Debug des nœuds de rate et triangle

7 years ago · 69cccc4615
23 changed files with 1103 additions and 38 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -95,12 +95,13 @@ generate_messages(
 generate_dynamic_reconfigure_options(
  cfg/DetectTargets.cfg
  cfg/triangle_control.cfg
-  cfg/PIDNode.cfg
+  cfg/RateNode.cfg
  cfg/ProportionalNode.cfg
  cfg/IntegralNode.cfg
  cfg/DerivativeNode.cfg
  cfg/SaturateNode.cfg
  cfg/InputNode.cfg
+  cfg/Triangle.cfg
 )

 ###################################
--- a/cfg/RateNode.cfg
+++ b/cfg/RateNode.cfg
--- a/cfg/Triangle.cfg
+++ b/cfg/Triangle.cfg
@ -0,0 +1,12 @@
+#!/usr/bin/env python
+PACKAGE = "detect_targets"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("camera_angle", double_t, 0, "The angle corresponding to the image width", 80, 50, 180)
+gen.add("target_width", double_t, 0, "the real target width (m)", 1, 0.01, 1.5)
+gen.add("target_depth", double_t, 0, "the real target depth (m)", .2, 0.01, 0.5)
+
+exit(gen.generate(PACKAGE, "detect_targets", "Triangle"))
--- a/launch/internal_tun.launch
+++ b/launch/internal_tun.launch
@ -1,6 +1,12 @@
 <launch>
  <remap from="/reset" to="/bebop/reset"/>
  <node name="reconf" pkg="rqt_reconfigure" type="rqt_reconfigure"/>
+  <node name="Ratex_param" pkg="dynamic_reconfigure" type="dynparam" args="load /ratex $(find detect_targets)/params/settings_test_D_rate.yaml"/>
+  <node name="Ratey_param" pkg="dynamic_reconfigure" type="dynparam" args="load /ratey $(find detect_targets)/params/settings_test_D_rate.yaml"/>
+  <node name="Dx_param" pkg="dynamic_reconfigure" type="dynparam" args="load /Dx $(find detect_targets)/params/settings_test_D.yaml"/>
+  <node name="Dy_param" pkg="dynamic_reconfigure" type="dynparam" args="load /Dy $(find detect_targets)/params/settings_test_D.yaml"/>
+  <node name="safe_param" pkg="dynamic_reconfigure" type="dynparam" args="load /safe $(find detect_targets)/params/settings_safe.yaml"/>
+  <node name="targets_param" pkg="dynamic_reconfigure" type="dynparam" args="load /targets $(find detect_targets)/params/settings_blue.yaml"/>
  <include file="$(find bebop_driver)/launch/bebop_node.launch" />

  <node name="targets" pkg="detect_targets" type="target_publisher.py">
@ -13,25 +19,22 @@
  <node name="untwist" pkg="detect_targets" type="untwist.py" output="screen">
    <remap from="input" to="/bebop/cmd_vel" />
  </node>
-
-  <node name="Dx" pkg="detect_targets" type="control_compute.py" args="derivative" output="screen">
+  <node name="ratex" pkg="detect_targets" type="control_compute.py" args="rate" output="screen">
    <remap from="input" to="linear_x" />
+    <remap from="output" to="derivative_x_input" />
+  </node>
+  <node name="Dx" pkg="detect_targets" type="control_compute.py" args="derivative" output="screen">
+    <remap from="input" to="derivative_x_input" />
    <remap from="output" to="measure_x" />
  </node>
-  <node name="Dy" pkg="detect_targets" type="control_compute.py" args="derivative" output="screen">
+  <node name="ratey" pkg="detect_targets" type="control_compute.py" args="rate" output="screen">
    <remap from="input" to="linear_y" />
+    <remap from="output" to="derivative_y_input" />
+  </node>
+  <node name="Dy" pkg="detect_targets" type="control_compute.py" args="derivative" output="screen">
+    <remap from="input" to="derivative_y_input" />
    <remap from="output" to="measure_y" />
  </node>
-  <include file="$(find detect_targets)/launch/control.launch" ns="controller_angular_z">
-      <arg name="reset" value="/reset" />
-      <arg name="measure" value="/angular_z" />
-  </include>
-    <node name="twister" pkg="detect_targets" type="twist_controls.py">
-      <remap from="control_linear_z" to="controller_linear_z/output" />
-      <remap from="control_angular_z" to="controller_angular_z/output" />
-      <remap from="control_linear_x" to="controller_linear_x/internal_loop/output" />
-      <remap from="control_linear_y" to="controller_linear_y/internal_loop/output" />
-    </node>

  <node name="safe" pkg="demo_teleop" type="safe_drone_teleop.py" output="screen" launch-prefix="xterm -e">
    <remap from="takeoff" to="/bebop/takeoff"/>
@ -41,7 +44,11 @@
  </node>

  <node name="view" pkg="rqt_image_view" type="rqt_image_view" args="/bebop/image_raw"/>
-  <node name="view__targets" pkg="rqt_image_view" type="rqt_image_view" args="/img_targets"/>
+  <node name="view_targets" pkg="rqt_image_view" type="rqt_image_view" args="/img_targets"/>
+
+  <node name="plot" pkg="rqt_plot" type="rqt_plot" args="/measure_x /measure_linear_x">
+
+  </node>

  <node name="graph" pkg="rqt_graph" type="rqt_graph" output="screen"></node>
 </launch>
--- a/launch/test_derivative.launch
+++ b/launch/test_derivative.launch
@ -1,7 +1,14 @@
 <launch>
  <node name="reconf" pkg="rqt_reconfigure" type="rqt_reconfigure"/>
+  <node name="D_param" pkg="dynamic_reconfigure" type="dynparam" args="load /D $(find detect_targets)/params/settings_test_D.yaml"/>
+  <node name="Rate_param" pkg="dynamic_reconfigure" type="dynparam" args="load /rate $(find detect_targets)/params/settings_test_D_rate.yaml"/>

-  <node name="publisher" pkg="detect_targets" type="publish_csv.py" args="$(find detect_targets)/walk.csv" output="screen">
+  <node name="publisher" pkg="detect_targets" type="publish_csv.py" args="$(find detect_targets)/utils/data/walk.csv" output="screen">
+    <remap from="output" to="rate_input" />
+  </node>
+
+  <node name="rate" pkg="detect_targets" type="control_compute.py" args="rate" output="screen">
+    <remap from="input" to="rate_input" />
    <remap from="output" to="derivative_input" />
  </node>

--- a/params/settings_blue.yaml
+++ b/params/settings_blue.yaml
@ -0,0 +1,31 @@
+!!python/object/new:dynamic_reconfigure.encoding.Config
+dictitems:
+  binary: true
+  blue_max: 255
+  blue_min: 24
+  green_max: 203
+  green_min: 91
+  groups: !!python/object/new:dynamic_reconfigure.encoding.Config
+    dictitems:
+      binary: true
+      blue_max: 255
+      blue_min: 24
+      green_max: 203
+      green_min: 91
+      groups: !!python/object/new:dynamic_reconfigure.encoding.Config
+        state: []
+      id: 0
+      name: Default
+      parameters: !!python/object/new:dynamic_reconfigure.encoding.Config
+        state: []
+      parent: 0
+      red_max: 75
+      red_min: 36
+      state: true
+      targets: true
+      type: ''
+    state: []
+  red_max: 75
+  red_min: 36
+  targets: true
+state: []
--- a/params/settings_safe.yaml
+++ b/params/settings_safe.yaml
@ -0,0 +1,21 @@
+!!python/object/new:dynamic_reconfigure.encoding.Config
+dictitems:
+  angular: 0.5
+  delay: 2.0
+  groups: !!python/object/new:dynamic_reconfigure.encoding.Config
+    dictitems:
+      angular: 0.5
+      delay: 2.0
+      groups: !!python/object/new:dynamic_reconfigure.encoding.Config
+        state: []
+      id: 0
+      linear: 0.05
+      name: Default
+      parameters: !!python/object/new:dynamic_reconfigure.encoding.Config
+        state: []
+      parent: 0
+      state: true
+      type: ''
+    state: []
+  linear: 0.05
+state: []
--- a/params/settings_targets.yaml
+++ b/params/settings_targets.yaml
@ -0,0 +1,31 @@
+!!python/object/new:dynamic_reconfigure.encoding.Config
+dictitems:
+  binary: false
+  blue_max: 255
+  blue_min: 136
+  green_max: 182
+  green_min: 65
+  groups: !!python/object/new:dynamic_reconfigure.encoding.Config
+    dictitems:
+      binary: false
+      blue_max: 255
+      blue_min: 136
+      green_max: 182
+      green_min: 65
+      groups: !!python/object/new:dynamic_reconfigure.encoding.Config
+        state: []
+      id: 0
+      name: Default
+      parameters: !!python/object/new:dynamic_reconfigure.encoding.Config
+        state: []
+      parent: 0
+      red_max: 127
+      red_min: 44
+      state: true
+      targets: false
+      type: ''
+    state: []
+  red_max: 127
+  red_min: 44
+  targets: false
+state: []
--- a/params/settings_test_D.yaml
+++ b/params/settings_test_D.yaml
@ -0,0 +1,25 @@
+!!python/object/new:dynamic_reconfigure.encoding.Config
+dictitems:
+  deriv: 1
+  groups: !!python/object/new:dynamic_reconfigure.encoding.Config
+    dictitems:
+      deriv: 1
+      groups: !!python/object/new:dynamic_reconfigure.encoding.Config
+        state: []
+      id: 0
+      k: 1.0
+      name: Default
+      parameters: !!python/object/new:dynamic_reconfigure.encoding.Config
+        state: []
+      parent: 0
+      poly_order: 2
+      refresh_time: 0.05
+      size: 19
+      state: true
+      type: ''
+    state: []
+  k: 1.0
+  poly_order: 2
+  refresh_time: 0.05
+  size: 19
+state: []
--- a/params/settings_test_D_rate.yaml
+++ b/params/settings_test_D_rate.yaml
@ -0,0 +1,19 @@
+!!python/object/new:dynamic_reconfigure.encoding.Config
+dictitems:
+  groups: !!python/object/new:dynamic_reconfigure.encoding.Config
+    dictitems:
+      groups: !!python/object/new:dynamic_reconfigure.encoding.Config
+        state: []
+      id: 0
+      k: 1.0
+      name: Default
+      parameters: !!python/object/new:dynamic_reconfigure.encoding.Config
+        state: []
+      parent: 0
+      refresh_time: 0.05
+      state: true
+      type: ''
+    state: []
+  k: 1.0
+  refresh_time: 0.05
+state: []
--- a/params/settings_yellow.yaml
+++ b/params/settings_yellow.yaml
@ -0,0 +1,31 @@
+!!python/object/new:dynamic_reconfigure.encoding.Config
+dictitems:
+  binary: false
+  blue_max: 92
+  blue_min: 30
+  green_max: 201
+  green_min: 109
+  groups: !!python/object/new:dynamic_reconfigure.encoding.Config
+    dictitems:
+      binary: false
+      blue_max: 92
+      blue_min: 30
+      green_max: 201
+      green_min: 109
+      groups: !!python/object/new:dynamic_reconfigure.encoding.Config
+        state: []
+      id: 0
+      name: Default
+      parameters: !!python/object/new:dynamic_reconfigure.encoding.Config
+        state: []
+      parent: 0
+      red_max: 186
+      red_min: 130
+      state: true
+      targets: false
+      type: ''
+    state: []
+  red_max: 186
+  red_min: 130
+  targets: false
+state: []
--- a/scripts/control_compute.py
+++ b/scripts/control_compute.py
@ -11,12 +11,12 @@ from std_msgs.msg import Float64, Empty

 import dynamic_reconfigure.server
 from detect_targets.cfg import ProportionalNodeConfig, IntegralNodeConfig
-from detect_targets.cfg import DerivativeNodeConfig, InputNodeConfig,
-from detect_targets.cfg import SaturateNodeConfig, RateNodeConfig       
+from detect_targets.cfg import DerivativeNodeConfig, InputNodeConfig
+from detect_targets.cfg import SaturateNodeConfig, RateNodeConfig


 class ControlNode(object):
-    def __init__(self, refresh_time=1.0, config_class=None):
+    def __init__(self, refresh_time=0.05, config_class=None):
        self.last_time = rospy.get_rostime()
        self.refresh_time = rospy.Duration.from_sec(refresh_time)
        self.output = 0.0
@ -59,31 +59,30 @@ class InputControlNode(ControlNode):
        self.input_topics["input"] = rospy.Subscriber("input", Float64, self.on_compute)

 class RateNode(InputControlNode):
-    def __init__(self, *args, **kwargs):
-        self.rate = rospy.Rate(20)
-        self.last_input = 0
+    def __init__(self, refresh_time=0.05):
        self.lock = threading.Lock()
-        super(RateNode, self).__init__(*args, **kwargs)
+        super(RateNode, self).__init__(refresh_time, RateNodeConfig)
+        self.rate = rospy.Rate(1.0/self.refresh_time.to_sec())

    def on_reconf(self, config, level):
-        c = super(SaturateNode, self).on_reconf(config, level)
-        self.rate = rospy.Rate(self.refresh_time)
+        c = super(RateNode, self).on_reconf(config, level)
+        self.rate = rospy.Rate(self.refresh_time.to_sec())
        return c

    def on_compute(self, value):
        self.lock.acquire()
-        self.last_input = value.data
+        self.output = value.data
        self.lock.release()

    def on_mainloop(self):
        while not rospy.is_shutdown():
            self.lock.acquire()
-            self.output.publish(self.last_input)
+            self.output_topic.publish(self.output)
            self.lock.release()
            self.rate.sleep()

 class ProportionalNode(InputControlNode):
-    def __init__(self, k=1.0, refresh_time=1.0):
+    def __init__(self, k=1.0, refresh_time=0.05):
        super(ProportionalNode, self).__init__(refresh_time, ProportionalNodeConfig)
        self.k = k

@ -98,7 +97,7 @@ class ProportionalNode(InputControlNode):
            super(ProportionalNode, self).on_compute(value)

 class SaturateNode(InputControlNode):
-    def __init__(self, min=None, max=None, refresh_time=1.0, config=SaturateNodeConfig):
+    def __init__(self, min=None, max=None, refresh_time=0.05, config=SaturateNodeConfig):
        super(SaturateNode, self).__init__(refresh_time, config)
        self.min = min
        self.max = max
@ -116,7 +115,7 @@ class SaturateNode(InputControlNode):
            super(SaturateNode, self).on_compute(value)

 class IntegralNode(SaturateNode):
-    def __init__(self, k=1.0, min=None, max=None, refresh_time=1.0):
+    def __init__(self, k=1.0, min=None, max=None, refresh_time=0.05):
        super(IntegralNode, self).__init__(min, max, refresh_time, IntegralNodeConfig)
        self.k = k

@ -131,7 +130,7 @@ class IntegralNode(SaturateNode):
            return super(IntegralNode, self).on_compute(value)

 class DerivativeNode(InputControlNode):
-    def __init__(self, k=0.05, size=9, polyorder=3, deriv=1, refresh_time=1.0):
+    def __init__(self, k=0.05, size=9, polyorder=3, deriv=1, refresh_time=0.05):
        super(DerivativeNode, self).__init__(refresh_time, DerivativeNodeConfig)
        self.k = k
        self.filter = savgol_coeffs(size, polyorder, deriv, delta=refresh_time, use='dot')
@ -183,7 +182,7 @@ class DifferenciateNode(InputControlNode):

 class InputNode(InputControlNode):
    def __init__(self):
-        super(InputNode, self).__init__(refresh_time=1.0, config_class=InputNodeConfig)
+        super(InputNode, self).__init__(refresh_time=0.05, config_class=InputNodeConfig)

    def on_reconf(self, config, level):
        self.output = config["value"]
@ -196,7 +195,7 @@ class InputNode(InputControlNode):

 class SumNode(ControlNode):
    def __init__(self, nb_topics):
-        super(SumNode, self).__init__(refresh_time=1.0)
+        super(SumNode, self).__init__(refresh_time=0.05)
        self.nb_topics = int(nb_topics)
        self.inputs = dict()
        for i in range(self.nb_topics):
@ -230,4 +229,4 @@ if __name__ == '__main__':
    else:
        node = node_class()

-    node.on_mailoop()
+    node.on_mainloop()
--- a/scripts/publish_csv.py
+++ b/scripts/publish_csv.py
@ -11,6 +11,7 @@ if __name__ == '__main__':
    rospy.init_node('publish_csv', anonymous=True)
    pub = rospy.Publisher('output', Float64, queue_size=1)
    file = sys.argv[1]
+    rospy.sleep(10.)
    with open(file) as csvfile:
        reader = csv.reader(csvfile)
        r = rospy.Rate(20)
--- a/scripts/triangle.py
+++ b/scripts/triangle.py
@ -94,7 +94,7 @@ class Triangle:
            "component_centers", component_centers, self.on_comp, queue_size=1)

        self.config_srv = dynamic_reconfigure.server.Server(
-            TriangleParamConfig, self.on_reconf)
+            TriangleConfig, self.on_reconf)

        self.br = tf.TransformBroadcaster()

--- a/utils/data/repind_vitesse.bag
+++ b/utils/data/repind_vitesse.bag
--- a/utils/results/graph_test_d.png
+++ b/utils/results/graph_test_d.png
--- a/utils/results/mesure_vitesse_big_quadra.eps
+++ b/utils/results/mesure_vitesse_big_quadra.eps
@ -1,6 +1,6 @@
 %!PS-Adobe-3.0 EPSF-3.0
 %%Creator: matplotlib version 2.2.4, http://matplotlib.org/
-%%CreationDate: Sun Jun  2 18:28:50 2019
+%%CreationDate: Sun Jun  2 19:58:19 2019
 %%Orientation: portrait
 %%BoundingBox: -54 180 666 612
 %%EndComments
--- a/utils/results/mesure_vitesse_bode_big_quadra_11.eps
+++ b/utils/results/mesure_vitesse_bode_big_quadra_11.eps
--- a/utils/results/mesure_vitesse_cubique.eps
+++ b/utils/results/mesure_vitesse_cubique.eps
@ -1,6 +1,6 @@
 %!PS-Adobe-3.0 EPSF-3.0
 %%Creator: matplotlib version 2.2.4, http://matplotlib.org/
-%%CreationDate: Sun Jun  2 18:28:49 2019
+%%CreationDate: Sun Jun  2 19:58:18 2019
 %%Orientation: portrait
 %%BoundingBox: -54 180 666 612
 %%EndComments
--- a/utils/results/mesure_vitesse_quadratique.eps
+++ b/utils/results/mesure_vitesse_quadratique.eps
@ -1,6 +1,6 @@
 %!PS-Adobe-3.0 EPSF-3.0
 %%Creator: matplotlib version 2.2.4, http://matplotlib.org/
-%%CreationDate: Sun Jun  2 18:28:49 2019
+%%CreationDate: Sun Jun  2 19:58:18 2019
 %%Orientation: portrait
 %%BoundingBox: -54 180 666 612
 %%EndComments
--- a/utils/results/savgol_bode_plop.eps
+++ b/utils/results/savgol_bode_plop.eps
@ -0,0 +1,833 @@
+%!PS-Adobe-3.0 EPSF-3.0
+%%Creator: matplotlib version 2.2.4, http://matplotlib.org/
+%%CreationDate: Tue Jun  4 14:06:46 2019
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--- a/utils/results/savgol_bode_quadratique.eps
+++ b/utils/results/savgol_bode_quadratique.eps
--- a/utils/test_filter_bode.jl
+++ b/utils/test_filter_bode.jl
@ -0,0 +1,47 @@
+using Plots
+using DSP
+using CSV
+
+pyplot()
+
+# Parameters
+filename = joinpath(@__DIR__, "data", "walk.csv") # input file
+h = 1/22 # sample time
+orders = [
+    (title="quadratique", order=2, sizes=5:2:11),
+    (title="cubique", order=3, sizes=5:2:11),
+    (title="big_quadra", order=2, sizes=11:10:51)
+]
+
+
+function savgol(size::Int64, poly_order::Int64, deriv::Int64=0, delta::Float64=1.0, conv::Bool=false)
+    half_size, rem = divrem(size, 2)
+    if rem == 0
+        throw(ArgumentError("size must be odd."))
+    end
+    M = [-half_size:half_size;] .^ [0:poly_order;]';
+    y = zeros(poly_order+1)';
+    y[deriv+1] = factorial(deriv) / delta^deriv;
+    scal = y*inv(M'*M)*M'
+    if conv
+        scal = scal[end:-1:1]
+    end
+    scal
+end
+
+
+filter = savgol(19, 2, 1, h, true)
+H = tf(filter, [1], h)
+mag, phase, w = bode(H)
+plot(w,log.(mag[:,1]), label="mag", title="plop")
+savefig(joinpath(@__DIR__, "results", string("savgol_bode_", "plop", ".eps")))
+show()
+# for order in orders
+#     for size in order.sizes
+#         filter = savgol(size, order.order, 1, h, true)
+#         H = tf(filter, [1], 0.05)
+#         bode(H)
+#     end
+#     savefig(joinpath(@__DIR__, "results", string("savgol_bode_", order.title, ".eps")))
+# end
+# show()