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add calculation of rotation x and y values

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This commit is contained in:
Sem van der Hoeven
2023-05-24 17:01:45 +02:00
parent ea7ae0f6d1
commit c7f764726f
5 changed files with 124 additions and 9 deletions
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16
.vscode/settings.json vendored
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@@ -60,7 +60,21 @@
"typeindex": "cpp",
"typeinfo": "cpp",
"utility": "cpp",
"variant": "cpp"
"variant": "cpp",
"*.srv": "cpp",
"cstdarg": "cpp",
"cstddef": "cpp",
"strstream": "cpp",
"bitset": "cpp",
"complex": "cpp",
"forward_list": "cpp",
"algorithm": "cpp",
"iterator": "cpp",
"memory_resource": "cpp",
"random": "cpp",
"fstream": "cpp",
"cfenv": "cpp",
"cinttypes": "cpp"
},
"python.autoComplete.extraPaths": [
"/home/ubuntu/ros2_ws/install/px4_msgs/lib/python3.8/site-packages",

1
src/drone_controls/CMakeLists.txt
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@@ -11,6 +11,7 @@ find_package(ament_cmake REQUIRED)
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(rclcpp REQUIRED)
find_package(px4_msgs REQUIRED)
find_package(drone_services REQUIRED)
find_package(object_detection REQUIRED)
find_package(height REQUIRED)

1
src/drone_controls/package.xml
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@@ -7,6 +7,7 @@
<maintainer email="semmer99@gmail.com">sem</maintainer>
<license>Apache Licence 2.0</license>
<depend>rclcpp</depend>
<depend>px4_msgs</depend>
<depend>drone_services</depend>
<depend>object_detection</depend>
<depend>height</depend>

113
src/drone_controls/src/PositionChanger.cpp
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@@ -1,14 +1,30 @@
#include "rclcpp/rclcpp.hpp"
#include "px4_msgs/msg/VehicleOdometry.msg"
#include "object_detection/msg/LidarReading.msg"
#include "height/msg/HeightData.msg"
#include "drone_services/srv/SetVehicleControl.srv"
#include "drone_services/srv/SetTrajectory/srv"
#define _USE_MATH_DEFINES
#include <cmath>
#define LIDAR_SENSOR_FR 0 // front right
#define LIDAR_SENSOR_FL 1 // front left
#define LIDAR_SENSOR_RR 2 // rear right
#define LIDAR_SENSOR_RL 3 // rear left
#define LIDAR_SENSOR_RL 2 // rear left
#define LIDAR_SENSOR_RR 3 // rear right
#define MOVE_DIRECTION_FRONT 0 // front right
#define MOVE_DIRECTION_LEFT 1 // front left
#define MOVE_DIRECTION_BACK 2 // rear left
#define MOVE_DIRECTION_RIGHT 3 // rear right
#define MIN_DISTANCE 1.0 // in meters
struct Quaternion
{
float w, x, y, z;
};
class PositionChanger : public rclcpp::Node
{
@@ -18,27 +34,110 @@ public:
rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 5), qos_profile);
this->lidar_subscription = this->create_subscription<object_detection::msg::LidarReading>("/drone/object_detection",qos, std::bind(&PositionChanger::handle_lidar_message, this, std::placeholders::_1))
this->lidar_subscription = this->create_subscription<object_detection::msg::LidarReading>("/drone/object_detection", qos, std::bind(&PositionChanger::handle_lidar_message, this, std::placeholders::_1))
this->odometry_subscription = this->create_subscription<px4_msgs::msg::VehicleOdometry>("/fmu/out/vehicle_odometry", qos, std::bind(&PositionChanger::handle_odometry_message, this, std::placeholders::_1));
}
/**
* @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;
if (!this->move_direction_allowed[MOVE_DIRECTION_FRONT])
{
collision_prevention_weights[MOVE_DIRECTION_FRONT] = -(MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_FR], this->lidar_sensor_values[LIDAR_SENSOR_FL]));
}
if (!this->move_direction_allowed[MOVE_DIRECTION_LEFT])
{
collision_prevention_weights[MOVE_DIRECTION_LEFT] = -(MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_FL], this->lidar_sensor_values[LIDAR_SENSOR_RL]));
}
if (!this->move_direction_allowed[MOVE_DIRECTION_BACK])
{
collision_prevention_weights[MOVE_DIRECTION_BACK] = -(MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_RL], this->lidar_sensor_values[LIDAR_SENSOR_RR]));
}
if (!this->move_direction_allowed[MOVE_DIRECTION_RIGHT])
{
collision_prevention_weights[MOVE_DIRECTION_RIGHT] = -(MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_RR], this->lidar_sensor_values[LIDAR_SENSOR_FR]));
}
}
void handle_lidar_message(const object_detection::msg::LidarReading::SharedPtr message)
{
this->lidar_sensor_values[0] = message->sensor_1;
this->lidar_sensor_values[1] = message->sensor_2;
this->lidar_sensor_values[2] = message->sensor_3;
this->lidar_sensor_values[3] = message->sensor_4;
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;
}
for (int i = 0; i < 4; i++)
{
this->lidar_imu_readings[i] = message->imu_data[i];
}
check_move_direction_allowed();
}
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]};
odometry_yaw = get_yaw_angle(q);
}
/**
* @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_out, float &y_out)
{
x_out = x * std::cos(yaw) - y * std::sin(yaw);
y_out = x * std::sin(yaw) + y * std::cos(yaw);
}
private:
rclcpp::Subscription<object_detection::msg::LidarReading> lidar_subscription;
rclcpp::Subscription<px4_msgs::msg::VehicleOdometry> odometry_subscription;
float lidar_sensor_values[4];
float lidar_imu_readings[4];
float currrent_yaw = 0;
bool move_direction_allowed[4] = {true, true, true, true};
float collision_prevention_weights[4] = {0,0,0,0};
};
int main(int argc, char *argv[])
{

2
src/px4_connection/src/px4_controller.cpp
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@@ -174,7 +174,7 @@ private:
void handle_trajectory_setpoint(
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<drone_services::srv::SetTrajectory::Request> request,
const std::shared_ptr<drone_services::srv::SetTrajectory::Request> request,handle_trajehandle_traje
const std::shared_ptr<drone_services::srv::SetTrajectory::Response> response)
{
if (!(request->control_mode == CONTROL_MODE_VELOCITY || request->control_mode == CONTROL_MODE_POSITION))