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Sem van der Hoeven
2023-05-25 12:00:27 +02:00
parent f94186c916
commit 54a7636417
1 changed files with 129 additions and 131 deletions
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260
src/drone_controls/src/PositionChanger.cpp
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@@ -67,158 +67,156 @@ public:
RCLCPP_ERROR(this->get_logger(), "Failed to call service to set vehicle control");
}
}
}
void send_trajectory_message()
{
this->trajectory_request->x = this->current_speed_x;
this->trajectory_request->y = this->current_speed_y;
this->trajectory_request->z = this->current_z_speed;
this->trajectory_request->yaw = this->current_yaw;
auto trajectory_response = this->trajectory_client->async_send_request(this->trajectory_request);
void send_trajectory_message()
{
this->trajectory_request->x = this->current_speed_x;
this->trajectory_request->y = this->current_speed_y;
this->trajectory_request->z = this->current_z_speed;
this->trajectory_request->yaw = this->current_yaw;
auto trajectory_response = this->trajectory_client->async_send_request(this->trajectory_request);
if (rclcpp::spin_until_future_complete(this, trajectory_response) ==
rclcpp::FutureReturnCode::SUCCESS)
{
RCLCPP_INFO(this->get_logger(), "Trajectory set result: %d", trajectory_response.get()->success);
}
else
{
RCLCPP_ERROR(this->get_logger(), "Failed to call service to set trajectory");
}
}
/**
* @brief checks for every direction is an object is too close and if we can move in that direction.
* If the object is too close to the drone, calculate the amount we need to move away from it
*/
void
check_move_direction_allowed()
{
this->move_direction_allowed[MOVE_DIRECTION_FRONT] = this->lidar_sensor_values[LIDAR_SENSOR_FR] > MIN_DISTANCE && this->lidar_sensor_values[LIDAR_SENSOR_FL] > MIN_DISTANCE;
this->move_direction_allowed[MOVE_DIRECTION_LEFT] = this->lidar_sensor_values[LIDAR_SENSOR_FL] > MIN_DISTANCE && this->lidar_sensor_values[LIDAR_SENSOR_RL] > MIN_DISTANCE;
this->move_direction_allowed[MOVE_DIRECTION_BACK] = this->lidar_sensor_values[LIDAR_SENSOR_RL] > MIN_DISTANCE && this->lidar_sensor_values[LIDAR_SENSOR_RR] > MIN_DISTANCE;
this->move_direction_allowed[MOVE_DIRECTION_RIGHT] = this->lidar_sensor_values[LIDAR_SENSOR_RR] > MIN_DISTANCE && this->lidar_sensor_values[LIDAR_SENSOR_FR] > MIN_DISTANCE;
// calculate the amount we need to move away from the object to be at the minimum distance
collision_prevention_weights[MOVE_DIRECTION_FRONT] = this->move_direction_allowed[MOVE_DIRECTION_FRONT] ? 0
: -(MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_FR], this->lidar_sensor_values[LIDAR_SENSOR_FL]));
collision_prevention_weights[MOVE_DIRECTION_LEFT] = this->move_direction_allowed[MOVE_DIRECTION_LEFT] ? 0
: -(MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_FL], this->lidar_sensor_values[LIDAR_SENSOR_RL]));
collision_prevention_weights[MOVE_DIRECTION_BACK] = this->move_direction_allowed[MOVE_DIRECTION_BACK] ? 0
: -(MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_RL], this->lidar_sensor_values[LIDAR_SENSOR_RR]));
collision_prevention_weights[MOVE_DIRECTION_RIGHT] = this->move_direction_allowed[MOVE_DIRECTION_RIGHT] ? 0
: -(MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_RR], this->lidar_sensor_values[LIDAR_SENSOR_FR]));
}
void handle_lidar_message(const drone_services::msg::LidarReading::SharedPtr message)
{
if (message->sensor_1 > 0)
{
this->lidar_sensor_values[LIDAR_SENSOR_FR] = message->sensor_1;
}
if (message->sensor_2 > 0)
{
this->lidar_sensor_values[LIDAR_SENSOR_FL] = message->sensor_2;
}
if (message->sensor_3 > 0)
{
this->lidar_sensor_values[LIDAR_SENSOR_RL] = message->sensor_3;
}
if (message->sensor_4 > 0)
{
this->lidar_sensor_values[LIDAR_SENSOR_RR] = message->sensor_4;
if (rclcpp::spin_until_future_complete(this, trajectory_response) ==
rclcpp::FutureReturnCode::SUCCESS)
{
RCLCPP_INFO(this->get_logger(), "Trajectory set result: %d", trajectory_response.get()->success);
}
else
{
RCLCPP_ERROR(this->get_logger(), "Failed to call service to set trajectory");
}
}
for (int i = 0; i < 4; i++)
/**
* @brief checks for every direction is an object is too close and if we can move in that direction.
* If the object is too close to the drone, calculate the amount we need to move away from it
*/
void check_move_direction_allowed()
{
this->lidar_imu_readings[i] = message->imu_data[i];
this->move_direction_allowed[MOVE_DIRECTION_FRONT] = this->lidar_sensor_values[LIDAR_SENSOR_FR] > MIN_DISTANCE && this->lidar_sensor_values[LIDAR_SENSOR_FL] > MIN_DISTANCE;
this->move_direction_allowed[MOVE_DIRECTION_LEFT] = this->lidar_sensor_values[LIDAR_SENSOR_FL] > MIN_DISTANCE && this->lidar_sensor_values[LIDAR_SENSOR_RL] > MIN_DISTANCE;
this->move_direction_allowed[MOVE_DIRECTION_BACK] = this->lidar_sensor_values[LIDAR_SENSOR_RL] > MIN_DISTANCE && this->lidar_sensor_values[LIDAR_SENSOR_RR] > MIN_DISTANCE;
this->move_direction_allowed[MOVE_DIRECTION_RIGHT] = this->lidar_sensor_values[LIDAR_SENSOR_RR] > MIN_DISTANCE && this->lidar_sensor_values[LIDAR_SENSOR_FR] > MIN_DISTANCE;
// calculate the amount we need to move away from the object to be at the minimum distance
collision_prevention_weights[MOVE_DIRECTION_FRONT] = this->move_direction_allowed[MOVE_DIRECTION_FRONT] ? 0
: -(MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_FR], this->lidar_sensor_values[LIDAR_SENSOR_FL]));
collision_prevention_weights[MOVE_DIRECTION_LEFT] = this->move_direction_allowed[MOVE_DIRECTION_LEFT] ? 0
: -(MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_FL], this->lidar_sensor_values[LIDAR_SENSOR_RL]));
collision_prevention_weights[MOVE_DIRECTION_BACK] = this->move_direction_allowed[MOVE_DIRECTION_BACK] ? 0
: -(MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_RL], this->lidar_sensor_values[LIDAR_SENSOR_RR]));
collision_prevention_weights[MOVE_DIRECTION_RIGHT] = this->move_direction_allowed[MOVE_DIRECTION_RIGHT] ? 0
: -(MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_RR], this->lidar_sensor_values[LIDAR_SENSOR_FR]));
}
check_move_direction_allowed();
}
void handle_lidar_message(const drone_services::msg::LidarReading::SharedPtr message)
{
void handle_odometry_message(const px4_msgs::msg::VehicleOdometry::SharedPtr message)
{
Quaternion q = {message->q[0], message->q[1], message->q[2], message->q[3]};
this->current_yaw = get_yaw_angle(q);
}
if (message->sensor_1 > 0)
{
this->lidar_sensor_values[LIDAR_SENSOR_FR] = message->sensor_1;
}
if (message->sensor_2 > 0)
{
this->lidar_sensor_values[LIDAR_SENSOR_FL] = message->sensor_2;
}
if (message->sensor_3 > 0)
{
this->lidar_sensor_values[LIDAR_SENSOR_RL] = message->sensor_3;
}
if (message->sensor_4 > 0)
{
this->lidar_sensor_values[LIDAR_SENSOR_RR] = message->sensor_4;
}
void handle_move_position_request(
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<drone_services::srv::MovePosition::Request> request,
const std::shared_ptr<drone_services::srv::MovePosition::Response> response)
{
RCLCPP_INFO(this->get_logger(), "Incoming request\nfront_back: %f\nleft_right: %f\nup_down: %f\nangle: %f", request->front_back, request->left_right, request->up_down, request->angle);
//TODO add check_move_direction_allowed results to this calculation
this->current_yaw += request->angle * (M_PI / 180.0); // get the angle in radians
get_x_y_with_rotation(request->front_back, request->left_right, this->current_yaw, &this->current_speed_x, &this->current_speed_y);
}
for (int i = 0; i < 4; i++)
{
this->lidar_imu_readings[i] = message->imu_data[i];
}
/**
* @brief Get the yaw angle from a specified normalized quaternion.
* Uses the theory from https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
*
* @param q the quaternion that holds the rotation
* @return the yaw angle in radians
*/
static float get_yaw_angle(Quaternion q)
{
float siny_cosp = 2 * (q.w * q.z + q.x * q.y);
float cosy_cosp = 1 - 2 * (q.y * q.y + q.z * q.z);
return std::atan2(siny_cosp, cosy_cosp);
}
check_move_direction_allowed();
}
/**
* @brief Get the new x and y coordinates after a rotation of yaw radians
*
* @param x the original x coordinate
* @param y the original y coordinate
* @param yaw the angle to rotate by in radians
* @param x_out the resulting x coordinate
* @param y_out the resulting y coordinate
*/
static void get_x_y_with_rotation(float x, float y, float yaw, float *x_res, float *y_res)
{
*x_res = x * std::cos(yaw) - y * std::sin(yaw);
*y_res = x * std::sin(yaw) + y * std::cos(yaw);
}
void handle_odometry_message(const px4_msgs::msg::VehicleOdometry::SharedPtr message)
{
Quaternion q = {message->q[0], message->q[1], message->q[2], message->q[3]};
this->current_yaw = get_yaw_angle(q);
}
void handle_move_position_request(
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<drone_services::srv::MovePosition::Request> request,
const std::shared_ptr<drone_services::srv::MovePosition::Response> response)
{
RCLCPP_INFO(this->get_logger(), "Incoming request\nfront_back: %f\nleft_right: %f\nup_down: %f\nangle: %f", request->front_back, request->left_right, request->up_down, request->angle);
// TODO add check_move_direction_allowed results to this calculation
this->current_yaw += request->angle * (M_PI / 180.0); // get the angle in radians
get_x_y_with_rotation(request->front_back, request->left_right, this->current_yaw, &this->current_speed_x, &this->current_speed_y);
}
/**
* @brief Get the yaw angle from a specified normalized quaternion.
* Uses the theory from https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
*
* @param q the quaternion that holds the rotation
* @return the yaw angle in radians
*/
static float get_yaw_angle(Quaternion q)
{
float siny_cosp = 2 * (q.w * q.z + q.x * q.y);
float cosy_cosp = 1 - 2 * (q.y * q.y + q.z * q.z);
return std::atan2(siny_cosp, cosy_cosp);
}
/**
* @brief Get the new x and y coordinates after a rotation of yaw radians
*
* @param x the original x coordinate
* @param y the original y coordinate
* @param yaw the angle to rotate by in radians
* @param x_out the resulting x coordinate
* @param y_out the resulting y coordinate
*/
static void get_x_y_with_rotation(float x, float y, float yaw, float *x_res, float *y_res)
{
*x_res = x * std::cos(yaw) - y * std::sin(yaw);
*y_res = x * std::sin(yaw) + y * std::cos(yaw);
}
private:
rclcpp::Subscription<drone_services::msg::LidarReading> lidar_subscription;
rclcpp::Subscription<px4_msgs::msg::VehicleOdometry> odometry_subscription;
rclcpp::Subscription<drone_services::msg::LidarReading> lidar_subscription;
rclcpp::Subscription<px4_msgs::msg::VehicleOdometry> odometry_subscription;
rclcpp::Client<drone_services::srv::SetTrajectory>::SharedPtr trajectory_client;
rclcpp::Client<drone_services::srv::SetVehicleControl>::SharedPtr vehicle_control_client;
rclcpp::Client<drone_services::srv::SetTrajectory>::SharedPtr trajectory_client;
rclcpp::Client<drone_services::srv::SetVehicleControl>::SharedPtr vehicle_control_client;
rclcpp::Service<drone_services::srv::MovePosition>::SharedPtr move_position_service;
rclcpp::Service<drone_services::srv::MovePosition>::SharedPtr move_position_service;
drone_services::srv::SetTrajectory::Request::SharedPtr trajectory_request;
drone_services::srv::SetVehicleControl::Request::SharedPtr vehicle_control_request;
drone_services::srv::SetTrajectory::Request::SharedPtr trajectory_request;
drone_services::srv::SetVehicleControl::Request::SharedPtr vehicle_control_request;
float lidar_sensor_values[4]; // last distance measured by the lidar sensors
float lidar_imu_readings[4]; // last imu readings from the lidar sensors
float currrent_yaw = 0; // in radians
float current_x_speed = 0;
float current_y_speed = 0;
float current_z_speed = 0;
bool move_direction_allowed[4] = {true};
float collision_prevention_weights[4] = {0};
float lidar_sensor_values[4]; // last distance measured by the lidar sensors
float lidar_imu_readings[4]; // last imu readings from the lidar sensors
float currrent_yaw = 0; // in radians
float current_x_speed = 0;
float current_y_speed = 0;
float current_z_speed = 0;
bool move_direction_allowed[4] = {true};
float collision_prevention_weights[4] = {0};
template <class T>
void wait_for_service(T client)
{
while (!client->wait_for_service(1s))
template <class T>
void wait_for_service(T client)
{
if (!rclcpp::ok())
while (!client->wait_for_service(1s))
{
RCLCPP_ERROR(this->get_logger(), "Interrupted while waiting for the service. Exiting.");
return 0;
if (!rclcpp::ok())
{
RCLCPP_ERROR(this->get_logger(), "Interrupted while waiting for the service. Exiting.");
return 0;
}
RCLCPP_INFO(this->get_logger(), "service not available, waiting again...");
}
RCLCPP_INFO(this->get_logger(), "service not available, waiting again...");
}
}
}
};
;
int main(int argc, char *argv[])
{