增加动态调整角度行进距离测试

.vscode/settings.json

@@ -2,5 +2,9 @@
     "python.autoComplete.extraPaths": [
         "/home/tianbot/work/black_20200812/blackTornadoRobot/devel/lib/python2.7/dist-packages",
         "/opt/ros/melodic/lib/python2.7/dist-packages"
-    ]
+    ],
+    "files.associations": {
+        "*.txt": "makefile",
+        "cmath": "cpp"
+    }
 }

src/robot_dynamic/CMakeLists.txt

@@ -0,0 +1,207 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(robot_dynamic)
+
+## 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 COMPONENTS
+  dynamic_reconfigure
+  roscpp
+  rospy
+  tf
+)
+
+## 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/dynamic.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 robot_dynamic
+#  CATKIN_DEPENDS dynamic_reconfigure roscpp rospy
+#  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/${PROJECT_NAME}/robot_dynamic.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${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/robot_dynamic.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
+# catkin_install_python(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_robot_dynamic.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/robot_dynamic/cfg/dynamic.cfg

@@ -0,0 +1,24 @@
+#!/usr/bin/env python
+# _*_ coding:utf-8 _*_
+
+
+PACKAGE = "robot_dynamic"
+ 
+from dynamic_reconfigure.parameter_generator_catkin import *
+ 
+gen = ParameterGenerator()
+ 
+gen.add("linear_x_speed",     double_t, 0, "robot linear.x", 0.17, 0.1, 1.0)
+gen.add("linear_y_speed",     double_t, 0, "robot linear.y", 0.15, 0.1, 1.0)
+gen.add("angular_z_speed",    double_t, 0, "robot angular.z", 0.5, 0.2, 1.0)
+gen.add("turn_angle",    double_t, 0, "robot turn_angle", 0.0, -180, 180)
+gen.add("vertical_dist",    double_t, 0, "robot vertical_dist", 0.0, -2, 2)
+gen.add("horizon_dist",    double_t, 0, "robot horiz_dist", 0.0, -2, 2)
+ 
+log_enum = gen.enum([ gen.const("info", int_t, 0, "log print flag:INFO"),
+                      gen.const("warn", int_t, 1, "log print flag:WARN"),
+                      gen.const("error", int_t, 2, "log print flag:ERROR")],
+                      "Set Log Level")
+gen.add("log_level", int_t, 0, "Set Log Level", 0, 0, 2, edit_method=log_enum)
+ 
+exit(gen.generate(PACKAGE, "robot_dynamic_node", "dynamic"))

src/robot_dynamic/launch/robot_dynamic.launch

@@ -0,0 +1,4 @@
+<launch>
+  <node pkg="robot_dynamic" type="robot_dynamic_node" name="robot_dynamic_node" output="screen" />
+  <node pkg="rqt_reconfigure" type="rqt_reconfigure" name="rqt_reconfigure" output="screen" />
+</launch>

src/robot_dynamic/package.xml

@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>robot_dynamic</name>
+  <version>0.0.0</version>
+  <description>The robot_dynamic package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="tianbot@todo.todo">tianbot</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/robot_dynamic</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>
+  <build_depend>dynamic_reconfigure</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_export_depend>dynamic_reconfigure</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <exec_depend>dynamic_reconfigure</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/robot_dynamic/src/robot_dynamic.cpp

@@ -0,0 +1,215 @@
+/*
+ * @Author: adam_zhuo
+ * @Date: 2020-08-31 09:40:13
+ * @LastEditTime: 2020-08-31 19:09:26
+ * @LastEditors: Please set LastEditors
+ * @Description: 动态调节测试小车转向移动是否准确
+ * @FilePath: /blackTornadoRobot/src/robot_dynamic/src/robot_dynamic.cpp
+ */
+#include <ros/ros.h>
+#include <geometry_msgs/Twist.h>
+#include <std_msgs/Float32.h>
+#include <nav_msgs/Odometry.h>
+#include <tf/transform_listener.h>
+#include <dynamic_reconfigure/server.h>
+#include <robot_dynamic/dynamicConfig.h>
+#include "rasp_imu_hat_6dof/GetYawData.h"
+ 
+using namespace std;
+
+#define VERTICAL_MOVE  1
+#define HORIZON_MOVE  2
+
+string cmd_topic = "/cmd_vel";
+string yaw_service = "/imu_node/GetYawData";
+
+ros::Publisher twist_pub;
+ros::ServiceClient yawSrvClient;
+rasp_imu_hat_6dof::GetYawData yawSrv;
+
+string odomFrame = "/odom_combined";
+string baseFrame = "/base_footprint";
+
+float linear_x_speed = 0.17;
+float linear_y_speed = 0.15;
+float angular_z_speed = 0.5;
+float turn_angle = 0.0;
+float vertical_dist = 0.0;
+float horizon_dist = 0.0;
+int log_level= 0;
+
+float tolerance_dist = 0.005; 
+float start_yaw = 0.0;
+
+ 
+/**
+ * @description: 发布控制移动的消息,这里对于平面移动的
+ *   机器人只需要控制linear_x,linear_y和angular_z即可.
+ * @param {type} 
+ * @return {type} 
+ */
+void publishTwistCmd(float linear_x, float linear_y, float angular_z)
+{
+    geometry_msgs::Twist twist_msg;
+
+    twist_msg.linear.x = linear_x;
+    twist_msg.linear.y = linear_y;
+    twist_msg.linear.z = 0.0;
+
+    twist_msg.angular.x = 0.0;
+    twist_msg.angular.y = 0.0;
+    twist_msg.angular.z = angular_z;
+
+    twist_pub.publish(twist_msg);
+}
+
+
+/**
+ * @description:控制小车转指定度数 
+ * @param {float}角度值 
+ * @return {void} 
+ */
+void yawUpdate(const float dynamic_turn_angle)
+{
+    float target = 0.0;
+    float diff = 10.0;
+    float angular = 0.0;
+    float now_yaw = 0.0;
+    float turn_yaw = 0.0;
+    
+    turn_yaw = dynamic_turn_angle/180*M_PI;
+    target = start_yaw + turn_yaw;
+    if(target > M_PI){
+        target = target - M_PI*2.0;
+    }else if(target < -M_PI){
+        target = target + M_PI*2.0;
+    }
+    
+    //开始不断的计算偏差,调整角度
+    while(fabs(diff) > 0.01)
+    {
+        yawSrvClient.call(yawSrv);
+        now_yaw = yawSrv.response.yaw;
+        ROS_INFO("Now Yaw data:%f, Target Yaw:%f", now_yaw, target);
+
+        diff = target - now_yaw;
+        if(diff > 0)
+        {
+            angular = angular_z_speed;
+        }
+        else
+        {
+            angular = -angular_z_speed;
+        }
+        ROS_WARN("Yaw diff:%f, angular:%f", diff, angular);
+        publishTwistCmd(0, 0, angular);
+        ros::Duration(0.04).sleep();
+    }
+    publishTwistCmd(0, 0, 0); //在修正角度结束后应该立刻停止小车转动
+    ROS_INFO("Turn Yaw diff over !");
+    ros::Duration(0.1).sleep(); //100 ms
+}
+
+/**
+ * @description: 控制小车竖直水平运动指定距离
+ * @param {int}水平竖直flag，{float}运动距离
+ * @return {void} 
+ */
+void robot_move(int move_flag,const float check_dist)
+{
+    tf::TransformListener tf_Listener;
+    tf::StampedTransform tf_Transform;
+    float dist = 0.0; //每次前进移动的距离
+
+    try
+    {
+        tf_Listener.waitForTransform(odomFrame, baseFrame, ros::Time(0), ros::Duration(5.0));
+    }
+    catch(tf::TransformException &ex)
+    {
+        ROS_ERROR("tf_Listener.waitForTransform timeout error !");
+        ROS_ERROR("%s", ex.what());
+        ros::shutdown();
+    }
+
+    tf_Listener.lookupTransform(odomFrame, baseFrame, ros::Time(0), tf_Transform);
+    float x_start = tf_Transform.getOrigin().x();
+    float y_start = tf_Transform.getOrigin().y();
+
+    while(fabs((dist-fabs(check_dist)))>tolerance_dist&&(ros::ok()))
+    {
+        switch(move_flag){
+            case VERTICAL_MOVE:
+                publishTwistCmd(copysign(linear_x_speed,check_dist), 0, 0);
+                break;
+            case HORIZON_MOVE:
+                publishTwistCmd(0,copysign(linear_y_speed,check_dist), 0);
+                break;
+        }
+            
+        ros::Duration(0.10).sleep(); //100 ms
+
+        tf_Listener.lookupTransform(odomFrame, baseFrame, ros::Time(0),tf_Transform);
+        float x = tf_Transform.getOrigin().x();
+        float y = tf_Transform.getOrigin().y();
+        dist = sqrt(pow((x - x_start), 2) + pow((y - y_start), 2));
+        ROS_INFO("Go forward, dist:%f", dist);
+
+    }
+    publishTwistCmd(0, 0, 0); //stop move
+    ROS_INFO("Go forward finish !!!");
+}
+
+/**
+ * @description: 动态修改参数回调函数
+ * @param {type} 
+ * @return {type} 
+ */
+void dynamic_callback(robot_dynamic::dynamicConfig &config)
+{
+    ROS_INFO("Reconfigure Request: %f %f %f %f %d",
+            config.linear_x_speed,
+            config.linear_y_speed,
+            config.angular_z_speed,
+            config.turn_angle,
+            config.log_level);
+ 
+    linear_x_speed  = config.linear_x_speed;
+    linear_y_speed  = config.linear_y_speed;
+    angular_z_speed = config.angular_z_speed;
+    log_level = config.log_level;
+    if(turn_angle != config.turn_angle){
+        turn_angle = config.turn_angle;
+        yawUpdate(turn_angle);
+    }
+    if(vertical_dist != config.vertical_dist){
+        robot_move(VERTICAL_MOVE,config.vertical_dist-vertical_dist);
+        vertical_dist = config.vertical_dist;
+    }
+    if(horizon_dist != config.horizon_dist){
+        robot_move(HORIZON_MOVE,config.horizon_dist-horizon_dist);
+        horizon_dist = config.horizon_dist;
+    }
+}
+ 
+ 
+int main(int argc, char **argv)
+{
+    ros::init(argc, argv, "robot_dynamic_node");
+    ros::NodeHandle handle;
+ 
+    dynamic_reconfigure::Server<robot_dynamic::dynamicConfig> server;
+    dynamic_reconfigure::Server<robot_dynamic::dynamicConfig>::CallbackType callback;
+ 
+    callback = boost::bind(&dynamic_callback, _1);
+    server.setCallback(callback);
+ 
+    twist_pub = handle.advertise<geometry_msgs::Twist>(cmd_topic, 1);
+    yawSrvClient = handle.serviceClient<rasp_imu_hat_6dof::GetYawData>(yaw_service);
+    yawSrvClient.call(yawSrv);
+    start_yaw = yawSrv.response.yaw;
+    ROS_INFO("start_yaw is %f",start_yaw);
+    
+    ros::spin();
+    return 0;
+}