Finally added "commande-abs.cpp" to git repository

11 years ago · fb2c88144f
1 changed files with 272 additions and 0 deletions
--- a/src/commande-abs.cpp
+++ b/src/commande-abs.cpp
@ -0,0 +1,272 @@
+#include <ros/ros.h>
+#include <ros/time.h>
+#include <locale.h>
+#include <limits>
+#include <math.h>
+#include <assert.h>
+
+#include <pcl_ros/point_cloud.h>
+#include <pcl/point_types.h>
+
+#include <hand_control/Plan.h>
+#include <geometry_msgs/Twist.h>
+#include <math.h>
+
+#include <dynamic_reconfigure/server.h>
+#include <hand_control/CommandeConfig.h>
+
+
+class Run
+{
+  private:
+    float xx, yy, zz, theta;
+
+    // xx < 0 : forward
+    // xx > 0 : backward
+
+    // yy > 0 : right
+    // yy < 0 : left
+
+    // zz > 0 : up
+    // zz < 0 : down
+
+    float plan_vel, z_vel, angle_vel, up_factor, neutral_z;
+
+    float max_curv;
+    float z_dev_min, x_dev_min, y_dev_min, th_dev_min;
+    uint64_t min_number;
+
+    bool first_msg;
+
+    ros::Publisher pub;
+
+    void publish()
+    {
+      geometry_msgs::Twist::Ptr mvt(new geometry_msgs::Twist());
+
+      if (fabs(zz) > z_dev_min)
+      {
+        if (zz > 0)
+          mvt->linear.z = zz * z_vel * up_factor ;
+        else
+          mvt->linear.z = zz * z_vel;
+      }
+
+      if (fabs(yy) > fabs(xx) && fabs(yy) > y_dev_min)
+      {
+        mvt->linear.y = yy * plan_vel;
+      }
+      else if (fabs(xx) > x_dev_min)
+      {
+        mvt->linear.x = - xx * plan_vel;
+      }
+      
+     if (fabs(theta) > th_dev_min) {
+       mvt->angular.z * angle_vel;
+     }
+
+      assert(mvt->linear.x == 0. || mvt->linear.y == 0.);
+      pub.publish(mvt);
+      ROS_INFO("cmd published");
+    }//end publish
+
+  public:
+    Run(const ros::Publisher& cmd_publisher, const float& max_curvature, const float& plan_velocity, const float& angle_velocity,
+        const float& z_velocity, const float& x_minimal_deviation, const float& y_minimal_deviation,
+        const float& z_minimal_deviation, const float& neutral_alt, const float& theta_minimal_deviation, 
+	const int& min_points_number, const float& up_fact) :
+      pub(cmd_publisher),
+      plan_vel(plan_velocity),
+      angle_vel(angle_velocity);
+      max_curv(max_curvature),
+      z_vel(z_velocity),
+      xx(0),
+      yy(0),
+      zz(0),
+      theta(0),
+      x_dev_min(x_minimal_deviation),
+      y_dev_min(y_minimal_deviation),
+      z_dev_min(z_minimal_deviation),
+      neutral_z(neutral_alt),
+      first_msg(true),
+      min_number(min_points_number),
+      up_factor(up_fact)
+
+    void callback(const hand_control::Plan::ConstPtr& msg)
+    {
+      ROS_INFO("plan received");
+      if (msg->curvature < max_curv && msg->number > min_number)
+      {
+        
+        if(msg->normal.z > 0)
+        {
+          yy = msg->normal.x;
+          xx = msg->normal.y;
+        }
+        else
+        {
+          yy = - msg->normal.x;
+          xx = - msg->normal.y;
+        }
+
+        zz = msg->altitude - neutral_z;
+
+	theta = msg->angle;
+
+        if (first_msg)
+        {
+          first_msg = false;
+          ROS_INFO("first msg received");
+        }
+        ROS_INFO("coords updated");
+      } else {
+        xx = yy = zz = 0.;
+      }
+      publish();
+    };
+
+    void reconfigure(const hand_control::CommandeConfig& c, const uint32_t& level) {
+      max_curv = c.max_curvature;
+      x_dev_min = c.x_minimal_deviation;
+      y_dev_min = c.y_minimal_deviation;
+      z_dev_min = c.z_minimal_deviation;
+      th_dev_min = c.theta_minimal_deviation;
+      neutral_z = c.neutral_alt;
+      min_number = c.min_points_number;
+      up_factor = c.up_fact;
+    }  
+
+    void run()
+    {
+        ros::spin();
+    }
+
+};
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "commande");
+  ros::NodeHandle node("commande");
+
+  double max_curv(0);
+  if (node.getParam("max_curv", max_curv))
+  {
+    ROS_INFO("max_curv : %f" , max_curv);
+  } else {
+    node.setParam("max_curv", 0.08);
+    node.getParam("max_curv", max_curv);
+    ROS_INFO("max_curv : %f (default value)", max_curv);
+  }
+
+  double plan_vel(0);
+  if (node.getParam("plan_vel", plan_vel))
+  {
+    ROS_INFO("plan_vel : %f" , plan_vel);
+  } else {
+    node.setParam("plan_vel", 0.8);
+    node.getParam("plan_vel", plan_vel);
+    ROS_INFO("plan_vel : %f (default value)", plan_vel);
+  }
+
+  double z_vel(0);
+  if (node.getParam("z_vel", z_vel))
+  {
+    ROS_INFO("z_vel : %f" , z_vel);
+  } else {
+    node.setParam("z_vel", 0.8);
+    node.getParam("z_vel", z_vel);
+    ROS_INFO("z_vel : %f (default value)", z_vel);
+  }
+
+  double angle_vel(0);
+  if (node.getParam("angle_vel", angle_vel))
+  {
+    ROS_INFO("angle_vel : %f" , angle_vel);
+  } else {
+    node.setParam("angle_vel", 10);
+    node.getParam("angle_vel", angle_vel);
+    ROS_INFO("angle_vel : %f (default value)", angle_vel);
+  }
+
+  int min_number(0);
+  if (node.getParam("min_number", min_number))
+  {
+    ROS_INFO("min_number : %d" , min_number);
+  } else {
+    node.setParam("min_number", 500);
+    node.getParam("min_number", min_number);
+    ROS_INFO("min_number : %d (default value)", min_number);
+  }
+
+  double x_dev_min(0);
+  if (node.getParam("x_dev_min", x_dev_min))
+  {
+    ROS_INFO("x_dev_min : %f" , x_dev_min);
+  } else {
+    node.setParam("x_dev_min", 0.05);
+    node.getParam("x_dev_min", x_dev_min);
+    ROS_INFO("x_dev_min : %f (default value)", x_dev_min);
+  }
+
+  double y_dev_min(0);
+  if (node.getParam("y_dev_min", y_dev_min))
+  {
+    ROS_INFO("y_dev_min : %f" , y_dev_min);
+  } else {
+    node.setParam("y_dev_min", 0.05);
+    node.getParam("y_dev_min", y_dev_min);
+    ROS_INFO("y_dev_min : %f (default value)", y_dev_min);
+  }
+
+  double z_dev_min(0);
+  if (node.getParam("z_dev_min", z_dev_min))
+  {
+    ROS_INFO("z_dev_min : %f" , z_dev_min);
+  } else {
+    node.setParam("z_dev_min", 0.1);
+    node.getParam("z_dev_min", z_dev_min);
+    ROS_INFO("z_dev_min : %f (default value)", z_dev_min);
+  }
+
+  double th_dev_min(0);
+  if (node.getParam("th_dev_min", th_dev_min))
+  {
+    ROS_INFO("th_dev_min : %f" , th_dev_min);
+  } else {
+    node.setParam("th_dev_min", 15);
+    node.getParam("th_dev_min", th_dev_min);
+    ROS_INFO("th_dev_min : %f (default value)", th_dev_min);
+  }
+
+  double neutral_z(0);
+  if (node.getParam("neutral_z", neutral_z))
+  {
+    ROS_INFO("neutral_z : %f" , neutral_z);
+  } else {
+    node.setParam("neutral_z", 1.5);
+    node.getParam("neutral_z", neutral_z);
+    ROS_INFO("neutral_z : %f (default value)", neutral_z);
+  }
+
+  double up_fact(0);
+  if (node.getParam("up_fact", up_fact))
+  {
+    ROS_INFO("up_fact : %f" , up_fact);
+  } else {
+    node.setParam("up_fact", 1.5);
+    node.getParam("up_fact", up_fact);
+    ROS_INFO("up_fact : %f (default value)", up_fact);
+  }
+
+  ros::Publisher cmd_pub = node.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
+  Run run(cmd_pub, max_curv, plan_vel, z_vel, angle_vel, x_dev_min, y_dev_min, z_dev_min, th_dev_min, neutral_z, min_number, up_fact);
+  ros::Subscriber plan_sub = node.subscribe<hand_control::Plan>("input", 1, &Run::callback, &run);
+  
+  dynamic_reconfigure::Server<hand_control::CommandeConfig> server;
+  dynamic_reconfigure::Server<hand_control::CommandeConfig>::CallbackType f;
+  f = boost::bind(&Run::reconfigure, &run, _1, _2);
+  server.setCallback(f);
+
+  run.run();
+  return 0;
+}