double wheelBase_; + + arc_odometry::DiffOdometry odom_; + + std::string odom_frame_id_; + std::string base_frame_id_; + + ros::Time lastSamplingTime_; + + void jointStateCB(const sensor_msgs::JointState::ConstPtr &jointState); +}; + +OdometryPublisher::OdometryPublisher(ros::NodeHandle node): + wheelRadius_(2),odom_(wheelBase_,wheelRadius_) +{ + node_=node; + + if(!node_.getParam("odometry_publisher/wheel_separation",wheelBase_)) + { + ROS_ERROR("No 'wheel_separation' in node %s.",node_.getNamespace().c_str()); + return; + } + + if(!node_.getParam("odometry_publisher/wheel_radius",wheelRadius_)) + { + ROS_ERROR("No 'wheel_radius' in node %s.",node_.getNamespace().c_str()); + return; + } + + odom_.setParams(wheelBase_,wheelRadius_); + phi_.setZero(); + + odom_frame_id_="odom"; + node_.param("odom_frame_id",odom_frame_id_,odom_frame_id_); + + base_frame_id_="base_link"; + node_.param("base_frame_id",base_frame_id_,base_frame_id_); + + odomPub_=node_.advertise("odom",100); + + tfPub_=node_.advertise("/tf",100); + + lastSamplingTime_=ros::Time::now(); + + jointStateSub_=node_.subscribe("joint_states",100,&OdometryPublisher::jointStateCB,this); +} + +OdometryPublisher::~OdometryPublisher(void) +{ + tfPub_.shutdown(); + odomPub_.shutdown(); + jointStateSub_.shutdown(); +} + +void OdometryPublisher::jointStateCB(const sensor_msgs::JointState::ConstPtr &jointState) +{ + ros::Time time=jointState->header.stamp; + + // Incremental encoders sense angular displacement and + // not velocity + // phi[0] is the left wheel angular displacement + // phi[1] is the right wheel angular displacement + Eigen::Vector2d deltaPhi=-phi_; + for(unsigned int i=0;i < jointState->position.size() && i < phi_.size();i++) + { + phi_[i]=jointState->position[i]; + } + deltaPhi+=phi_; + + odom_.update(deltaPhi,time-lastSamplingTime_); + lastSamplingTime_=time; +} + +void OdometryPublisher::publish(void) const +{ + ros::Time time=ros::Time::now(); + + Eigen::Vector3d x; + Eigen::Vector2d u; + odom_.getPose(x); + odom_.getVelocity(u); + + nav_msgs::Odometry odomMsg; + odomMsg.header.stamp=time; + odomMsg.header.frame_id=odom_frame_id_; + odomMsg.child_frame_id=base_frame_id_; + + odomMsg.pose.pose.position.x=x[0]; + odomMsg.pose.pose.position.y=x[1]; + odomMsg.pose.pose.position.z=0; + + odomMsg.pose.pose.orientation=tf::createQuaternionMsgFromYaw(x[2]); + + // Fake covariance + double pose_cov[]={1e-6, 1e-6, 1e-16,1e-16,1e-16,1e-9}; + odomMsg.pose.covariance=boost::assign::list_of + (pose_cov[0]) (0) (0) (0) (0) (0) + (0) (pose_cov[1]) (0) (0) (0) (0) + (0) (0) (pose_cov[2]) (0) (0) (0) + (0) (0) (0) (pose_cov[3]) (0) (0) + (0) (0) (0) (0) (pose_cov[4]) (0) + (0) (0) (0) (0) (0) (pose_cov[5]); + + + odomMsg.twist.twist.linear.x=u[0]*cos(x[2]); + odomMsg.twist.twist.linear.y=u[0]*sin(x[2]); + odomMsg.twist.twist.linear.z=0; + odomMsg.twist.twist.angular.x=0; + odomMsg.twist.twist.angular.y=0; + odomMsg.twist.twist.angular.z=u[1]; + + //Fake covariance + double twist_cov[]={1e-6,1e-6,1e-16,1e-16,1e-16,1e-9}; + odomMsg.twist.covariance=boost::assign::list_of + (twist_cov[0]) (0) (0) (0) (0) (0) + (0) (twist_cov[1]) (0) (0) (0) (0) + (0) (0) (twist_cov[2]) (0) (0) (0) + (0) (0) (0) (twist_cov[3]) (0) (0) + (0) (0) (0) (0) (twist_cov[4]) (0) + (0) (0) (0) (0) (0) (twist_cov[5]); + + + odomPub_.publish(odomMsg); + + tf::tfMessage tfMsg; + tfMsg.transforms.resize(1); + tfMsg.transforms[0].transform.translation.z=0.0; + tfMsg.transforms[0].child_frame_id=base_frame_id_; + tfMsg.transforms[0].header.frame_id=odom_frame_id_; + + geometry_msgs::TransformStamped &odom_frame=tfMsg.transforms[0]; + odom_frame.header.stamp=time; + odom_frame.transform.translation.x=x[0]; + odom_frame.transform.translation.y=x[1]; + odom_frame.transform.rotation=tf::createQuaternionMsgFromYaw(x[2]); + + tfPub_.publish(tfMsg); +} + +int main(int argc,char* argv[]) +{ + ros::init(argc,argv,"odometry_publisher"); + ros::NodeHandle node; + + OdometryPublisher odomPublisher(node); + + int rate=100; + node.param("publish_rate",rate,rate); + + ros::Rate loop(rate); + while(ros::ok()) + { + odomPublisher.publish(); + + ros::spinOnce(); + loop.sleep(); + } + return 0; +}