Merge branch 'master' of https://git.imp.fu-berlin.de/joea95/catkin_ws_team_otter

src/assignment10/CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(assignment10)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES assignment10
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/assignment10.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/assignment10_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_assignment10.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

src/assignment10/package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>assignment10</name>
+  <version>0.0.0</version>
+  <description>The assignment10 package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="joern@todo.todo">joern</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/assignment10</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/assignment10/src/PID.py

+#!/usr/bin/env python
+# coding=utf-8
+import rospy
+from geometry_msgs.msg import PoseWithCovariance,Pose,Point,Quaternion
+from autominy_msgs.msg import NormalizedSteeringCommand,SteeringCommand
+from std_msgs.msg import Header
+from nav_msgs.msg import Odometry
+from tf.transformations import euler_from_quaternion
+import numpy as np
+import math
+
+class PID():
+
+    #yaw=0 := Richtung Pokale, yaw=pi := Richtung Tür-Seite
+    def __init__(self,yaw_angle,car_id=8):
+        print('init')
+        self.angles=[]#enthält die Fehler
+        self.wanted_yaw=yaw_angle
+        self.steer_pub=rospy.Publisher('/actuators/steering_normalized', NormalizedSteeringCommand,queue_size=10)
+        rospy.init_node("pid")
+        rospy.Subscriber("/communication/gps/"+str(car_id),Odometry,self.onPosition)
+        self.steering_sub = rospy.Subscriber("/control/steering", SteeringCommand, self.onSteering, queue_size=1)
+        print('init finish')
+        rospy.spin()
+
+    def onPosition(self,odometry):
+        quaternion_msg=odometry.pose.pose.orientation
+        quaternion=(quaternion_msg.x,quaternion_msg.y,quaternion_msg.z,quaternion_msg.w)
+        _,_,yaw=euler_from_quaternion(quaternion)
+        error=self.wanted_yaw-yaw
+        if error >np.pi:
+            error+=np.pi*2
+        elif error<-np.pi:
+            error-=np.pi*2
+
+        #abl ist die Änderung des Fehlers, also die Ableitung
+        try:
+            abl=(error)-self.angles[-1]
+        except:
+            abl=0
+        self.angles.append(error)
+
+        print('yaw:',yaw)
+        p,d,i=2,0.2,0#rospy.get_param("/pid/p"),rospy.get_param("/pid/d"),rospy.get_param("/pid/i")
+        #u=  p*Fehler  +  d*Ableitung  +  i*Integral über alle bisherigen Fehler
+        u=p*(error)+d*(abl)+i*np.trapz(np.asarray(self.angles))
+
+
+        print('u:',u)
+
+        #u als SteeringCommand publishen
+        h=Header()
+        h.stamp=rospy.Time.now()
+        steer_com=NormalizedSteeringCommand(h,u)
+        self.steer_pub.publish(steer_com)
+
+
+    def onSteering(self, msg):
+        self.wanted_yaw = msg.value
+
+if __name__=='__main__':
+    PID(0)

src/assignment10/src/navigation.py

+#!/usr/bin/env python
+# coding=utf-8
+import rospy
+import math
+import numpy as np
+from splines import Map
+from nav_msgs.msg import Odometry
+from autominy_msgs.msg import SteeringCommand
+from std_msgs.msg import UInt8
+
+class Control():
+
+    def __init__(self):
+        self.lane1=Map(np.load('lane1.npy'),1)
+        self.lane2=Map(np.load('lane2.npy'),2)
+
+        self.target_lane=self.lane1
+
+
+        rospy.init_node("control")
+        rospy.Subscriber("/sensors/localization/filtered_map", Odometry, self.on_localization, queue_size=1)
+        rospy.Subscriber("/control/lane", UInt8, self.on_lane, queue_size=1)
+        self.steering_pub = rospy.Publisher("/control/steering", SteeringCommand, queue_size=10)
+
+    def on_lane(self,msg):
+        if msg.data==1:
+            self.target_lane=self.lane1
+        elif msg.data==2:
+            self.target_lane=self.lane2
+
+    def on_localization(self,msg):
+        start=msg.pose.pose.position
+        target=self.target_lane.closestPoint(start,lookahead=0.75)
+        self.target_lane.showMarker(target)
+
+        dx=target.x-start.x
+        dy=target.y-start.y
+
+        yaw=np.arctan2(dy,dx)
+
+        com=SteeringCommand()
+        com.value=yaw
+        print (math.degrees(yaw))
+        self.steering_pub.publish(com)
+
+if __name__=='__main__':
+    Control()
+    rospy.spin()

src/assignment10/src/splines.py

+#!/usr/bin/env python
+# coding=utf-8
+import rospy
+import scipy.interpolate
+import numpy as np
+from visualization_msgs.msg import Marker
+from geometry_msgs.msg import Point,Pose,Quaternion,PointStamped
+from std_msgs.msg import Header
+from std_msgs.msg import ColorRGBA
+import threading
+
+class Map():
+
+    def __init__(self,samples,id,num_points=20):
+        self.id=id
+        size=len(samples)
+        step=size//num_points
+        indices=[i*step for i in range(num_points)]
+        indices.append((len(samples)-1))
+        self.samples=samples
+        print(indices)
+        self.x_spline=scipy.interpolate.CubicSpline(samples[indices,0],samples[indices,1])
+        self.y_spline=scipy.interpolate.CubicSpline(samples[indices,0],samples[indices,2])
+
+        self.publisher=rospy.Publisher('/visualization/map', Marker,queue_size=10)
+        #rospy.init_node("splineMap",anonymous=True)
+
+    def closestPoint(self,p,lookahead=0.0,initial_step=0.1,cutoff_change=0.001):
+
+        target=np.array([p.x,p.y])
+        max_u=self.samples[-1,0]
+        u=0
+        distance=np.linalg.norm([self.x_spline(u),self.y_spline(u)]-target)
+        u=initial_step
+        pos_distance=np.linalg.norm([self.x_spline(u),self.y_spline(u)]-target)
+        u=max_u-initial_step
+        neg_distance=np.linalg.norm([self.x_spline(u),self.y_spline(u)]-target)
+        if neg_distance<distance:
+            step=-initial_step
+            change=distance-neg_distance
+            prev_distance=neg_distance
+        else:
+            step=initial_step
+            u=initial_step
+            change=distance-pos_distance
+            prev_distance=pos_distance
+        u+=step
+        while abs(change)>cutoff_change:
+            distance=np.linalg.norm([self.x_spline(u),self.y_spline(u)]-target)
+            change=prev_distance-distance
+            prev_distance=distance
+            if change<0:
+                step=-step/2
+            u+=step
+        u+=lookahead
+        if u>max_u:
+            u-=max_u
+        return Point(self.x_spline(u),self.y_spline(u),0)
+
+
+    def show_closest_point(self,msg,lookahead=0.0):
+        p=msg.point
+        closest=self.closestPoint(p,lookahead=lookahead)
+
+        print('closest Point',closest.x,closest.y)
+        self.showMarker(closest)
+
+
+    def showMarker(self,point):
+        h=Header()
+        h.stamp=rospy.Time.now()
+        h.frame_id='map'
+        marker=Marker()
+        marker.header=h
+        marker.ns='closestPoint'
+        marker.id=self.id
+        marker.type=Marker.SPHERE
+        marker.action=Marker.ADD
+        p=Pose(point,Quaternion(0.0,0.0,0.0,1.0))
+        marker.pose=p
+        marker.scale.x = 0.5
+        marker.scale.y = 0.5
+        marker.scale.z = 0.5
+        marker.color.r = 0.0
+        marker.color.g = 1.0
+        marker.color.b = 0.0
+        marker.color.a = 1.0
+        marker.lifetime = rospy.Duration()
+
+        self.publisher.publish(marker)

übungszettel/u9/RO-09-Golagha-Andreesen-TeamOtter.tex

+\documentclass {article}
+\usepackage[ngerman]{babel}
+\usepackage[utf8]{inputenc}
+\usepackage{graphicx}
+\usepackage{amsmath}
+\usepackage{fancyhdr}
+\pagestyle{fancy}
+\usepackage{hyperref}
+\usepackage{float}
+
+\fancyhf{}
+\lhead{Robotik\\Übung 9}
+\rhead{bearbeitet von Darius Golagha und Jörn Andreesen}
+
+\begin{document}
+
+
+\section*{Aufgabe 1-2}
+Der verwendete Code findet sich hier:
+\url{https://git.imp.fu-berlin.de/joea95/catkin_ws_team_otter/tree/master/src/assignment10/src} 
+
+\end{document}