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add handling collision weights

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Sem van der Hoeven
2023-05-25 15:49:29 +02:00
parent dc5138cb8f
commit b94007eabc
1 changed files with 60 additions and 15 deletions
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75
src/drone_controls/src/PositionChanger.cpp
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@@ -25,7 +25,7 @@
#define DEFAULT_CONTROL_MODE 16 // default velocity control bitmask #define DEFAULT_CONTROL_MODE 16 // default velocity control bitmask
// converts bitmask control mode to control mode used by PX4Controller // converts bitmask control mode to control mode used by PX4Controller
#define PX4_CONTROLLER_CONTROL_MODE(x) ((x) == 4 ? 1 : ((x) == 16 ? 2 : ((x) == 32 ? 3 : -1))) #define PX4_CONTROLLER_CONTROL_MODE(x) ((x) == 4 ? 1 : ((x) == 16 ? 2 : ((x) == 32 ? 3 : -1)))
using namespace std::chrono_literals; using namespace std::chrono_literals;
@@ -91,6 +91,7 @@ public:
} }
void send_trajectory_message() void send_trajectory_message()
{ {
check_move_direction_allowed();
this->trajectory_request->values[0] = this->current_speed_x; this->trajectory_request->values[0] = this->current_speed_x;
this->trajectory_request->values[1] = this->current_speed_y; this->trajectory_request->values[1] = this->current_speed_y;
this->trajectory_request->values[2] = this->current_speed_z; this->trajectory_request->values[2] = this->current_speed_z;
@@ -98,16 +99,58 @@ public:
this->trajectory_request->control_mode = PX4_CONTROLLER_CONTROL_MODE(DEFAULT_CONTROL_MODE); this->trajectory_request->control_mode = PX4_CONTROLLER_CONTROL_MODE(DEFAULT_CONTROL_MODE);
RCLCPP_INFO(this->get_logger(), "Sending trajectory message\nx: %f\ny: %f\nz: %f\nyaw: %f", this->current_speed_x, this->current_speed_y, this->current_speed_z, this->current_yaw); RCLCPP_INFO(this->get_logger(), "Sending trajectory message\nx: %f\ny: %f\nz: %f\nyaw: %f", this->current_speed_x, this->current_speed_y, this->current_speed_z, this->current_yaw);
auto trajectory_response = this->trajectory_client->async_send_request(this->trajectory_request, std::bind(&PositionChanger::trajectory_message_callback, this, std::placeholders::_1)); auto trajectory_response = this->trajectory_client->async_send_request(this->trajectory_request, std::bind(&PositionChanger::trajectory_message_callback, this, std::placeholders::_1));
}
// if (rclcpp::spin_until_future_complete(this, trajectory_response) == /**
// rclcpp::FutureReturnCode::SUCCESS) * @brief applies the collision prevention weights to the current x and y speed
// { *
// RCLCPP_INFO(this->get_logger(), "Trajectory set result: %d", trajectory_response.get()->success); */
// } void apply_collision_weights()
// else {
// { if (this->current_speed_x > 0) // if moving forward
// RCLCPP_ERROR(this->get_logger(), "Failed to call service to set trajectory"); {
// } if (this->move_direction_allowed[MOVE_DIRECTION_FRONT])
{
this->current_speed_x += collision_prevention_weights[MOVE_DIRECTION_FRONT];
}
else
{
this->current_speed_x = 0;
}
}
else // moving backward
{
if (this->move_direction_allowed[MOVE_DIRECTION_BACK])
{
this->current_speed_x += collision_prevention_weights[MOVE_DIRECTION_BACK];
}
else
{
this->current_speed_x = 0;
}
}
if (this->current_speed_y > 0) // moving right
{
if (this->move_direction_allowed[MOVE_DIRECTION_RIGHT])
{
this->current_speed_y += collision_prevention_weights[MOVE_DIRECTION_RIGHT];
}
else
{
this->current_speed_y = 0;
}
}
else // moving left
{
if (this->move_direction_allowed[MOVE_DIRECTION_LEFT])
{
this->current_speed_y += collision_prevention_weights[MOVE_DIRECTION_LEFT];
}
else
{
this->current_speed_y = 0;
}
}
} }
/** /**
@@ -125,11 +168,13 @@ public:
collision_prevention_weights[MOVE_DIRECTION_FRONT] = this->move_direction_allowed[MOVE_DIRECTION_FRONT] ? 0 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])); : -(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 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])); : (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 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])); : (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 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])); : -(MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_RR], this->lidar_sensor_values[LIDAR_SENSOR_FR]));
apply_collision_weights();
} }
void handle_lidar_message(const drone_services::msg::LidarReading::SharedPtr message) void handle_lidar_message(const drone_services::msg::LidarReading::SharedPtr message)
@@ -228,9 +273,9 @@ private:
drone_services::srv::SetTrajectory::Request::SharedPtr trajectory_request; drone_services::srv::SetTrajectory::Request::SharedPtr trajectory_request;
drone_services::srv::SetVehicleControl::Request::SharedPtr vehicle_control_request; drone_services::srv::SetVehicleControl::Request::SharedPtr vehicle_control_request;
float lidar_sensor_values[4]; // last distance measured by the lidar sensors float lidar_sensor_values[4]{MIN_DISTANCE}; // last distance measured by the lidar sensors
float lidar_imu_readings[4]; // last imu readings from the lidar sensors float lidar_imu_readings[4]; // last imu readings from the lidar sensors
float current_yaw = 0; // in radians float current_yaw = 0; // in radians
float current_speed_x = 0; float current_speed_x = 0;
float current_speed_y = 0; float current_speed_y = 0;
float current_speed_z = 0; float current_speed_z = 0;