Louis-Guillaume DUBOIS
11 years ago
18 changed files with 43 additions and 574 deletions
@ -1,19 +0,0 @@ |
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<launch> |
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<include file="$(find hand_control)/launch/all-param.launch" /> |
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<include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/> |
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<node name="filtre" pkg="hand_control" type="filtre"> |
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<remap from="/filtre/input" to="/camera/xyzrgb/points"/> |
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</node> |
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<node name="estimator" pkg="hand_control" type="normal_estimator_pca"> |
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<remap from="/estimator/input" to="/filtre/output"/> |
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</node> |
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<node name="commander" pkg="hand_control" type="commande-abs"> |
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<remap from="/commande/input" to="/estimator/output"/> |
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</node> |
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</launch> |
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@ -1,19 +0,0 @@ |
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<launch> |
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<include file="$(find hand_control)/launch/all-param.launch" /> |
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<include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/> |
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<node name="filtre" pkg="hand_control" type="filtre"> |
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<remap from="/filtre/input" to="/camera/xyzrgb/points"/> |
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</node> |
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<node name="estimator" pkg="hand_control" type="normal_estimator"> |
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<remap from="/estimator/input" to="/filtre/output"/> |
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</node> |
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<node name="commander" pkg="hand_control" type="commande-new-1d"> |
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<remap from="/commande/input" to="/estimator/output"/> |
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</node> |
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</launch> |
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@ -1,20 +0,0 @@ |
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<launch> |
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<include file="$(find hand_control)/launch/all-param.launch" /> |
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<include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/> |
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<node name="filtre" pkg="hand_control" type="filtre"> |
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<remap from="/filtre/input" to="/camera/xyzrgb/points"/> |
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</node> |
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<node name="estimator" pkg="hand_control" type="normal_estimator"> |
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<remap from="/estimator/input" to="/filtre/output"/> |
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</node> |
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<node name="commander" pkg="hand_control" type="commande-new"> |
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<remap from="/commande/input" to="/estimator/output"/> |
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</node> |
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</launch> |
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@ -1,25 +0,0 @@ |
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<launch> |
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<param name="/filtre/zmax" value="1.9" type="double"/> |
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<!-- |
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<param name="/filtre/hue" value="0.0" type="double"/> |
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<param name="/filtre/hue" value="210.0" type="double"/> |
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--> |
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<param name="/filtre/hue" value="140.0" type="double"/> |
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<param name="/filtre/delta_hue" value="60.0" type="double"/> |
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<param name="/filtre/val_min" value="0.01" type="double"/> |
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<param name="/filtre/val_max" value="1." type="double"/> |
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<param name="/filtre/sat_min" value="0.02" type="double"/> |
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<param name="/filtre/sat_max" value="1." type="double"/> |
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<param name="/commande/max_curv" value="0.02" type="double" /> |
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<param name="/commande/plan_vel" value="0.2" type="double" /> |
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<param name="/commande/z_vel" value="1.0" type="double" /> |
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<param name="/commande/min_number" value="2000" type="int" /> |
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<param name="/commande/x_dev_min" value="0.1" type="double" /> |
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<param name="/commande/y_dev_min" value="0.1" type="double" /> |
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<param name="/commande/y_dev_min" value="0.1" type="double" /> |
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<param name="/commande/dz_dev_min" value="0.05" type="double" /> |
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</launch> |
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@ -1,19 +0,0 @@ |
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<launch> |
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<include file="$(find hand_control)/launch/all-param.launch" /> |
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<include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/> |
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<node name="filtre" pkg="hand_control" type="filtre"> |
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<remap from="/filtre/input" to="/camera/xyzrgb/points"/> |
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</node> |
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<node name="estimator" pkg="hand_control" type="normal_estimator"> |
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<remap from="/estimator/input" to="/filtre/output"/> |
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</node> |
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<node name="commander" pkg="hand_control" type="commande-new-1d"> |
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<remap from="/commande/input" to="/estimator/output"/> |
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</node> |
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</launch> |
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@ -1,75 +0,0 @@ |
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<!-- This is a sample lanuch file, please change it based on your needs --> |
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<launch> |
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<node name="ardrone_driver" pkg="ardrone_autonomy" type="ardrone_driver" output="screen" clear_params="true"> |
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<!-- Modifies the drone's onboard parameters. If not specified, drone default will be used (consult SDK or ardrone_autonomy wiki) --> |
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<param name="outdoor" value="1" /> |
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<param name="flight_without_shell" value="1" /> |
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<param name="navdata_demo" value="0" /> |
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<param name="max_bitrate" value="2000" /> |
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<param name="bitrate" value="2000" /> |
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<param name="video_codec" value="129" /> |
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<param name="altitude_max" value="5000" /> |
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<param name="altitude_min" value="300" /> |
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<param name="control_vz_max" value="2000" /> |
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<param name="control_yaw" value="6.11" /> |
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<param name="euler_angle_max" value="0.35" /> |
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<param name="detect_type" value="10" /> |
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<param name="detections_select_h" value="128" /> |
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<param name="detections_select_v_hsync" value="32" /> |
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<param name="enemy_colors" value="3" /> |
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<param name="enemy_without_shell" value="0" /> |
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<param name="do_imu_caliberation" value="false" /> |
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<param name="tf_prefix" value="mydrone" /> |
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<!-- Enables the standard /ardrone/navdata, imu and mag topics. If not specified, defaults to TRUE --> |
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<param name="enable_legacy_navdata" value="true" /> |
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<!-- Enables the new-style, full information navdata packets. If not specified, defaults to FALSE --> |
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<param name="enable_navdata_demo" value="true" /> |
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<param name="enable_navdata_time" value="true" /> |
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<param name="enable_navdata_raw_measures" value="true" /> |
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<param name="enable_navdata_phys_measures" value="true" /> |
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<param name="enable_navdata_gyros_offsets" value="true" /> |
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<param name="enable_navdata_euler_angles" value="true" /> |
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<param name="enable_navdata_references" value="true" /> |
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<param name="enable_navdata_trims" value="true" /> |
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<param name="enable_navdata_rc_references" value="true" /> |
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<param name="enable_navdata_pwm" value="true" /> |
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<param name="enable_navdata_altitude" value="true" /> |
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<param name="enable_navdata_vision_raw" value="true" /> |
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<param name="enable_navdata_vision_of" value="true" /> |
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<param name="enable_navdata_vision" value="true" /> |
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<param name="enable_navdata_vision_perf" value="true" /> |
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<param name="enable_navdata_trackers_send" value="true" /> |
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<param name="enable_navdata_vision_detect" value="true" /> |
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<param name="enable_navdata_watchdog" value="true" /> |
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<param name="enable_navdata_adc_data_frame" value="true" /> |
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<param name="enable_navdata_video_stream" value="true" /> |
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<param name="enable_navdata_games" value="true" /> |
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<param name="enable_navdata_pressure_raw" value="true" /> |
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<param name="enable_navdata_magneto" value="true" /> |
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<param name="enable_navdata_wind_speed" value="true" /> |
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<param name="enable_navdata_kalman_pressure" value="true" /> |
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<param name="enable_navdata_hdvideo_stream" value="true" /> |
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<param name="enable_navdata_wifi" value="true" /> |
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<param name="enable_navdata_zimmu_3000" value="true" /> |
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<!-- Tunes the speed at which the ros loop runs, and thus, the rate at which navdata is published --> |
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<param name="looprate" value="50" /> |
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<!-- Do we want to publish new-style navdata when received (true), or every time the ros-loop runs (false)? --> |
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<!-- (does not affect legacy navdata, which is always published at ros-loop rate) --> |
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<param name="realtime_navdata" value="true" /> |
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<param name="realtime_video" value="true" /> |
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<!-- Covariance Values (3x3 matrices reshaped to 1x9)--> |
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<rosparam param="cov/imu_la">[0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1]</rosparam> |
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<rosparam param="cov/imu_av">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]</rosparam> |
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<rosparam param="cov/imu_or">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 100000.0]</rosparam> |
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</node> |
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</launch> |
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@ -1,26 +0,0 @@ |
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<launch> |
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<node name="filtre_z" pkg="hand_control" type="filtre"> |
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<remap from="/filtre/input" to="/random_pcl"/> |
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</node> |
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<param name="/random/freq" value="10.0" type="double" /> |
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<param name="/random/length" value="25" type="int" /> |
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<node name="publisher" pkg="hand_control" type="random_pcl_publisher" > |
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<remap from="/random/output" to="/random_pcl"/> |
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</node> |
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<node name="estimator" pkg="hand_control" type="normal_estimator"> |
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<remap from="/estimator/input" to="/filtre/output"/> |
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</node> |
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<param name="/commande/min_number" value="5" type="int"/> |
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<param name="/commande/x_dev_min" value="0." type="double"/> |
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<param name="/commande/y_dev_min" value="0." type="double"/> |
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<param name="/commande/dz_dev_min" value="0." type="double"/> |
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<param name="/commande/max_curv" value="0.3" type="double"/> |
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<node name="commande" pkg="hand_control" type="commande"> |
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<remap from="/commande/input" to="/estimator/output"/> |
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</node> |
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</launch> |
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@ -1,10 +0,0 @@ |
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<launch> |
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<include file="$(find hand_control)/launch/essai-filtre.launch"/> |
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<node name="estimator" pkg="hand_control" type="normal_estimator"> |
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<remap from="/estimator/input" to="/filtre/output"/> |
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</node> |
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<!-- <param name="/random/freq" value="100." type="double" /> --> |
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</launch> |
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@ -1,11 +0,0 @@ |
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<launch> |
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<node name="filtre_z" pkg="hand_control" type="filtre"> |
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<remap from="/filtre/input" to="/random_pcl"/> |
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</node> |
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<node name="publisher" pkg="hand_control" type="random_pcl_publisher" > |
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<remap from="/random/output" to="/random_pcl"/> |
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</node> |
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</launch> |
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@ -0,0 +1,17 @@ |
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<launch> |
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<include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/> |
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<node name="filter" pkg="hand_control" type="filter"> |
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<remap from="/filter/input" to="/camera/xyzrgb/points"/> |
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</node> |
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<node name="estimator" pkg="hand_control" type="estimator"> |
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<remap from="/estimator/input" to="/filter/output"/> |
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</node> |
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<node name="commander" pkg="hand_control" type="commander"> |
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<remap from="/commander/input" to="/estimator/output"/> |
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</node> |
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</launch> |
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@ -1,230 +0,0 @@ |
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#include <ros/ros.h> |
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#include <ros/time.h> |
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#include <locale.h> |
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#include <limits> |
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#include <math.h> |
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#include <assert.h> |
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#include <pcl_ros/point_cloud.h> |
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#include <pcl/point_types.h> |
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#include <hand_control/Plan.h> |
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#include <geometry_msgs/Twist.h> |
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#include <math.h> |
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class Run |
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{ |
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private: |
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float xx, yy, dz; |
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// xx < 0 : forward
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// xx > 0 : backward
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// yy > 0 : right
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// yy < 0 : left
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// dz > 0 : up
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// dz < 0 : down
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float plan_vel, z_vel, up_factor; |
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// to calculate dz
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float z_current, z_previous; |
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ros::Time t_current, t_previous; |
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// conditions to publish a message
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float max_curv; |
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float dz_min, x_dev_min, y_dev_min; |
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uint64_t min_number; |
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bool first_msg; |
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ros::Publisher pub; |
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void publish() |
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{ |
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geometry_msgs::Twist::Ptr mvt(new geometry_msgs::Twist()); |
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if (fabs(dz) > dz_min) |
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{ |
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if (dz > 0) |
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mvt->linear.z = dz * z_vel * up_factor ; |
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else |
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mvt->linear.z = dz * z_vel; |
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} |
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if (fabs(yy) > fabs(xx) && fabs(yy) > y_dev_min) |
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{ |
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mvt->linear.y = yy * plan_vel; |
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} |
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else if (fabs(xx) > x_dev_min) |
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{ |
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mvt->linear.x = - xx * plan_vel; |
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} |
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assert(mvt->linear.x == 0. || mvt->linear.y == 0.); |
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pub.publish(mvt); |
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ROS_INFO("cmd published"); |
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}//end publish
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public: |
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Run(const ros::Publisher& cmd_publisher, const float& max_curvature, const float& plan_velocity, |
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const float& z_velocity, const float& x_minimal_deviation, const float& y_minimal_deviation, |
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const float& dz_minimal_difference, const int& min_points_number, const float& up_fact) : |
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pub(cmd_publisher), |
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plan_vel(plan_velocity), |
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max_curv(max_curvature), |
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z_vel(z_velocity), |
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xx(0), |
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yy(0), |
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dz(0), |
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x_dev_min(x_minimal_deviation), |
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y_dev_min(y_minimal_deviation), |
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dz_min(dz_minimal_difference), |
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first_msg(true), |
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min_number(min_points_number), |
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up_factor(up_fact) { |
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z_current = z_previous = std::numeric_limits<float>::signaling_NaN(); |
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t_previous.nsec = t_previous.sec = |
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t_previous.nsec = t_previous.sec = std::numeric_limits<uint32_t>::signaling_NaN(); |
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} |
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void callback(const hand_control::Plan::ConstPtr& msg) |
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{ |
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ROS_INFO("plan received"); |
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if (msg->curvature < max_curv && msg->number > min_number) |
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{ |
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t_current = msg->header.stamp; |
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z_current = msg->altitude; |
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if (!first_msg) |
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{ |
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dz = (z_current - z_previous)/((t_current - t_previous).toSec()); |
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ROS_INFO("dz = %f", dz); |
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} |
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if(msg->normal.z > 0) |
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{ |
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yy = msg->normal.x; |
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xx = msg->normal.y; |
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} |
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else |
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{ |
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yy = - msg->normal.x; |
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xx = - msg->normal.y; |
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} |
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t_previous = t_current; |
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z_previous = z_current; |
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z_current = std::numeric_limits<float>::signaling_NaN(); |
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t_current.nsec = t_current.sec = std::numeric_limits<uint32_t>::signaling_NaN(); |
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if (first_msg) |
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{ |
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first_msg = false; |
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ROS_INFO("first msg received"); |
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} |
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ROS_INFO("coords updated"); |
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} else { |
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xx = yy = dz = 0.; |
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} |
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publish(); |
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}; |
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void run() |
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{ |
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ros::spin(); |
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} |
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}; |
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int main(int argc, char** argv) |
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{ |
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ros::init(argc, argv, "commande"); |
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ros::NodeHandle node("commande"); |
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double max_curv(0); |
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if (node.getParam("max_curv", max_curv)) |
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{ |
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ROS_INFO("max_curv : %f" , max_curv); |
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} else { |
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node.setParam("max_curv", 0.08); |
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node.getParam("max_curv", max_curv); |
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ROS_INFO("max_curv : %f (default value)", max_curv); |
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} |
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double plan_vel(0); |
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if (node.getParam("plan_vel", plan_vel)) |
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{ |
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ROS_INFO("plan_vel : %f" , plan_vel); |
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} else { |
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node.setParam("plan_vel", 0.8); |
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node.getParam("plan_vel", plan_vel); |
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ROS_INFO("plan_vel : %f (default value)", plan_vel); |
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} |
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double z_vel(0); |
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if (node.getParam("z_vel", z_vel)) |
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{ |
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ROS_INFO("z_vel : %f" , z_vel); |
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} else { |
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node.setParam("z_vel", 0.8); |
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node.getParam("z_vel", z_vel); |
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ROS_INFO("z_vel : %f (default value)", z_vel); |
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} |
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int min_number(0); |
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if (node.getParam("min_number", min_number)) |
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{ |
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ROS_INFO("min_number : %d" , min_number); |
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} else { |
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node.setParam("min_number", 500); |
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node.getParam("min_number", min_number); |
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ROS_INFO("min_number : %d (default value)", min_number); |
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} |
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double x_dev_min(0); |
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if (node.getParam("x_dev_min", x_dev_min)) |
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{ |
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ROS_INFO("x_dev_min : %f" , x_dev_min); |
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} else { |
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node.setParam("x_dev_min", 0.05); |
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node.getParam("x_dev_min", x_dev_min); |
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ROS_INFO("x_dev_min : %f (default value)", x_dev_min); |
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} |
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double y_dev_min(0); |
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if (node.getParam("y_dev_min", y_dev_min)) |
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{ |
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ROS_INFO("y_dev_min : %f" , y_dev_min); |
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} else { |
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node.setParam("y_dev_min", 0.05); |
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node.getParam("y_dev_min", y_dev_min); |
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ROS_INFO("y_dev_min : %f (default value)", y_dev_min); |
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} |
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double dz_dev_min(0); |
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if (node.getParam("dz_dev_min", dz_dev_min)) |
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{ |
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ROS_INFO("dz_dev_min : %f" , dz_dev_min); |
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} else { |
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node.setParam("dz_dev_min", 0.05); |
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node.getParam("dz_dev_min", dz_dev_min); |
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ROS_INFO("dz_dev_min : %f (default value)", dz_dev_min); |
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} |
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double up_fact(0); |
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if (node.getParam("up_fact", up_fact)) |
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{ |
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ROS_INFO("up_fact : %f" , up_fact); |
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} else { |
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node.setParam("up_fact", 1.5); |
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node.getParam("up_fact", up_fact); |
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ROS_INFO("up_fact : %f (default value)", up_fact); |
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} |
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ros::Publisher cmd_pub = node.advertise<geometry_msgs::Twist>("/cmd_vel", 1); |
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Run run(cmd_pub, max_curv, plan_vel, z_vel, x_dev_min, y_dev_min, dz_dev_min, min_number, up_fact); |
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ros::Subscriber plan_sub = node.subscribe<hand_control::Plan>("input", 1, &Run::callback, &run); |
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run.run(); |
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return 0; |
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} |
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@ -1,94 +0,0 @@ |
|||
#include <ros/ros.h> |
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#include <pcl_ros/point_cloud.h> |
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#include <pcl/point_types.h> |
|||
#include <pcl/features/normal_3d_omp.h> |
|||
#include <hand_control/Plan.h> |
|||
#include <time.h> |
|||
|
|||
typedef pcl::PointXYZRGB Point; |
|||
typedef pcl::PointCloud<Point> PointCloud; |
|||
|
|||
class Callback { |
|||
public: |
|||
void |
|||
operator()(const PointCloud::ConstPtr& msg) |
|||
{ |
|||
ROS_INFO("PointCloud received"); |
|||
|
|||
float x, y, z, h, c; |
|||
x = y = z = h = c = 0.; |
|||
|
|||
// indices : tout le PointCloud
|
|||
std::vector<int> indices; |
|||
for (int i = 0; i < msg->points.size(); ++i) |
|||
indices.push_back(i); |
|||
|
|||
// vérifier signature
|
|||
estimator.computePointNormal(*msg, indices, x, y, z, c); |
|||
h = altitude(msg); |
|||
|
|||
// publication
|
|||
ROS_INFO("Plan published"); |
|||
publisher.publish(to_Plan(x, y, z, h, c, msg->header.seq, msg->header.stamp, msg->width)); |
|||
} |
|||
|
|||
Callback(ros::Publisher& pub) : |
|||
publisher(pub), estimator() {} |
|||
|
|||
private: |
|||
ros::Publisher publisher; |
|||
pcl::NormalEstimationOMP<Point, pcl::Normal> estimator; |
|||
|
|||
inline |
|||
const hand_control::Plan::ConstPtr |
|||
to_Plan(const float& x, const float& y, |
|||
const float& z, const float& h, |
|||
const float& c, const uint32_t& seq, |
|||
const uint64_t& msec64, const uint64_t& number) |
|||
{ |
|||
hand_control::Plan::Ptr ros_msg(new hand_control::Plan()); |
|||
ros_msg->normal.x = x; |
|||
ros_msg->normal.y = y; |
|||
ros_msg->normal.z = z; |
|||
ros_msg->altitude = h; |
|||
ros_msg->curvature = c; |
|||
ros_msg->number = number; |
|||
// uint64_t msec64 is in ms (10-6)
|
|||
uint64_t sec64 = msec64 / 1000000; |
|||
uint64_t nsec64 = (msec64 % 1000000) * 1000; |
|||
ros_msg->header.stamp.sec = (uint32_t) sec64; |
|||
ros_msg->header.stamp.nsec = (uint32_t) nsec64; |
|||
ros_msg->header.seq = seq; |
|||
ros_msg->header.frame_id = "0"; |
|||
return ros_msg; |
|||
} |
|||
|
|||
inline |
|||
float |
|||
altitude(const PointCloud::ConstPtr& pcl) |
|||
{ |
|||
int s = pcl->points.size(); |
|||
float h(0); |
|||
for (int i = 0; i < s; ++i) |
|||
h += pcl->points[i].z; |
|||
return h/( (float) s ); |
|||
} |
|||
}; |
|||
|
|||
int |
|||
main(int argc, char** argv) |
|||
{ |
|||
ros::init(argc, argv, "normal_estimator"); |
|||
ros::NodeHandle node("estimator"); |
|||
|
|||
// initialisation
|
|||
ros::Publisher publisher = node.advertise<hand_control::Plan>("output", 1); |
|||
Callback callback(publisher); |
|||
ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, callback); |
|||
|
|||
// démarrage
|
|||
ROS_INFO("node started"); |
|||
ros::spin(); |
|||
ROS_INFO("exit"); |
|||
return 0; |
|||
} |
|||
Loading…
Reference in new issue